公开(公告)号：US20140365010A1

公开(公告)日：2014-12-11

申请号：US14295261

申请日：2014-06-03

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuya YASUDA ,  Issei AOYAMA ,  Toshimitsu IRIE

IPC: B25J9/16 ,  G06K9/00 ,  H04N7/18

CPC classification number: B25J9/1697 ,  G05B2219/40053 ,  G06K9/00201 ,  G06K9/00664 ,  H04N7/183

Abstract: A workpiece detector includes a camera to acquire a two-dimensional image of a search range within which workpieces are disposed. A three-dimensional sensor detects a three-dimensional shape of a three-dimensional detection area. A workpiece extraction section processes the two-dimensional image to extract candidate workpieces. An area setting section sets a three-dimensional detection areas respectively corresponding to the candidate workpieces. A prioritizing section sets an order of priority to the three-dimensional detection areas to give higher priority to one three-dimensional detection area containing more of the candidate workpieces. A sensor control section controls the three-dimensional sensor to detect the three-dimensional shape of each three-dimensional detection area in the order of priority. Every time the three-dimensional shape is detected, a workpiece detection section searches the workpieces based on the detected three-dimensional shape to detect a pickable workpiece.

Abstract translation: 工件检测器包括用于获取其中设置工件的搜索范围的二维图像的照相机。 三维传感器检测三维检测区域的三维形状。 工件提取部分处理二维图像以提取候选工件。 区域设定部设定分别对应于候选工件的三维检测区域。 优先级部分为三维检测区域设定优先次序，以便对包含更多候选工件的一个三维检测区域给予更高的优先级。 传感器控制部分控制三维传感器以优先级的顺序检测每个三维检测区域的三维形状。 每次检测到三维形状时，工件检测部根据检测出的三维形状来检索工件，检测可检测工件。

公开(公告)号：US20130309057A1

公开(公告)日：2013-11-21

申请号：US13760070

申请日：2013-02-06

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuya YASUDA ,  Shinji MURAI ,  Toshimitsu IRIE ,  Fuminori KUTSUKAKE

IPC: B25J15/08 ,  B25J9/00

CPC classification number: B25J15/08 ,  B25J9/00 ,  B25J15/0047 ,  Y10S901/39

Abstract: This robot hand includes a first finger portion and a second finger portion being relatively movable in a direction in which an object to be grasped is grasped and bar-shaped claw members fixed to the first finger portion and the second finger portion. A plurality of claw members are fixed in parallel to at least either the first finger portion or the second finger portion.

Abstract translation: 该机器人手包括第一手指部分和第二手指部分，其在被抓握物体被抓握的方向上相对移动，杆形爪部件固定到第一手指部分和第二手指部分。 多个爪构件与第一手指部分或第二手指部分中的至少一个平行地固定。

公开(公告)号：US20180009105A1

公开(公告)日：2018-01-11

申请号：US15643482

申请日：2017-07-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Fuminori KUTSUKAKE ,  Keisuke YONEHARA ,  Toshimitsu IRIE

IPC: B25J9/16 ,  B25J9/00 ,  B62D65/00

CPC classification number: B25J9/163 ,  B25J9/0084 ,  B25J9/0093 ,  B25J9/1697 ,  B62D65/00 ,  B62D65/005 ,  G05B2219/45013

Abstract: A robot system includes at least one robot, a first sensor, at least one second sensor, and circuitry. The at least one robot is to work on a workpiece. The first sensor is to detect a three-dimensional shape of the workpiece. The at least one second sensor is to detect a three-dimensional position of the workpiece. The circuitry is configured to control the at least one robot based on teaching data. The circuitry is configured to correct the teaching data according to the three-dimensional shape detected by the first sensor. The circuitry is configured to correct the teaching data according to the three-dimensional position detected by the at least one second sensor.

