公开(公告)号：US09815210B2

公开(公告)日：2017-11-14

申请号：US14155361

申请日：2014-01-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi Takahashi ,  Takuya Okada ,  Tomoyuki Shiraki

IPC: B25J18/04 ,  B25J9/10 ,  B25J17/02

CPC classification number: B25J18/04 ,  B25J9/1035 ,  B25J17/02 ,  B25J17/025 ,  Y10T74/20317 ,  Y10T74/20335

Abstract: A robot according to an embodiment includes a first link, a second link, an actuator, and an external gear. The second link is rotatably connected to the first link. The actuator rotationally drives the second link. The external gear is connected to the actuator. The second link includes an internal gear engaged with the external gear.

公开(公告)号：US09481095B2

公开(公告)日：2016-11-01

申请号：US14158229

申请日：2014-01-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi Takahashi ,  Takuya Okada ,  Tomoyuki Shiraki

IPC: B25J17/02 ,  B25J9/04 ,  B25J19/00 ,  B25J9/00 ,  B25J15/00

CPC classification number: B25J17/02 ,  B25J9/0024 ,  B25J9/047 ,  B25J15/0066 ,  B25J19/0025 ,  Y10T74/20335

Abstract: A robot according to an embodiment includes a lower arm, an upper arm, a wrist, and an actuator that rotationally drives the wrist. The upper arm is connected to the lower arm rotatably about a first rotation axis. The wrist is connected to the upper arm rotatably about a second rotation axis perpendicular to the first rotation axis. The actuator is disposed so that a rotation axis of the actuator is perpendicular to the second rotation axis and is attached to the upper arm so as to extend in a direction of the first rotation axis.

Abstract translation: 根据实施例的机器人包括旋转地驱动腕部的下臂，上臂，腕部和致动器。 上臂可绕第一旋转轴线可转动地连接到下臂。 手腕以与第一旋转轴垂直的第二旋转轴可旋转地连接到上臂。 致动器被设置成使得致动器的旋转轴线垂直于第二旋转轴线并且被附接到上臂，以沿着第一旋转轴线的方向延伸。

公开(公告)号：US09216479B2

公开(公告)日：2015-12-22

申请号：US14446308

申请日：2014-07-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi Takahashi ,  Tomoyuki Shiraki ,  Masato Ito ,  Kaori Sakaki ,  Takahiko Kanamori

IPC: B23K37/00 ,  B23K37/02 ,  B25J18/02 ,  B25J19/00

CPC classification number: B23K37/02 ,  B23K37/0247 ,  B25J18/02 ,  B25J19/0008 ,  B25J19/0025 ,  Y10S901/42 ,  Y10T74/20311 ,  Y10T74/20317

Abstract: A robot includes: a stage unit; a rotation base connected to the stage unit in a rotatable manner around a predetermined rotating axis; an arm unit connected to the rotation base and having a base end rotatable around a first rotation axis that is substantially orthogonal to the rotating axis; a balancer connected to both the rotation base and the arm unit; and a cable arranged along the arm unit outside the balancer while supported by that balancer.

Abstract translation: 机器人包括：舞台单元; 旋转基座，围绕预定旋转轴线以可旋转的方式连接到平台单元; 连接到所述旋转基座的臂单元，并且具有可围绕基本上垂直于所述旋转轴线的第一旋转轴线旋转的基端; 连接到旋转底座和臂单元的平衡器; 以及沿平衡器外侧的臂单元布置的电缆，同时由该平衡器支撑。

公开(公告)号：US09381644B2

公开(公告)日：2016-07-05

申请号：US14446304

申请日：2014-07-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi Takahashi ,  Tomoyuki Shiraki ,  Masato Ito ,  Kaori Sakaki

IPC: B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  B25J9/16 ,  B25J19/00

CPC classification number: B25J9/1628 ,  B25J19/0008 ,  B25J19/0025 ,  Y10S901/14 ,  Y10S901/42

Abstract: A robot includes: a stage unit; a rotation base connected to the stage unit in a rotatable manner around a predetermined rotating axis; an arm unit connected to the rotation base and having a base end rotatable around a first rotation axis that is substantially orthogonal to the rotating axis; a first attachment unit provided to the rotation base, arranged in an outside, in a rotation radius direction, of the rotation base and nearer to the stage unit than the first rotation axis, and formed so that one part of a balancer is attached thereto; and a second attachment unit provided to the arm unit and formed so that another part of the balancer is attached thereto.

