公开(公告)号：US20140277733A1

公开(公告)日：2014-09-18

申请号：US14191427

申请日：2014-02-27

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

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

IPC: B25J9/16 ,  H05B33/08

CPC classification number: B25J9/1697 ,  G05B2219/37009 ,  G05B2219/37151 ,  H05B33/0854 ,  Y10S901/47

Abstract: A robot system includes robot, an image capture device, a plurality of illumination devices, and a control device. The robot is configured to perform a predetermined work on a to-be-processed material. The image capture device is configured to capture an image of the to-be-processed material and has a dynamic range. The plurality of illumination devices are configured to illuminate the to-be-processed material. The control device is configured to control at least one illumination device among the plurality of illumination devices to keep an amount of light received by the image capture device within the dynamic range of the image capture device.

Abstract translation: 机器人系统包括机器人，图像捕获装置，多个照明装置和控制装置。 机器人被配置为对要处理的材料执行预定的工作。 图像捕获装置被配置为捕获待处理材料的图像并且具有动态范围。 多个照明装置被配置为照亮被处理材料。 控制装置被配置为控制多个照明装置中的至少一个照明装置，以将由图像捕获装置接收的光量保持在图像拍摄装置的动态范围内。

公开(公告)号：US20150120127A1

公开(公告)日：2015-04-30

申请号：US14527700

申请日：2014-10-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Taku SHIKINA ,  Tamio NAKAMURA ,  Dai KOUNO ,  Takashi NISHIMURA

IPC: G05D1/02 ,  G01S17/93 ,  B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1676 ,  G01S17/936 ,  G05B2219/40298 ,  G05D1/0225 ,  G05D1/0236 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/47

Abstract: A mobile unit according to an embodiment includes a main body, a moving mechanism, a sensor, a recognizer, a first movement adjuster, a second landmark recognizer, and a second movement adjuster. The moving mechanism moves the main body. The sensor detects a distance and a direction to an object around the main body. The recognizer recognizes a landmark based on a detection result of the sensor. The first movement adjuster controls the moving mechanism such that the main body is moved to a target position based on the landmark. If the distance to the landmark has become smaller than a first threshold, the second landmark recognizer recognizes a second landmark. The second movement adjuster controls the moving mechanism such that the main body is moved to the target position based on the second landmark.

Abstract translation: 根据实施例的移动单元包括主体，移动机构，传感器，识别器，第一移动调节器，第二地标识别器和第二移动调节器。 移动机构移动主体。 传感器检测与主体周围的物体的距离和方向。 识别器基于传感器的检测结果识别地标。 第一移动调节器控制移动机构，使得主体基于地标移动到目标位置。 如果到地标的距离变得小于第一阈值，则第二地标识别器识别第二地标。 第二移动调节器控制移动机构，使得主体基于第二标记移动到目标位置。

公开(公告)号：US20140277729A1

公开(公告)日：2014-09-18

申请号：US14191426

申请日：2014-02-27

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

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

IPC: B25J9/16

CPC classification number: B25J9/1674 ,  G01L5/0076 ,  G05B2219/40307 ,  Y10S901/09

Abstract: A robot system includes a robot and a control apparatus. The robot includes a sensor to constantly detect the robot. The control apparatus includes a control device and a first storage device. The control device controls the robot. The first storage device stores a plurality of operation modes of the robot and standard data associated with at least one operation mode among the operation modes. When the robot has performed an operation corresponding to the operation mode associated with the standard data, the control device compares the standard data with a result of detection by the sensor, and controls a display device to display a result of comparison.

Abstract translation: 机器人系统包括机器人和控制装置。 机器人包括一个不断检测机器人的传感器。 控制装置包括控制装置和第一存储装置。 控制装置控制机器人。 第一存储装置在操作模式之间存储机器人的多个操作模式和与至少一个操作模式相关联的标准数据。 当机器人执行与标准数据相关联的操作模式相对应的操作时，控制装置将标准数据与传感器的检测结果进行比较，并控制显示装置显示比较结果。

公开(公告)号：US20140277724A1

公开(公告)日：2014-09-18

申请号：US14207655

申请日：2014-03-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi SUYAMA ,  Tamio NAKAMURA ,  Dai KOUNO ,  Takashi NISHIMURA ,  Tomohiro MATSUO ,  Shinichi ISHIKAWA ,  Tomoki KAWANO

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J9/1674 ,  G05B19/4061 ,  G05B2219/40202 ,  G05B2219/40203

Abstract: A robot system of the present disclosure includes: a robot including an operable working arm driven by an actuator; an operation load detection unit configured to detect an operation load of the actuator; a region setting unit that sets a region with a predetermined range around the robot; a moving body detection unit configured to detect a position of a moving body other than the robot; and an abnormality determination unit that determines abnormality when detecting of the position of the moving body within the region, wherein the region setting unit changes the range of the region in accordance with the operation load of the actuator.