公开(公告)号：US20130094932A1

公开(公告)日：2013-04-18

申请号：US13644323

申请日：2012-10-04

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Fuminori KUTSUKAKE ,  Toshimitsu IRIE ,  Yuya YASUDA

IPC: B65G65/00

CPC classification number: B25J9/1697 ,  G05B19/41815 ,  G05B2219/37555 ,  G05B2219/39508 ,  G05B2219/40053 ,  G05B2219/40564 ,  G05B2219/40607 ,  G05B2219/40609 ,  G05B2219/45063 ,  Y02P90/08

Abstract: A workpiece takeout system includes a robot arm and a disposed-state detector. The robot arm is configured to perform a workpiece takeout operation to take out a workpiece disposed in an area among a plurality of areas. The disposed-state detector is configured to detect a disposed state of the workpiece and is configured to, while the robot arm is performing the workpiece takeout operation to take out the workpiece disposed in the area among the plurality of areas, detect a disposed state of another workpiece disposed in another area among the plurality of areas.

Abstract translation: 工件取出系统包括机器人臂和布置状态检测器。 机器人臂构造成执行工件取出操作以取出设置在多个区域中的区域中的工件。 配置状态检测器被配置为检测工件的布置状态，并且被构造成在机器人臂执行工件取出操作以取出设置在多个区域中的区域中的工件时，检测处理状态 设置在多个区域中的另一区域中的另一工件。

公开(公告)号：US20150039129A1

公开(公告)日：2015-02-05

申请号：US14447570

申请日：2014-07-30

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuya YASUDA ,  Toshimitsu IRIE

IPC: B25J9/16

CPC classification number: B25J9/1679 ,  B25J9/1633 ,  G05B2219/40053 ,  Y10S901/09

Abstract: A robot system includes a robot, a container, a determinator, a motion controller, a torque limitter, and a stirring operation controller. The robot includes a drive source for driving a joint part and an end effector. The determinator determines whether a workpiece capable of being held by the end effector exists among workpieces accommodated within the container. The motion controller controls a motion of the drive source. When the determinator determines that there is no workpiece capable of being held by the end effector, the torque limitter limits a motion torque of the drive source. The stirring operation controller allows the motion controller to perform a stirring operation, by which the workpieces accommodated within the container are stirred by the end effector, in a state where the motion torque is limited by the torque limitter.

Abstract translation: 机器人系统包括机器人，容器，确定器，运动控制器，扭矩限制器和搅拌操作控制器。 机器人包括用于驱动关节部分和末端执行器的驱动源。 确定器确定在容纳在容器内的工件之间是否存在能够被端部执行器保持的工件。 运动控制器控制驱动源的运动。 当确定器确定没有能够被末端执行器保持的工件时，扭矩限制器限制驱动源的运动转矩。 搅拌操作控制器允许运动控制器在运动转矩由扭矩限制器限制的状态下进行搅拌操作，通过该搅拌操作容纳在容器内的工件被末端执行器搅拌。

公开(公告)号：US20130085604A1

公开(公告)日：2013-04-04

申请号：US13644296

申请日：2012-10-04

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Toshimitsu IRIE ,  Shinji MURAI ,  Hirotoshi KAMACHI

IPC: B25J13/08 ,  B25J15/06 ,  B25J19/02

CPC classification number: B25J9/1687 ,  B25J9/1697 ,  G05B2219/39508 ,  G05B2219/40053 ,  G05B2219/40583 ,  G05B2219/40613 ,  G05B2219/45063

Abstract: A robot apparatus includes a robot arm and a held-state detector. The robot arm includes a first holder configured to hold a to-be-held object. The held-state detector is coupled to the robot arm and is configured to detect a held state of the to-be-held object held by the first holder while the robot arm is transferring the to-be-held object.

Abstract translation: 机器人装置包括机器人臂和保持状态检测器。 机器人臂包括构造成保持被保持物体的第一保持器。 所述保持状态检测器与所述机器人臂连接，并且被构造成在所述机器人手臂正在传送所述待保持物体的同时，检测由所述第一保持器保持的被保持物体的保持状态。