Patents Assigned to Kabushiki Kaisha Yaskawa Denki
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Publication number: 20240083041Abstract: A robot includes a speed reducer that increases a first torque output from a motor and outputs a second torque, a torque sensor including an output part that outputs the second torque output from the speed reducer, and a sensor part that detects at least a torque applied to the output part, and a damper that is positioned in a transmission path of the second torque from the speed reducer to the torque sensor and damps transmission of the second torque.Type: ApplicationFiled: November 21, 2023Publication date: March 14, 2024Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Fei ZHAO, Kumiko TOMA, Shinsuke KUCHIWANO, Eiji FUJITSU, Satoshi SUEYOSHI
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Patent number: 11929277Abstract: A pre-aligner for pre-aligning a wafer having a notch. The pre-aligner includes a wafer platform having a wafer receiving surface, and a drive device. A detector is provided to detect the notch, and a memory is provided to store a notch window defining a range of angles in which the notch is predicted to be located in relation to a start position. A controller performs a pre-alignment operation where the wafer is rotated from the start position to an alignment location. The controller performs the operation such that the wafer is rotated at maximum acceleration/deceleration values from the start position to a notch location detected by the detector: where the operation is limited to a maximum velocity for rotation of the wafer from the start position to a notch window; and where the operation is limited to a scanning velocity within the notch window until the notch location is detected.Type: GrantFiled: August 28, 2020Date of Patent: March 12, 2024Assignees: KABUSHIKI KAISHA YASKAWA DENKI, YASKAWA AMERICA, INC.Inventors: John Charles Rogers, Margaret Kathleen Swiecicki
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Patent number: 11929695Abstract: A control device which includes a power conversion circuit configured to supply driving power to an electric motor, a magnetic flux estimation circuit configured to estimate a primary magnetic flux of the motor, and a voltage command generation circuit (control circuit) configured to control the conversion circuit based on an estimation result of the primary magnetic flux, in which the estimation circuit performs, when an operating speed of the motor is less than a predetermined level, a first estimation of estimating the primary magnetic flux based on an output current to the motor and an inductance thereof, and performs, when the speed exceeds a predetermined level, a second estimation of estimating the primary magnetic flux by estimating a magnetic flux differential value based on an output voltage of the conversion circuit and integrating the value using, as an initial value, an estimation result by the first estimation.Type: GrantFiled: January 14, 2022Date of Patent: March 12, 2024Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventors: Takahiro Saeki, Shingo Fukumaru
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Publication number: 20240075639Abstract: A robot includes a base, a pivot base, an upper arm, and a lower arm. The base is fixed to an installation surface. The pivot base has a pivot base proximal end which is connected to the base such that the pivot base is rotatable around a first axis along a vertical direction. The lower arm includes a first extending portion, a second extending portion, and a connecting portion. The connecting portion has a hollow structure and connects the first extending portion and the second extending portion such that the first arm proximal end faces the second arm proximal end and such that the first arm distal end faces the second arm distal end. The connecting portion includes a reinforcing portion in the hollow structure. The reinforcing portion includes ribs which connect opposed inner walls of the connecting portion and which cross each other.Type: ApplicationFiled: August 17, 2023Publication date: March 7, 2024Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Kanji SUGIMORI, Yuto TANAKA, Nobuhiko MIHARA, Hidenori MATSUURA
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Publication number: 20240066694Abstract: A robot control system includes processing circuitry that generates an inquiry for a user while a robot is executing a task, identifies an action of the user in response to the inquiry using a sensor, complements at least part of the task based on the identified action, and controls the robot such that the robot executes the complemented at least part of the task.Type: ApplicationFiled: August 11, 2023Publication date: February 29, 2024Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventor: Tatsuya KITTAKA
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Patent number: 11914343Abstract: A command generation device to control a motor includes command input circuitry configured to receive a first command, first intermediate data calculation circuitry configured to calculate first intermediate data based on the first command, delay time setting circuitry configured to determine a delay time based on the first command, second intermediate data calculation circuitry configured to calculate second intermediate data by smoothing the first intermediate data based on the delay time, and command output circuitry configured to calculate, based on the second intermediate data, a second command according to which the motor is controlled. A first time period during which positioning the motor based on the first command is completed when the first intermediate data is smoothed is longer by the delay time than a second time period during which positioning the motor based on the first command is completed when the first intermediate data is not smoothed.Type: GrantFiled: June 3, 2021Date of Patent: February 27, 2024Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventors: Kenichi Hirose, Yasuhiro Suzuki, Atsuro Tandai, Kenshiro Yokoi
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Patent number: 11898922Abstract: A torque sensor includes: a strain body; and an optical sensor configured to detect a deformation of the strain body. The strain body includes an outer peripheral portion having a ring shape, and an inner peripheral portion of which at least a part is disposed inside the outer peripheral portion in a radial direction. The optical sensor includes a scale fixed to one of the outer peripheral portion and the inner peripheral portion, and disposed between the outer peripheral portion and the inner peripheral portion, and a detector fixed to a remaining one of the outer peripheral portion and the inner peripheral portion, and disposed to face the scale between the outer peripheral portion and the inner peripheral portion.Type: GrantFiled: April 13, 2022Date of Patent: February 13, 2024Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventors: Fei Zhao, Kumiko Toma, Takehito Soga, Kenichi Sadakane, Yasushi Yoshida
