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1. 发明专利

JP2005046966A Production system 有权
标题翻译：生产系统
公开(公告)号：JP2005046966A
公开(公告)日：2005-02-24
申请号：JP2003282715
申请日：2003-07-30
申请人： Toyota Motor Corp , Yaskawa Electric Corp , トヨタ自動車株式会社 , 株式会社安川電機
发明人： NAKAMURA YASUHIDE , FUKUTOME KAZUHIRO
IPC分类号： B25J5/02 , B23Q7/04 , B23Q7/14 , B23Q41/02 , B25J9/06
CPC分类号： B25J9/0087
摘要： PROBLEM TO BE SOLVED: To provide a production system capable of matching a rather heavy work and increasing productivity. SOLUTION: In this production system, the direction of delivery of a work 6 between an industrial robot 1 and machine tools 2 to 4 is positioned in a horizontal direction and the double-arm robot 1 of scholar structure with a load capacity larger than that of a robot arm of articulated structure and a high handling speed is used as the industrial robot 1. By this, the move of the work 6 in a line 5, namely the operation of the industrial robot 1 is simplified and a time required for the handling of the work 6 is shortened. Also, the production system can cope with the work having the load capacity larger than that of the robot arm of articulated structure, and can short the cycle time to increase the productivity. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供能够匹配相当沉重的工作并提高生产率的生产系统。解决方案：在该生产系统中，工业机器人1与机床2至4之间的工件6的传送方向位于水平方向，并且具有负载能力较大的学者结构的双臂机器人1 作为工业机器人1，使用铰接结构的机器人手臂和高处理速度。由此，工件6在线5中的移动，即工业机器人1的操作被简化并且需要时间为了处理工作6缩短。此外，生产系统可以应付负载能力大于铰接结构的机器人臂的工作，并且可以缩短循环时间以提高生产率。版权所有（C）2005，JPO＆NCIPI

2. 发明专利

JP2013022652A Parallel link robot and picking system 有权
标题翻译：平行连杆机器人和拍摄系统
公开(公告)号：JP2013022652A
公开(公告)日：2013-02-04
申请号：JP2011156859
申请日：2011-07-15
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： FUKUTOME KAZUHIRO , SANADA TAKASHI , MIHARA NOBUHIKO
IPC分类号： B25J11/00
CPC分类号： B25J17/0266 , B25J9/0018 , B25J19/0075 , Y10T74/20305 , Y10T74/20317
摘要： PROBLEM TO BE SOLVED: To ensure the sanitary property during the maintenance.SOLUTION: This parallel link robot includes a housing 21, a plurality of motor units 22, and a plurality of arms 23. Openings 211 for arm connection are formed in the housing 21. The motor units 22 are accommodated in the housing 21. The arm 23 is connected to each of the motor units 22 via the opening 211 for arm connection. The housing 21 has a detaching opening 212 capable of detaching the motor units 22 from the upper side.
摘要翻译：要解决的问题：确保维护期间的卫生。该平行连杆机构包括壳体21，多个电机单元22和多个臂23.用于臂连接的开口211形成在壳体21中。马达单元22容纳在壳体21中臂23经由用于臂连接的开口211连接到每个电动机单元22。壳体21具有能够将电动机单元22从上侧分离的拆卸开口212。版权所有（C）2013，JPO＆INPIT

3. 发明专利

JP2011000687A Carrying system 有权
标题翻译：携带系统
公开(公告)号：JP2011000687A
公开(公告)日：2011-01-06
申请号：JP2009146949
申请日：2009-06-19
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： KINOSHITA YUSUKE , OKAHISA MANABU , FUKUTOME KAZUHIRO
IPC分类号： B25J9/02
摘要： PROBLEM TO BE SOLVED: To provide a carrying system considerably improved in carrying cycle time.SOLUTION: In the carrying system 1 for linearly carrying a workpiece 10, a drive mechanism includes a linear motor 2, and an up-and-down mechanism 6 is provided on a movable element 5 of the linear motor 2 to move up and down a suction pad 7 on/from which the workpiece 10 is attached and detached.
摘要翻译：要解决的问题：提供大大提高承载周期时间的承载系统。解决方案：在用于线性承载工件10的承载系统1中，驱动机构包括线性电动机2，并且上下机构6是设置在直线电动机2的可动元件5上，上下移动工件10被安装和拆卸的吸盘7。

