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公开(公告)号：US20230211499A1
公开(公告)日：2023-07-06
申请号：US17996749
申请日：2021-04-23
Applicant: FANUC CORPORATION
Inventor： Kazuki WAKABAYASHI , Toshihiro NISHIMURA , Shigeo YOSHIDA , Gou INABA
IPC: B25J9/16 , B23K37/02 , G05B19/423
CPC classification number: B25J9/1664 , B23K37/0229 , G05B19/423
Abstract: Provided are a robot system, a robot control device, a control method, and a program which make it possible to more simply teach a robot action. The robot system comprises: a feature point teaching unit which causes a storage unit to store the position of a feature point that has been taught using lead-through; an input accepting unit which accepts the input of an angle value of a tool with respect to a workpiece W; a posture determining unit which determines the posture of the tool on the basis of the angle value of the tool; and a program generating unit which generates a robot program for a robot on the basis of the position of the feature point and the posture.
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公开(公告)号：US20210016389A1
公开(公告)日：2021-01-21
申请号：US16921054
申请日：2020-07-06
Applicant: FANUC CORPORATION
Inventor： Masanobu HATADA , Tomoyuki YAMAMOTO , Shigeo YOSHIDA , Takahiro TANAKA
IPC: B23K26/03 , B23K26/21 , B23K26/082
Abstract: An adjustment assistance device is attached to a galvanometer scanner at a laser output side of the galvanometer scanner and used to adjust a tool coordinate system of the galvanometer scanner. The adjustment assistance device includes a light-receiving member having a light-receiving surface, which is at least one flat surface; and a connecting member that connects the light-receiving member to the galvanometer scanner and that enables the light-receiving surface to face a laser output port of the galvanometer scanner with a predetermined distance therebetween. The light-receiving member includes a light-receiving mark portion on the light-receiving surface, the light-receiving mark portion being a mark used to quantify a relative positional difference between a reference light-receiving position for light output from the laser output port and an actual light-receiving position at which the light output from the laser output port is received.
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公开(公告)号：US20240123606A1
公开(公告)日：2024-04-18
申请号：US18547694
申请日：2022-02-24
Applicant: FANUC CORPORATION
Inventor： Ryunosuke UTSUMI , Shigeo YOSHIDA , Yuichi MATSUDA
CPC classification number: B25J9/0081 , B25J9/1664 , B25J11/005 , B25J19/022
Abstract: In the present invention, a robot control device comprises: a search point calculation unit that calculates the position of a search point on the basis of at least one teaching point; and a command unit that drives a robot such that the position of the robot corresponds to the search point. The robot control device comprises a teaching point setting unit that sets the positions of the teaching points on the basis of a working position detected by a laser sensor. The robot control device sets the positions of a plurality of teaching points arranged along a work line by repeating: the calculation of the position of the search point by the search point calculation unit; the driving of the robot by the command unit; and the setting of the positions of the teaching points by the teaching point setting unit.
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4.发明申请公开(公告)号：US20170225335A1
公开(公告)日：2017-08-10
申请号：US15422692
申请日：2017-02-02
Applicant: FANUC CORPORATION
Inventor： Shigeo YOSHIDA
CPC classification number: B25J11/005 , B25J9/1692 , G05B2219/25217 , G05B2219/31103 , G06F13/107
Abstract: A processing robot system includes a connection setting information group storage device provided inside a robot control device, a teaching operation panel, and a PC. The connection setting information group storage device stores a connection setting information group including information on settings for a digital communication standard between a processing device and the robot control device, and information on the allocation of I/O signals to be transmitted between the processing device and the robot control device via digital communication and which outputs the connection setting information group as one file. The teaching operation panel and the PC have a screen on which each piece of setting information included in the connection setting information group can be displayed and edited. Such a processing robot system can easily make settings for connection with a digital-controlled processing device.
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公开(公告)号：US20230065851A1
公开(公告)日：2023-03-02
申请号：US17904701
申请日：2021-03-03
Applicant: FANUC CORPORATION
Inventor： Shigeo YOSHIDA , Takatoshi IWAYAMA , Yasuhiro NAITOU
Abstract: Provided is a robot control device that can suppress the stoppage of operations due to the detection of a contact error. The robot control device controls a robot that implements welding in association with contact with a to-be-welded object, said device comprising: an action stoppage unit that stops the action of the robot if detected that the robot has been subjected to an external force equal to or greater than a threshold; an instructing unit that instructs a welding power supply device to start welding; and a detection sensitivity adjustment unit that lowers the sensitivity at which as external force is detected at the action stoppage unit during a period of time from the point in time at which the instructing unit instructs the welding power supply device to start welding until a prescribed wait time has elapsed.
