公开(公告)号：US20180200885A1

公开(公告)日：2018-07-19

申请号：US15867311

申请日：2018-01-10

Applicant: FANUC CORPORATION

Inventor： Yu IKEDA ,  Soichi ARITA

IPC: B25J9/16 ,  G05B19/401

Abstract: A robot control device includes a parameter estimating unit that causes a robot to operate under estimation conditions input by a user and that estimates a load parameter of a load attached to the robot, a torque calculating unit that calculates operation torques of respective joints of the robot caused to operate during the estimation of the load parameter, and an alert unit that issues an alert to the user when the difference between the maximum value and the minimum value of the operation torques is equal to or less than a predetermined threshold.

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：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：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：US20160246274A1

公开(公告)日：2016-08-25

申请号：US15051736

申请日：2016-02-24

Applicant: FANUC Corporation

Inventor： Yu IKEDA ,  Soichi ARITA

IPC: G05B19/042

CPC classification number: G05B19/4063 ,  G05B19/0425

Abstract: A control apparatus in an automaton that operates in cooperation with a peripheral device, includes: an operating time accumulator regarding the output time of a control signal to the peripheral device or the output time of an operating signal from the peripheral device as operating time and determining cumulative operating time by adding up the operating times; a time-at-inspection recorder recording the cumulative operating time when inspection is performed as the cumulative operating time at inspection; a cumulative operating time comparator comparing the difference between the current cumulative operating time and the cumulative operating time at inspection, the cumulative operating time from the latest inspection, or the cumulative operating time after inspection, with a preset inspection interval; and, a maintenance request output unit outputting a maintenance request to the outside when the cumulative operating time after inspection obtained as a result of the comparison exceeds the preset inspection interval.

Abstract translation: 一种与外围设备协同操作的自动机中的控制装置，包括：关于外围设备的控制信号的输出时间的操作时间累加器或来自外围设备的操作信号的输出时间作为操作时间和确定 累计运行时间累计运行时间; 记录检查时间的累计操作时间，作为检查时的累积运行时间; 累积运行时间比较器，比较当前累积运行时间与检查中的累积运行时间，最近检查的累积运行时间或检查后的累计运行时间与预设检查间隔的差; 以及当作为比较的结果获得的检查后的累积操作时间超过预设检查间隔时，向外部输出维护请求的维护请求输出单元。