公开(公告)号：US20150210410A1

公开(公告)日：2015-07-30

申请号：US14679003

申请日：2015-04-05

Applicant: KABUSHIKI KAISHA YASKAWA DENKI ,  NATIONAL INSTITUTE OF ADVANCED INDUSTRIAL SCIENCE AND TECHNOLOGY

Inventor： Makoto UMENO ,  Kohei MIYAUCHI ,  Takashi SUYAMA ,  Toru NATSUME

IPC: B65B3/00 ,  A61J1/20 ,  A61J1/16

CPC classification number: B65B3/003 ,  A61J1/065 ,  A61J1/16 ,  A61J1/201 ,  A61J1/2096

Abstract: An automatic preparation system according to embodiments includes a work table, a robot, and a jig. The robot is disposed near the work table and includes a plurality of arms. The jig is provided on the work table and rotatably holds a syringe. The robot, after taking out the syringe from a syringe storage case and attaching the syringe to the jig, operates the arms in a cooperative manner to perform a preparation of a medication using the syringe.

Abstract translation: 根据实施例的自动准备系统包括工作台，机器人和夹具。 机器人设置在工作台附近并且包括多个臂。 夹具设置在工作台上并可旋转地保持注射器。 机器人在将注射器从注射器储存盒中取出并将注射器附接到夹具之后，以协作的方式操作臂，以使用注射器进行药物的制备。

公开(公告)号：US20140277723A1

公开(公告)日：2014-09-18

申请号：US14207654

申请日：2014-03-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi NISHIMURA ,  Tamio NAKAMURA ,  Dai KOUNO ,  Takashi SUYAMA ,  Tomohiro MATSUO ,  Shinichi ISHIKAWA ,  Tomoki KAWANO

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  G05B19/4061 ,  G05B2219/40202 ,  G05B2219/40203

Abstract: A robot system of the present disclosure includes: a robot including an operable working arm; a motion speed detection unit configured to detect a motion speed of the working arm; a region setting unit that sets a region with a predetermined range around the robot; a moving body detection unit configured to detect a position of the moving body other than the robot; and an abnormality determination unit configured to determine abnormality when detecting of the position of the moving body within the region, wherein the region setting unit changes the range of the region according to the motion speed of the working arm.

Abstract translation: 本公开的机器人系统包括：机器人，其包括可操作的工作臂; 运动速度检测单元，被配置为检测工作臂的运动速度; 区域设定单元，其围绕机器人设定预定范围的区域; 移动体检测单元，被配置为检测除了所述机器人之外的所述移动体的位置; 以及异常判定单元，被配置为当检测到所述区域内的所述移动体的位置时确定异常，其中所述区域设置单元根据所述工作臂的运动速度改变所述区域的范围。

公开(公告)号：US20160227158A1

公开(公告)日：2016-08-04

申请号：US15012869

申请日：2016-02-02

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi NAGASAKI ,  Takashi SUYAMA ,  Hirokazu KARIYAZAKI

IPC: H04N5/77 ,  H04N21/4335 ,  H04N21/433 ,  H04N5/93

CPC classification number: H04N5/77 ,  G06F19/00 ,  G06Q10/06 ,  G16H10/40 ,  H04N5/93 ,  Y10S901/02

Abstract: A processing system at least including a processing apparatus including a robot configured to perform, in accordance with operation commands, processes on a container that contains an object to be processed in a biochemistry, biotechnology, or life science field includes an image capturing apparatus and a monitoring apparatus. The image capturing apparatus continuously captures a moving image of the processes. The monitoring apparatus includes a storage unit, a list display unit, and a playback unit. The storage unit stores the moving image captured by the image capturing apparatus. The list display unit displays at least one of a list of the processes and a list of operation information items of each indicating an operation the robot. The playback unit plays the moving image from a timing corresponding to a process specified from the list of processes or an operation information item specified from the list of operation information items.

