公开(公告)号：US20160136813A1

公开(公告)日：2016-05-19

申请号：US14979554

申请日：2015-12-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tatsuo HIRO ,  Kuniaki KATAMINE ,  Ryuta KAGAWA ,  Yusuke KINOSHITA ,  Manabu OKAHISA ,  Masami NAKAKURA

IPC: B25J9/16 ,  B25J11/00 ,  B23K11/31

CPC classification number: B25J9/1664 ,  B25J9/0027 ,  B25J9/0084 ,  B25J9/161 ,  B25J9/1643 ,  Y10S901/02 ,  Y10S901/14

Abstract: A machining apparatus includes a robot including a first arm portion, a second arm portion, a tip portion, a second actuator swinging the first arm portion around a second axis, a third actuator swinging the second arm portion around a third axis, a seventh actuator adjusting a distance between the second axis and the third axis, and an end effector provided to a tip portion and applying machining to a workpiece. The robot is positioned such that a movable range of a tip portion of the first arm portion or a base end portion of the second arm portion interferes with the workpiece when the first arm portion is rotated around the second axis, where the distance is made longest, in a state where the robot exactly faces the workpiece.

Abstract translation: 一种加工设备包括：机器人，包括第一臂部分，第二臂部分，末端部分，绕第二轴线摆动第一臂部分的第二致动器;绕第三轴线摆动第二臂部分的第三致动器;第七致动器 调节第二轴线与第三轴线之间的距离，以及设置在尖端部分上的端部执行器，并对工件进行加工。 机器人被定位成使得当第一臂部分围绕第二轴线旋转时，第一臂部分的末端部分或第二臂部分的基端部分的可移动范围与工件干涉，其中距离最长 在机器人精确面对工件的状态下。

公开(公告)号：US20160121480A1

公开(公告)日：2016-05-05

申请号：US14872149

申请日：2015-10-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Manabu OKAHISA ,  Masami NAKAKURA

IPC: B25J9/06 ,  B25J9/16 ,  B25J15/00 ,  B25J11/00

CPC classification number: B25J9/06 ,  B25J9/1643 ,  B25J9/1664 ,  B25J9/1666 ,  B25J11/005 ,  B25J15/0019 ,  Y10S901/02

Abstract: A machining apparatus includes a robot and a controller. A target acquirer acquires a target value of a position and posture of a distal end of the robot. With a movement target value of a distance adjustment actuator of the robot being fixed, a first calculator calculates movement target values of first to third actuators and posture adjustment actuators of the robot corresponding to the target value of the position and posture. A determiner determines whether a movement target value of one of the actuators is within an allowable range. When out of the allowable range, a second calculator calculates the movement target values of the actuators corresponding to the target value of the position and posture to cause the movement target value to fall within the range. An outputter controls the actuators in accordance with the respective movement target values.

Abstract translation: 一种加工装置包括机器人和控制器。 目标获取器获取机器人的远端的位置和姿势的目标值。 利用机器人的距离调节致动器的移动目标值被固定，第一计算器计算与位置和姿势的目标值相对应的机器人的第一至第三致动器和姿势调节致动器的移动目标值。 确定器确定一个致动器的运动目标值是否在允许范围内。 当超出允许范围时，第二计算器计算与位置和姿势的目标值相对应的致动器的运动目标值，以使移动目标值落在该范围内。 输出器根据相应的移动目标值来控制致动器。

公开(公告)号：US20150283644A1

公开(公告)日：2015-10-08

申请号：US14741465

申请日：2015-06-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI ,  HONDA MOTOR CO., LTD.

Inventor： Yasuhiro KAWAI ,  Kazuhiko YAMAASHI ,  Haruhiko KOBAYASHI ,  Mitsugu KANEKO ,  Noriko KURIMOTO ,  Masami NAKAKURA ,  Teppei SONODA

IPC: B23K11/06 ,  B23K11/25

Abstract: The seam welding apparatus includes a pair of rotating electrodes, an electrode supporting frame, a distance measuring means, and a controller. The electrode supporting frame supports the pair of rotating electrodes. The distance measuring means is provided on the electrode supporting frame and measures a distance to an edge of the steel plate. The controller controls the robot to adjust a running direction of the rotating electrodes so that a deviation comes into zero when a distance actually measured by the distance measuring means deviates from a predetermined distance. Thereby, it is accomplished that the seam welding apparatus is downsized as well as uninfluenced by the surface state and/or shape of workpiece (steel plate).

