公开(公告)号：US20140224057A1

公开(公告)日：2014-08-14

申请号：US14174851

申请日：2014-02-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kentaro TANAKA ,  Atsushi ICHIBANGASE ,  Hiroshi SAITO

IPC: B25J17/00

CPC classification number: B25J17/00 ,  B25J9/102 ,  B25J17/0283 ,  B25J19/0004 ,  Y10T74/20329

Abstract: A joint mechanism includes a first unit and a second unit. The first unit has a motor unit and a speed reducer which are coaxially arranged on a hollow first shaft. The second unit has a brake unit and an encoder unit which are coaxially arranged on a second shaft separated from the first shaft. Further, the joint mechanism includes a power delivery unit configured to interconnect the first unit and the second unit.

Abstract translation: 关节机构包括第一单元和第二单元。 第一单元具有同轴地布置在中空的第一轴上的马达单元和减速器。 第二单元具有同轴布置在与第一轴分离的第二轴上的制动单元和编码器单元。 另外，关节机构包括被配置为使第一单元和第二单元相互连接的动力输送单元。

公开(公告)号：US20150005940A1

公开(公告)日：2015-01-01

申请号：US14490647

申请日：2014-09-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Atsushi ICHIBANGASE ,  Yuji SAJIKAWA ,  Tomoyuki SHIRAKI ,  Tomohiro MATSUO ,  Shinichi ISHIKAWA ,  Tomoki KAWANO

IPC: B25J13/08 ,  F16P3/12 ,  B25J18/00

CPC classification number: B25J13/08 ,  B25J9/102 ,  B25J18/00 ,  B25J19/06 ,  F16P3/12 ,  F16P3/142 ,  Y10S901/02

Abstract: Provided are a working robot and a robot system serving as a type coexisting with humans and improving reliability in safety. The working robot includes an arm, a driving mechanism, and a controller. The arm includes a plurality of link members that are coupled rotatably around shafts. The driving mechanism includes a driving source, and a plurality of power transmission paths capable of transmitting motive power from the driving source to the link members with mutually different numbers of revolutions or torques. The controller switches the power transmission paths, based on a sensing result for a moving object including a human body in a certain area.

Abstract translation: 提供作为与人共存的类型的作业机器人和机器人系统，并提高安全性的可靠性。 工作机器人包括臂，驱动机构和控制器。 臂包括可围绕轴可旋转地联接的多个连杆构件。 驱动机构包括驱动源和能够以相互不同的转数或扭矩将来自驱动源的动力传递到连杆构件的多个动力传递路径。 控制器基于在某个区域中包括人体的移动物体的感测结果来切换电力传输路径。

公开(公告)号：US20140224058A1

公开(公告)日：2014-08-14

申请号：US14178177

申请日：2014-02-11

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kentaro TANAKA ,  Atsushi ICHIBANGASE ,  Shingo TSUTSUMI

IPC: B25J17/00

CPC classification number: B25J17/00 ,  B25J9/102 ,  Y10S901/28 ,  Y10T74/20329

Abstract: A joint mechanism includes a motor including a motor shaft and a hypoid pinion provided at a tip end of the motor shaft and a speed reducer configured to reduce a rotation speed of the motor at a speed reduction ratio. The speed reducer includes a screw-shaped input shaft and a ring-shaped gear meshing with the screw-shaped input shaft and three-dimensionally intersecting the screw-shaped input shaft at a right angle. Further, the screw-shaped input shaft includes a shaft body provided with a screw portion and a hypoid gear arranged at one end of the screw-shaped input shaft and configured to mesh with the hypoid pinion. Furthermore, the screw-shaped input shaft has an axis three-dimensionally intersecting the motor shaft at a right angle.

Abstract translation: 关节机构包括：电动机，其包括电动机轴和设置在电动机轴的前端的准双曲面小齿轮;以及减速器，其构造为以减速比降低电动机的转速。 减速机包括螺旋形输入轴和与螺旋形输入轴啮合的环形齿轮，并且与螺旋形输入轴成直角地相交。 此外，螺旋形输入轴包括设置有螺纹部分的轴体和布置在螺旋形输入轴的一端处的配置为与准双曲面齿轮啮合的准双曲面齿轮。 此外，螺旋形输入轴具有与电机轴成三维相交的轴线。

公开(公告)号：US20160101526A1

公开(公告)日：2016-04-14

申请号：US14972089

申请日：2015-12-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hiroshi SAITO ,  Atsushi ICHIBANGASE ,  Kentaro TANAKA

IPC: B25J13/08 ,  B25J17/02 ,  B25J18/00

CPC classification number: B25J13/088 ,  B25J17/02 ,  B25J18/00

Abstract: A robot according to an aspect of an embodiment includes a driving body, a driven body that is rotatably coupled to the driving body, a driving device that drives the driven body and is provided on the driven body, and an encoder that is attached to a final output shaft of the driving device.

