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：US20160011588A1

公开(公告)日：2016-01-14

申请号：US14797926

申请日：2015-07-13

Applicant: FANUC Corporation

Inventor： Hiromitsu TAKAHASHI ,  Tsuyoshi HANNYA

IPC: G05B19/418

CPC classification number: B25J9/1674 ,  G05B2219/40454

Abstract: A robot control apparatus includes a setting unit which sets a workpiece parameter, which is a parameter of a workpiece itself and affects transferability of the workpiece transferred by the industrial robot, a storage unit which stores a rated workpiece parameter, which is a maximum parameter of the workpiece itself which can be transferred by the robot at a rated velocity, and a velocity limiting unit which reduces the maximum velocity of the industrial robot to a value lower than the rated velocity when the workpiece parameter set by the setting unit exceeds the rated workpiece parameter stored in the storage unit.

Abstract translation: 一种机器人控制装置，其具有：设定单元，其设定作为工件本身的参数的工件参数，并影响由工业机器人传送的工件的转移性;存储单元，其存储作为最大参数的最大参数 可以由机器人以额定速度传送的工件本身，以及当由设定单元设定的工件参数超过额定工件时将工业机器人的最大速度降至低于额定速度的速度限制单元 参数存储在存储单元中。