公开(公告)号：US10525589B2

公开(公告)日：2020-01-07

申请号：US15643482

申请日：2017-07-07

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Fuminori Kutsukake ,  Keisuke Yonehara ,  Toshimitsu Irie

IPC分类号： G05B19/418 ,  B25J9/16 ,  B25J9/00 ,  B62D65/00

摘要： A robot system includes at least one robot, a first sensor, at least one second sensor, and circuitry. The at least one robot is to work on a workpiece. The first sensor is to detect a three-dimensional shape of the workpiece. The at least one second sensor is to detect a three-dimensional position of the workpiece. The circuitry is configured to control the at least one robot based on teaching data. The circuitry is configured to correct the teaching data according to the three-dimensional shape detected by the first sensor. The circuitry is configured to correct the teaching data according to the three-dimensional position detected by the at least one second sensor.

公开(公告)号：US09205563B2

公开(公告)日：2015-12-08

申请号：US13644323

申请日：2012-10-04

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Fuminori Kutsukake ,  Toshimitsu Irie ,  Yuya Yasuda

IPC分类号： B65G65/00 ,  B25J9/16 ,  G05B19/418

CPC分类号： B25J9/1697 ,  G05B19/41815 ,  G05B2219/37555 ,  G05B2219/39508 ,  G05B2219/40053 ,  G05B2219/40564 ,  G05B2219/40607 ,  G05B2219/40609 ,  G05B2219/45063 ,  Y02P90/08

摘要： A workpiece takeout system includes a robot arm and a disposed-state detector. The robot arm is configured to perform a workpiece takeout operation to take out a workpiece disposed in an area among a plurality of areas. The disposed-state detector is configured to detect a disposed state of the workpiece and is configured to, while the robot arm is performing the workpiece takeout operation to take out the workpiece disposed in the area among the plurality of areas, detect a disposed state of another workpiece disposed in another area among the plurality of areas.

摘要翻译： 工件取出系统包括机器人臂和布置状态检测器。 机器人臂构造成执行工件取出操作以取出设置在多个区域中的区域中的工件。 配置状态检测器被配置为检测工件的布置状态，并且被构造成在机器人臂执行工件取出操作以取出设置在多个区域中的区域中的工件时，检测处理状态 设置在多个区域中的另一区域中的另一工件。

公开(公告)号：US08936291B2

公开(公告)日：2015-01-20

申请号：US13760070

申请日：2013-02-06

申请人： Kabushiki Kaisha Yaskawa Denki

发明人： Yuya Yasuda ,  Shinji Murai ,  Toshimitsu Irie ,  Fuminori Kutsukake

IPC分类号： B66C1/42 ,  B25J15/08 ,  B25J9/00 ,  B25J15/00

CPC分类号： B25J15/08 ,  B25J9/00 ,  B25J15/0047 ,  Y10S901/39

摘要： This robot hand includes a first finger portion and a second finger portion being relatively movable in a direction in which an object to be grasped is grasped and bar-shaped claw members fixed to the first finger portion and the second finger portion. A plurality of claw members are fixed in parallel to at least either the first finger portion or the second finger portion.

摘要翻译： 该机器人手包括第一手指部分和第二手指部分，其在被抓握物体被抓握的方向上相对移动，杆形爪部件固定到第一手指部分和第二手指部分。 多个爪构件与第一手指部分或第二手指部分中的至少一个平行地固定。