公开(公告)号：US20140277733A1

公开(公告)日：2014-09-18

申请号：US14191427

申请日：2014-02-27

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai KOUNO ,  Tamio NAKAMURA ,  Tetsuro IZUMI ,  Ryoichi NAGAI

IPC: B25J9/16 ,  H05B33/08

CPC classification number: B25J9/1697 ,  G05B2219/37009 ,  G05B2219/37151 ,  H05B33/0854 ,  Y10S901/47

Abstract: A robot system includes robot, an image capture device, a plurality of illumination devices, and a control device. The robot is configured to perform a predetermined work on a to-be-processed material. The image capture device is configured to capture an image of the to-be-processed material and has a dynamic range. The plurality of illumination devices are configured to illuminate the to-be-processed material. The control device is configured to control at least one illumination device among the plurality of illumination devices to keep an amount of light received by the image capture device within the dynamic range of the image capture device.

Abstract translation: 机器人系统包括机器人，图像捕获装置，多个照明装置和控制装置。 机器人被配置为对要处理的材料执行预定的工作。 图像捕获装置被配置为捕获待处理材料的图像并且具有动态范围。 多个照明装置被配置为照亮被处理材料。 控制装置被配置为控制多个照明装置中的至少一个照明装置，以将由图像捕获装置接收的光量保持在图像拍摄装置的动态范围内。

公开(公告)号：US20200001454A1

公开(公告)日：2020-01-02

申请号：US16459622

申请日：2019-07-02

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Toshihiro IWASA ,  Ryoichi NAGAI ,  Nathanael MULLENNIX ,  Shingo ANDO ,  Kenichi YASUDA

IPC: B25J9/16 ,  B25J9/02

Abstract: A motion teaching apparatus includes a teaching motion detection device, a demonstration tool, and circuitry. A robot includes a leading end to move in a first coordinate system. A teaching motion detection device detects a position of the demonstration tool in a second coordinate system. The circuitry derives a relationship between the first and second coordinate system based on a position of the demonstration tool in the first coordinate system at at least one spot and based on the position of the demonstration tool in the second coordinate system at the at least one spot; obtains a transition of the position of the demonstration tool during the demonstration using the demonstration tool; and generates a motion command to control motion of the leading end of the robot based on the transition and the coordinate system relationship information.

公开(公告)号：US20140277729A1

公开(公告)日：2014-09-18

申请号：US14191426

申请日：2014-02-27

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tamio NAKAMURA ,  Dai KOUNO ,  Tetsuro IZUMI ,  Ryoichi NAGAI

IPC: B25J9/16

CPC classification number: B25J9/1674 ,  G01L5/0076 ,  G05B2219/40307 ,  Y10S901/09

Abstract: A robot system includes a robot and a control apparatus. The robot includes a sensor to constantly detect the robot. The control apparatus includes a control device and a first storage device. The control device controls the robot. The first storage device stores a plurality of operation modes of the robot and standard data associated with at least one operation mode among the operation modes. When the robot has performed an operation corresponding to the operation mode associated with the standard data, the control device compares the standard data with a result of detection by the sensor, and controls a display device to display a result of comparison.

Abstract translation: 机器人系统包括机器人和控制装置。 机器人包括一个不断检测机器人的传感器。 控制装置包括控制装置和第一存储装置。 控制装置控制机器人。 第一存储装置在操作模式之间存储机器人的多个操作模式和与至少一个操作模式相关联的标准数据。 当机器人执行与标准数据相关联的操作模式相对应的操作时，控制装置将标准数据与传感器的检测结果进行比较，并控制显示装置显示比较结果。

公开(公告)号：US20150100147A1

公开(公告)日：2015-04-09

申请号：US14571290

申请日：2014-12-16

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tetsuro IZUMI ,  Yukio HASHIGUCHI ,  Takuya FUKUDA ,  Ryoichi NAGAI

IPC: B25J9/16

CPC classification number: B25J9/1687 ,  B25J9/0087 ,  B25J9/1682 ,  G05B2219/39124 ,  G05B2219/39529 ,  G05B2219/40028 ,  Y10S901/02 ,  Y10S901/05 ,  Y10S901/09

Abstract: After a forward end of a workpiece is inserted into a through-hole and fitting is started, a follow operation of moving the workpiece to follow the shape of the through-hole is performed during the movement of the workpiece in a fitting direction. At this time, the workpiece is fitted into the through-hole while a control point of a robot is changed in a direction opposite to the fitting direction according to the amount of movement of the workpiece in the fitting direction.