Abstract translation: 缝焊装置包括一对旋转电极，电极支撑框架，距离测量装置和控制器。 电极支撑框架支撑一对旋转电极。 距离测量装置设置在电极支撑框架上并且测量到钢板边缘的距离。 控制器控制机器人来调节旋转电极的运行方向，使得当距离测量装置实际测量的距离偏离预定距离时，偏差变为零。 由此，实现了缝焊装置的小型化，不受工件（钢板）的表面状态和/或形状的影响。

公开(公告)号：US20150298244A1

公开(公告)日：2015-10-22

申请号：US14689057

申请日：2015-04-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Masami NAKAKURA ,  Teppei SONODA

IPC: B23K11/06 ,  B23K11/24 ,  B23K11/36 ,  B23K11/30

CPC classification number: B23K11/06 ,  B23K11/065 ,  B23K11/24 ,  B23K11/252 ,  B23K11/3036 ,  B23K11/315

Abstract: A seam welding system includes a pair of roller electrodes. The pair of roller electrodes hold a to-be-welded object between circumferential surfaces of the roller electrodes, rotate while holding the to-be-welded object between the circumferential surfaces, and perform seam welding on the to-be-welded object when a current flows between the roller electrodes while rotating and holding the to-be-welded object between the circumferential surfaces. To an electrode movement mechanism, the roller electrodes are mounted. The electrode movement mechanism moves the roller electrodes along a welding line of the to-be-welded object. Drive sources respectively rotate the roller electrodes and a joint of the electrode movement mechanism. A controller controls an amount by which the roller electrodes rotate based on a torque change in the drive sources so as to keep torques respectively acting on the roller electrodes within a predetermined range.

Abstract translation: 缝焊系统包括一对辊电极。 一对辊电极在辊电极的圆周表面之间保持待焊接物体，同时将待焊接物体保持在周向表面之间旋转，并且当被焊接物体在 电流在辊电极之间流动，同时旋转并将待焊接物体保持在圆周表面之间。 对于电极移动机构，安装辊电极。 电极移动机构沿着被焊接物体的焊接线移动辊电极。 驱动源分别旋转辊电极和电极移动机构的接头。 控制器基于驱动源中的转矩变化来控制辊电极旋转的量，以将分别作用在辊电极上的转矩保持在预定范围内。

公开(公告)号：US20150121983A1

公开(公告)日：2015-05-07

申请号：US14529209

申请日：2014-10-31

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Manabu OKAHISA ,  Masami NAKAKURA ,  Teppei SONODA

IPC: B21B31/16

CPC classification number: B21B31/16 ,  B21B37/58 ,  B21D5/16 ,  B21D19/043 ,  B21D39/021 ,  B21D39/023 ,  B25J9/1633 ,  B25J9/1679 ,  G05B2219/39329 ,  G05B2219/40052 ,  Y10S901/02 ,  Y10S901/15 ,  Y10S901/41 ,  Y10T29/49908

Abstract: A robot system includes an end effector, a robot arm, and a controller. The end effector includes a pressure roller and a linear motion mechanism. The linear motion mechanism is configured to move the pressure roller with respect to a pressed surface. The robot arm is configured to support the end effector. The controller is configured to control the linear motion mechanism to move the pressure roller to make a pressing force of the pressure roller against the pressed surface approximately uniform.

Abstract translation: 机器人系统包括端部执行器，机器人臂和控制器。 末端执行器包括压力辊和直线运动机构。 线性运动机构构造成相对于压制表面移动压力辊。 机器人臂构造成支撑端部执行器。 控制器构造成控制直线运动机构以移动压力辊，使压力辊抵抗压制表面的按压力大致均匀。

公开(公告)号：US20140061168A1

公开(公告)日：2014-03-06

申请号：US13956360

申请日：2013-08-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Masami NAKAKURA ,  Teppei SONODA ,  Manabu OKAHISA

IPC: B23K11/06

CPC classification number: B23K11/061 ,  B23K11/063

Abstract: A seam welding robot includes a robot arm and a welding unit that is coupled to the robot arm. The welding unit includes a pair of roller electrodes. The pair of roller electrodes rotates following motion of the robot arm while sandwiching and pressurizing welding targets. The welding unit passes a welding electric current between the pair of roller electrodes to seam-weld the welding targets.

Abstract translation: 缝焊机器人包括机器人臂和联接到机器人手臂的焊接单元。 焊接单元包括一对辊电极。 一对辊电极在夹持并加压焊接对象的同时，随着机器人臂的运动而旋转。 焊接单元将一对辊电极之间的焊接电流通过焊接焊接对象。