公开(公告)号：US20210146393A1

公开(公告)日：2021-05-20

申请号：US17143162

申请日：2021-01-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Katsuhiko YOSHINO ,  Satoshi SUEYOSHI ,  Takahiro UMEZAKI ,  Tsuyoshi ITO

IPC: B05B13/04 ,  B25J9/04 ,  B25J5/02 ,  B05B16/40 ,  B25J9/00 ,  B25J11/00 ,  B25J15/00

Abstract: A coating system includes coating robots configured to coat a vehicle, and an operation robot. The operation robot includes a first arm configured to turn around a first axis; a second arm configured to turn around a second axis parallel to the first axis; a third arm configured to turn around a third axis parallel to the first axis; a fourth arm configured to turn around a fourth axis perpendicular to the first axis; a fifth arm configured to turn around a fifth axis parallel to the fourth axis; and a tip jig is supported at the fifth arm and is configured to turn around a sixth axis. The sixth axis is selectively parallel to the fifth axis or perpendicular to a plane which includes the fourth axis and the fifth axis.

公开(公告)号：US20230271214A1

公开(公告)日：2023-08-31

申请号：US18112791

申请日：2023-02-22

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Katsuhiko YOSHINO ,  Naoyuki OHTSUBO ,  Yasuhiro KATAOKA

IPC: B05B13/04 ,  B25J11/00

CPC classification number: B05B13/0452 ,  B25J11/0075 ,  B05B13/0431

Abstract: A painting system includes: a conveying apparatus that conveys a vehicle body having a door in a painting area; an operation robot that includes a base fixed in the painting area, a holding tool capable of holding the door, and a horizontal articulated arm that moves the holding tool, and opens the door of the vehicle body that is being conveyed by the conveying apparatus; and a painting robot that paints an inside of the vehicle body in a state where the door is opened by the operation robot. In the vertical direction, at least a portion of the horizontal articulated arm is disposed at a position lower than a height of a lower end of the door where the height of the lower end of the door is maintained by the conveying apparatus.

公开(公告)号：US20230294285A1

公开(公告)日：2023-09-21

申请号：US18112772

申请日：2023-02-22

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Naoyuki OHTSUBO ,  Katsuhiko YOSHINO ,  Yasuhiro KATAOKA ,  Yoshihide YAMATO ,  Yuji ISHIMARU ,  Tsuyoshi ITO

IPC: B25J9/16 ,  B25J9/04 ,  B25J9/00 ,  B25J11/00

CPC classification number: B25J9/1664 ,  B25J9/0084 ,  B25J9/0093 ,  B25J9/042 ,  B25J9/1679 ,  B25J11/0075

Abstract: A robot apparatus includes: a door opening/closing robot and a controller. The door opening/closing robot includes a base, a first arm, a second arm, a third arm, and a fourth arm. The door opening/closing robot is disposed between a side surface of the vehicle body and a booth side wall. The controller sequentially performs a door opening control for controlling the door opening/closing robot such that a tool opens a door at an upstream side of a first axis in a direction of a conveyance line, a door following control for controlling the door opening/closing robot such that an opened state of the door is maintained while the vehicle body is being conveyed along the conveyance line, and a door closing control for controlling the door opening/closing robot such that the tool closes the door at a downstream side of the first axis in the direction of the conveyance line.

公开(公告)号：US20230271213A1

公开(公告)日：2023-08-31

申请号：US18112749

申请日：2023-02-22

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuji ISHIMARU ,  Yoshiaki MIYAZONO ,  Tsuyoshi ITO ,  Katsuhiko YOSHINO ,  Naoyuki OHTSUBO

IPC: B05B13/02 ,  B25J9/04 ,  B25J11/00

CPC classification number: B05B13/0292 ,  B25J9/042 ,  B25J11/0075

Abstract: A door opening/closing robot includes: a base provided at a position different from a conveyance line on which a vehicle body is conveyed; a first arm attached to the base to rotate around a first axis and extending away from the first axis; a second arm attached to the first arm to rotate around a second axis and extending away from the second axis; a third arm attached to the second arm to rotate around a third axis and extending away from the third axis; and a fourth arm attached to the third arm to extend vertically and configured to vertically move a tool for holding a door of the vehicle body. At least a portion of a connection area including a distal end of the second arm and a proximal end of the third arm is positioned at a same height as at least a portion of the base.

公开(公告)号：US20230097222A1

公开(公告)日：2023-03-30

申请号：US17941023

申请日：2022-09-09

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Katsuhiko YOSHINO ,  Naoyuki OHTSUBO ,  Yasuhiro KATAOKA ,  Kenichiro SHIGEYOSHI

IPC: B05B13/04 ,  B05D7/14 ,  B05B13/02 ,  B25J11/00

Abstract: A coating system includes a first robot configured to open an opening/closing portion of a vehicle body and a second robot configured to coat an interior of the vehicle body through the opening/closing portion opened by the first robot. The first robot has a first base via which the first robot is mounted to a structure forming a coating area. The second robot has a second base via which the second robot is mounted. The second base is mounted below the first base in a vertical direction.