Abstract translation: 本公开的机器人系统包括：机器人，包括由致动器驱动的可操作的工作臂; 操作负载检测单元，被配置为检测所述致动器的操作负载; 区域设定单元，其围绕机器人设定预定范围的区域; 移动体检测单元，被配置为检测除了所述机器人之外的移动体的位置; 以及异常判定单元，其在所述区域内检测到所述移动体的位置时，判定异常，其中，所述区域设定单元根据所述致动器的操作负荷改变所述区域的范围。

公开(公告)号：US20140316564A1

公开(公告)日：2014-10-23

申请号：US14135811

申请日：2013-12-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tamio NAKAMURA ,  Dai KOUNO ,  Takashi NISHIMURA

IPC: G05B19/19

CPC classification number: G05B19/19 ,  B25J5/007 ,  B25J9/0087 ,  G05B2219/39013 ,  Y10S901/01

Abstract: A mobile robot has a seating part, a moving apparatus to move the seating part, and a robot part with a base part to be attached to the seating part, a body capable of rotating around a vertical axis normal to an attaching surface which the seating part to be attached to the base part, and an arm connected to the body having a plurality of joints. The seating part has a first surface facing a work that is subject to the operation by the robot part and a second surface that is different from the first surface, and the arms are formed such that the positional relationship between the arms and the first surface is substantially identical to the positional relationship between the arms and the second surface according to the rotation of the body around the vertical axis.

Abstract translation: 移动式机器人具有座部，移动装置以移动座部，以及具有要附接到座部的基部的机器人部，能够垂直于垂直于轴线的安装面旋转的主体， 要连接到基部的部分，以及连接到具有多个关节的主体的臂。 座部具有面向受机器人部的操作的工件的第一表面和与第一表面不同的第二表面，并且臂形成为使得臂和第一表面之间的位置关系为 基本上与主体围绕垂直轴的旋转相同于臂和第二表面之间的位置关系。

公开(公告)号：US20140277725A1

公开(公告)日：2014-09-18

申请号：US14207656

申请日：2014-03-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai KOUNO ,  Tamio NAKAMURA ,  Takashi SUYAMA ,  Takashi NISHIMURA ,  Tomohiro MATSUO ,  Shinichi ISHIKAWA ,  Tomoki KAWANO

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J9/1674 ,  G05B19/4061 ,  G05B2219/40202 ,  G05B2219/40203

Abstract: A robot system of the present disclosure includes a robot and a controller configured to control motion of the robot, and the controller includes: a motion mode storage unit storing a plurality of motion modes for controlling the robot to switch a motion state of the robot from a normal motion state to a special motion state when a predetermined first condition is satisfied; and a motion mode switching unit configured to switch the motion mode of the robot to another motion mode when, while a particular motion mode stored in the motion mode storage unit is in execution, a predetermined second condition for the particular motion mode is satisfied with a first condition for the particular motion mode satisfied.

Abstract translation: 本公开的机器人系统包括机器人和控制器，其被配置为控制机器人的运动，并且控制器包括：运动模式存储单元，其存储多个运动模式，用于控制机器人将机器人的运动状态从 当满足预定的第一条件时，向特殊运动状态的正常运动状态; 以及运动模式切换单元，其被配置为当所述运动模式存储单元中存储的特定运动模式正在执行时，将所述机器人的运动模式切换到另一运动模式，对于所述特定运动模式的预定第二条件满足以下条件： 特定运动模式的第一条件满足。

公开(公告)号：US20130204481A1

公开(公告)日：2013-08-08

申请号：US13832354

申请日：2013-03-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai KOUNO ,  Tamio NAKAMURA

IPC: G05D1/02

CPC classification number: G05D1/0244 ,  G05B2219/39387 ,  G05B2219/40005 ,  G05B2219/40298 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0248 ,  G05D1/0274 ,  Y10S901/01 ,  Y10S901/47

Abstract: A robot system includes a planar sign, a robot, a distance direction sensor, and a controller. The controller is configured to control the robot and includes a map data memory and a progress direction determining device. The map data memory is configured to store map data of a predetermined running path including a position of the planar sign. The progress direction determining device is configured to compare a detection result of the distance direction sensor and the stored map data so as to determine a progress direction of the robot.