Abstract translation: 机器人包括：舞台单元; 旋转基座，围绕预定旋转轴线以可旋转的方式连接到平台单元; 连接到所述旋转基座的臂单元，并且具有可围绕基本上垂直于所述旋转轴线的第一旋转轴线旋转的基端; 第一安装单元，设置在所述旋转底座上，所述旋转基座沿旋转半径方向布置在所述旋转底座的外侧，并且比所述第一旋转轴线更靠近所述台单元，并且形成为使得平衡器的一部分附接到所述第一安装单元; 以及第二安装单元，其设置在所述臂单元上并且形成为使得所述平衡器的另一部分附接到所述臂单元。

公开(公告)号：US09242371B2

公开(公告)日：2016-01-26

申请号：US14340495

申请日：2014-07-24

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Yukio Hashiguchi ,  Shinji Murai ,  Tomoyuki Shiraki

IPC: G05B19/418 ,  B25J9/06 ,  B25J9/16

CPC classification number: B25J9/06 ,  B25J9/1674 ,  G05B19/4184 ,  G05B2219/39135 ,  G05B2219/40224 ,  G05B2219/50118 ,  Y02P90/12 ,  Y02P90/14

Abstract: To enable a recovery control program to be executed quickly by a robot controller without needing to equip the robot controller with a large-capacity storage device, provided is a robot system, including a first robot controller for controlling a first robot. The first robot controller includes a posture information obtaining unit for obtaining information indicating a posture of the first robot when an anomaly occurs in the first robot. The robot system further includes a recovery control program generating unit for generating, by computing, based on the posture of the first robot, a recovery control program for changing the posture of the first robot to a given standby posture.

Abstract translation: 为了使机器人控制器能够快速执行恢复控制程序，而不需要为机器人控制器配备大容量存储装置，所述机器人系统包括用于控制第一机器人的第一机器人控制器。 第一机器人控制器包括姿势信息获取单元，用于当在第一机器人中发生异常时获取指示第一机器人的姿势的信息。 机器人系统还包括：恢复控制程序生成单元，用于通过基于第一机器人的姿势计算用于将第一机器人的姿势改变为给定待机姿态的恢复控制程序。

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。

公开(公告)号：US09114527B2

公开(公告)日：2015-08-25

申请号：US14067965

申请日：2013-10-31

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingi Takahashi ,  Takuya Okada ,  Tomoyuki Shiraki

IPC: B25J9/10 ,  B25J17/02 ,  F16H55/18

CPC classification number: B25J9/103 ,  B25J17/02 ,  F16H55/18 ,  Y10S901/25 ,  Y10T74/20329

Abstract: A robot according to embodiments includes a first link, a second link, an actuator, a scissors gear, and a support part. The second link is rotatably connected to the first link. The actuator drives the second link in a rotatable manner. The scissors gear includes a main gear and a sub gear, and outputs driving force from the actuator to the second link. The support part is attached to the first link and rotatably supports the scissors gear. Furthermore, the scissors gear includes a spring that is arranged adjacent to the support part in the direction of the rotational axis of the scissors gear and applies biasing force to the main gear and the sub gear in rotational directions different from each other.

Abstract translation: 根据实施例的机器人包括第一连杆，第二连杆，致动器，剪刀齿轮和支撑部件。 第二连杆可旋转地连接到第一连杆。 致动器以可旋转的方式驱动第二连杆。 剪刀齿轮包括主齿轮和副齿轮，并且将驱动力从致动器输出到第二连杆。 支撑部分附接到第一连杆并可旋转地支撑剪刀齿轮。 此外，剪刀齿轮包括沿着剪刀齿轮的旋转轴线的方向邻近支撑部分布置的弹簧，并且在相对于彼此不同的旋转方向上向主齿轮和副齿轮施加偏压力。