Abstract translation: 根据实施例的一个方面的机器人包括驱动体，可旋转地联接到驱动体的从动体，驱动被驱动体并设置在被驱动体上的驱动装置和附接到驱动体的编码器 驱动装置的最终输出轴。

公开(公告)号：US20160031095A1

公开(公告)日：2016-02-04

申请号：US14811798

申请日：2015-07-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingo TSUTSUMI ,  Kentaro TANAKA ,  Atsushi ICHIBANGASE

IPC: B25J19/00

CPC classification number: B25J19/0012 ,  B25J9/047 ,  B25J19/0008 ,  B25J19/0016 ,  Y10S901/48

Abstract: A robot includes: a base portion to be installed on an installation surface; an arm portion having a base end coupled to the base portion, the base end being rotatable around a rotation shaft disposed approximately parallel to the installation surface; and a balancer having one side rotatably coupled to the base portion and another side rotatably coupled to the arm portion. The arm portion includes a pair of arm constituting plates each coupled to the rotation shaft and facing each other, and at least a part of the balancer is arranged between the pair of arm constituting plates.

Abstract translation: 机器人包括：安装在安装面上的基部; 臂部具有联接到基部的基端，所述基端可围绕大体平行于安装表面设置的旋转轴旋转; 以及平衡器，其具有可旋转地联接到所述基部的一侧和可旋转地联接到所述臂部的另一侧。 臂部包括一对臂构成板，每个臂构成板各自联接到旋转轴并且彼此面对，并且平衡器的至少一部分布置在一对臂构成板之间。

公开(公告)号：US20160023360A1

公开(公告)日：2016-01-28

申请号：US14754704

申请日：2015-06-30

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hiroshi SAITO ,  Tamon IZAWA ,  Atsushi ICHIBANGASE

IPC: B25J19/00 ,  B25J11/00

CPC classification number: B25J19/0029 ,  B23K9/133 ,  Y10S901/14 ,  Y10S901/15

Abstract: A robot includes a turnable base, a lower arm, an upper arm, a space, and a routing member. The turnable base is coupled to a base fixed to an installation surface. The turnable base is turnable about a first axis. The lower arm has a first base end coupled to the turnable base and rotatable about a second axis approximately orthogonal to the first axis. The upper arm has a second base end coupled to the lower arm and rotatable about a third axis approximately parallel to the second axis. The space is disposed in the lower arm and extends in a length direction of the lower arm. The routing member is routed in the space and has at least two bent portions bent in the space.

Abstract translation: 机器人包括可转动底座，下臂，上臂，空间和路线构件。 可转动底座联接到固定到安装表面的基座。 可转动底座围绕第一轴线转动。 下臂具有联接到可转动底座的第一基端并围绕大致正交于第一轴线的第二轴线旋转。 上臂具有联接到下臂的第二基端并且可围绕大致平行于第二轴线的第三轴线旋转。 该空间设置在下臂中，并且在下臂的长度方向上延伸。 布线构件在该空间中布置并且具有在该空间中弯曲的至少两个弯曲部分。

公开(公告)号：US20150012133A1

公开(公告)日：2015-01-08

申请号：US14490642

申请日：2014-09-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuji SAJIKAWA ,  Tomoyuki SHIRAKI ,  Atsushi ICHIBANGASE ,  Tomohiro MATSUO ,  Shinichi ISHIKAWA ,  Tomoki KAWANO

IPC: B25J9/16 ,  H02P25/18 ,  H02P25/22 ,  B25J19/02

CPC classification number: B25J9/1676 ,  B25J9/1656 ,  B25J19/02 ,  B25J19/06 ,  F16P3/142 ,  H02P25/188 ,  H02P25/22

Abstract: The working robot includes a plurality of link members coupled rotatably around shafts, a motor driving the link members, and a controller switching a state of use of winding wires of the motor based on a result of sensing a moving object including a human in a predetermined area. The controller switches the state of use of the winding wires of the motor, to drive the link members in a first mode in which the number of revolutions or the torque of the motor is relatively large, when the moving object is not present; and switches the state of use of the winding wires of the motor, to drive the link members in a second mode in which the number of revolutions or the torque of the motor is relatively small, when the moving object is present.

