Patents by Inventor Manabu Okahisa

Manabu Okahisa has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 10836042
    Abstract: A robot system includes a robot and a motion control unit. The robot includes a bottom, a swiveling base, first to third arms. A bottom side of the first arm is supported on the swiveling base swivelably around a horizontal-direction second axis. A bottom side of the redundant arm is supported on a leading side of the first arm swivelably around an axis parallel to the second axis. A bottom side of the second arm is supported on a leading side of the redundant arm swivelably around a third axis parallel to the second axis. A bottom side of the third arm is supported on a leading side of the second arm rotatably around a fourth axis perpendicular to the third axis. The motion control unit activates the redundant arm so that a control point provided on the fourth axis linearly moves while maintaining a direction of the fourth axis.
    Type: Grant
    Filed: November 9, 2017
    Date of Patent: November 17, 2020
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Manabu Okahisa, Ryuta Kagawa, Hikaru Inoue, Tatsuo Hiro
  • Patent number: 10537927
    Abstract: A bending apparatus has (a) a first manipulator which feeds a hollow metal blank of closed cross section in its lengthwise direction, (b) a second manipulator which supports a first support means disposed at a first position and a metal blank while feeding it, a heating means disposed at a second position downstream of the first position in the blank feed direction for heating all or part of the circumference of the blank, and a cooling means disposed at a third position downstream of the second position for cooling a portion of the heated blank, and (c) a third manipulator which constitutes a second support means disposed at a fourth position downstream of the third position in the feed direction of the blank and which moves two-dimensionally or three-dimensionally while supporting at least one location of the metal blank to bend the metal blank into a desired shape.
    Type: Grant
    Filed: September 30, 2016
    Date of Patent: January 21, 2020
    Assignees: NIPPON STEEL CORPORATION, NIPPON STEEL & SUMIKIN PIPE CO., LTD., KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Atsushi Tomizawa, Naoaki Shimada, Shinjiro Kuwayama, Saburo Inoue, Manabu Okahisa, Yusuke Kinoshita, Takashi Suyama
  • Patent number: 10112299
    Abstract: A machining apparatus includes a robot including a first arm portion, a second arm portion, a tip portion, a second actuator swinging the first arm portion around a second axis, a third actuator swinging the second arm portion around a third axis, a seventh actuator adjusting a distance between the second axis and the third axis, and an end effector provided to a tip portion and applying machining to a workpiece. The robot is positioned such that a movable range of a tip portion of the first arm portion or a base end portion of the second arm portion interferes with the workpiece when the first arm portion is rotated around the second axis, where the distance is made longest, in a state where the robot exactly faces the workpiece.
    Type: Grant
    Filed: December 28, 2015
    Date of Patent: October 30, 2018
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Tatsuo Hiro, Kuniaki Katamine, Ryuta Kagawa, Yusuke Kinoshita, Manabu Okahisa, Masami Nakakura
  • Publication number: 20180065254
    Abstract: A robot system includes a robot and a motion control unit. The robot includes a bottom, a swiveling base, first to third arms. A bottom side of the first arm is supported on the swiveling base swivelably around a horizontal-direction second axis. A bottom side of the redundant arm is supported on a leading side of the first arm swivelably around an axis parallel to the second axis. A bottom side of the second arm is supported on a leading side of the redundant arm swivelably around a third axis parallel to the second axis. A bottom side of the third arm is supported on a leading side of the second arm rotatably around a fourth axis perpendicular to the third axis. The motion control unit activates the redundant arm so that a control point provided on the fourth axis linearly moves while maintaining a direction of the fourth axis.
    Type: Application
    Filed: November 9, 2017
    Publication date: March 8, 2018
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Manabu OKAHISA, Ryuta KAGAWA, Hikaru INOUE, Tatsuo HIRO
  • Patent number: 9908160
    Abstract: A robot system includes an end effector, a robot arm, and a controller. The end effector includes a pressure roller and a linear motion mechanism. The linear motion mechanism is configured to move the pressure roller with respect to a pressed surface. The robot arm is configured to support the end effector. The controller is configured to control the linear motion mechanism to move the pressure roller to make a pressing force of the pressure roller against the pressed surface approximately uniform.
    Type: Grant
    Filed: October 31, 2014
    Date of Patent: March 6, 2018
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Manabu Okahisa, Masami Nakakura, Teppei Sonoda
  • Patent number: 9764480
    Abstract: A robot includes a body, a first arm, and a second arm. The first arm includes one joint, an adjacent joint that is adjacent to the one joint, and another adjacent joint that is adjacent to the adjacent joint. When the first arm is extended in a vertical orientation relative to the body, the one joint of the first arm has a rotation axis that is offset by a first distance in a first horizontal direction from a rotation axis of the adjacent joint of the first arm, and the another adjacent joint of the first arm has a rotation axis that is offset by a second distance in a second horizontal direction from the rotation axis of the adjacent joint of the first arm. The first horizontal direction is opposite to the second horizontal direction.
