公开(公告)号：US20160031086A1

公开(公告)日：2016-02-04

申请号：US14811868

申请日：2015-07-29

Applicant: FANUC Corporation

Inventor： Yoshikiyo TANABE ,  Yoshiki HASHIMOTO

IPC: B25J9/16

CPC classification number: B25J9/1694 ,  Y10S901/01 ,  Y10S901/02 ,  Y10S901/46 ,  Y10S901/50

Abstract: A mobile collaborative robot includes a force sensor which is provided on a robot support on a carriage, a robot information acquisition unit which acquires robot information including posture information of the robot main body and load information of a load acting on the robot main body, a force calculation unit which calculates the external force acting on the robot support based on the robot information, and a judgment unit which judges that the mobile collaborative robot has come into contact with a human when a difference between the external force detected by the force sensor and the external force calculated by the force calculation unit is above a predetermined value α or when a difference between the amount of change in the detected external force and the amount of change in the calculated external force is above a predetermined value α1.

Abstract translation: 移动协同机器人包括提供在滑架上的机器人支撑上的力传感器，机器人信息获取单元，其获取包括机器人主体的姿势信息和作用在机器人主体上的负载的负载信息的机器人信息， 力计算单元，其基于所述机器人信息来计算作用在所述机器人支撑体上的外力;以及判断单元，其判断所述移动协作机器人与所述力传感器检测到的外力之间的差与所述人力 由力计算单元计算出的外力高于预定值α，或者当检测到的外力的变化量与所计算的外力的变化量之间的差异高于预定值α1时。

公开(公告)号：US20150212496A1

公开(公告)日：2015-07-30

申请号：US14608713

申请日：2015-01-29

Applicant: FANUC Corporation

Inventor： Yoshikiyo TANABE ,  Hisashi MOMOTANI ,  Yoshiki HASHIMOTO

IPC: G05B9/02 ,  F16P3/12 ,  H02P3/04 ,  G05B19/048 ,  G05B19/406

CPC classification number: G05B9/02 ,  F16P3/14 ,  G05B19/0428 ,  G05B19/048 ,  G05B19/406 ,  H02P29/0241

Abstract: A servomotor control device includes a servomotor control circuit for controlling an inverter such that an alternating current is supplied to a servomotor when receiving a safety signal, and for controlling the inverter such that the alternating current is not supplied to the servomotor when not receiving the safety signal, and a servomotor monitoring circuit for stopping the servomotor by stopping transmission of the safety signal to the servomotor control circuit when determining to stop the servomotor, and for stopping the servomotor by disconnecting supply of a direct current to the inverter with a power source disconnect circuit and stopping the transmission of the safety signal to the servomotor control circuit when determining that at least one of the power source disconnect circuit, the safety signal, and the servomotor control circuit is not normal.

Abstract translation: 伺服电动机控制装置包括：伺服电动机控制电路，用于控制逆变器，使得当接收到安全信号时交流电被提供给伺服电动机，并且用于控制逆变器，使得在不接收到安全性时不向伺服电动机提供交流电 信号和伺服电动机监视电路，用于通过在确定停止伺服电动机时停止向伺服电动机控制电路传输安全信号，并且通过断开电源与逆变器的供电来停止伺服电机而停止伺服电机，电源断开 并且当确定电源断路电路，安全信号和伺服电动机控制电路中的至少一个不正常时，停止向伺服电机控制电路传输安全信号。

公开(公告)号：US20160282845A1

公开(公告)日：2016-09-29

申请号：US15072307

申请日：2016-03-16

Applicant: FANUC CORPORATION

Inventor： Shuntaro TODA ,  Ryoutarou INABA ,  Yoshiki HASHIMOTO

IPC: G05B19/409 ,  B25J13/00 ,  B25J9/16

CPC classification number: G05B19/409 ,  B25J9/161 ,  B25J13/006 ,  B25J13/06 ,  G05B2219/33192 ,  G05B2219/36159

Abstract: A wireless teaching pendant for operating a control apparatus of a robot or a machine tool by wireless communication includes a wireless communication unit for performing wireless communication with the control apparatus and a transmission interval change unit for changing a transmission interval of periodic data transmitted by the wireless communication unit to the control apparatus.

