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：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。

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：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：US20130085605A1

公开(公告)日：2013-04-04

申请号：US13644307

申请日：2012-10-04

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuya YASUDA ,  Kazuhiko FUKUSHIMA

IPC: B25J13/08 ,  B25J19/02 ,  B25J19/04 ,  B25J15/06

CPC classification number: B25J9/1697 ,  B25J9/1687 ,  G05B2219/39508 ,  G05B2219/39567 ,  G05B2219/40053 ,  G05B2219/40613 ,  G05B2219/45063 ,  Y02P80/40

Abstract: A robot system includes a container, a disposed-state detector, and a robot arm. The container is configured to accommodate a plurality of to-be-held objects and includes a reticulated portion. The disposed-state detector is configured to detect disposed states of the plurality of respective to-be-held objects disposed in the container. The robot arm includes a holder configured to hold a to-be-held object among the plurality of to-be-held objects based on the disposed states of the plurality of respective to-be-held objects detected by the disposed-state detector.

Abstract translation: 机器人系统包括容器，布置状态检测器和机器人手臂。 该容器构造成容纳多个被保持物体，并且包括网状部分。 配置状态检测器被配置为检测设置在容器中的多个相应待保持物体的布置状态。 机器人手臂包括保持器，其被构造成基于由配置状态检测器检测到的多个相应待保持物体的布置状态，在多个待保持物体之间保持被保持物体。

公开(公告)号：US20190084156A1

公开(公告)日：2019-03-21

申请号：US16134969

申请日：2018-09-19

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuya YASUDA ,  Tatsuya NAKATA ,  Tsuyoshi ITO ,  Kiminori NISHIMURA

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J5/00 ,  B25J5/02 ,  B25J9/16 ,  B25J9/1615 ,  G05B2219/40252

Abstract: A robot system includes a robot, a moving body, a determination circuit, a calculation circuit, and a control circuit. The robot includes a mount and a first arm. The determination circuit is configured to determine a lastly moved part of the robot which is lastly moved to make the robot take an operation posture. The calculation circuit is configured to calculate, based on the lastly moved part, an angle between a travel direction of the moving body and an orientation axis of the first arm when the robot in the operation posture is viewed along a height axis of the robot. The control circuit is configured to control the robot to work on a workpiece keeping the robot in the operation posture with the calculated angle while controlling the moving body to move in the travel direction.

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。