公开(公告)号：US10525589B2

公开(公告)日：2020-01-07

申请号：US15643482

申请日：2017-07-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Fuminori Kutsukake ,  Keisuke Yonehara ,  Toshimitsu Irie

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

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：US11167414B2

公开(公告)日：2021-11-09

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 ,  G05B19/418 ,  B25J13/08 ,  B25J11/00

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.