公开(公告)号：US20220339791A1

公开(公告)日：2022-10-27

申请号：US17840616

申请日：2022-06-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Toshiki ITO ,  Hiroshi Kumagai ,  Yukihiro Tobata ,  Hisashi Ideguchi ,  Keisuke Nakamura

IPC: B25J9/16 ,  B25J19/02

Abstract: A robot system includes: a conveying device configured to convey a workpiece; a robot configured to execute an operation on the workpiece; and circuitry configured to: identify a current position of the workpiece and an object area occupied by an object; identify an interlock area that moves with the current position of the workpiece being conveyed by the conveying device; check an overlap between the interlock area and the object area; and control the robot to execute the operation based on the current position of the workpiece in response to determining that the interlock area does not overlap the object area.

公开(公告)号：US20140081452A1

公开(公告)日：2014-03-20

申请号：US13956361

申请日：2013-08-01

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Toshiki ITO ,  Yuya YASUDA ,  Shinji MURAI

IPC: B25J9/16

CPC classification number: B25J9/1669 ,  B25J9/1679 ,  G05B2219/40053

Abstract: A robot apparatus includes a robot main body, a distance determining section, an order determining section, and an operation controlling section. The robot main body transfers a plurality of to-be-processed objects in order so as to subject every predetermined number of the to-be-processed objects to processing, and includes a robot arm and a robot hand. The distance determining section determines an entire transfer distance of each of the to-be-processed objects. The order determining section determines a transfer order of the to-be-processed objects based on a determination result of the distance determining section so that every predetermined number of the to-be-processed objects has uniform transfer time. The operation controlling section controls operations of the robot arm and the robot hand so as to transfer the to-be-processed objects in accordance with the transfer order determined by the order determining section.

Abstract translation: 机器人装置包括机器人主体，距离确定部，顺序确定部和操作控制部。 机器人主体按顺序传送多个待处理对象，以使每个预定数量的待处理对象受到处理，并且包括机器人手臂和机器人手。 距离确定部分确定每个被处理对象的整个传送距离。 订单确定部分基于距离确定部分的确定结果确定待处理对象的传送顺序，使得每个预定数量的被处理对象具有均匀的传送时间。 操作控制部分控制机器人手臂和机器人手的操作，以便根据由顺序确定部确定的传送顺序传送被处理对象。