Abstract translation: 工作机器人包括可围绕轴可旋转地联接的多个连杆构件，驱动连杆构件的马达，以及基于将包括人的运动物体以预定的方式感测的结果来切换马达的绕组线的状态的控制器 区。 所述控制器切换所述电动机的绕组线的使用状态，以在不存在所述移动物体的情况下以所述电动机的转数或所述转矩相对较大的第一模式驱动所述连杆部件; 并且切换电动机的绕组线的使用状态，以便当移动物体存在时以第二模式驱动连杆构件，其中电动机的转数或转矩相对较小。

公开(公告)号：US20160101518A1

公开(公告)日：2016-04-14

申请号：US14970540

申请日：2015-12-16

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hiroshi SAITO ,  Atsushi ICHIBANGASE ,  Kentaro TANAKA

IPC: B25J9/10 ,  B25J18/00 ,  B25J17/00 ,  B25J9/12

CPC classification number: B25J9/102 ,  B25J9/0009 ,  B25J9/104 ,  B25J9/126 ,  B25J17/00 ,  B25J18/00 ,  Y10S901/21 ,  Y10S901/23 ,  Y10S901/25

Abstract: A robot according to an aspect of the embodiment includes a driving body including a driving device that drives a driven body. The driving device includes a plurality of hollow shafts and a plurality of driving units. The plurality of hollow shafts are disposed concentrically. The plurality of driving units are disposed along a circumferential direction of the hollow shafts. The output shafts of the driving units are connected to the hollow shafts via gears.

Abstract translation: 根据实施例的一个方面的机器人包括：驱动体，其包括驱动被驱动体的驱动装置。 驱动装置包括多个空心轴和多个驱动单元。 多个中空轴同心地设置。 多个驱动单元沿着空心轴的圆周方向设置。 驱动单元的输出轴通过齿轮与中空轴连接。

公开(公告)号：US20160036301A1

公开(公告)日：2016-02-04

申请号：US14814635

申请日：2015-07-31

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryuichiro TOMINAGA ,  Fumihiko KITANI ,  Atsushi ICHIBANGASE

IPC: H02K11/00 ,  H02K7/102 ,  H02K7/116 ,  H02K5/04

CPC classification number: H02K7/1025 ,  H02K7/116 ,  H02K11/22

Abstract: An electric rotating machine includes an electric rotating machine body that cause a rotating body to rotate around an output axis, a rotation detecting device that detects rotation of the rotating body, and a braking device that stops rotation of the rotating body. The rotation detecting device includes a rotating portion that rotates in association with the rotating body. The rotating portion is arranged coaxially with the output axis. The braking device is arranged at a position shifted from the output axis of the rotating body.

Abstract translation: 旋转电机包括使旋转体围绕输出轴线旋转的旋转旋转机体，检测旋转体的旋转的旋转检测装置和停止旋转体的旋转的制动装置。 旋转检测装置包括与旋转体相关联地旋转的旋转部。 旋转部与输出轴同轴配置。 制动装置布置在从旋转体的输出轴线偏移的位置。

公开(公告)号：US20160031094A1

公开(公告)日：2016-02-04

申请号：US14811795

申请日：2015-07-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingo TSUTSUMI ,  Kentaro TANAKA ,  Atsushi ICHIBANGASE

IPC: B25J19/00

CPC classification number: B25J19/0012 ,  B25J19/0008 ,  B25J19/0016 ,  Y10S901/21 ,  Y10S901/48

Abstract: A robot includes: a base portion to be installed on an installation surface; an arm portion having a base end coupled to the base portion, the base end being rotatable around a rotation shaft disposed approximately parallel to the installation surface; a balancer having one side rotatably coupled to the base portion and another side rotatably coupled to the arm portion; and a one-side coupling part positioned on a tip side of the arm portion with respect to the rotation shaft in the base portion, the one-side coupling part coupling the one side of the balancer.

Abstract translation: 机器人包括：安装在安装面上的基部; 臂部具有联接到基部的基端，所述基端可围绕大体平行于安装表面设置的旋转轴旋转; 平衡器，其一侧可旋转地联接到基部，另一侧可旋转地联接到臂部; 以及在所述基部中相对于所述旋转轴定位在所述臂部的前端侧的单侧联接部，所述单侧联接部联接所述平衡器的一侧。