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：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：US20210157296A1

公开(公告)日：2021-05-27

申请号：US17105512

申请日：2020-11-26

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Naoyuki OHTSUBO ,  Kazuyoshi MATSUKANE

IPC: G05B19/401 ,  B25J19/00

Abstract: A robot system includes a robot configured to perform work on a workpiece positioned in a working region and a conveying device configured to convey the workpiece to the working region. The conveying device includes a turning part configured to rotate about a center axis, a guide supporting the turning part rotatably about the center axis and having a hollow in the guide extending along the center axis, a workpiece holder configured to hold the workpiece and provided at the turning part to move together with the turning part along a circular orbit around the center axis passing the working region, a first device provided at the turning part, and a linear object passing through the hollow in the guide and connecting the first device and a second device provided around the guide.

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：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：US20190054614A1

公开(公告)日：2019-02-21

申请号：US16053962

申请日：2018-08-03

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Naoyuki OHTSUBO ,  Tsuyoshi Ito ,  Yuji Ishimaru

IPC: B25J9/10 ,  F16H57/04 ,  F16H57/029

Abstract: A robot is provided which has: a housing including a plurality of joints; a reduction gear placed in the joint, the reduction gear including a lubrication chamber where a gear mechanism for slowing down and transmitting an output of a motor and lubricant is sealed; and an air chamber placed inside the housing, the air chamber communicating with the lubrication chamber.