公开(公告)号：US10710250B2

公开(公告)日：2020-07-14

申请号：US15955705

申请日：2018-04-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Atsushi Ichibangase ,  Tsuyoshi Ito

IPC: B25J18/04 ,  B25J9/06 ,  B25J19/00 ,  B23K9/133 ,  B25J9/00 ,  B25J17/02

Abstract: A robot includes a first arm rotatable around a first axis and a second arm having an extending direction. The first arm includes a first base and a first extending portion. The first base includes a first through hole passing through the first arm along the first axis. The first extending portion extends from the first base along the first axis. The second arm includes a second base and a second extending portion. The second base includes a connection portion connected to the first extending portion such that the second arm is rotatable around a second axis that is substantially orthogonal to the first axis. The second base includes a second through hole passing through the second arm along the extending direction. The second extending portion is provided opposite to the connection portion in the extending direction and extends from the second base along the extending direction.

公开(公告)号：US09266240B2

公开(公告)日：2016-02-23

申请号：US14549453

申请日：2014-11-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tomoyuki Shiraki ,  Atsushi Ichibangase ,  Yuji Sajikawa ,  Tomohiro Matsuo ,  Shinichi Ishikawa ,  Tomoki Kawano

IPC: G05B19/04 ,  B25J9/16 ,  B25J9/04 ,  B25J13/08 ,  G05B9/02

CPC classification number: B25J9/1676 ,  B25J9/047 ,  B25J9/1674 ,  B25J13/088 ,  G05B9/02 ,  G05B2219/37522 ,  G05B2219/37546 ,  G05B2219/39413 ,  G05B2219/42329 ,  Y10S901/02 ,  Y10S901/29 ,  Y10S901/30 ,  Y10S901/49

Abstract: Provided is a robot further improved in safety. The robot includes at least one link which is rotatably coupled around an axis, a motor which rotates the link around the axis, a first sensor which detects a rotation state of the motor, and a second sensor which detects a rotation state of the link. The robot also includes a controller which controls the rotation of the link based on information from the first sensor. The controller determines an operation state of at least one of the first sensor and the second sensor, based on first information from the first sensor and second information from the second sensor.

Abstract translation: 提供了一种进一步提高安全性的机器人。 机器人包括绕轴线可旋转地联接的至少一个连杆，围绕轴线旋转连杆的马达，检测马达的旋转状态的第一传感器和检测连杆的旋转状态的第二传感器。 机器人还包括基于来自第一传感器的信息来控制链接的旋转的控制器。 控制器基于来自第一传感器的第一信息和来自第二传感器的第二信息确定第一传感器和第二传感器中的至少一个的操作状态。