公开(公告)号：US10409269B2

公开(公告)日：2019-09-10

申请号：US15667689

申请日：2017-08-03

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Tetsuro Izumi ,  Hirokazu Kariyazaki ,  Makoto Umeno ,  Tatsuro Ipposhi

IPC: G05B19/418 ,  B25J11/00 ,  C12M1/00 ,  B25J9/00 ,  B25J9/16

Abstract: Provided is an operation command generation device, which is configured to generate an operation command, which is a collection of jobs to be performed by a process system of at least a robot, based on a protocol chart of at least a plurality of process symbols, the operation command generation device circuitry includes: a job generation unit configured to generate, based on the protocol chart, a job; a priority instruction unit configured to instruct a priority condition for determining a job execution order; and an execution order determination unit configured to determine an execution order of the jobs based on the priority instructed by the priority instruction unit by using a first condition about repeatedly execution of the jobs according to the number of the containers and a second condition about execution order of the jobs according to the arrangement of the process symbols in the protocol chart.

公开(公告)号：US09833905B2

公开(公告)日：2017-12-05

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 ,  B25J9/00

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.

公开(公告)号：US09186791B2

公开(公告)日：2015-11-17

申请号：US14201933

申请日：2014-03-10

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai Kouno ,  Tetsuro Izumi ,  Tamio Nakamura ,  Takashi Nishimura

IPC: B25J5/00 ,  B25J9/16 ,  B25J13/08

CPC classification number: B25J5/007 ,  B25J9/162 ,  B25J9/1633 ,  B25J13/083 ,  B25J13/085 ,  G05D1/0242 ,  G05D2201/0216 ,  Y10S901/01

Abstract: A mobile robot includes a truck capable of traveling by servo control, a robot arm mounted on the truck, and a control portion servo-controlling the traveling of the truck. The control portion is configured to set a servo gain of the servo control for the truck to a robot arm operation gain during the operation of the robot arm.

Abstract translation: 移动机器人包括能够通过伺服控制行进的卡车，安装在卡车上的机器人手臂，以及伺服控制卡车行驶的控制部。 所述控制部构成为，在所述机器人手臂的动作期间，将所述卡车的伺服控制的伺服增益设定为机器人手臂的运行增益。

公开(公告)号：US09158299B2

公开(公告)日：2015-10-13

申请号：US14191431

申请日：2014-02-27

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Dai Kouno ,  Tamio Nakamura ,  Tetsuro Izumi ,  Ryoichi Nagai

IPC: B23Q3/155 ,  G05B19/418 ,  B25J9/16 ,  B25J9/00 ,  B25J21/00

CPC classification number: G05B19/41815 ,  B25J9/0084 ,  B25J9/1682 ,  B25J21/00 ,  G05B2219/31075 ,  Y02P90/16 ,  Y02P90/185

Abstract: A robot system includes a first cell and a second cell. The first cell includes a first robot, a first controller, and a first casing. The first robot performs work on a to-be-worked material. The first controller controls the first robot. The first casing accommodates the first robot and the first controller. The second cell includes a second robot, a second controller, and a second casing. The second robot performs work on a to-be-worked material. The second controller controls the second robot. The second casing accommodates the second robot and the second controller. When the first casing and the second casing are connected to each other, the first controller and the second controller respectively control the first robot and the second robot to work in a common operation area, where a first movable area and a second movable area overlap.

Abstract translation: 机器人系统包括第一单元和第二单元。 第一单元包括第一机器人，第一控制器和第一壳体。 第一个机器人对待加工材料进行工作。 第一个控制器控制第一个机器人。 第一壳体容纳第一机器人和第一控制器。 第二单元包括第二机器人，第二控制器和第二壳体。 第二个机器人对待处理的材料进行工作。 第二个控制器控制第二个机器人。 第二壳体容纳第二机器人和第二控制器。 当第一壳体和第二壳体彼此连接时，第一控制器和第二控制器分别控制第一机器人和第二机器人工作在第一可移动区域和第二可移动区域重叠的公共操作区域中。

公开(公告)号：US11745340B2

公开(公告)日：2023-09-05

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

CPC classification number: B25J9/1633 ,  B25J9/1612 ,  B25J9/1669 ,  B25J9/1694 ,  B25J13/085 ,  G05B19/4155 ,  G05B2219/50391

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：US11007655B2

公开(公告)日：2021-05-18

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

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：US09138893B2

公开(公告)日：2015-09-22

申请号：US14140520

申请日：2013-12-25

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ryoichi Nagai ,  Yukio Hashiguchi ,  Tetsuro Izumi

IPC: B25J13/08 ,  G05B19/04 ,  B25J9/00 ,  G05B19/425

CPC classification number: B25J9/0081 ,  G05B19/425

Abstract: A robot teaching system according to an embodiment includes a robot, a sensor, a screen generator, an adjuster, and a job generator. The sensor measures measured values relating to operations of the robot. The screen generator generates a teaching operation screen that includes guidance information intended for the teacher. The adjuster adjusts parameters for generating a job based on specified values relating to the operations of the robot and input in the teaching operation screen, and the measured values of the sensor associated with the specified values, the parameters defining an operation command including corrections of the operations of the robot. The job generator generates the job in which the parameters adjusted by the adjuster are incorporated.

Abstract translation: 根据实施例的机器人教学系统包括机器人，传感器，屏幕生成器，调节器和作业发生器。 传感器测量与机器人的操作相关的测量值。 屏幕生成器生成包括用于教师的指导信息的教学操作屏幕。 调整器基于与机器人的操作和教学操作画面中的输入相关的指定值以及与指定值相关联的传感器的测量值来调整用于生成作业的参数，定义包括校正的操作命令的操作命令的参数 机器人的操作。 作业发生器生成调整器调整的参数的作业。

公开(公告)号：US11241796B2

公开(公告)日：2022-02-08

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：US20190299399A1

公开(公告)日：2019-10-03

申请号：US16367518

申请日：2019-03-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tetsuro Izumi ,  Shohei Ohno ,  Takashi Nishimura ,  Tamio Nakamura

IPC: B25J9/10 ,  B25J13/00 ,  B25J9/16

Abstract: A robot system includes a robot including leading end, base, and multi-articular arm, and circuitry that controls the atm to move the end based on motion control program specifying transition over time of target position and posture of the end, the transition including correction target portion starting and ending in the transition; controls the arm to move the end in response to guided manipulation applying external force to the robot while the circuitry controls the arm; obtains relative command information based on the target position and posture at start of the correction portion and specifying the target position and posture at points in the correction portion including start and end in the correction portion; and controls the arm to move the end from the position and posture based on the information, beginning at time when movement of the arm controlled by the circuitry in response to the manipulation has ended.

公开(公告)号：US09329593B2

公开(公告)日：2016-05-03

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 ,  B25J9/16 ,  B25J9/00 ,  B25J21/00

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。