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Patent number: 11899428Abstract: A task resumption system including processing circuitry that receives a task resumption specification for task resumption by a device when the device, which sequentially performs multiple tasks, stops during processing, acquires a current state of the device, acquires a resume state corresponding to the task resumption of the device, causes the device to transition from the current state to the resume state, and causes the device to resume the task according to the resume state.Type: GrantFiled: March 25, 2021Date of Patent: February 13, 2024Assignee: Kabushiki Kaisha Yaskawa DenkiInventor: Takashi Nagasaki
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Publication number: 20240030850Abstract: A power conversion device includes a power conversion circuit that converts primary-side power to secondary-side power and supplies the secondary-side power to an electric motor, and circuitry including a voltage command generator that generates a voltage command in a rotating coordinate system that rotates in synchronization with a magnetic pole position of the electric motor, based on a current command in the rotating coordinate system and a mutual inductance between a first coordinate axis and a second coordinate axis of the rotating coordinate system, and a controller that controls the power conversion circuit to apply a secondary-side voltage corresponding to the voltage command to the electric motor.Type: ApplicationFiled: October 5, 2023Publication date: January 25, 2024Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Keita SHIMAMOTO, Shinya MORIMOTO
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Patent number: 11878429Abstract: A robot control apparatus includes a drive controller configured to control a plurality of motors which are configured to drive a plurality of link mechanisms of a parallel link robot, respectively, and abnormality determination circuitry configured to determine based on state data of the plurality of motors whether at least one of collision of the parallel link robot and dislocation in the link mechanisms occurs.Type: GrantFiled: March 3, 2021Date of Patent: January 23, 2024Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventors: Yasufumi Yoshiura, Teruhisa Kitagawa
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Patent number: 11872686Abstract: A robot system is provided, which includes a paint booth, and a pretreatment robot configured to perform painting pretreatment on a workpiece that is an object to be painted, the pretreatment robot being an explosion-proof robot disposed in the paint booth and including an end effector used for the painting pretreatment.Type: GrantFiled: December 7, 2021Date of Patent: January 16, 2024Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventors: Tsuyoshi Konno, Katsuhiko Yoshino, Manabu Iida
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Patent number: 11860007Abstract: An encoder includes a scale and a sensor. The scale has first and second absolute patterns. The sensor includes a light source, and first and second absolute light receivers. The first and second absolute light receivers receive light from the first and second absolute patterns, respectively. The first absolute light receiver receives light from the first pattern and includes first and second light receiving elements. Each first light receiving elements outputs a first signal with a first phase. Each second light receiving elements outputs a first signal with a second phase. The first and second light receiving elements are arranged alternately. The second absolute light receiver includes third and fourth light receiving elements. Each third light receiving element outputs a second signal with the first phase. The third and fourth light receiving elements are arranged alternately. Each fourth light receiving element outputs a second signal with the second phase.Type: GrantFiled: December 22, 2022Date of Patent: January 2, 2024Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventors: Hiroshi Takada, Yasushi Yoshida, Shiro Yoshidomi, Masanobu Harada, Yasuhiro Matsutani, Daisuke Furukawa
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Patent number: 11852693Abstract: A cable deterioration diagnosis device configured to diagnose deterioration of a cable having a plurality of electrical wires including one or more signal wires configured to transmit signals between a first device and a second device, and includes a test signal output unit configured to output a wave-like test signal to a test signal transmitting wire independent of the one or more signal wires among the plurality of electrical wires, a test signal extraction unit configured to extract a received test signal corresponding to the test signal from a signal propagated in a test signal receiving wire independent of the one or more signal wires and the test signal transmitting wire among the plurality of electrical wires, and a deterioration detection unit configured to detect the deterioration of the cable based on the test signal and the received test signal.Type: GrantFiled: July 15, 2022Date of Patent: December 26, 2023Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventor: Hiroyuki Kita
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Patent number: 11855523Abstract: A power conversion device is provided, which includes a power conversion circuit configured to convert primary power to secondary power and supply the secondary power to a pump and a control circuit configured to cause the secondary power to follow a control command by the power conversion circuit the control circuit being configured to further execute evaluating, on the basis of the secondary power, an amplitude of a driving force of the pump, setting, on the basis of a relationship between an evaluation result of the amplitude and a driving speed of the pump, an amplitude threshold value profile indicating a relationship between an amplitude threshold value and the driving speed, and detecting an abnormality in the pump in response to the evaluation result of the amplitude exceeding the amplitude threshold value based on the amplitude threshold value profile.Type: GrantFiled: January 7, 2022Date of Patent: December 26, 2023Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventors: Ryo Takahashi, Hideaki Ike
