公开(公告)号：US20180009105A1

公开(公告)日：2018-01-11

申请号：US15643482

申请日：2017-07-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Fuminori KUTSUKAKE ,  Keisuke YONEHARA ,  Toshimitsu IRIE

IPC: B25J9/16 ,  B25J9/00 ,  B62D65/00

CPC classification number: B25J9/163 ,  B25J9/0084 ,  B25J9/0093 ,  B25J9/1697 ,  B62D65/00 ,  B62D65/005 ,  G05B2219/45013

Abstract: 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：US20230141876A1

公开(公告)日：2023-05-11

申请号：US17982395

申请日：2022-11-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryo KABUTAN ,  Makoto TAKAHASHI ,  Wataru WATANABE ,  Keisuke YONEHARA ,  Takuya KADOYA

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J9/1661 ,  B25J9/1666 ,  B25J9/1682

Abstract: A planning system includes search circuitry configured to run a simulation to repeatedly generate candidate positions which are candidates for a target position with respect to a motion of a robot, and selection circuitry configured to select the target position among the candidate positions. The search circuitry includes evaluation circuitry configured to calculate an evaluation value corresponding to each of the candidate positions, estimation circuitry configured to generate a calculation model showing a relationship between each of the candidate positions and the evaluation value with a regression analysis, and setting circuitry configured to set a new candidate position based on the calculation model.

公开(公告)号：US20180326582A1

公开(公告)日：2018-11-15

申请号：US15963109

申请日：2018-04-26

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takeshi YOKOYAMA ,  Takahiko KANAMORI ,  Keisuke YONEHARA

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

CPC classification number: B25J9/1633 ,  B25J9/0084 ,  B25J9/1694 ,  B25J11/005 ,  Y10S901/10 ,  Y10S901/46

Abstract: A robot includes a robot body, a control processor, a detection circuit, a memory, and a determining circuit. The control processor is configured to control the robot body to perform a work on a workpiece while the workpiece is conveyed. The detection circuit is configured to detect external force which the robot body receives from the workpiece. The memory is to store a threshold force. The determining circuit is configured to determine whether the external force is equal to or larger than the threshold force.

公开(公告)号：US20240116719A1

公开(公告)日：2024-04-11

申请号：US18462429

申请日：2023-09-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Akihiro TASHIRO ,  Kyohei TSUCHIYA ,  Chengbi ZHAO ,  Ikuro HIRATA ,  Keisuke YONEHARA

IPC: B65G47/90

CPC classification number: B65G47/905

Abstract: A transfer robot includes a first arm provided rotatably around a first axis which extends along a vertical direction, a second arm connected to the first arm rotatably around a second axis which extends along the vertical direction, an arm distal end portion which is configured to be connected to a workpiece holder to hold a workpiece and which is connected to the second arm rotatably around a third axis which extends along the vertical direction, and a posture adjuster configured to rotate the workpiece around a first posture adjustment axis which intersects both the third axis and a direction extending toward the arm distal end portion away from the third axis.