公开(公告)号：US20160279794A1

公开(公告)日：2016-09-29

申请号：US15068642

申请日：2016-03-14

Applicant: FANUC CORPORATION

Inventor： Shougo INAGAKI ,  Soichi ARITA ,  Hiromitsu TAKAHASHI

IPC: B25J9/16

CPC classification number: B25J9/1674 ,  G05B2219/37526 ,  G05B2219/37538 ,  G05B2219/39413 ,  Y10S901/46 ,  Y10S901/49

Abstract: A robot controller includes a first time-series data obtaining part for obtaining first data used for fault diagnosis in time series and store the first data as first time-series data, a second time-series data obtaining part for obtaining second data used for extraction of the first data which is used for the fault diagnosis in time series and store the second data as second time-series data, a time specification part for specifying extraction time of the first data used for the fault diagnosis based on the second time-series data, a data extraction part for extracting the first data corresponding to the extraction time, and a diagnosis performing part for performing the fault diagnosis of the robot based on the first data extracted by the data extraction part.

Abstract translation: 机器人控制器包括第一时间序列数据获取部，用于以时间序列获取用于故障诊断的第一数据，并将第一数据作为第一时间序列数据存储，第二时间序列数据获取部，用于获取用于提取的第二数据 用于按时间序列进行故障诊断的第一数据，并将第二数据存储为第二时间序列数据;时间指定部，用于基于第二时间序列指定用于故障诊断的第一数据的提取时间 数据，用于提取对应于提取时间的第一数据的数据提取部分，以及用于基于由数据提取部分提取的第一数据执行机器人的故障诊断的诊断执行部分。

公开(公告)号：US20160243705A1

公开(公告)日：2016-08-25

申请号：US15047633

申请日：2016-02-19

Applicant: FANUC Corporation

Inventor： Yasuhiro NAITOU ,  Soichi ARITA ,  Hiromitsu TAKAHASHI

IPC: B25J13/08 ,  G01L5/00

CPC classification number: B25J13/085 ,  B25J9/1676 ,  G01L5/009 ,  G05B2219/39529 ,  G05B2219/40198 ,  G05B2219/40202 ,  G05B2219/40559

Abstract: A human cooperation robot system includes: an external force detecting unit that detects an external force acting on a robot; a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is greater than a first threshold value; and an external force variation monitoring unit that stops the retreat operation when a variation width of the external force at a predetermined time after the retreat operation is commanded by the retreat operation commanding unit is smaller than a second threshold value.

Abstract translation: 人工合作机器人系统包括：外力检测单元，其检测作用在机器人上的外力; 退避操作指令单元，当所述外力检测单元检测到的外力大于第一阈值时，所述撤退操作指令单元执行使所述机器人沿所述外力减小的方向移动的退避操作; 以及外力变化监视单元，其在所述撤退操作指令单元指示所述退避操作之后的预定时间的所述外力的变化幅度小于第二阈值时停止所述退避操作。

公开(公告)号：US20160089790A1

公开(公告)日：2016-03-31

申请号：US14855739

申请日：2015-09-16

Applicant: FANUC Corporation

Inventor： Yuelai WANG ,  Yasuhiro NAITOU ,  Soichi ARITA

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  B25J9/1694 ,  G05B2219/37351 ,  G05B2219/40201 ,  G05B2219/40541 ,  G05B2219/42288 ,  Y10S901/09

Abstract: A human-collaborative robot system includes a detection unit that directly or indirectly detects a physical quantity which is changed in response to contact force applied to a robot when the robot comes in contact with an external environment, and a stop command unit that compares the physical quantity detected by the detection unit with a first threshold value and a second threshold value greater than the first threshold value, stops the robot according to a predetermined stop method when the physical quantity is equal to or greater than the first threshold value and is smaller than the second threshold value, and stops the robot in a shorter period of time as compared with the predetermined stop method when the physical quantity is equal to or greater than the second threshold value.

Abstract translation: 人机协同机器人系统包括：检测单元，其直接或间接地检测当机器人与外部环境接触时响应于施加到机器人的接触力而改变的物理量;以及停止命令单元， 由检测单元检测到的具有第一阈值和大于第一阈值的第二阈值的量在物理量等于或大于第一阈值时根据预定的停止方法停止机器人，并且小于 第二阈值，并且当物理量等于或大于第二阈值时，与预定的停止方法相比，在更短的时间段内停止机器人。

公开(公告)号：US20190247998A1

公开(公告)日：2019-08-15

申请号：US16269568

申请日：2019-02-07

Applicant: FANUC CORPORATION ,  TOKYO INSTITUTE OF TECHNOLOGY

Inventor： Hiroshi NAKAGAWA ,  Kenichiro ABE ,  Yunfeng WU ,  Hikaru YAMASHIRO ,  Hideo MATSUI ,  Soichi ARITA ,  Yukio TAKEDA ,  Masumi OHNO

IPC: B25J9/00 ,  B25J9/16 ,  B25J17/02

CPC classification number: B25J9/0051 ,  B25J9/1633 ,  B25J9/1664 ,  B25J9/1674 ,  B25J17/0266 ,  B25J17/0275

Abstract: A device and method for judging the presence or absence of an abnormal clearance between paring elements of a passive joint of a robot. The device has sections configured to: calculate a score for each motion path, wherein the score is increased when the paring elements of an objective pair collide with each other and is decreased when the paring elements of the other pair collide with each other; generate a robot motion for moving the robot along the motion path having the score not lower than a predetermined threshold; measure a drive torque or a current value of a motor when the robot is moved according to the generated robot motion; calculate an index value based on a magnitude of variation of the measured drive torque or current value; and judge as to whether the abnormal clearance exists in the objective pair, based on the index value.