Abstract translation: 在将工件的前端插入到通孔中并开始装配之后，在工件沿着装配方向的移动期间执行沿着通孔的形状移动工件的跟随操作。 此时，根据工件在装配方向上的移动量，使机器人的控制点沿着与装配方向相反的方向变化而嵌入到通孔中。

公开(公告)号：US20150045953A1

公开(公告)日：2015-02-12

申请号：US14451386

申请日：2014-08-04

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryoichi NAGAI ,  Yukio HASHIGUCHI ,  Shinji MURAI

IPC: B25J9/16 ,  G01B21/16 ,  G01L5/22

CPC classification number: B25J9/1692 ,  G01L5/22 ,  G05B2219/39021

Abstract: A robot system includes a robot and a controller. An arm includes joints. Actuators drive the joints. Sensors detect operation states of the actuators. The probe is mounted on the arm. A force sensor detects force received by the probe. The controller controls the robot. A determinator determines whether the force from a structure disposed at a position on a work stand satisfies a condition. An operation state acquisitor acquires the operation states when the force satisfies the condition. A coordinate calculator calculates a position coordinate of the probe based on the operation states. A position correction amount calculator calculates a correction amount of a position of the work stand relative to the robot based on the position coordinate.

Abstract translation: 机器人系统包括机器人和控制器。 手臂包括关节。 执行器驱动关节。 传感器检测执行器的运行状态。 探头安装在手臂上。 力传感器检测探头接收到的力。 控制器控制机器人。 确定器确定来自设置在工作台上的位置的结构的力是否满足条件。 当力满足条件时，操作状态获取器获取操作状态。 坐标计算器基于操作状态计算探针的位置坐标。 位置校正量计算器基于位置坐标来计算工作台相对于机器人的位置的校正量。

公开(公告)号：US20140174239A1

公开(公告)日：2014-06-26

申请号：US14193369

申请日：2014-02-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hideo NAGATA ,  Ryoichi NAGAI ,  Yasuyuki INOUE ,  Yoshiaki KUBOTA

IPC: G01L5/00 ,  B25J9/16 ,  G01L5/16

CPC classification number: G01L5/0028 ,  B25J9/1633 ,  B25J13/085 ,  G01L5/16 ,  G01L5/162 ,  G05B2219/40586 ,  Y10S901/09 ,  Y10T74/20305

Abstract: A force sensor and a robot that can suppress a load applied to load sensor elements are provided.A force sensor includes: a first base member one surface of which is fixed on a fixed member; a plurality of load sensor elements that is provided on another surface of the first base member to detect a load; a second base member that is disposed facing the other surface of the first base member to generate a preload to be applied to each of the load sensor elements toward the first base member; a preload adjusting unit that adjusts the magnitude of the preload generated by the second base member; and buffer bodies that receive a part of an external load to be applied to each of the load sensor elements from the outside.

Abstract translation: 提供能够抑制施加到负载传感器元件的负载的力传感器和机器人。 力传感器包括：一个第一基体，其一个表面固定在固定构件上; 多个负载传感器元件，设置在所述第一基座部件的另一个表面上以检测负载; 第二基座构件，其面对所述第一基座构件的另一表面设置，以产生将被施加到每个所述负载传感器元件的预载荷朝向所述第一基座构件; 预压调节单元，其调节由所述第二基座构件产生的所述预载荷的大小; 以及从外部接收要施加到每个负载传感器元件的外部负载的一部分的缓冲体。

公开(公告)号：US20140358282A1

公开(公告)日：2014-12-04

申请号：US14290908

申请日：2014-05-29

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Tetsuro IZUMI ,  Ryoichi NAGAI ,  Yukio HASHIGUCHI

IPC: B25J9/16

CPC classification number: B25J9/1694 ,  B25J9/1633 ,  G05B2219/39529 ,  G05B2219/40032 ,  Y10S901/46

Abstract: A robot system includes a robot, an operation control device, an impulse calculation device, and a first detection device. The robot includes an end effector and a force sensor. The force sensor is configured to measure a force applied to the end effector. The operation control device is configured to control the robot to perform predetermined work. The impulse calculation device is configured to calculate an impulse applied to the end effector based on a measurement value measured by the force sensor while the robot is performing the predetermined work. The first detection device is configured to generate detection information when the impulse exceeds a threshold.

