公开(公告)号：US20150151430A1

公开(公告)日：2015-06-04

申请号：US14599547

申请日：2015-01-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kenichi KOYANAGI ,  Kenji MATSUKUMA ,  Tomoki KAWANO ,  Issei AOYAMA

IPC: B25J9/00

CPC classification number: B25J9/0093 ,  B25J9/0084 ,  B25J9/1697 ,  G05B19/4182 ,  G05B2219/40007 ,  G05B2219/40554 ,  Y02P90/083 ,  Y10S901/07

Abstract: A robot system according to an aspect of embodiments includes an information acquisition unit, a plurality of robots, and an information providing unit. The information acquisition unit acquires information related to articles conveyed on a conveyance path. The plurality of robots transfers the articles from the conveyance path. The information providing unit provides information related to transfer target articles to a robot that transfers articles on the immediately downstream side of an acquisition position of the information on the conveyance path, and for a robot that transfers articles on the downstream side of the aforementioned robot, the information providing unit provides information related to articles that are not transferred by a robot on the immediately upstream side of the robot.

Abstract translation: 根据实施例的一个方面的机器人系统包括信息获取单元，多个机器人和信息提供单元。 信息获取单元获取与在输送路径上传送的物品相关的信息。 多个机器人从输送路径传送物品。 信息提供单元将与传送对象物品相关的信息提供给机器人，该机器人在传送路径上的信息的获取位置的紧下游侧的物品以及在上述机器人的下游侧传送物品的机器人， 信息提供单元提供与机器人不在机器人的紧上游侧传送的物品有关的信息。

公开(公告)号：US20150134110A1

公开(公告)日：2015-05-14

申请号：US14599548

申请日：2015-01-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kenichi KOYANAGI ,  Kenji MATSUKUMA ,  Tomoki KAWANO ,  Issei AOYAMA

IPC: G05B19/418 ,  B65G47/46

CPC classification number: G05B19/4182 ,  B25J9/0084 ,  B25J9/0093 ,  B25J9/1697 ,  B65G47/46 ,  B65G47/90 ,  G05B19/4183 ,  G05B2219/40007 ,  G05B2219/40554 ,  Y02P90/083

Abstract: A robot system according to an aspect of an embodiment includes a plurality of robots, an information acquisition unit, and a distribution unit. The robots transfer the articles from the carry-in path into which the articles are successively carried, to the predetermined region of the carry-out path through which the articles are successively carried out. The information acquisition unit acquires information about the predetermined region. The distribution unit distributes the articles in the carry-in path as transfer targets to the robots based on the information acquired by the information acquisition unit.

Abstract translation: 根据实施例的一个方面的机器人系统包括多个机器人，信息获取单元和分配单元。 机器人将物品从物品被连续携带的进入路径传送到连续执行物品的进出路径的预定区域。 信息获取单元获取关于预定区域的信息。 分配单元基于由信息获取单元获取的信息将作为转移目标的进位路径中的物品分配给机器人。

公开(公告)号：US20150127148A1

公开(公告)日：2015-05-07

申请号：US14598233

申请日：2015-01-16

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kenichi KOYANAGI ,  Kenji MATSUKUMA ,  Tomoki KAWANO ,  Issei AOYAMA

IPC: G05B19/418 ,  B65G47/46

CPC classification number: G05B19/4182 ,  B25J9/0084 ,  B25J9/0093 ,  B25J9/1697 ,  B65G47/46 ,  B65G47/90 ,  G05B19/4183 ,  G05B2219/40007 ,  G05B2219/40554 ,  Y02P90/083

Abstract: A robot system according to an aspect of embodiments includes an information acquisition unit, a plurality of robots, and a distribution unit. The information acquisition unit acquires information indicating a two-dimensional position on a surface of a conveyance path of an article conveyed on the conveyance path. The plurality of robots transfers the article from the conveyance path. The distribution unit distributes the articles on the surface of the conveyance path to the plurality of robots as transfer targets on the basis of the information acquired by the information acquisition unit.

Abstract translation: 根据实施例的一个方面的机器人系统包括信息获取单元，多个机器人和分配单元。 信息获取单元获取指示在输送路径上传送的物品的输送路径的表面上的二维位置的信息。 多个机器人从输送路径传送物品。 分配单元基于由信息获取单元获取的信息将物品在输送路径的表面上分配到多个机器人作为转移对象。

公开(公告)号：US20210053219A1

公开(公告)日：2021-02-25

申请号：US16997945

申请日：2020-08-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi NISHIMURA ,  Issei AOYAMA ,  Tetsuro IZUMI ,  Shangning LI ,  Akihiro YAMAMOTO

IPC: B25J9/16 ,  B25J13/08 ,  G05B19/4155

Abstract: A robot system includes: a first robot; a second robot; and circuitry configured to: control the first and second robots to execute a collaborative operation on a work piece; and control, in response to a detection of an irregular state of the first robot during the collaborative operation, the first and second robots to execute a collaborative counteractive operation to eliminate the irregular state.

公开(公告)号：US20140365010A1

公开(公告)日：2014-12-11

申请号：US14295261

申请日：2014-06-03

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuya YASUDA ,  Issei AOYAMA ,  Toshimitsu IRIE

IPC: B25J9/16 ,  G06K9/00 ,  H04N7/18

CPC classification number: B25J9/1697 ,  G05B2219/40053 ,  G06K9/00201 ,  G06K9/00664 ,  H04N7/183

Abstract: A workpiece detector includes a camera to acquire a two-dimensional image of a search range within which workpieces are disposed. A three-dimensional sensor detects a three-dimensional shape of a three-dimensional detection area. A workpiece extraction section processes the two-dimensional image to extract candidate workpieces. An area setting section sets a three-dimensional detection areas respectively corresponding to the candidate workpieces. A prioritizing section sets an order of priority to the three-dimensional detection areas to give higher priority to one three-dimensional detection area containing more of the candidate workpieces. A sensor control section controls the three-dimensional sensor to detect the three-dimensional shape of each three-dimensional detection area in the order of priority. Every time the three-dimensional shape is detected, a workpiece detection section searches the workpieces based on the detected three-dimensional shape to detect a pickable workpiece.

Abstract translation: 工件检测器包括用于获取其中设置工件的搜索范围的二维图像的照相机。 三维传感器检测三维检测区域的三维形状。 工件提取部分处理二维图像以提取候选工件。 区域设定部设定分别对应于候选工件的三维检测区域。 优先级部分为三维检测区域设定优先次序，以便对包含更多候选工件的一个三维检测区域给予更高的优先级。 传感器控制部分控制三维传感器以优先级的顺序检测每个三维检测区域的三维形状。 每次检测到三维形状时，工件检测部根据检测出的三维形状来检索工件，检测可检测工件。