    Type: Grant
    Filed: October 1, 2014
    Date of Patent: September 19, 2017
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Takenori Oka, Manabu Okahisa
  • Patent number: 9764483
    Abstract: A robot in an embodiment includes a robot body, an end effector, a cable, and one or more coupling portions. The end effector is connected to the robot body. The cable is composed of a plurality of sub cables, arranged along the robot body, and connected to the end effector. Each of the coupling portion is provided between one sub cable and an adjacent sub cable of the sub cables to couple the one and adjacent sub cables together.
    Type: Grant
    Filed: July 24, 2014
    Date of Patent: September 19, 2017
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Manabu Okahisa, Takahiko Kanamori
  • Publication number: 20170072446
    Abstract: A bending apparatus has (a) a first manipulator which feeds a hollow metal blank of closed cross section in its lengthwise direction, (b) a second manipulator which supports a first support means disposed at a first position and a metal blank while feeding it, a heating means disposed at a second position downstream of the first position in the blank feed direction for heating all or part of the circumference of the blank, and a cooling means disposed at a third position downstream of the second position for cooling a portion of the heated blank, and (c) a third manipulator which constitutes a second support means disposed at a fourth position downstream of the third position in the feed direction of the blank and which moves two-dimensionally or three-dimensionally while supporting at least one location of the metal blank to bend the metal blank into a desired shape.
    Type: Application
    Filed: September 30, 2016
    Publication date: March 16, 2017
    Inventors: Atsushi TOMIZAWA, Naoaki Shimada, Shinjiro Kuwayama, Saburo Inoue, Manabu Okahisa, Yusuke Kinoshita, Takashi Suyama
  • Patent number: 9457390
    Abstract: A bending apparatus has (a) a first manipulator which feeds a hollow metal blank of closed cross section in its lengthwise direction, (b) a second manipulator which supports a first support means disposed at a first position and a metal blank while feeding it, a heating means disposed at a second position downstream of the first position in the blank feed direction for heating all or part of the circumference of the blank, and a cooling means disposed at a third position downstream of the second position for cooling a portion of the heated blank, and (c) a third manipulator which constitutes a second support means disposed at a fourth position downstream of the third position in the feed direction of the blank and which moves two-dimensionally or three-dimensionally while supporting at least one location of the metal blank to bend the metal blank into a desired shape.
    Type: Grant
    Filed: December 23, 2011
    Date of Patent: October 4, 2016
    Assignees: NIPPON STEEL & SUMITOMO METAL CORPORATION, SUMITOMO PIPE & TUBE CO., LTD., KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Atsushi Tomizawa, Naoaki Shimada, Shinjiro Kuwayama, Saburo Inoue, Manabu Okahisa, Yusuke Kinoshita, Takashi Suyama
  • Patent number: 9440363
    Abstract: A robot according to an aspect of an embodiment includes a robot arm, an attaching portion, an end effector, an end-effector-side cable, and a robot-side cable. The attaching portion is provided on a leading end of the robot arm. The end effector is attached to the attaching portion. The end-effector-side cable extends from the end effector. The robot-side cable is arranged along the robot arm and is connected to the end-effector-side cable by terminal connection at a position closer to the end effector than the attaching portion.
    Type: Grant
    Filed: July 24, 2014
    Date of Patent: September 13, 2016
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Manabu Okahisa, Takahiko Kanamori, Tatsuo Hiro
  • Patent number: 9434020
    Abstract: A seam welding robot includes a robot arm and a welding unit that is coupled to the robot arm. The welding unit includes a pair of roller electrodes. The pair of roller electrodes rotates following motion of the robot arm while sandwiching and pressurizing welding targets. The welding unit passes a welding electric current between the pair of roller electrodes to seam-weld the welding targets.
    Type: Grant
    Filed: August 1, 2013
    Date of Patent: September 6, 2016
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Masami Nakakura, Teppei Sonoda, Manabu Okahisa
  • Patent number: 9409269
    Abstract: A positioning apparatus and a working system which can position a workpiece with better accuracy at a lower cost and in a reduced space even when the workpiece is heavy are provided. The positioning apparatus has 3 robot arms (1)-(3) each having an arm and an actuator which drives the arm, a mounting platform (5) which is supported by the ends of the three robot arms (1)-(3), a securing jig (6) which secures a workpiece W which is mounted on the mounting platform (5) to the mounting platform (5), and a controller (9) which controls the operation of each of the actuators.
    Type: Grant
    Filed: September 7, 2012
    Date of Patent: August 9, 2016
    Assignees: KABUSHIKI KAISHA YASKAWA DENKI, NIPPON STEEL & SUMITOMO METAL CORPORATION, SUMITOMO PIPE & TUBE CO., LTD.
    Inventors: Manabu Okahisa, Yusuke Kinoshita, Takashi Suyama, Atsushi Tomizawa, Shinjiro Kuwayama, Mitsusato Hara
  • Patent number: 9346162
    Abstract: A robot system includes a robot arm, one or more actuators that are provided in the robot arm to drive the robot arm, a sensor unit that detects an external force applied to at least one of the robot arm and the actuators, and a controller that controls an operation of each of the actuators and limits a torque instruction value for each of the actuators on the basis of a detection result of the sensor unit.