4. 发明专利

JP2009119567A Robot hand and gripping method 有权
标题翻译：机器人手提和方法
公开(公告)号：JP2009119567A
公开(公告)日：2009-06-04
申请号：JP2007296827
申请日：2007-11-15
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： FUKUTOME KAZUHIRO
IPC分类号： B25J15/08
摘要： PROBLEM TO BE SOLVED: To provide a robot hand which can positively grip an object, avoids heating thereof, and prevents the object gripped by the hand from dropping even in case of a power failure.
SOLUTION: The robot hand is formed of a base portion 1, a rotation driving mechanism 3 mounted on the base portion 1, and at least one link 2 connected to the rotation driving mechanism 3. Herein the base portion 1 is composed of a first elastic member 5 operable in a direction that opens the link 2, and a second elastic member 4 operable in a direction that closes the link 2.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了提供能够正确地夹持物体的机器人手，避免其加热，并且即使在停电的情况下也防止由手抓住的物体掉落。解决方案：机器人手由基部1，安装在基部1上的旋转驱动机构3和连接到旋转驱动机构3的至少一个连杆2形成。这里，基部1由可沿着打开连杆2的方向操作的第一弹性部件5以及沿关闭连杆2的方向操作的第二弹性部件4.（C）2009，JPO＆INPIT

5. 发明专利

JP2008179187A Omnidirectional moving carriage and traveling control method thereof 审中-公开
标题翻译： OMNIDIRECTIONAL MOVING CARRIAGE AND TRAVELING CONTROL METHOD THEREOF
公开(公告)号：JP2008179187A
公开(公告)日：2008-08-07
申请号：JP2007012369
申请日：2007-01-23
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： FUKUTOME KAZUHIRO
IPC分类号： B62B3/00 , B62D7/14 , B62D61/06
摘要： PROBLEM TO BE SOLVED: To provide an ominidirectional moving carriage with a slim outer shape and short turning radius and effective to ride on a step without mounting a large-scale step riding-on mechanism, which is an obstacle for a compact size, to a moving carriage.
SOLUTION: This omnidirectional moving carriage comprises a moving carriage body 1, first, second and third omni-wheels 3a, 3b, 3c for moving the moving carriage body, and drive parts 2a, 2b, 2c for independently driving rotation of the first, second and third omni-wheels 3a, 3b, 3c. The carriage is provided with a first turning drive part 4 for turning the first omni-wheel around a vertical shaft.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为了提供具有纤薄的外形和短的转弯半径的小方向移动的托架，并且有效地骑在台阶上而不安装大型踏步机构，这是紧凑的尺寸的障碍，到一个移动的车厢。解决方案：该全向移动滑架包括用于移动移动滑架主体的移动滑架主体1，第一，第二和第三全向轮3a，3b，3c，以及驱动部分2a，2b，2c，用于独立地驱动第一，第二和第三全向轮3a，3b，3c。滑架设置有用于使第一全向轮围绕竖直轴旋转的第一转动驱动部4。版权所有（C）2008，JPO＆INPIT

6. 发明专利

JP2010069557A Hand and its operation method 审中-公开
标题翻译：手及其操作方法
公开(公告)号：JP2010069557A
公开(公告)日：2010-04-02
申请号：JP2008238000
申请日：2008-09-17
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： FUKUTOME KAZUHIRO
IPC分类号： B25J15/08
摘要： PROBLEM TO BE SOLVED: To provide a hand capable of holding a holding object by fixed holding force set in advance and without damaging the holding object, holding the holding object to be wrapped by following the shape of the holding object, and realizing the holding with a comparatively simple constitution.
SOLUTION: This hand includes a base part 1, a rotating and driving mechanism 2 fixed to the base part 1, and at least two links 3 connected to the rotating and driving mechanism 2. Each link 3 has a power transmission component 4 and a rachet mechanism 5 at a joint. The rotating and driving mechanism 2 is connected to the power transmission component 4 and the rachet mechanism 5 provided at each joint via a belt 6.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够通过预先设定的固定保持力来保持保持对象的手而不损坏保持对象，通过跟随保持对象的形状来保持要包裹的保持对象，并且实现举行比较简单的宪法。解决方案：该手包括基部1，固定到基部1的旋转驱动机构2和连接到旋转驱动机构2的至少两个连杆3。每个连杆3具有动力传递部件4 和一个联合的冲绳机构5。旋转和驱动机构2经由皮带6连接到动力传递部件4和设置在每个接头处的皮带机构5。版权所有（C）2010，JPO＆INPIT