Abstract translation: 机器人系统包括机器人，操作控制装置，脉冲计算装置和第一检测装置。 机器人包括端部执行器和力传感器。 力传感器被配置为测量施加到末端执行器的力。 操作控制装置被配置为控制机器人执行预定的工作。 脉冲计算装置被配置为基于在机器人执行预定工作时由力传感器测量的测量值来计算施加到末端执行器的脉冲。 第一检测装置被配置为当脉冲超过阈值时产生检测信息。

公开(公告)号：US20140277720A1

公开(公告)日：2014-09-18

申请号：US14192872

申请日：2014-02-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tetsuro IZUMI ,  Tamio NAKAMURA ,  Dai KOUNO ,  Ryoichi NAGAI

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1687 ,  B25J9/1612 ,  B25J9/1692 ,  B25J13/085 ,  G05B19/4015 ,  G05B19/402 ,  G05B2219/40032 ,  G05B2219/40087

Abstract: A robot system includes a robot. A fitting member holder is mounted to a distal end of the robot to hold a fitting member. A receiver member receives the fitting member. A position determination member is disposed at a fixed position relative to the receiver member. A robot controller controls the robot. A position identifying device brings the robot, the fitting member, or the fitting member holder into contact with the position determination member with the fitting member holder holding the fitting member. A position identifying device identifies a fitting position based on a position of the contact. A fitting control device controls the robot to fit the fitting member into the receiver member at the fitting position.

Abstract translation: 机器人系统包括机器人。 装配构件保持器安装到机器人的远端以保持配合构件。 接收器构件接收装配构件。 位置确定构件相对于接收器构件设置在固定位置。 机器人控制器控制机器人。 位置识别装置使机器人，装配构件或装配构件保持器与定位构件接触，同时装配构件保持器保持配合构件。 位置识别装置基于联系人的位置识别装配位置。 装配控制装置控制机器人在装配位置将装配构件装配到接收构件中。

公开(公告)号：US20140277713A1

公开(公告)日：2014-09-18

申请号：US14191431

申请日：2014-02-27

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai KOUNO ,  Tamio NAKAMURA ,  Tetsuro IZUMI ,  Ryoichi NAGAI

IPC: G05B19/418

CPC classification number: G05B19/41815 ,  B25J9/0084 ,  B25J9/1682 ,  B25J21/00 ,  G05B2219/31075 ,  Y02P90/16 ,  Y02P90/185

Abstract: A robot system includes a first cell and a second cell. The first cell includes a first robot, a first controller, and a first casing. The first robot performs work on a to-be-worked material. The first controller controls the first robot. The first casing accommodates the first robot and the first controller. The second cell includes a second robot, a second controller, and a second casing. The second robot performs work on a to-be-worked material. The second controller controls the second robot. The second casing accommodates the second robot and the second controller. When the first casing and the second casing are connected to each other, the first controller and the second controller respectively control the first robot and the second robot to work in a common operation area, where a first movable area and a second movable area overlap.

Abstract translation: 机器人系统包括第一单元和第二单元。 第一单元包括第一机器人，第一控制器和第一壳体。 第一个机器人对待加工材料进行工作。 第一个控制器控制第一个机器人。 第一壳体容纳第一机器人和第一控制器。 第二单元包括第二机器人，第二控制器和第二壳体。 第二个机器人对待处理的材料进行工作。 第二个控制器控制第二个机器人。 第二壳体容纳第二机器人和第二控制器。 当第一壳体和第二壳体彼此连接时，第一控制器和第二控制器分别控制第一机器人和第二机器人工作在第一可移动区域和第二可移动区域重叠的公共操作区域中。

公开(公告)号：US20130345848A1

公开(公告)日：2013-12-26

申请号：US13761156

申请日：2013-02-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tetsuro IZUMI ,  Yukio HASHIGUCHI ,  Takuya FUKUDA ,  Ryoichi NAGAI

IPC: G05B15/02

CPC classification number: G05B15/02 ,  B25J15/0033 ,  Y10S901/02

Abstract: In this robot system, a control portion includes a workpiece supporting operation command portion, a workpiece positioning operation command portion causing a second robot arm to move a workpiece toward a workpiece fitted portion while causing an end effector of the second robot arm to support the workpiece, and a fitting operation command portion causing a first robot arm to fit the workpiece into the workpiece fitted portion.

Abstract translation: 在该机器人系统中，控制部包括工件支撑操作指令部，工件定位操作指令部，使第二机器人臂向工件装配部移动工件，同时使第二机器人臂的末端执行器支撑工件 以及使第一机器人臂将工件装配到工件装配部中的装配操作指令部。