    Type: Grant
    Filed: January 8, 2014
    Date of Patent: May 24, 2016
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Yukio Hashiguchi, Shingo Ando, Takuya Fukuda, Takenori Oka, Shinji Murai, Takeomi Hidaka, Manabu Okahisa
  • Publication number: 20160136813
    Abstract: A machining apparatus includes a robot including a first arm portion, a second arm portion, a tip portion, a second actuator swinging the first arm portion around a second axis, a third actuator swinging the second arm portion around a third axis, a seventh actuator adjusting a distance between the second axis and the third axis, and an end effector provided to a tip portion and applying machining to a workpiece. The robot is positioned such that a movable range of a tip portion of the first arm portion or a base end portion of the second arm portion interferes with the workpiece when the first arm portion is rotated around the second axis, where the distance is made longest, in a state where the robot exactly faces the workpiece.
    Type: Application
    Filed: December 28, 2015
    Publication date: May 19, 2016
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Tatsuo HIRO, Kuniaki KATAMINE, Ryuta KAGAWA, Yusuke KINOSHITA, Manabu OKAHISA, Masami NAKAKURA
  • Publication number: 20160121480
    Abstract: A machining apparatus includes a robot and a controller. A target acquirer acquires a target value of a position and posture of a distal end of the robot. With a movement target value of a distance adjustment actuator of the robot being fixed, a first calculator calculates movement target values of first to third actuators and posture adjustment actuators of the robot corresponding to the target value of the position and posture. A determiner determines whether a movement target value of one of the actuators is within an allowable range. When out of the allowable range, a second calculator calculates the movement target values of the actuators corresponding to the target value of the position and posture to cause the movement target value to fall within the range. An outputter controls the actuators in accordance with the respective movement target values.
    Type: Application
    Filed: October 1, 2015
    Publication date: May 5, 2016
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Manabu OKAHISA, Masami NAKAKURA
  • Patent number: 9227237
    Abstract: A bending apparatus has (a) a first manipulator which feeds a hollow metal blank of closed cross section in its lengthwise direction, (b) a second manipulator which supports a first support means disposed at a first position and a metal blank while feeding it, a heating means disposed at a second position downstream of the first position in the blank feed direction for heating all or part of the circumference of the blank, and a cooling means disposed at a third position downstream of the second position for cooling a portion of the heated blank, and (c) a third manipulator which constitutes a second support means disposed at a fourth position downstream of the third position in the feed direction of the blank and which moves two-dimensionally or three-dimensionally while supporting at least one location of the metal blank to bend the metal blank into a desired shape.
    Type: Grant
    Filed: December 23, 2011
    Date of Patent: January 5, 2016
    Assignees: NIPPON STEEL & SUMITOMO METAL CORPORATION, SUMITOMO PIPE & TUBE CO., LTD., KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Atsushi Tomizawa, Naoaki Shimada, Shinjiro Kuwayama, Saburo Inoue, Manabu Okahisa, Yusuke Kinoshita, Takashi Suyama
  • Patent number: 9095982
    Abstract: This drive apparatus includes a first rotation mechanism portion including a first driven gear portion rotated by a first drive gear portion rotating about a first axis and a second rotation mechanism portion including a second driven gear portion rotated by a second drive gear portion rotating about the first axis.
    Type: Grant
    Filed: February 27, 2012
    Date of Patent: August 4, 2015
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Takenori Oka, Masato Itou, Yusuke Kinoshita, Manabu Okahisa
  • Patent number: 9073221
    Abstract: A working robot according to an embodiment includes an arm part and a plurality of motors. The arm part includes a plurality of arm members. The plurality of motors respectively drives the plurality of arm members. Herein, rated powers respectively corresponding to the motors are the same.
    Type: Grant
    Filed: February 20, 2012
    Date of Patent: July 7, 2015
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Manabu Okahisa
  • Publication number: 20150121983
    Abstract: A robot system includes an end effector, a robot arm, and a controller. The end effector includes a pressure roller and a linear motion mechanism. The linear motion mechanism is configured to move the pressure roller with respect to a pressed surface. The robot arm is configured to support the end effector. The controller is configured to control the linear motion mechanism to move the pressure roller to make a pressing force of the pressure roller against the pressed surface approximately uniform.
    Type: Application
    Filed: October 31, 2014
    Publication date: May 7, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Manabu OKAHISA, Masami NAKAKURA, Teppei SONODA
  • Publication number: 20150027262
    Abstract: A robot in an embodiment includes a robot body, an end effector, a cable, and one or more coupling portions. The end effector is connected to the robot body. The cable is composed of a plurality of sub cables, arranged along the robot body, and connected to the end effector. Each of the coupling portion is provided between one sub cable and an adjacent sub cable of the sub cables to couple the one and adjacent sub cables together.
    Type: Application
    Filed: July 24, 2014
    Publication date: January 29, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Manabu OKAHISA, Takahiko KANAMORI