7. 发明专利

JP2008149444A Robot and control method 有权
标题翻译：机器人和控制方法
公开(公告)号：JP2008149444A
公开(公告)日：2008-07-03
申请号：JP2007097255
申请日：2007-04-03
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： MATSUKUMA KENJI , NAKAMURA TAKAYUKI , YOKOYAMA KAZUHIKO , FUKUTOME KAZUHIRO
IPC分类号： B25J15/08
CPC分类号： B25J15/0009 , B25J9/104 , B25J9/1612 , Y10T29/49826 , Y10T74/20305 , Y10T74/20317 , Y10T74/20329
摘要： PROBLEM TO BE SOLVED: To provide a robot with a high general applicability capable of realizing both of a light grip used for a small lightweight object and a stable grip used for a heavy object and adding no unreasonable load on a driving means and facilitating direct teaching and origin return actions. SOLUTION: The robot is provided with a base section 1, at least two link mechanisms 4 arranged on the base section 1, a driving means 3 for bending and extending the link mechanisms 4, and a control means 10 for controlling the driving means 3. At least one driving means 3 has driving force greater than the other driving means 3, and the other drive means 3 are transitively displaced with external force greater than self driving force. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种具有高的一般适用性的机器人，其能够实现用于小型轻型物体的轻型把手和用于重物的稳定抓地力，并且在驱动装置上增加不合理的负载，促进直接教学和原籍返回行动。解决方案：机器人设置有基部1，布置在基部1上的至少两个连杆机构4，用于弯曲和延伸连杆机构4的驱动装置3和用于控制驱动的控制装置10 至少一个驱动装置3具有大于另一个驱动装置3的驱动力，而另一个驱动装置3以大于自身驱动力的外力传递移位。版权所有（C）2008，JPO＆INPIT

8. 发明专利

JP2013158878A Parallel link robot 有权
标题翻译：平行机器人
公开(公告)号：JP2013158878A
公开(公告)日：2013-08-19
申请号：JP2012022164
申请日：2012-02-03
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： FUKUTOME KAZUHIRO , MIHARA NOBUHIKO
IPC分类号： B25J11/00 , F16H21/10
CPC分类号： B25J18/00 , B25J9/003 , B25J9/0051 , B25J17/0266 , Y10S901/27 , Y10T74/20305
摘要： PROBLEM TO BE SOLVED: To provide a parallel link robot capable of reducing possibilities of dropouts of parts.SOLUTION: A parallel link robot 100 includes upper arms 11 including sphere parts 22, lower arms 12 including recesses 13a swingably engaged with the sphere parts 22 and connected to the upper arms 11 so as to structure link mechanisms, and urging mechanism parts 15 urging the recesses 13a to the sphere part 22 side. The urging mechanism part 15 includes first connection members 40 attached to the lower arm 12, and the first connection member 40 includes a protrusion 43 for locking the first connection member 40 in the lower arm 12.
摘要翻译：要解决的问题：提供一种能够减少零件掉落可能性的平行连杆机器人。解决方案：平行连杆机器人100包括上臂11，其包括球体部分22，下臂12，其包括与球体部分22可摆动地接合的凹部13a，连接到上臂11，以便构造连杆机构，以及推动机构部分15，将凹部13a推动到球体部分22侧。推压机构部15包括安装在下臂12上的第一连接部件40，第一连接部件40包括用于将第一连接部件40锁定在下臂12中的突起部43。

