公开(公告)号：US20210221009A1

公开(公告)日：2021-07-22

申请号：US17225109

申请日：2021-04-08

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuichi SATO ,  Tamio NAKAMURA ,  Tetsuro IZUMI ,  Takashi NISHIMURA ,  Shohei OHNO

IPC: B25J15/06 ,  B25J9/16 ,  B25J13/02 ,  B25J9/00

Abstract: A manipulation unit includes a body, a tool holder, and a plurality of manipulated switches. The body has a first end, a second end opposite to the first end, and a cylindrical circumferential outer surface that extends from the first end to the second end and which is configured to be held to perform direct teaching to a robot. The first end is attachable to a leading end of a robot arm of the robot. The tool holder is connected to the second end and configured to hold a tool. The plurality of manipulated switches are configured to send signal to a robot controller to perform the direct teaching. The plurality of manipulated switches are provided on the body to be aligned along a circumferential direction of the cylindrical circumferential outer surface so that the direct teaching is performed with a hand which holds the cylindrical circumferential outer surface.

公开(公告)号：US20190099898A1

公开(公告)日：2019-04-04

申请号：US16124206

申请日：2018-09-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuichi SATO ,  Tamio NAKAMURA ,  Tetsuro IZUMI ,  Takashi NISHIMURA ,  Shohei OHNO

IPC: B25J15/06 ,  B25J9/16

Abstract: A manipulation unit includes a body, a tool holder, and a manipulated portion. The body has a first end, a second end opposite to the first end, and a peripheral surface connecting the first end and the second end. The first end is attachable to a robot arm. The tool holder is connected to the second end and configured to hold a tool. The manipulated portion is provided on the peripheral surface. The manipulated portion includes a manipulation surface and a surrounding portion. The robot arm is to be operated via the manipulation surface. The surrounding portion surrounds the manipulation surface such that the manipulation surface is recessed from the surrounding portion.

公开(公告)号：US20190126476A1

公开(公告)日：2019-05-02

申请号：US16160977

申请日：2018-10-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tamio NAKAMURA ,  Tetsuro IZUMI ,  Takashi NISHIMURA ,  Shohei OHNO

IPC: B25J9/16

Abstract: A robot system includes a robot, a sensor, and a processor. The sensor is configured to detect an external force acting on the robot. The processor is configured to move the robot in a forward direction such that a representative point of the robot moves along a motion track in the forward direction; move the robot in a reverse direction such that the representative point moves along the motion track in the reverse direction opposite to the forward direction when the external force satisfies a first condition which includes a condition that the external force is larger than a first threshold force; and move the robot to reduce the external force when the external force satisfies a second condition which includes a condition that the external force is larger than a second threshold force even after the robot has been moved in the reverse direction.