Abstract translation: 机器人系统包括平面符号，机器人，距离方向传感器和控制器。 控制器被配置为控制机器人，并且包括地图数据存储器和进度方向确定装置。 地图数据存储器被配置为存储包括平面符号的位置的预定行进路径的地图数据。 进度方向确定装置被配置为比较距离方向传感器的检测结果和存储的地图数据，以便确定机器人的进行方向。

公开(公告)号：US20140277723A1

公开(公告)日：2014-09-18

申请号：US14207654

申请日：2014-03-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi NISHIMURA ,  Tamio NAKAMURA ,  Dai KOUNO ,  Takashi SUYAMA ,  Tomohiro MATSUO ,  Shinichi ISHIKAWA ,  Tomoki KAWANO

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  G05B19/4061 ,  G05B2219/40202 ,  G05B2219/40203

Abstract: A robot system of the present disclosure includes: a robot including an operable working arm; a motion speed detection unit configured to detect a motion speed of the working arm; a region setting unit that sets a region with a predetermined range around the robot; a moving body detection unit configured to detect a position of the moving body other than the robot; and an abnormality determination unit configured to determine abnormality when detecting of the position of the moving body within the region, wherein the region setting unit changes the range of the region according to the motion speed of the working arm.

Abstract translation: 本公开的机器人系统包括：机器人，其包括可操作的工作臂; 运动速度检测单元，被配置为检测工作臂的运动速度; 区域设定单元，其围绕机器人设定预定范围的区域; 移动体检测单元，被配置为检测除了所述机器人之外的所述移动体的位置; 以及异常判定单元，被配置为当检测到所述区域内的所述移动体的位置时确定异常，其中所述区域设置单元根据所述工作臂的运动速度改变所述区域的范围。

公开(公告)号：US20140277722A1

公开(公告)日：2014-09-18

申请号：US14192878

申请日：2014-02-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

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

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  G05B2219/50033

Abstract: A robot system includes a robot, a tool, a control device, a work table, a calibration jig, a detector, and a calibrator. The tool is mounted to a distal end of the robot and includes a first plane and a second plane orthogonal to each other. The control device controls the robot. On the work table, the robot works. The calibration jig is fixed to the work table. The detector detects a reference position determined by pressing the first plane and the second plane of the tool against at least one of the jig and the work table. Based on the reference position, the calibrator calibrates coordinates of the robot to be used by the control device.

Abstract translation: 机器人系统包括机器人，工具，控制装置，工作台，校准夹具，检测器和校准器。 该工具安装到机器人的远端，并且包括彼此正交的第一平面和第二平面。 控制装置控制机器人。 在工作台上，机器人工作。 校准夹具固定在工作台上。 检测器检测通过将工具的第一平面和第二平面相对于夹具和工作台中的至少一个按压而确定的参考位置。 基于参考位置，校准器校准要由控制装置使用的机器人的坐标。

公开(公告)号：US20140277715A1

公开(公告)日：2014-09-18

申请号：US14201931

申请日：2014-03-10

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

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

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/0084 ,  B25J9/1682 ,  B25J9/1692 ,  B25J21/00 ,  Y10S901/08

Abstract: A robot system includes a plurality of robots, a control device, a common work table, and a calibration device. The control device is configured to control the plurality of robots. On the common work table, the plurality of robots are configured to work. Based on a position of a first robot having a calibrated coordinate relative to a position of a second robot among the plurality of robots, the calibration device is configured to calibrate a coordinate of the second robot.

Abstract translation: 机器人系统包括多个机器人，控制装置，公共工作台和校准装置。 控制装置被配置为控制多个机器人。 在公共工作台上，多个机器人被配置为工作。 基于具有相对于多个机器人中的第二机器人的位置的校准坐标的第一机器人的位置，校准装置被配置为校准第二机器人的坐标。