Abstract translation: 一种用于通过无线通信操作机器人或机床的控制装置的无线示教装置包括：用于与控制装置进行无线通信的无线通信单元和用于改变由无线发送的周期性数据的发送间隔的发送间隔改变单元 通信单元连接到控制装置。

公开(公告)号：US20160271793A1

公开(公告)日：2016-09-22

申请号：US15067165

申请日：2016-03-10

Applicant: FANUC CORPORATION

Inventor： Ryoutarou INABA ,  Yoshiki HASHIMOTO

IPC: B25J9/16 ,  G05B19/414 ,  G08B21/18 ,  H04W4/02 ,  H04B5/00

CPC classification number: H04B5/0062 ,  B25J9/1676 ,  G05B2219/39082 ,  G05B2219/39097 ,  H04W4/023

Abstract: The robot control system includes: a control device for controlling a machine; a portable wireless operation panel for performing wireless communication with the control device to control the machine; a distance measuring unit for measuring the distance between the machine and the portable wireless operation panel; and a warning generator that emits a warning to the operator or stops the machine when the distance between the machine and the portable wireless operation panel exceeds a predetermined threshold value.

Abstract translation: 机器人控制系统包括：控制机器的控制装置; 便携式无线操作面板，用于与所述控制装置进行无线通信以控制所述机器; 距离测量单元，用于测量机器和便携式无线操作面板之间的距离; 以及警告发生器，当机器和便携式无线操作面板之间的距离超过预定阈值时，向操作者发出警告或停止机器。

公开(公告)号：US20150343636A1

公开(公告)日：2015-12-03

申请号：US14714970

申请日：2015-05-18

Applicant: FANUC Corporation

Inventor： Shuntaro TODA ,  Yoshiki HASHIMOTO

IPC: B25J9/16 ,  G05B19/414

CPC classification number: B25J9/1674 ,  G05B19/414 ,  G05B2219/25429 ,  G05B2219/41277

Abstract: A robot controller comprises a control unit which outputs a driving command of a servo motor for robot driving, and an amplifier unit which outputs a driving signal to the servo motor in response to the driving command from the control unit. The control unit and the amplifier unit are mounted in integrally formed printed boards and are connected so as to be able to communicate with each other via the printed boards.

Abstract translation: 机器人控制器包括输出用于机器人驱动的伺服电动机的驱动指令的控制单元和响应于来自控制单元的驱动命令向伺服电动机输出驱动信号的放大器单元。 控制单元和放大器单元安装在一体形成的印刷电路板上，并且被连接成能够经由印刷电路板彼此连通。

公开(公告)号：US20150316111A1

公开(公告)日：2015-11-05

申请号：US14699041

申请日：2015-04-29

Applicant: FANUC Corporation

Inventor： Yoshikiyo TANABE ,  Yoshiki HASHIMOTO

IPC: F16D65/14

CPC classification number: B60T13/748 ,  B60T17/18 ,  F16D63/002 ,  F16D65/14 ,  F16D2121/20 ,  H02P15/00 ,  H02P29/0241

Abstract: A brake drive control circuit of a servo motor which detects malfunction of a semiconductor circuit at the brake drive control circuit, that is, a brake drive control circuit which connects two semiconductor circuits in series to a brake and uses a voltage detection circuit which detects the presence of voltage which is applied to the brake by brake signals turning the semiconductor circuits on/off so as to detect test pulses in the voltage which is applied to the brake due to test pulses which are included in the brake signals and turn the semiconductor circuits off for instants during an operation for disengaging the brake and detect malfunctions of the semiconductor circuits by the detection of the test pulses.

Abstract translation: 伺服电动机的制动驱动控制电路，其检测制动驱动控制电路上的半导体电路的故障，即将两个半导体电路串联连接到制动器的制动驱动控制电路，并使用电压检测电路， 通过制动信号使半导体电路接通/断开而施加到制动器上的电压的存在，以便检测由于包含在制动信号中的测试脉冲而施加于制动器的电压的测试脉冲，并转动半导体电路 在用于分离制动的操作期间的时刻断开，并且通过检测测试脉冲来检测半导体电路的故障。