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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。
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Patent Agency Ranking
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
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。
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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。
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公开(公告)号：US09346630B2
公开(公告)日：2016-05-24
申请号：US14857754
申请日：2015-09-17
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Yoshitaka Nishizaka , Ken Nakamura , Tomoki Kawano , Yutaro Uchida
CPC classification number: B65G47/905 , B25J9/0093 , B25J9/16 , B25J9/1679 , B25J9/1697 , B65G43/08 , B65G47/52 , G05B19/41815 , G05B19/4182 , G05B2219/39102 , Y02P90/083 , Y10S901/02
Abstract: A robot system includes a first conveyor, a second conveyor, a robot, and a controller. The first conveyor conveys a plurality of kinds of workpieces. The second conveyor conveys workpiece groups each including a combination of the workpieces. The controller controls the robot, and includes a situation acquirer, a determiner, and an instructor. The situation acquirer acquires a situation in a predetermined monitor area on the first and second conveyors. The monitor area is set based on a movable range of the robot. Based on the situation, the determiner determines whether one of the workpieces on the first conveyor in the monitor area is a missing workpiece of one of the workpiece groups in the monitor area. The instructor instructs the robot to hold the one workpiece and to transfer the one workpiece from the first conveyor to the second conveyor.
Abstract translation: 机器人系统包括第一输送机，第二输送机，机器人和控制器。 第一输送机输送多种工件。 第二输送机传送各自包括工件的组合的工件组。 控制器控制机器人，并且包括情况获取器，确定器和指导者。 情况获取器获取第一和第二输送机上的预定监视区域中的情况。 监视区域是基于机器人的可移动范围来设定的。 基于这种情况，判断器确定监视区域中的第一传送带上的工件之一是监视区域中的一个工件组的缺失工件。 指导员指示机器人握住一个工件并将一个工件从第一传送器传送到第二传送器。
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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
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。
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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
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。
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