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公开(公告)号：US20230311271A1
公开(公告)日：2023-10-05
申请号：US18044142
申请日：2021-10-04
Applicant: FANUC CORPORATION
Inventor： Yihua GU , Takashi SATOU
CPC classification number: B24B51/00 , B24B49/16 , B24B49/006 , B24B49/12
Abstract: The objective of the present invention is to provide a deburring control device capable of easily identifying the cause of a deburring failure. A deburring control device according to one aspect of the present disclosure controls deburring processing for removing burrs on a workpiece by moving a deburring tool along a ridge line of the workpiece by means of a robot, and is provided with: an offset amount calculating unit for calculating an offset amount between the actual path of the robot and a taught path thereof; a pressing force acquiring unit for acquiring the pressing force of the deburring tool; a rotational speed acquiring unit for acquiring the rotational speed of the deburring tool; a failure detecting unit for detecting a deburring failure, in which the deburring processing could not be performed appropriately, on the basis of the offset amount, the pressing force, and the rotational speed; and a recording unit for recording a failure reason, which is the reason for the failure detecting unit determining the deburring failure, when the deburring failure is detected.
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公开(公告)号：US20230278205A1
公开(公告)日：2023-09-07
申请号：US18004407
申请日：2021-07-26
Applicant: FANUC CORPORATION
Inventor： Nobuaki YAMAOKA , Takashi SATOU
IPC: B25J9/16
CPC classification number: B25J9/1633 , B25J9/1653
Abstract: The present invention makes it possible, in force control during production, to automatically adjust a force control parameter optimally so as not to cause oscillation of a robot or failure of work. This robot system comprises: a robot arm having a hand at the end thereof for holding a workpiece; a force detector for detecting a force and moment received by the workpiece held by the hand; and a control device for moving the workpiece held by the hand with respect to a target object while performing force control of the robot arm to correct a position error and an attitude error of the workpiece, on the basis of a predetermined force control parameter and a detected value of the force detector. The control device has a parameter automatic adjustment unit for automatically adjusting the force control parameter by executing the moving of the workpiece with respect to the target object a plurality of times. The parameter automatic adjustment unit automatically adjusts the force control parameter by executing the moving of the workpiece with respect to the target object from a plurality of attitude error directions among a plurality of position error directions and the plurality of attitude error directions.
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公开(公告)号：US20210053218A1
公开(公告)日：2021-02-25
申请号：US16936877
申请日：2020-07-23
Applicant: Fanuc Corporation
Inventor： Takashi SATOU
Abstract: A robot controller that moves a first workpiece mounted on a robot with respect to a second workpiece, the robot having a sensor for detecting one of magnitude of force acting on the first workpiece and magnitude of torque acting on the robot, the robot controller including a calculation unit configured to calculate a force between the first workpiece and the second workpiece and a moment on the first workpiece, based on the magnitude of the force or the torque, a controller carrying out force control so that the calculated force and the moment correspond to a predetermined force and moment, and a display displaying at least one of a velocity of the first workpiece and an angular velocity, the velocity and the angular velocity occurring as a result of control by the controller, the velocity and the angular velocity being overlapped on an image of the robot.
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公开(公告)号：US20240316756A1
公开(公告)日：2024-09-26
申请号：US18259779
申请日：2022-02-16
Applicant: FANUC CORPORATION
Inventor： Takashi SATOU , Hiromitsu TAKAHASHI
CPC classification number: B25J9/0081 , B25J9/1671 , B25J13/085
Abstract: A teaching device is provided with: a setting information storage unit for storing setting information defining a position and an attitude of a force sensor relative to a coordinate system set in a robot; and a virtual image superimposing and displaying unit for superimposing and displaying a virtual image in a real space including the robot or a prescribed object supporting the force sensor, or in a virtual space including a model of the robot or a model of the prescribed object, in such a way that a virtual image representing the force sensor adopts a position and an attitude corresponding to the setting information in the real space or the virtual space.
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公开(公告)号：US20230211500A1
公开(公告)日：2023-07-06
申请号：US17998146
申请日：2021-05-06
Applicant: FANUC CORPORATION
Inventor： Takashi SATOU , Yihua GU
IPC: B25J9/16 , B25J11/00 , G05B19/404
CPC classification number: B25J9/1664 , B25J9/1694 , B25J9/1633 , B25J11/005 , G05B19/404 , G05B2219/36349 , G05B2219/39176
Abstract: Provided is a program generation device capable of automatically generating a route program which takes into account the amount of bending when the tip of a robot abuts against a workpiece. This program generation device is provided with: an acquisition unit that acquires route data indicating a route to be followed by the tip of the robot with respect to an object; a detection unit that detects a pressing force for pressing the tip of the robot to the object; a calculation unit that calculates the amount of misalignment of the followed route caused by bending of the tip of the robot, on the basis of the pressing force detected by the detection unit and a prescribed constant; and a generation unit that automatically generates a route program for controlling a moving route of the tip of the robot, on the basis of the route data acquired by the acquisition unit and the amount of misalignment calculated by the calculation unit.