公开(公告)号：US20200324404A1

公开(公告)日：2020-10-15

申请号：US16845463

申请日：2020-04-10

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Katsuhiko YOSHINO ,  Naoyuki OHTSUBO

IPC: B25J9/00 ,  B25J9/04 ,  B25J11/00 ,  B25J9/06 ,  B25J9/16 ,  B05B13/04 ,  B05B13/02

Abstract: A carrying device includes a swivel that swivels around a central axis line of a revolution orbit that passes through a workpiece transfer area and a workpiece work area for a workpiece to be worked on by a robot, multiple workpiece holders positioned on the swivel such that when a first one of the workpiece holders is positioned in the workpiece transfer area, a second one of the workpiece holders is positioned in the workpiece work area. a revolution driver that causes the swivel to swivel around the central axis line of the revolution orbit, and a tilting driver that tilts each of the workpiece holders with respect to the central axis line of the revolution orbit.

公开(公告)号：US20180169690A1

公开(公告)日：2018-06-21

申请号：US15896074

申请日：2018-02-14

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Katsuhiko YOSHINO

IPC: B05B13/04 ,  B05B16/00 ,  B25J11/00 ,  B25J5/02 ,  B25J9/00

CPC classification number: B05B13/0452 ,  B05B13/0292 ,  B05B13/0431 ,  B05B16/95 ,  B25J5/02 ,  B25J9/0084 ,  B25J9/0093 ,  B25J11/0075

Abstract: A coating system includes a coating robot and an operation robot. The coating robot has a height and is mounted in a coating booth to coat a workpiece while the workpiece is conveyed in the coating booth in a conveyance direction substantially perpendicular to a height direction along the height. The workpiece including a body and a movable part movable with respect to the body. The operation robot is disposed in the coating booth below the coating robot in the height direction. The operation robot is movable in the coating booth in the conveyance direction and is configured to move the movable part of the workpiece.

公开(公告)号：US20230311147A1

公开(公告)日：2023-10-05

申请号：US18328779

申请日：2023-06-05

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Katsuhiko YOSHINO

IPC: B05B13/04 ,  B25J9/00 ,  B05B13/02 ,  B25J5/02 ,  B25J11/00

CPC classification number: B05B13/0452 ,  B25J9/0093 ,  B05B13/0292 ,  B05B13/0457 ,  B05B13/0431 ,  B25J5/02 ,  B25J9/0084 ,  B25J11/0075 ,  B05C9/04

Abstract: A coating system including a coating robot and a movable opener robot. The coating robot has a fixed base fixedly mounted to a coating booth, and a first arm rotatably coupled to the fixed base about a first axis substantially parallel to a conveyance direction of a workpiece that includes a body and a first movable member. The body has a body inner surface and the first movable member has a first movable member inner surface. The movable opener robot has a movable base mounted such that the movable opener robot is movable in the coating booth in the conveyance direction. The movable base is mounted below the fixed base. The movable opener robot can open the first movable member of the workpiece. The coating robot can coat the body inner surface and the first movable member inner surface when the first movable member has been opened.

公开(公告)号：US20220176566A1

公开(公告)日：2022-06-09

申请号：US17643099

申请日：2021-12-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tsuyoshi KONNO ,  Katsuhiko YOSHINO ,  Manabu IIDA

IPC: B25J11/00 ,  B25J15/00 ,  B05B16/20 ,  B05B16/00

Abstract: A robot system is provided, which includes a paint booth, and a pretreatment robot configured to perform painting pretreatment on a workpiece that is an object to be painted, the pretreatment robot being an explosion-proof robot disposed in the paint booth and including an end effector used for the painting pretreatment.

公开(公告)号：US20180221904A1

公开(公告)日：2018-08-09

申请号：US15888084

申请日：2018-02-05

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Katsuhiko YOSHINO ,  Satoshi SUEYOSHI ,  Takahiro UMEZAKI ,  Tsuyoshi ITO

IPC: B05B13/04 ,  B05B16/00 ,  B25J11/00 ,  B25J15/00 ,  B25J9/00

CPC classification number: B05B13/0452 ,  B05B13/0292 ,  B05B16/95 ,  B25J5/02 ,  B25J9/0084 ,  B25J9/042 ,  B25J9/044 ,  B25J9/046 ,  B25J11/0075 ,  B25J15/0014 ,  B25J15/0019 ,  Y10S901/43

Abstract: A coating system includes: a plurality of coating robots fixed in a coating booth, the plurality of coating robots being configured to coat a vehicle conveyed in a predetermined conveyance direction; and a fixed-type operation robot fixed in the coating booth on an upstream side or a downstream side of the plurality of coating robots in the conveyance direction, the fixed-type operation robot being configured to operate an open/close member provided at a front or a rear portion of the vehicle, the fixed-type operation robot including a first arm turning around a vertical axis.