公开(公告)号：US20140188281A1

公开(公告)日：2014-07-03

申请号：US14140520

申请日：2013-12-25

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryoichi NAGAI ,  Yukiko HASHIGUCHI ,  Tetsuro IZUMI

IPC: B25J9/00

CPC classification number: B25J9/0081 ,  G05B19/425

Abstract: A robot teaching system according to an embodiment includes a robot, a sensor, a screen generator, an adjuster, and a job generator. The sensor measures measured values relating to operations of the robot. The screen generator generates a teaching operation screen that includes guidance information intended for the teacher. The adjuster adjusts parameters for generating a job based on specified values relating to the operations of the robot and input in the teaching operation screen, and the measured values of the sensor associated with the specified values, the parameters defining an operation command including corrections of the operations of the robot. The job generator generates the job in which the parameters adjusted by the adjuster are incorporated.

Abstract translation: 根据实施例的机器人教学系统包括机器人，传感器，屏幕生成器，调节器和作业发生器。 传感器测量与机器人的操作相关的测量值。 屏幕生成器生成包括用于教师的指导信息的教学操作屏幕。 调整器基于与机器人的操作和教学操作画面中的输入相关的指定值以及与指定值相关联的传感器的测量值来调整用于生成作业的参数，定义包括校正的操作命令的操作命令的参数 机器人的操作。 作业发生器生成调整器调整的参数的作业。

公开(公告)号：US20190126476A1

公开(公告)日：2019-05-02

申请号：US16160977

申请日：2018-10-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tamio NAKAMURA ,  Tetsuro IZUMI ,  Takashi NISHIMURA ,  Shohei OHNO

IPC: B25J9/16

Abstract: A robot system includes a robot, a sensor, and a processor. The sensor is configured to detect an external force acting on the robot. The processor is configured to move the robot in a forward direction such that a representative point of the robot moves along a motion track in the forward direction; move the robot in a reverse direction such that the representative point moves along the motion track in the reverse direction opposite to the forward direction when the external force satisfies a first condition which includes a condition that the external force is larger than a first threshold force; and move the robot to reduce the external force when the external force satisfies a second condition which includes a condition that the external force is larger than a second threshold force even after the robot has been moved in the reverse direction.

公开(公告)号：US20170329313A1

公开(公告)日：2017-11-16

申请号：US15667689

申请日：2017-08-03

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Tetsuro IZUMI ,  Hirokazu KARIYAZAKI ,  Makoto UMENO ,  Tatsuro IPPOSHI

IPC: G05B19/418 ,  B25J9/16 ,  C12M1/00 ,  B25J9/00

CPC classification number: G05B19/4184 ,  B25J9/009 ,  B25J9/1661 ,  B25J9/1666 ,  B25J9/1682 ,  B25J11/00 ,  C12M1/00 ,  G05B19/418 ,  G05B2219/40113 ,  G05B2219/45092

Abstract: Provided is an operation command generation device, which is configured to generate an operation command, which is a collection of jobs to fee performed by a process system of at least a robot, based on a protocol chart of at least a plurality of process symbols, the operation command generation device circuitry includes: a job generation unit configured to generate, based on the protocol chart, a job; apriority instruction unit configured to instruct a priority condition for determining a job execution order; and an execution order determination unit configured to determine an execution order of the jobs based on the priority instructed by the priority instruction unit by using a first condition about repeatedly execution of the jobs according to the number of the containers and a second condition about execution order of the jobs according to the arrangement of the process symbols in the protocol chart.

公开(公告)号：US20140358282A1

公开(公告)日：2014-12-04

申请号：US14290908

申请日：2014-05-29

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Tetsuro IZUMI ,  Ryoichi NAGAI ,  Yukio HASHIGUCHI

IPC: B25J9/16

CPC classification number: B25J9/1694 ,  B25J9/1633 ,  G05B2219/39529 ,  G05B2219/40032 ,  Y10S901/46

Abstract: A robot system includes a robot, an operation control device, an impulse calculation device, and a first detection device. The robot includes an end effector and a force sensor. The force sensor is configured to measure a force applied to the end effector. The operation control device is configured to control the robot to perform predetermined work. The impulse calculation device is configured to calculate an impulse applied to the end effector based on a measurement value measured by the force sensor while the robot is performing the predetermined work. The first detection device is configured to generate detection information when the impulse exceeds a threshold.