9. 发明专利

JP2013158874A Parallel link robot system 审中-公开
标题翻译：并联机器人系统
公开(公告)号：JP2013158874A
公开(公告)日：2013-08-19
申请号：JP2012022026
申请日：2012-02-03
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： FUKUTOME KAZUHIRO , MIHARA NOBUHIKO
IPC分类号： B25J13/00
CPC分类号： B25J9/1065 , B25J9/0018 , B25J9/0051 , B25J9/0093 , B25J9/1687 , B25J17/0266 , G05B2219/39552 , G05B2219/40267 , Y10S901/27
摘要： PROBLEM TO BE SOLVED: To provide a parallel link robot system capable of easily performing placing movement even when a placing part is a narrow area.SOLUTION: A picking system 100 (robot system) includes a first conveyor 30, a second conveyor 40 arranged at a height position lower than the first conveyor 30, a parallel link robot 10 including three parallely-connected link mechanism parts 13 and one suction part 15 attached to the front ends 13a of the three link mechanism parts 13, and a robot controller 20 controlling the movement of the parallel link robot 10. The robot controller 20 is configured to exercise control over the parallel link robot 10 to perform taking-out movement for holding and taking out a workpiece W from the first conveyor 30, and placing movement for placing the workpiece W taken out by the taking-out movement on the second conveyor 40.
摘要翻译：要解决的问题：提供一种即使当放置部分是狭窄区域时也能够容易地执行放置运动的平行链接机器人系统。解决方案：拾取系统100（机器人系统）包括第一输送机30，第二输送机40 低于第一输送机30的高度位置，包括三个平行连接的连杆机构部13的平行连杆机器人10和安装在三连杆机构部13的前端13a上的一个吸引部15，以及控制平行连杆机器人10的移动。机器人控制器20被配置为对并联连杆机器人10进行控制，以执行用于从第一输送机30保持和取出工件W的取出运动，并且放置用于放置工件的运动 W通过第二输送机40上的取出运动而取出。

10. 发明专利

JP2008178968A Robot hand 审中-公开
标题翻译：机器人手
公开(公告)号：JP2008178968A
公开(公告)日：2008-08-07
申请号：JP2007196974
申请日：2007-07-30
申请人： Yaskawa Electric Corp , 株式会社安川電機
发明人： KONO MASARU , FUKUTOME KAZUHIRO , NAKAMOTO ZENTA , AKAE HIROMITSU
IPC分类号： B25J19/00 , B25J15/08
摘要： PROBLEM TO BE SOLVED: To provide a mechanism of a robot hand in which the size of the entire robot hand is reduced, exposure of a cable is eliminated to prevent breakage of the cable, appearance is improved, and the cable is not caught by an obstacle on a working path of the robot hand and is not broken.
SOLUTION: In the robot hand, at least one robot finger 1, which is provided with a plurality of links 9, 10, 11, a plurality of joint shafts 3, 4, 5 rotatably connecting the links 9, 10, 11, a plurality of actuators 6, 7, 8 driving the joint shafts 3, 4, 5 and a plurality of cables 12 transmitting an electric current and a signal to the actuators 6, 7, 8, is arranged on a base 2. In relation to a portion between at least one pair of the joint shafts 3, 4, 5, one end of an elastic body 32 is attached to the joint shafts 3, 4, 5, the other end of the elastic body 15-18 is attached to second joint shafts 3, 4, 5 relatively rotating with respect to the joint shafts 3, 4, 5, and the cables 12 move along the elastic body 32.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：为了提供机器人手的机构，其中整个机器人手的尺寸减小，电缆的暴露被消除以防止电缆的断裂，外观改善，并且电缆不是在机器人手的工作路径上被障碍物抓住，不被破坏。解决方案：在机器人手中，至少有一个机器人手指1设置有多个连杆9,10,11，多个关节轴3,4,5可旋转地连接连杆9,10,11 驱动关节轴3,4,5的多个致动器6,7,8以及向致动器6,7,8传递电流和信号的多个电缆12设置在基座2上。关于在至少一对关节轴3,4之间的部分上，弹性体32的一端安装在关节轴3,4,5上，弹性体15-18的另一端安装到相对于关节轴3,4,5相对旋转的第二关节轴3,4,5和电缆12沿着弹性体32移动。版权所有（C）2008，JPO＆INPIT

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