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Patent number: 11846657Abstract: A current detection apparatus includes first current detection circuitry configured to detect a current flowing through a conductive wire with a shunt resistor connected to the conductive wire to obtain a first detected current value; second current detection circuitry configured to detect the current with a Hall element to obtain a second detected current value; a storage configured to store a first probability distribution information of the first current detection circuitry and a second probability distribution information of the second current detection circuitry; synthesis circuitry configured to convert the first and second detected current values into first and second probability distributions based on the first and second probability distribution information, respectively, and to synthesize the first and second probability distributions to obtain a synthesized distribution; and estimation circuitry configured to obtain an estimated current value via a maximum likelihood estimation based on the synthesType: GrantFiled: February 10, 2022Date of Patent: December 19, 2023Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventor: Hiroyuki Kita
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Publication number: 20230377232Abstract: Provided is a training image generating method that facilitates preparation of training images for constructing an image recognition model and reduces a period of time required for collecting data on images of defective products to be used as the training images. The training image generating method includes creating a SinGAN model including a generator and a discriminator in each of a plurality of layers based on a first image having a portion of interest shown partially on a target object, generating an input image by compositing a target object image and a portion-of-interest image, and generating, based on the SinGAN model and the input image, a second image exhibiting a portion of interest different in mode from that of the first image.Type: ApplicationFiled: August 1, 2023Publication date: November 23, 2023Applicant: Kabushiki Kaisha Yaskawa DenkiInventors: Keita SATSUMA, Keisuke NAKAMURA, Tsuyoshi YOKOYA
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Patent number: 11809154Abstract: A multi-axis control adjustment apparatus includes adjustment axis selection circuitry configured to select a plurality of target axes among a plurality of axes each of which represents a combination of a motor and a motor control device configured to control the motor according to a control parameter of the motor control device, adjustment operation execution circuitry configured to perform adjustment operations in each of which the control parameter is adjusted with respect to each of the plurality of target axes, and first control parameter setting circuitry configured to change, according to the adjustment operations, timing at which the control parameter is set with respect to each of the plurality of target axes.Type: GrantFiled: November 17, 2021Date of Patent: November 7, 2023Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventors: Minoru Koga, Isamu Matsumura, Junichi Watanabe, Toshinobu Kira, Tetsuya Asai
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Patent number: 11803178Abstract: An event estimation system includes an upper device, and a lower controller device including first circuitry that acquires operation information of a control target device connected to the lower controller device, estimates a presence or absence of an abnormality based on the operation information, holds the operation information for a certain time period, and transmits, based on the presence or absence of an abnormality and to the upper device, the operation information related to the estimation of the presence or absence of the abnormality. The upper device has second circuitry that receives the operation information from the lower controller device, and operates according to the presence or absence of the abnormality, inputs, using an upper neural network model, the operation information, output event information, and estimates an event.Type: GrantFiled: October 16, 2020Date of Patent: October 31, 2023Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventors: Tsuyoshi Yokoya, Masaru Adachi
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Patent number: 11804391Abstract: A transfer system includes: a transfer chamber having a side wall provided thereon with a plurality of processing chambers in which a processing is performed on a substrate under a decompressed atmosphere, and configured such that the substrate is transferred in the decompressed atmosphere; a plurality of robots fixed in the transfer chamber and configured to transfer the substrate; and a movable buffer configured to hold the substrate and move in a horizontal direction along the side wall between the side wall and the robots in the transfer chamber. The robots exchange the substrate between the movable buffer and the processing chambers in cooperation with a movement of the movable buffer.Type: GrantFiled: June 15, 2022Date of Patent: October 31, 2023Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventors: Osamu Komiyaji, Hiromitsu Akae, Go Yamaguchi, Tadataka Noguchi
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Publication number: 20230339100Abstract: A robot system includes a first conveyor conveying a workpiece to a first position in a conveying direction along a transport line, a second conveyor conveying the workpiece from a second position along a first line perpendicular to the transport line, and a robot conveying the workpiece from the first to second positions. The robot includes a base fixed to a fixed position apart from the first line in the conveying direction, and an arm base movably connected to the base. A first arm is connected to the arm base rotatably about a first axis perpendicular to the transport and first lines. A second arm is connected to the first arm rotatably about a second axis parallel to the first axis. An arm tip is connected to the second arm rotatably about a third axis parallel to the first axis. A workpiece holder is provided below the arm tip.Type: ApplicationFiled: March 14, 2023Publication date: October 26, 2023Applicant: KABUSHIKI KAISHA YASKAWA DENKIInventors: Akihiro TASHIRO, Kyohei TSUCHIYA, Chengbi ZHAO