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Patent Agency Ranking
6.发明申请MACHINE LEARNING DEVICE, ARC WELDING CONTROL DEVICE, ARC WELDING ROBOT SYSTEM, AND WELDING SYSTEM 审中-公开机器学习装置，电弧焊接控制装置，电弧焊机器人系统和焊接系统公开(公告)号：US20170028499A1
公开(公告)日：2017-02-02
申请号：US15222051
申请日：2016-07-28
Applicant: FANUC CORPORATION
Inventor： Shigeo YOSHIDA , Masayoshi MORI , Kazutaka NAKAYAMA
CPC classification number: B23K9/0956 , B23K9/0953 , B23K9/287 , B25J9/163 , Y10S901/02 , Y10S901/42
Abstract: A machine learning device which learns to determine at least one arc welding condition includes a state observation unit which observes a state variable consisting of at least one physical quantity regarding the arc welding and the at least one arc welding condition at least during or after the arc welding, and a learning unit which learns a change in the at least one physical quantity observed by the state observation unit and the at least one arc welding condition in association with each other.
Abstract translation: 学习确定至少一个电弧焊接条件的机器学习装置包括状态观测单元，其至少在电弧期间或之后观察由至少一个关于电弧焊接的物理量和至少一个电弧焊接条件组成的状态变量 焊接，以及学习单元，其学习由状态观察单元观察到的至少一个物理量和至少一个电弧焊接条件相关联的变化。
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公开(公告)号：US20240316669A1
公开(公告)日：2024-09-26
申请号：US18579225
申请日：2021-07-30
Applicant: FANUC CORPORATION
Inventor： Shigeo YOSHIDA , Sayuki KASHIWAGI
IPC: B23K9/067
CPC classification number: B23K9/067
Abstract: A control device according to an embodiment comprises: an input/output unit; a measurement unit; and a processing unit. The input/output unit configured to output first information instructing start of welding to an arc welder and receive input of second information indicating generation of an arc by the arc welder. The measurement unit configured to measure a time from the output of the first information to the input of the second information. The processing unit configured to perform predetermined processing when the time or a statistic of the times is equal to or less than a first threshold.
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公开(公告)号：US20240083022A1
公开(公告)日：2024-03-14
申请号：US18262376
申请日：2022-03-07
Applicant: FANUC CORPORATION
Inventor： Ryuunosuke UTSUMI , Shigeo YOSHIDA , Yasuhiro AMAGATA
IPC: B25J9/16 , G05B19/423
CPC classification number: B25J9/163 , G05B19/423
Abstract: A robot control device is provided with a camera which images a teaching tool which includes a characteristic area, and a characteristic position detection unit which detects the position of the characteristic area. The robot control device includes a movement instruction generating unit which, when an operator has moved the teaching tool, changes the position and orientation of the robot such that the camera follows the characteristic area. The robot control device includes a calculation unit which, on the basis of the position of the characteristic area, calculates the position and orientation of an auxiliary coordinate system set for the teaching tool. The robot control device includes a setting unit which, on the basis of the position and orientation of the auxiliary coordinate system, sets the position of the teaching point and the orientation of the robot at the teaching point.
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公开(公告)号：US20210060792A1
公开(公告)日：2021-03-04
申请号：US16994913
申请日：2020-08-17
Applicant: FANUC CORPORATION
Inventor： Shigeo YOSHIDA
Abstract: A robot controller includes a contact detection unit that detects contact of a welding wire protruding from a welding torch with a welding target, an override-value adjustment unit that sets and changes an override value for increasing or decreasing an operating speed of the robot from a predetermined speed, and a control unit which receives an operation signal from a teaching operation device and that controls the robot according to the operation signal at the operating speed based on the override value which is set by the override-value adjustment unit. When the contact of the welding wire with the welding target is detected by the contact detection unit, the control unit temporarily stops the robot, and the override-value adjustment unit decreases the override value.
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公开(公告)号：US20200376588A1
公开(公告)日：2020-12-03
申请号：US16844344
申请日：2020-04-09
Applicant: FANUC CORPORATION
Inventor： Vanbac NGUYEN , Shigeo YOSHIDA , Yasuhiro AMAGATA
Abstract: A spot-welding system including a spot-welding gun including a movable part including a movable electrode, and a drive part that drives the movable part, a controller that controls the drive part, an applied pressure sensor that measures an applied pressure from the movable electrode of the spot-welding gun, and an own-weight calculator that calculates an own weight of the movable part based on the applied pressure detected by the applied pressure sensor in two different postures of the spot-welding gun that places the movable electrode in different movement directions. . The controller superimposes a dither signal onto a control signal so as to control the drive part in measuring the applied pressure for use in calculating the own weight of the movable part by the own-weight calculator, and after the own weight is calculated, the controller corrects the control signal based on the calculated own weight.
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