公开(公告)号：US20230219219A1

公开(公告)日：2023-07-13

申请号：US18008709

申请日：2021-06-21

Applicant: FANUC CORPORATION

Inventor： Kokoro HATANAKA ,  Shintarou HORI ,  Yasuhiro NAITOU

IPC: B25J9/16 ,  B25J9/00 ,  B25J13/08

CPC classification number: B25J9/1653 ,  B25J9/0081 ,  B25J9/1664 ,  B25J9/1674 ,  B25J13/085

Abstract: A robot controller includes a storage unit that stores load information including a mass and a center of gravity position of a load to be attached to a robot; a lead-through control unit that controls the robot comprising a sensor that detects an external force, based on the external force detected by the sensor and the load information stored in the storage unit; and a load suitability determining unit that determines whether or not the load information stored in the storage unit is suitable. In response to the load suitability determining unit determining that the load information has a possibility of being unsuitable, the lead-through control unit performs a restriction on a movement of the robot.

公开(公告)号：US20230191611A1

公开(公告)日：2023-06-22

申请号：US17758863

申请日：2021-02-22

Applicant: FANUC CORPORATION

Inventor： Yuelai WANG ,  Yasuhiro NAITOU

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1692 ,  B25J9/1607 ,  B25J13/089

Abstract: Provided is a robot system in which when a robot is transported to and installed at an actual installation position, correction is made to correct errors in robot installation. This robot system is provided with: a reference point disposed at a location where a robot is to be installed; a position measurement means that, at a plurality of positions to which the robot is moved, makes a measurement of a prescribed position of the robot according to an installation coordinate system C1 based on the reference point; a position calculation means that determines a prescribed position of the robot according to a base coordinate system C2 of the robot; and a matrix calculation means that calculates a conversion matrix used to convert the base coordinate system C2 to the installation coordinate system C1 so that any difference between the prescribed position measured by the position measurement means and the prescribed position determined by the position calculation means becomes minimal.

公开(公告)号：US20230120261A1

公开(公告)日：2023-04-20

申请号：US17905825

申请日：2021-03-05

Applicant: FANUC CORPORATION

Inventor： Yasuhiro NAITOU

IPC: B25J9/16 ,  B25J13/08

Abstract: A control device for a robot includes: an external force acquisition section configured to acquire external force applied to a movable element during operation of the robot; a first condition determination section configured to determine whether or not a first condition that the external force exceeding a predetermined first threshold is applied to the movable element is satisfied; a second condition determination section configured to determine whether or not a second condition that the movable element is moving is satisfied; and an operation control section configured to stop the operation of the robot when both the first condition and the second condition are satisfied, while continuing the operation of the robot when at least one of the first condition and the second condition is not satisfied.

公开(公告)号：US20170261962A1

公开(公告)日：2017-09-14

申请号：US15421027

申请日：2017-01-31

Applicant: Fanuc Corporation

Inventor： Yasuhiro NAITOU ,  Soichi ARITA

IPC: G05B19/4061 ,  G05B19/048 ,  B25J9/16

CPC classification number: G05B19/4061 ,  B25J9/1676 ,  G05B19/048 ,  G05B2219/35472 ,  G05B2219/36544

Abstract: An object is to prevent automatic operation from being started while a monitoring function is in a disabled state. The present invention provides a robot system includes a robot, a control unit controlling the robot, and an operation monitoring unit having a monitoring function for monitoring contact or the possibility of contact between the robot and a peripheral object. The operation monitoring unit has a monitoring changeover switch that switches between enabling and disabling of the monitoring function. The control unit has a mode changeover switch that switches between a manual operation mode, and an automatic operation mode. The control unit performs control so as to inhibit the operation of the robot in a state in which the monitoring function is disabled and in which the operation mode is set to the automatic operation mode.

公开(公告)号：US20240359322A1

公开(公告)日：2024-10-31

申请号：US18682672

申请日：2021-09-14

Applicant: FANUC CORPORATION

Inventor： Yu IKEDA ,  Yasuhiro NAITOU

IPC: B25J9/16

CPC classification number: B25J9/1633

Abstract: To record the load exerted on a robot according to changes over time without changing the environment and configuration under which the robot is used. A robot system including a robot, a robot control device that controls the robot, and a sensor that is able to detect information about a force exerted on the robot, the robot control device including a record processing unit that stores a first reference load profile in a storage unit, and a determination unit that determines at least the presence or absence of an external force exerted on the robot according to the first reference load profile and the load exerted on the robot detected by the sensor, and the record processing unit storing the load in the storage unit as a second reference load profile depending on the state of the external force.

公开(公告)号：US20230256598A1

公开(公告)日：2023-08-17

申请号：US18015268

申请日：2021-08-20

Applicant: FANUC CORPORATION

Inventor： Yuelai WANG ,  Yasuhiro NAITOU

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1643 ,  B25J9/1612 ,  B25J13/088

Abstract: A robot controller including a control unit configured to cause a control point to move from a first position to a second position by basic joints and wrist joints, and a recording unit configured to record position information including the second position and rotation angles to which the wrist joints are rotated when the control point is positioned at the second position. In a case where posture of the wrist unit at the second position is not a singular point, the control unit causes the basic joints and the wrist joints to perform straight-line motion so as to move the control point along a straight line, and in a case where the posture of the wrist unit at the second position is a singular point, the control unit causes the wrist joints to perform each-joint controlling motion.

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：US20230249344A1

公开(公告)日：2023-08-10

申请号：US18010571

申请日：2021-07-01

Applicant: FANUC CORPORATION

Inventor： Yasuhiro NAITOU

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1633 ,  B25J9/1689 ,  B25J13/085

Abstract: In the present invention, a tool tip point can be easily and intuitively defined without having to operate a robot. This robot control device comprises an acquisition unit for acquiring force data indicating an external force applied to a tool mounted to a robot as sensed by a sensor equipped to the robot, a point-of-action calculation unit for calculating the point of action of the external force on the basis of the force data as acquired by the acquisition unit, and a configuration unit for defining the point of action of the external force as a tool tip point of the robot.

公开(公告)号：US20210060794A1

公开(公告)日：2021-03-04

申请号：US16934393

申请日：2020-07-21

Applicant: FANUC CORPORATION

Inventor： Yasuhiro NAITOU

IPC: B25J13/08 ,  B25J9/16 ,  G05B19/401

Abstract: A robot system including a robot having one or more joints, and a control device that controls the robot, where the robot has, at at least one of the joints, a torque sensor for detecting a first torque about an axis of said joint, and has, at a position farther on a distal end side than the torque sensor, a force sensor for detecting a force. The control device determines whether or not to stop the robot on the basis of only the first torque, when the force detected by the force sensor is less than or equal to a prescribed first threshold.