公开(公告)号：US20210053219A1

公开(公告)日：2021-02-25

申请号：US16997945

申请日：2020-08-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takashi NISHIMURA ,  Issei AOYAMA ,  Tetsuro IZUMI ,  Shangning LI ,  Akihiro YAMAMOTO

IPC: B25J9/16 ,  B25J13/08 ,  G05B19/4155

Abstract: A robot system includes: a first robot; a second robot; and circuitry configured to: control the first and second robots to execute a collaborative operation on a work piece; and control, in response to a detection of an irregular state of the first robot during the collaborative operation, the first and second robots to execute a collaborative counteractive operation to eliminate the irregular state.

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：US20190160682A1

公开(公告)日：2019-05-30

申请号：US16197364

申请日：2018-11-21

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuichi SATO ,  Tomoyuki HORIUCHI ,  Dai KONO ,  Tetsuro IZUMI

IPC: B25J9/16

Abstract: A robot system includes a robot, a first movable object on which the robot is mounted and which is configured to move with the robot, a camera mounted on the first movable object to take, while the first movable object is moving, a plurality of images of a reference object that relates to a position of a workpiece, and circuitry configured to control the robot to operate on the workpiece based on the plurality of images while the first movable object is moving.

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：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：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：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：US20140277722A1

公开(公告)日：2014-09-18

申请号：US14192878

申请日：2014-02-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

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

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  G05B2219/50033

Abstract: A robot system includes a robot, a tool, a control device, a work table, a calibration jig, a detector, and a calibrator. The tool is mounted to a distal end of the robot and includes a first plane and a second plane orthogonal to each other. The control device controls the robot. On the work table, the robot works. The calibration jig is fixed to the work table. The detector detects a reference position determined by pressing the first plane and the second plane of the tool against at least one of the jig and the work table. Based on the reference position, the calibrator calibrates coordinates of the robot to be used by the control device.

Abstract translation: 机器人系统包括机器人，工具，控制装置，工作台，校准夹具，检测器和校准器。 该工具安装到机器人的远端，并且包括彼此正交的第一平面和第二平面。 控制装置控制机器人。 在工作台上，机器人工作。 校准夹具固定在工作台上。 检测器检测通过将工具的第一平面和第二平面相对于夹具和工作台中的至少一个按压而确定的参考位置。 基于参考位置，校准器校准要由控制装置使用的机器人的坐标。

公开(公告)号：US20140277715A1

公开(公告)日：2014-09-18

申请号：US14201931

申请日：2014-03-10

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

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

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/0084 ,  B25J9/1682 ,  B25J9/1692 ,  B25J21/00 ,  Y10S901/08

Abstract: A robot system includes a plurality of robots, a control device, a common work table, and a calibration device. The control device is configured to control the plurality of robots. On the common work table, the plurality of robots are configured to work. Based on a position of a first robot having a calibrated coordinate relative to a position of a second robot among the plurality of robots, the calibration device is configured to calibrate a coordinate of the second robot.

Abstract translation: 机器人系统包括多个机器人，控制装置，公共工作台和校准装置。 控制装置被配置为控制多个机器人。 在公共工作台上，多个机器人被配置为工作。 基于具有相对于多个机器人中的第二机器人的位置的校准坐标的第一机器人的位置，校准装置被配置为校准第二机器人的坐标。

公开(公告)号：US20140277714A1

公开(公告)日：2014-09-18

申请号：US14191432

申请日：2014-02-27

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

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

IPC: G05B19/418

CPC classification number: G05B19/41815 ,  B25J9/0084 ,  B25J9/1682 ,  B25J21/00 ,  G05B2219/39109 ,  G05B2219/39135 ,  G05B2219/40307

Abstract: A robot system includes a plurality of robots, a plurality of cells, a detection device, and a changer device. Each of the plurality of robots is configured to operate based on an operation command. The plurality of cells respectively accommodate the plurality of robots and are connectable to each other. The detection device is configured to detect that the plurality of cells are connected to each other. When the detection device detects that the plurality of cells are connected to each other, the changer device is configured to change at least one operation command among operation commands for the plurality of robots respectively accommodated in the connected cells.

Abstract translation: 机器人系统包括多个机器人，多个单元，检测装置和更换器装置。 多个机器人中的每一个被配置为基于操作命令进行操作。 多个单元分别容纳多个机器人并且可彼此连接。 检测装置被配置为检测多个小区彼此连接。 当检测装置检测到多个单元彼此连接时，更换器装置被配置为在分别容纳在连接的单元中的多个机器人的操作命令之间改变至少一个操作命令。