公开(公告)号：US09162359B2

公开(公告)日：2015-10-20

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: G05B19/04 ,  G05B19/18 ,  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：US09126334B2

公开(公告)日：2015-09-08

申请号：US14207660

申请日：2014-03-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tamio Nakamura ,  Dai Kouno ,  Takashi Suyama ,  Takashi Nishimura ,  Tomohiro Matsuo ,  Shinichi Ishikawa ,  Tomoki Kawano

IPC: G05B15/00 ,  G05B19/00 ,  B25J9/16

CPC classification number: B25J9/1676 ,  B25J9/1612 ,  B25J9/1674 ,  B25J19/06 ,  F16P3/147 ,  G05B2219/40202

Abstract: A robot system is provided, which includes a robot having an operable operation arm, an attachment detector for detecting one or more attachments, each attached to a wearing article equipped by a movable body, and a motion-control changer for changing a motion control of the robot based on a detection result detected by the attachment detector.

Abstract translation: 提供了一种机器人系统，其包括具有可操作操作臂的机器人，用于检测一个或多个附件的附件检测器，每个附件附接到由可移动体装备的穿着物品，以及运动控制变换器，用于改变运动控制 基于由附件检测器检测到的检测结果的机器人。

公开(公告)号：US09403276B2

公开(公告)日：2016-08-02

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: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  G05B19/4061

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：US09272413B2

公开(公告)日：2016-03-01

申请号：US13688219

申请日：2012-11-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Masatoshi Furuichi ,  Yoshiki Kimura ,  Tomohiro Matsuo ,  Yoshihiro Kusama

IPC: B25J9/16 ,  B25J9/04 ,  H01L21/677

CPC classification number: B25J9/042 ,  B25J9/1664 ,  H01L21/677 ,  H01L21/67766 ,  Y10S901/02 ,  Y10S901/15

Abstract: A conveying system according to an embodiment includes a robot and a controller. The controller includes a switching unit. The robot includes an arm unit formed of a hand and a plurality of arms connected rotatably with respect to one another, and a base unit. An arm on a rear end side is connected to the base unit rotatably about a rotation axis, and the hand is rotatably connected to an arm on a front end side. The switching unit switches cylindrical coordinate control for controlling the arm unit such that a trajectory of the hand overlaps with any one of lines radiating from the rotation axis and rectangular coordinate control for controlling the arm unit such that the trajectory of the hand overlaps with none of the lines at a predetermined timing.

Abstract translation: 根据实施例的输送系统包括机器人和控制器。 控制器包括切换单元。 机器人包括由手和相对于彼此可旋转地连接的多个臂形成的臂单元和基座单元。 后端侧的臂与旋转轴可旋转地连接在基座上，手可旋转地与前端侧的臂连接。 切换单元切换用于控制臂单元的圆柱坐标控制，使得手的轨迹与从旋转轴辐射的线中的任何一个重叠，并且用于控制臂单元的直角坐标控制，使得手的轨迹与 线在预定的时间。

公开(公告)号：US09278451B2

公开(公告)日：2016-03-08

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 ,  G05B19/4061

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：US09266240B2

公开(公告)日：2016-02-23

申请号：US14549453

申请日：2014-11-20

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Tomoyuki Shiraki ,  Atsushi Ichibangase ,  Yuji Sajikawa ,  Tomohiro Matsuo ,  Shinichi Ishikawa ,  Tomoki Kawano

IPC: G05B19/04 ,  B25J9/16 ,  B25J9/04 ,  B25J13/08 ,  G05B9/02

CPC classification number: B25J9/1676 ,  B25J9/047 ,  B25J9/1674 ,  B25J13/088 ,  G05B9/02 ,  G05B2219/37522 ,  G05B2219/37546 ,  G05B2219/39413 ,  G05B2219/42329 ,  Y10S901/02 ,  Y10S901/29 ,  Y10S901/30 ,  Y10S901/49

Abstract: Provided is a robot further improved in safety. The robot includes at least one link which is rotatably coupled around an axis, a motor which rotates the link around the axis, a first sensor which detects a rotation state of the motor, and a second sensor which detects a rotation state of the link. The robot also includes a controller which controls the rotation of the link based on information from the first sensor. The controller determines an operation state of at least one of the first sensor and the second sensor, based on first information from the first sensor and second information from the second sensor.

Abstract translation: 提供了一种进一步提高安全性的机器人。 机器人包括绕轴线可旋转地联接的至少一个连杆，围绕轴线旋转连杆的马达，检测马达的旋转状态的第一传感器和检测连杆的旋转状态的第二传感器。 机器人还包括基于来自第一传感器的信息来控制链接的旋转的控制器。 控制器基于来自第一传感器的第一信息和来自第二传感器的第二信息确定第一传感器和第二传感器中的至少一个的操作状态。