Abstract translation: 一种处理系统，至少包括处理装置，该处理装置包括机器人，该机器人被配置为根据操作命令对在生物化学，生物技术或生命科学领域中包含待处理物体的容器上的处理进行包括图像捕获装置和 监控装置。 图像捕获装置连续捕获处理的运动图像。 监视装置包括存储单元，列表显示单元和重放单元。 存储单元存储由图像捕获装置拍摄的运动图像。 列表显示单元显示处理的列表和每个指示机器人的操作的操作信息项的列表中的至少一个。 播放单元从对应于从处理列表指定的处理的定时或从操作信息项列表指定的操作信息项播放运动图像。

公开(公告)号：US20150104283A1

公开(公告)日：2015-04-16

申请号：US14576208

申请日：2014-12-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kazuyoshi NOGAMI ,  Tamio NAKAMURA ,  Takashi NISHIMURA ,  Takashi SUYAMA ,  Nobukazu MIYAUCHI

IPC: B25J9/00 ,  B25J9/06 ,  B25J18/00 ,  B25J9/16

CPC classification number: B25J9/0096 ,  B25J9/0087 ,  B25J9/06 ,  B25J9/16 ,  B25J18/00 ,  G05B2219/40333 ,  Y10S901/02 ,  Y10S901/15 ,  Y10T74/20305

Abstract: A robot system according to embodiments includes a robot including an arm, and a work table. On the work table, an object used for work performed by the robot by using the arm is placed. The arm of the robot includes a first arm portion, a second arm portion, and a third arm portion. The first arm portion supports an end effector to be rotatable about a first rotation axis at a distal end thereof. The second arm portion supports a base end of the first arm portion to be swingable about a second rotation axis substantially perpendicular to the first rotation axis. The third arm portion supports a base end of the second arm portion to be swingable about a third rotation axis substantially perpendicular to the second rotation axis.

Abstract translation: 根据实施例的机器人系统包括包括臂和工作台的机器人。 在工作台上放置用于通过使用臂由机器人执行的工作的对象。 机器人的臂包括第一臂部分，第二臂部分和第三臂部分。 第一臂部支撑端部执行器，以在其远端处围绕第一旋转轴线旋转。 第二臂部分支撑第一臂部分的基端可围绕基本上垂直于第一旋转轴线的第二旋转轴线摆动。 第三臂部分支撑第二臂部分的基端围绕基本上垂直于第二旋转轴线的第三旋转轴线摆动。

公开(公告)号：US20140277725A1

公开(公告)日：2014-09-18

申请号：US14207656

申请日：2014-03-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai KOUNO ,  Tamio NAKAMURA ,  Takashi SUYAMA ,  Takashi NISHIMURA ,  Tomohiro MATSUO ,  Shinichi ISHIKAWA ,  Tomoki KAWANO

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J9/1674 ,  G05B19/4061 ,  G05B2219/40202 ,  G05B2219/40203

Abstract: A robot system of the present disclosure includes a robot and a controller configured to control motion of the robot, and the controller includes: a motion mode storage unit storing a plurality of motion modes for controlling the robot to switch a motion state of the robot from a normal motion state to a special motion state when a predetermined first condition is satisfied; and a motion mode switching unit configured to switch the motion mode of the robot to another motion mode when, while a particular motion mode stored in the motion mode storage unit is in execution, a predetermined second condition for the particular motion mode is satisfied with a first condition for the particular motion mode satisfied.

Abstract translation: 本公开的机器人系统包括机器人和控制器，其被配置为控制机器人的运动，并且控制器包括：运动模式存储单元，其存储多个运动模式，用于控制机器人将机器人的运动状态从 当满足预定的第一条件时，向特殊运动状态的正常运动状态; 以及运动模式切换单元，其被配置为当所述运动模式存储单元中存储的特定运动模式正在执行时，将所述机器人的运动模式切换到另一运动模式，对于所述特定运动模式的预定第二条件满足以下条件： 特定运动模式的第一条件满足。

公开(公告)号：US20240424683A1

公开(公告)日：2024-12-26

申请号：US18750523

申请日：2024-06-21

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Kohei MIYAUCHI ,  Takashi SUYAMA ,  Keisuke SHIRAGA ,  Hisashi IDEGUCHI ,  Hiroki TACHIKAKE

IPC: B25J11/00 ,  B25J9/16 ,  B25J19/02

Abstract: A robot control system, comprising: a robot configured to hold a cutter; and circuitry configured to control the robot so that the robot cuts a packaging material with a blade of the cutter, and control the robot so that the blade is oriented more toward an outer side of the packaging material when the robot cuts a face of the packaging material with the blade than when the robot cuts a corner of the packaging material with the blade.

公开(公告)号：US20140172167A1

公开(公告)日：2014-06-19

申请号：US14109848

申请日：2013-12-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Kenji MATSUKUMA ,  Makoto UMENO ,  Takashi SUYAMA

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  B25J9/161 ,  B25J9/1671 ,  B25J9/1692 ,  G05B2219/37453 ,  G05B2219/40323

Abstract: A teaching data generator includes a storage device. An arithmetic device includes a first window display section to cause a display device to display a first window displaying first images respectively corresponding to some pieces of work unit job data stored in the storage device and included in teaching data. The first images are arranged in an execution order of pieces of work respectively corresponding to the some pieces of the work unit job data. A first job editing section performs an editing operation including replacing the some pieces of the work unit job data with other pieces of the work unit job data stored in the storage device, and changing the execution order. A teaching data generation section generates the teaching data based on a display content of the first window changed in accordance with the editing operation.