Abstract translation: 机器人系统包括机器人，操作控制装置，脉冲计算装置和第一检测装置。 机器人包括端部执行器和力传感器。 力传感器被配置为测量施加到末端执行器的力。 操作控制装置被配置为控制机器人执行预定的工作。 脉冲计算装置被配置为基于在机器人执行预定工作时由力传感器测量的测量值来计算施加到末端执行器的脉冲。 第一检测装置被配置为当脉冲超过阈值时产生检测信息。

公开(公告)号：US20140277720A1

公开(公告)日：2014-09-18

申请号：US14192872

申请日：2014-02-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tetsuro IZUMI ,  Tamio NAKAMURA ,  Dai KOUNO ,  Ryoichi NAGAI

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1687 ,  B25J9/1612 ,  B25J9/1692 ,  B25J13/085 ,  G05B19/4015 ,  G05B19/402 ,  G05B2219/40032 ,  G05B2219/40087

Abstract: A robot system includes a robot. A fitting member holder is mounted to a distal end of the robot to hold a fitting member. A receiver member receives the fitting member. A position determination member is disposed at a fixed position relative to the receiver member. A robot controller controls the robot. A position identifying device brings the robot, the fitting member, or the fitting member holder into contact with the position determination member with the fitting member holder holding the fitting member. A position identifying device identifies a fitting position based on a position of the contact. A fitting control device controls the robot to fit the fitting member into the receiver member at the fitting position.

Abstract translation: 机器人系统包括机器人。 装配构件保持器安装到机器人的远端以保持配合构件。 接收器构件接收装配构件。 位置确定构件相对于接收器构件设置在固定位置。 机器人控制器控制机器人。 位置识别装置使机器人，装配构件或装配构件保持器与定位构件接触，同时装配构件保持器保持配合构件。 位置识别装置基于联系人的位置识别装配位置。 装配控制装置控制机器人在装配位置将装配构件装配到接收构件中。

公开(公告)号：US20140277713A1

公开(公告)日：2014-09-18

申请号：US14191431

申请日：2014-02-27

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai KOUNO ,  Tamio NAKAMURA ,  Tetsuro IZUMI ,  Ryoichi NAGAI

IPC: G05B19/418

CPC classification number: G05B19/41815 ,  B25J9/0084 ,  B25J9/1682 ,  B25J21/00 ,  G05B2219/31075 ,  Y02P90/16 ,  Y02P90/185

Abstract: A robot system includes a first cell and a second cell. The first cell includes a first robot, a first controller, and a first casing. The first robot performs work on a to-be-worked material. The first controller controls the first robot. The first casing accommodates the first robot and the first controller. The second cell includes a second robot, a second controller, and a second casing. The second robot performs work on a to-be-worked material. The second controller controls the second robot. The second casing accommodates the second robot and the second controller. When the first casing and the second casing are connected to each other, the first controller and the second controller respectively control the first robot and the second robot to work in a common operation area, where a first movable area and a second movable area overlap.

Abstract translation: 机器人系统包括第一单元和第二单元。 第一单元包括第一机器人，第一控制器和第一壳体。 第一个机器人对待加工材料进行工作。 第一个控制器控制第一个机器人。 第一壳体容纳第一机器人和第一控制器。 第二单元包括第二机器人，第二控制器和第二壳体。 第二个机器人对待处理的材料进行工作。 第二个控制器控制第二个机器人。 第二壳体容纳第二机器人和第二控制器。 当第一壳体和第二壳体彼此连接时，第一控制器和第二控制器分别控制第一机器人和第二机器人工作在第一可移动区域和第二可移动区域重叠的公共操作区域中。

公开(公告)号：US20140188323A1

公开(公告)日：2014-07-03

申请号：US14201933

申请日：2014-03-10

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai KOUNO ,  Tetsuro IZUMI ,  Tamio NAKAMURA ,  Takashi NISHIMURA

IPC: B25J5/00

CPC classification number: B25J5/007 ,  B25J9/162 ,  B25J9/1633 ,  B25J13/083 ,  B25J13/085 ,  G05D1/0242 ,  G05D2201/0216 ,  Y10S901/01

Abstract: A mobile robot includes a truck capable of traveling by servo control, a robot arm mounted on the truck, and a control portion servo-controlling the traveling of the truck. The control portion is configured to set a servo gain of the servo control for the truck to a robot arm operation gain during the operation of the robot arm.

Abstract translation: 移动机器人包括能够通过伺服控制行进的卡车，安装在卡车上的机器人手臂，以及伺服控制卡车行驶的控制部。 所述控制部构成为，在所述机器人手臂的动作期间，将所述卡车的伺服控制的伺服增益设定为机器人手臂的运行增益。

公开(公告)号：US20130345848A1

公开(公告)日：2013-12-26

申请号：US13761156

申请日：2013-02-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tetsuro IZUMI ,  Yukio HASHIGUCHI ,  Takuya FUKUDA ,  Ryoichi NAGAI

IPC: G05B15/02

CPC classification number: G05B15/02 ,  B25J15/0033 ,  Y10S901/02

Abstract: In this robot system, a control portion includes a workpiece supporting operation command portion, a workpiece positioning operation command portion causing a second robot arm to move a workpiece toward a workpiece fitted portion while causing an end effector of the second robot arm to support the workpiece, and a fitting operation command portion causing a first robot arm to fit the workpiece into the workpiece fitted portion.

Abstract translation: 在该机器人系统中，控制部包括工件支撑操作指令部，工件定位操作指令部，使第二机器人臂向工件装配部移动工件，同时使第二机器人臂的末端执行器支撑工件 以及使第一机器人臂将工件装配到工件装配部中的装配操作指令部。