公开(公告)号：US20160375580A1

公开(公告)日：2016-12-29

申请号：US15190316

申请日：2016-06-23

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yusuke KINOSHITA ,  Satoshi SUEYOSHI ,  Shingo TSUTSUMI ,  Kazuhiro HANIYA

IPC: B25J9/16

CPC classification number: B25J9/1628

Abstract: A robot system includes a robot arm including arms and joint parts such that each of the joint parts is connecting two arms, and an auxiliary arm including links, joints and sensors such that each of the joints is connecting two links and that the sensors detect rotation angles of the joints. The auxiliary arm has an end attached to the robot arm at a position which includes multiple joint parts of the joint parts from a base end side to a front end side of the robot arm such that the auxiliary arm follows movement of the robot arm.

Abstract translation: 机器人系统包括机器人臂，其包括臂和接合部分，使得每个接合部分连接两个臂，以及包括链节，接头和传感器的辅助臂，使得每个接头连接两个连杆，并且传感器检测旋转 关节角度。 辅助臂具有在机器人臂的从基端侧到前端侧的多个接合部的位置附接到机器人臂的一端，使得辅助臂跟随机器人手臂的移动。

公开(公告)号：US20160221185A1

公开(公告)日：2016-08-04

申请号：US15006122

申请日：2016-01-26

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Satoshi SUEYOSHI ,  Tamon IZAWA ,  Hiroshi SAITO ,  Takashi SANADA ,  Kazuhiro HANIYA

IPC: B25J9/12

CPC classification number: B25J9/126 ,  B25J9/0009 ,  B25J9/047 ,  B25J9/102 ,  B25J19/0004 ,  Y10S901/23

Abstract: A robot includes a base. A turnable portion is mounted on the base and turnable about a first axis approximately perpendicular to an installation surface on which the base is disposed. An arm is mounted on the turnable portion and swingable about a second axis parallel to the installation surface. A first motor is accommodated in the turnable portion and moves the turnable portion about the first axis. A first motor includes a body and a protrusion. The body has an axial dimension that is in a direction along an output shaft of the first motor and that is smaller than a perpendicular dimension in a direction approximately perpendicular to the output shaft. The protrusion protrudes from a surface of the body in a direction along the output shaft and is displaced from the output shaft. A second motor moves the arm about the second axis.

Abstract translation: 机器人包括一个基座。 可转动部分安装在基座上并围绕大致垂直于设置有基座的安装表面的第一轴线转动。 手臂安装在可转动部分上，并且绕平行于安装表面的第二轴线摆动。 第一电动机容纳在可转动部分中并使可转动部分围绕第一轴线移动。 第一电动机包括主体和突起。 主体具有沿着第一电动机的输出轴的方向的轴向尺寸，并且小于垂直于大致垂直于输出轴的方向的垂直尺寸。 突起从主体的沿着输出轴的方向突出并从输出轴移位。 第二个马达围绕第二个轴移动臂。

公开(公告)号：US20170036293A1

公开(公告)日：2017-02-09

申请号：US15214458

申请日：2016-07-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kazuhiro HANIYA ,  Hidenori MATSUURA ,  Takashi SANADA ,  Osamu HARADA ,  Shingo TSUTSUMI ,  Hiroshi SAITO ,  Daisuke MIYAZAKI ,  Ken NAKAMURA ,  Hirotaka MORITA ,  Tomoharu GYOTOKU ,  Kanji TAKANISHI ,  Takao SUMI ,  Shoji KURIHARA

IPC: B23K9/12 ,  B23K9/133 ,  B23K9/32 ,  B23K9/173

Abstract: A robot arm apparatus includes a base structure, a first arm, a first actuator, and an assisting device. The first arm is pivotable relative to the base structure about a first pivot axis. The first actuator is configured to pivotally actuate the first arm relative to the base structure. The assisting device is configured to apply an assist rotational force to the first arm to assist the first actuator.

Abstract translation: 机器人手臂装置包括基座结构，第一臂，第一致动器和辅助装置。 第一臂相对于基部结构围绕第一枢转轴线可枢转。 第一致动器构造成相对于基部结构枢转地驱动第一臂。 辅助装置构造成向第一臂施加辅助旋转力以辅助第一致动器。