Abstract translation: 教学数据生成器包括存储装置。 运算装置包括第一窗口显示部分，用于使显示装置显示分别对应于存储在存储装置中并包括在教学数据中的一些作业单元作业数据的第一图像的第一窗口。 第一图像以分工对应于一些作业单元作业数据的工作片段的执行顺序排列。 第一作业编辑部执行编辑操作，包括用存储在存储装置中的其他作业单元作业数据替换一部分作业单元作业数据，并且改变执行顺序。 教学数据生成部基于根据编辑操作而变更的第一窗口的显示内容生成教学数据。

公开(公告)号：US20240424671A1

公开(公告)日：2024-12-26

申请号：US18750728

申请日：2024-06-21

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Kohei MIYAUCHI ,  Takashi SUYAMA ,  Hisashi IDEGUCHI ,  Hiroki TACHIKAKE

IPC: B25J9/16 ,  B25J13/08 ,  B25J15/06

Abstract: A robot control system, comprising: a first robot; a second robot; and circuitry configured to: control the first robot so that the first robot supports a first part of an indefinite-shape object placed at a predetermined location; and control the second robot so that the second robot supports a second part of the indefinite-shape object to convey the indefinite-shape object in cooperation with the first robot, the second part being different from the first part.

公开(公告)号：US20140277724A1

公开(公告)日：2014-09-18

申请号：US14207655

申请日：2014-03-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi SUYAMA ,  Tamio NAKAMURA ,  Dai KOUNO ,  Takashi NISHIMURA ,  Tomohiro MATSUO ,  Shinichi ISHIKAWA ,  Tomoki KAWANO

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J9/1674 ,  G05B19/4061 ,  G05B2219/40202 ,  G05B2219/40203

Abstract: A robot system of the present disclosure includes: a robot including an operable working arm driven by an actuator; an operation load detection unit configured to detect an operation load of the actuator; a region setting unit that sets a region with a predetermined range around the robot; a moving body detection unit configured to detect a position of a moving body other than the robot; and an abnormality determination unit that determines abnormality when detecting of the position of the moving body within the region, wherein the region setting unit changes the range of the region in accordance with the operation load of the actuator.

Abstract translation: 本公开的机器人系统包括：机器人，包括由致动器驱动的可操作的工作臂; 操作负载检测单元，被配置为检测所述致动器的操作负载; 区域设定单元，其围绕机器人设定预定范围的区域; 移动体检测单元，被配置为检测除了所述机器人之外的移动体的位置; 以及异常判定单元，其在所述区域内检测到所述移动体的位置时，判定异常，其中，所述区域设定单元根据所述致动器的操作负荷改变所述区域的范围。

公开(公告)号：US20140025202A1

公开(公告)日：2014-01-23

申请号：US13934240

申请日：2013-07-03

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Makoto UMENO ,  Tomoyuki HORIUCHI ,  Takashi SUYAMA

IPC: B25J9/16

CPC classification number: B25J9/1612 ,  B04B5/0414 ,  B04B13/00 ,  B04B2011/046 ,  B25J9/0087 ,  G01N35/0099 ,  G01N2035/00495

Abstract: A robot system includes: a robot arm; a robot hand provided on the robot arm; a contact unit provided on the robot hand for rotating a rotation body of a rotation device which includes the rotation body capable of housing a work and a fixed part rotatably supporting the rotation body and which performs a predetermined process on the work; a detection unit configured to detect a detection target part provided on the rotation body; and a first control unit configured to control operation of the robot arm and the robot hand so that the contact unit rotates the rotation body up to a predetermined rotational position according to a result of detecting the detection target part by the detection unit.

Abstract translation: 机器人系统包括：机器人手臂; 设置在机器人手臂上的机器人手; 设置在机器人手上的接触单元，用于旋转包括能够容纳工件的旋转体的旋转装置的旋转体和可旋转地支撑旋转体的固定部，并对工作进行预定处理; 检测单元，被配置为检测设置在所述旋转体上的检测目标部; 以及第一控制单元，被配置为控制机器人手臂和机器人手的操作，使得接触单元根据检测单元检测到检测目标部件的结果将旋转体旋转到预定旋转位置。