公开(公告)号：US09764480B2

公开(公告)日：2017-09-19

申请号：US14503405

申请日：2014-10-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takenori Oka ,  Manabu Okahisa

IPC: B25J17/00 ,  B25J9/00 ,  B25J9/04 ,  B25J9/06

CPC classification number: B25J17/00 ,  B25J9/0084 ,  B25J9/0087 ,  B25J9/046 ,  B25J9/06 ,  Y10T74/20317 ,  Y10T74/20323 ,  Y10T74/20329

Abstract: A robot includes a body, a first arm, and a second arm. The first arm includes one joint, an adjacent joint that is adjacent to the one joint, and another adjacent joint that is adjacent to the adjacent joint. When the first arm is extended in a vertical orientation relative to the body, the one joint of the first arm has a rotation axis that is offset by a first distance in a first horizontal direction from a rotation axis of the adjacent joint of the first arm, and the another adjacent joint of the first arm has a rotation axis that is offset by a second distance in a second horizontal direction from the rotation axis of the adjacent joint of the first arm. The first horizontal direction is opposite to the second horizontal direction.

公开(公告)号：US09346162B2

公开(公告)日：2016-05-24

申请号：US14149810

申请日：2014-01-08

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yukio Hashiguchi ,  Shingo Ando ,  Takuya Fukuda ,  Takenori Oka ,  Shinji Murai ,  Takeomi Hidaka ,  Manabu Okahisa

IPC: B25J9/16 ,  B25J9/00 ,  B25J13/08

CPC classification number: B25J9/1633 ,  B25J9/0087 ,  B25J13/085

Abstract: A robot system includes a robot arm, one or more actuators that are provided in the robot arm to drive the robot arm, a sensor unit that detects an external force applied to at least one of the robot arm and the actuators, and a controller that controls an operation of each of the actuators and limits a torque instruction value for each of the actuators on the basis of a detection result of the sensor unit.

Abstract translation: 机器人系统包括机器人臂，设置在机器人手臂中以驱动机器人臂的一个或多个致动器，检测施加到机器人臂和致动器中的至少一个的外力的传感器单元，以及控制器， 控制每个致动器的操作，并且基于传感器单元的检测结果来限制每个致动器的转矩指令值。

公开(公告)号：US08823240B2

公开(公告)日：2014-09-02

申请号：US13792198

申请日：2013-03-11

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Toshiyuki Yamagishi ,  Takenori Oka ,  Toyofumi Yuda

IPC: H02K15/02 ,  H02K3/32 ,  H02K1/14 ,  H02K1/18

CPC classification number: H02K3/32 ,  H02K1/148 ,  H02K1/185 ,  H02K2203/12

Abstract: A stator includes: a stator core having an almost annular outer core and an inner core arranged inside the outer core; and a bobbin having a cylindrical body part around which a winding wire is wound and a flange part that is formed so as to rise up from the cylindrical body part, with a plurality of bent parts and an edge part.

Abstract translation: 定子包括：定子芯，其具有几乎环形的外芯和布置在外芯内部的内芯; 以及具有卷绕有绕组线的圆筒体部的筒管和形成为从圆筒体部上升的凸缘部，具有多个弯曲部和边缘部。

公开(公告)号：US08823225B2

公开(公告)日：2014-09-02

申请号：US13792200

申请日：2013-03-11

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Toyofumi Yuda ,  Toshiyuki Yamagishi ,  Takenori Oka

IPC: H02K11/00 ,  H02K1/28 ,  H02K29/10

CPC classification number: H02K11/0026 ,  H02K1/28 ,  H02K11/22 ,  H02K29/10

Abstract: A motor includes: a almost annular stator, a rotor arranged inside the annular ring of the stator for rotating about a central axis, a sensor for detecting the rotation of the rotor, and a sensor board for implementing the sensor. The sensor and the sensor board are arranged outside the stator in the direction along the central axis. The sensor is a reflection type light projecting/receiving sensor.

Abstract translation: 电动机包括：几乎环形的定子，设置在定子的环形圈周围用于围绕中心轴旋转的转子，用于检测转子的旋转的传感器和用于实现传感器的传感器板。 传感器和传感器板沿着中心轴线的方向排列在定子的外侧。 传感器是反射型光投射/接收传感器。