公开(公告)号：US20190129400A1

公开(公告)日：2019-05-02

申请号：US16168172

申请日：2018-10-23

Applicant: FANUC CORPORATION

Inventor： Yuelai WANG ,  Soichi ARITA

IPC: G05B19/425 ,  B25J9/16 ,  G05B19/408

Abstract: A robot includes a robot control unit configured to control an operation of a robot, wherein the robot control unit is configured to set a coordinate system of the robot installed on a reference flat surface using measurement results of at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface on which the robot is installed and measurement results of position coordinates of a plurality of reference reflection portions provided on a base portion of the robot.

公开(公告)号：US20170248941A1

公开(公告)日：2017-08-31

申请号：US15428089

申请日：2017-02-08

Applicant: FANUC CORPORATION

Inventor： Soichi ARITA

IPC: G05B23/02 ,  H04L29/08

CPC classification number: G05B23/027 ,  G05B23/0275 ,  H04L67/12

Abstract: A cell controller of the present application includes: a machine information reception part that receives at least one of alarm information on manufacturing machines and status information on the manufacturing machines, and receives physical layout information on the manufacturing machines; a classification part that classifies the received physical layout information into a plurality of groups; and a display part that displays an abnormality status of the manufacturing machines for each of the groups of the classified physical layout information.

公开(公告)号：US20160279796A1

公开(公告)日：2016-09-29

申请号：US15063511

申请日：2016-03-08

Applicant: FANUC CORPORATION

Inventor： Yasuhiro NAITOU ,  Soichi ARITA

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1676 ,  B25J13/085 ,  B25J19/06 ,  G05B2219/40201 ,  G05B2219/40202

Abstract: A robot control apparatus comprises a contact detection unit which judges whether or not a robot is in contact with an object other than the robot, and an operation direction monitor unit which detects an operation direction of the robot after the robot comes in contact with the object and monitors operation of the robot. After the robot comes in contact with the object, the operation direction monitor unit permits operation of the robot being within a permissible range and inhibits operation of the robot falling outside the permissible range.

Abstract translation: 一种机器人控制装置，包括：接触检测单元，其判断机器人是否与机器人以外的对象接触;以及操作方向监视单元，其在机器人与物体接触之后检测机器人的操作方向 并监视机器人的操作。 在机器人与物体接触之后，操作方向监视单元允许机器人的操作在容许范围内，并且禁止机器人的操作超出允许范围。

公开(公告)号：US20160121484A1

公开(公告)日：2016-05-05

申请号：US14918602

申请日：2015-10-21

Applicant: FANUC Corporation

Inventor： Yu IKEDA ,  Hiromitsu TAKAHASHI ,  Soichi ARITA

IPC: B25J9/16 ,  B25J9/12

CPC classification number: B25J9/1633 ,  B25J9/1638 ,  B25J9/1674 ,  G05B2219/39188 ,  Y10S901/09

Abstract: A control device includes an estimated torque calculation unit, an actual torque calculation unit, a torque comparison unit, and a stop unit. The estimated torque calculation unit calculates an estimated torque for maintaining the posture of an automatic machine based on preset load information when the machine is in a resting state in which its posture is maintained by a torque applied by a servomotor. The actual torque calculation unit calculates an actual torque actually applied to maintain the posture. The torque comparison unit compares an error between the estimated and actual torques with a predetermined first threshold. The stop unit stops subsequent operations of the automatic machine when the error is greater than the first threshold.

Abstract translation: 控制装置包括估计扭矩计算单元，实际转矩计算单元，转矩比较单元和停止单元。 估计扭矩计算单元在机器处于通过由伺服电动机施加的转矩保持其姿势的静止状态时，基于预设的负载信息来计算用于维持自动机器的姿势的估计转矩。 实际扭矩计算单元计算实际施加的维持姿势的扭矩。 转矩比较单元将估计和实际转矩之间的误差与预定的第一阈值进行比较。 当错误大于第一阈值时，停止单元停止自动机器的后续操作。

公开(公告)号：US20190235479A1

公开(公告)日：2019-08-01

申请号：US16244320

申请日：2019-01-10

Applicant: FANUC CORPORATION

Inventor： Yu IKEDA ,  Soichi ARITA

IPC: G05B19/418

CPC classification number: G05B19/41865 ,  G05B19/41815 ,  G05B19/4184

Abstract: A robot including a movable portion, a controller, and a storage unit that stores maintenance timing information regarding at least one of the movable portion and the controller. The controller performs predetermined notification processing based on a comparison between elapsed time information and the maintenance timing information. The movable portion and the control apparatus are placed in a predetermined work site on which a second robot is installed. The controller corrects the maintenance timing information or the elapsed time information using information received from the second robot.

公开(公告)号：US20180200886A1

公开(公告)日：2018-07-19

申请号：US15867339

申请日：2018-01-10

Applicant: FANUC CORPORATION

Inventor： Yuelai WANG ,  Soichi ARITA

IPC: B25J9/16

CPC classification number: B25J9/1653 ,  B25J9/161 ,  B25J9/1692 ,  G05B19/402 ,  G05B2219/37605 ,  G05B2219/39054 ,  G05B2219/39056 ,  Y10S901/09

Abstract: A robot control device includes a position-accuracy-information storage unit that stores position accuracy information at a plurality of division points defined when an operating area space of the multi joint robot is divided into a plurality of areas in a grid shape, a position-accuracy calculation unit that calculates position accuracy at the end-effector position based on the position accuracy information and the current end-effector position of the multi-joint robot, and a position-accuracy output unit that outputs the calculated position accuracy to an outside.