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Patent Agency Ranking
公开(公告)号：US20200223065A1
公开(公告)日：2020-07-16
申请号：US16738006
申请日：2020-01-09
Applicant: FANUC CORPORATION
Inventor： Mikito HANE , Takashi SATOU
Abstract: A determination apparatus acquires, as acquired data, the state of force and moment applied to a manipulator and the state of the position and the posture in an operation when a force control of an industrial robot is carried out, and creates an evaluation function that evaluates the quality of the operation of the industrial robot based on the acquired data. Then, it creates determination data for the acquired data using the evaluation function, and creates state data used for machine learning based on the acquired data. Then, it generates a learning model for determining a quality of an operation of the industrial robot using the state data and the determination data.
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公开(公告)号：US20180043540A1
公开(公告)日：2018-02-15
申请号：US15672056
申请日：2017-08-08
Applicant: FANUC CORPORATION
Inventor： Takashi SATOU
CPC classification number: B25J9/1687 , B25J9/1633 , B25J9/1682 , B25J13/085 , G05B2219/39129
Abstract: A robot control unit for an assembly robot includes a force detecting device configured to detect forces applied to first and second works and, when the first work is fitted to the second work by a first robotic arm, a storage device stores a deflection amount table associating a force applied when fitting with the deflection amount of the robotic arm in a direction of the fitting, a deflection-amount acquiring process configured to calculate the deflection amount of the robotic arm in the direction of the fitting by using a value detected by the force detecting device and the deflection amount table, a work-position acquiring process configured to calculate a work position as the position of the first work relative to the second work in the direction of the fitting based on operation information about the robotic arm, and a real-fitting-amount acquiring process configured to correct the work position based on the calculated deflection amount.
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公开(公告)号：US20240391099A1
公开(公告)日：2024-11-28
申请号：US18694343
申请日：2021-10-11
Applicant: FANUC CORPORATION
Inventor： Takashi SATOU
IPC: B25J9/16
Abstract: Provided are a robot control device and a robot system that can automatically correct errors in position and posture when supplying a workpiece. A robot control device for controlling a robot comprises an error correction unit that, when the robot supplies a workpiece to or removes the workpiece from a machine tool, performs force control on the basis of a detection value of a force detector detecting an external force and a moment acting on the workpiece, and corrects errors in position and posture of the workpiece and a securing mechanism securing the workpiece.
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公开(公告)号：US20240184266A1
公开(公告)日：2024-06-06
申请号：US18553184
申请日：2021-05-31
Applicant: FANUC CORPORATION
Inventor： Yihua GU , Takashi SATOU
IPC: G05B19/4093 , G05B19/402
CPC classification number: G05B19/40938 , G05B19/402 , G05B19/40932 , G05B19/40935 , G05B2219/37555 , G05B2219/45151
Abstract: Provided is a program creation device capable of creating an operation program for a robot for removal machining of a workpiece even when a sufficient amount of displacement does not exist between a machined surface and a reference surface of the workpiece or even when the amount of displacement changes. The present disclosure pertains to a program creation device for creating an operating program for a robot for removal machining a workpiece having a machining surface, and a reference surface displaced from the machining surface. The robot for removal machining comprises a removal machining tool. The program creation device comprises: a positional information acquisition unit for acquiring positional information about a positional relationship between the machining surface and the reference surface of the workpiece; a tool information storage unit for storing tool information about the removal machining tool; and a program creation unit for creating, on the basis of the positional information about the workpiece and the tool information about the removal machining tool, the operating program for the robot for removal machining. The program creation unit selects a portion to be used of the removal machining tool so as to avoid interference between the removal machining tool and the reference surface of the workpiece.
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公开(公告)号：US20210101291A1
公开(公告)日：2021-04-08
申请号：US17031899
申请日：2020-09-25
Applicant: FANUC CORPORATION
Inventor： Yihua GU , Takashi SATOU
Abstract: A robot system causing a robot to operate in response to a handling force, wherein a position of the robot can be adjusted with higher accuracy. In one aspect of the present disclosure, a robot system includes a robot having a handle, a force sensor configured to detect a handling force applied to the handle, and an inching motion execution section configured to execute an inching motion of causing the robot to move by a movement amount determined in response to the handling force detected by the force sensor.
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