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.

公开(公告)号：US09440363B2

公开(公告)日：2016-09-13

申请号：US14340488

申请日：2014-07-24

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Manabu Okahisa ,  Takahiko Kanamori ,  Tatsuo Hiro

IPC: B23K37/00 ,  B25J18/04 ,  B25J19/00

CPC classification number: B25J18/04 ,  B25J19/0025 ,  B25J19/007 ,  Y10T29/49174 ,  Y10T74/20311

Abstract: A robot according to an aspect of an embodiment includes a robot arm, an attaching portion, an end effector, an end-effector-side cable, and a robot-side cable. The attaching portion is provided on a leading end of the robot arm. The end effector is attached to the attaching portion. The end-effector-side cable extends from the end effector. The robot-side cable is arranged along the robot arm and is connected to the end-effector-side cable by terminal connection at a position closer to the end effector than the attaching portion.

Abstract translation: 根据实施例的一个方面的机器人包括机器人臂，附接部分，末端执行器，末端执行器侧电缆和机器人侧电缆。 安装部设置在机器人手臂的前端。 端部执行器附接到附接部分。 末端执行器侧电缆从端部执行器延伸。 机器人侧电缆沿着机器人臂布置，并且通过端子连接在比附接部更靠近端部执行器的位置处连接到末端执行器侧电缆。

公开(公告)号：US09216479B2

公开(公告)日：2015-12-22

申请号：US14446308

申请日：2014-07-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi Takahashi ,  Tomoyuki Shiraki ,  Masato Ito ,  Kaori Sakaki ,  Takahiko Kanamori

IPC: B23K37/00 ,  B23K37/02 ,  B25J18/02 ,  B25J19/00

CPC classification number: B23K37/02 ,  B23K37/0247 ,  B25J18/02 ,  B25J19/0008 ,  B25J19/0025 ,  Y10S901/42 ,  Y10T74/20311 ,  Y10T74/20317

Abstract: A robot includes: a stage unit; a rotation base connected to the stage unit in a rotatable manner around a predetermined rotating axis; an arm unit connected to the rotation base and having a base end rotatable around a first rotation axis that is substantially orthogonal to the rotating axis; a balancer connected to both the rotation base and the arm unit; and a cable arranged along the arm unit outside the balancer while supported by that balancer.

Abstract translation: 机器人包括：舞台单元; 旋转基座，围绕预定旋转轴线以可旋转的方式连接到平台单元; 连接到所述旋转基座的臂单元，并且具有可围绕基本上垂直于所述旋转轴线的第一旋转轴线旋转的基端; 连接到旋转底座和臂单元的平衡器; 以及沿平衡器外侧的臂单元布置的电缆，同时由该平衡器支撑。

公开(公告)号：US09764483B2

公开(公告)日：2017-09-19

申请号：US14340494

申请日：2014-07-24

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Manabu Okahisa ,  Takahiko Kanamori

IPC: B25J17/02 ,  B25J18/00 ,  B25J19/00

CPC classification number: B25J18/00 ,  B25J19/0025 ,  Y10S901/27 ,  Y10T29/49174 ,  Y10T74/20311

Abstract: A robot in an embodiment includes a robot body, an end effector, a cable, and one or more coupling portions. The end effector is connected to the robot body. The cable is composed of a plurality of sub cables, arranged along the robot body, and connected to the end effector. Each of the coupling portion is provided between one sub cable and an adjacent sub cable of the sub cables to couple the one and adjacent sub cables together.