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    MACHINE LEARNING DEVICE, ROBOT SYSTEM, AND MACHINE LEARNING METHOD
    1.
    发明申请
    MACHINE LEARNING DEVICE, ROBOT SYSTEM, AND MACHINE LEARNING METHOD 审中-公开

    公开(公告)号：US20190077015A1

    公开(公告)日：2019-03-14

    申请号：US16117518

    申请日：2018-08-30

    Applicant: FANUC CORPORATION

    Inventor： Yasuhiro SHIBASAKI ,  Yuta NAMIKI ,  Hiromitsu TAKAHASHI

    IPC: B25J9/16

    Abstract: A hand for transferring a transfer target can be selected even when the combination of the transfer target and the hand is not taught. A machine learning device includes: state observation means for acquiring at least a portion of image data obtained by imaging a transfer target as input data; label acquisition means for acquiring information related to grasping means attached to a robot for transferring the transfer target as a label; and learning means for performing supervised learning using a set of the input data acquired by the state observation means and the label acquired by the label acquisition means as teacher data to construct a learning model that outputs information related to the grasping means appropriate for the transferring.

    ROBOT CONTROL DEVICE CONTROLLING ROBOT BASED ON EXTERNAL FORCE APPLIED TO ROBOT AND ROBOT SYSTEM
    2.
    发明申请
    ROBOT CONTROL DEVICE CONTROLLING ROBOT BASED ON EXTERNAL FORCE APPLIED TO ROBOT AND ROBOT SYSTEM 有权
    基于机器人和机器人系统的外力控制机器人控制装置

    公开(公告)号：US20160207197A1

    公开(公告)日：2016-07-21

    申请号：US15000714

    申请日：2016-01-19

    Applicant: FANUC Corporation

    Inventor： Hiromitsu TAKAHASHI ,  Kazuhisa TAKAKI

    IPC: B25J9/16

    CPC classification number: B25J9/1674 ,  B25J9/1664 ,  B25J9/1676 ,  B25J9/1694 ,  G05B2219/37411 ,  G05B2219/42288 ,  G05B2219/49147 ,  G05B2219/50198 ,  Y10S901/09

    Abstract: In the past, sometimes a robot was made to unnecessarily retract. Therefore, this robot control device comprises a contact judging part which judges if the robot has contacted an object based on external force which is detected by the sensor, a stop command part which makes the robot stop when it is judged that the robot has contacted the object, a continuous contact judging part which judges if the robot continues to contact the object after making the robot stop, and a retraction command part which makes the robot retract in a direction away from the object when it is judged that the robot continues to contact the object.

    Abstract translation: 在过去，有时机器人被不必要地缩回。 因此，该机器人控制装置包括：接触判断部，其基于由传感器检测到的外力来判断机器人是否接触到物体;判断机器人接触到机器人时停止的停止指令部; 物体，在机器人停止后判断机器人是否继续接触物体的连续接触判断部，以及当判断为机器人继续接触时使机器人从远离物体的方向缩回的收回指令部 物体。

    TEACHING DEVIC18/270,398
    3.
    发明公开
    TEACHING DEVIC18/270,398 审中-公开

    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

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

    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.

    PRODUCTION CONTROLLER EQUIPPED WITH FUNCTION OF IDENTIFYING CAUSE UPON OPERATION STOP OF PRODUCTION FACILITY INCLUDING MANUFACTURING FACILITIES
    4.
    发明申请
    PRODUCTION CONTROLLER EQUIPPED WITH FUNCTION OF IDENTIFYING CAUSE UPON OPERATION STOP OF PRODUCTION FACILITY INCLUDING MANUFACTURING FACILITIES 审中-公开

    公开(公告)号：US20180059657A1

    公开(公告)日：2018-03-01

    申请号：US15684403

    申请日：2017-08-23

    Applicant: FANUC CORPORATION

    Inventor： Toshiaki KAMOI ,  Hiromitsu TAKAHASHI ,  Tomoyuki YAMAMOTO

    IPC: G05B23/02

    Abstract: A cell controller includes a first communication unit which receives a task program and signal setting information stored in each manufacturing machine from this manufacturing machine, a stop detection unit which refers to the task program and the signal setting information to detect whether a production facility has stopped operation, and a stop cause identification unit which analyzes the task program and the signal setting information to identify the manufacturing machine that has caused the operation stop of the production facility, and this cause. Such a cell controller can detect whether a production facility including manufacturing machines has stopped operation, and automatically identify the manufacturing machine that has caused this operation stop, and this cause.

    CONTROL DEVICE WITH FUNCTION TO CHECK LOAD INFORMATION SETTINGS
    7.
    发明申请
    CONTROL DEVICE WITH FUNCTION TO CHECK LOAD INFORMATION SETTINGS 审中-公开
    具有检查负载信息设置功能的控制设备

    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。

    LASER BRAZING SYSTEM
    8.
    发明公开
    LASER BRAZING SYSTEM 审中-公开

    公开(公告)号：US20230264283A1

    公开(公告)日：2023-08-24

    申请号：US18006866

    申请日：2021-07-27

    Applicant: FANUC CORPORATION

    Inventor： Masanobu HATADA ,  Hiromitsu TAKAHASHI ,  Takahiro TANAKA

    IPC: B23K1/005 ,  B23K26/08

    CPC classification number: B23K1/0056 ,  B23K26/0884

    Abstract: Provided is a laser brazing system that can collectively control a robot and devices such as a laser oscillator and a wire feeding device and that can also collectively display the state of the robot and the state of the devices. A laser brazing system 1 that comprises a gas supply device 16, a wire feeding device 17, a laser oscillator 15, a robot 12 that supports a wire feeding nozzle 14 and a laser processing head 13 on the tip of an arm 121, and a robot control device 10 that controls the robot 12. In addition to the robot 12, the robot control device 10 of the laser brazing system 1 controls the wire feeding device 17, the gas supply device 16, and the laser oscillator 15 and has an operation panel 11 that includes a display unit 112 that can display the state of at least one of the wire feeding device 17, the gas supply device 16, and the laser oscillator 15.

    ROBOT TEACHING APPARATUS
    9.
    发明申请
    ROBOT TEACHING APPARATUS 审中-公开

    公开(公告)号：US20180281173A1

    公开(公告)日：2018-10-04

    申请号：US15925448

    申请日：2018-03-19

    Applicant: FANUC CORPORATION

    Inventor： Mikito HANE ,  Hiromitsu TAKAHASHI

    IPC: B25J9/00 ,  G05B19/427 ,  B25J9/16

    Abstract: A complicated motion program is taught, in a simple manner, to a lead-through teachable robot. Provided is a teaching apparatus for a robot, the teaching apparatus being provided with: a movement-instruction input portion that is attached to the robot and with which a movement instruction for the robot is input; and a command input portion with which it is possible to set at least one of a movement-trajectory defining command, a standby command, a speed-changing command, and a work-condition changing command at an arbitrary position on a movement pathway of the robot in a direction that corresponds to the movement instruction input via the movement-instruction input portion.

    CELL CONTROLLER FOR FINDING CAUSE OF ABNORMALITY IN MANUFACTURING MACHINE
    10.
    发明申请
    CELL CONTROLLER FOR FINDING CAUSE OF ABNORMALITY IN MANUFACTURING MACHINE 审中-公开

    公开(公告)号：US20170220008A1

    公开(公告)日：2017-08-03

    申请号：US15390721

    申请日：2016-12-27

    Applicant: FANUC CORPORATION

    Inventor： Hiromitsu TAKAHASHI ,  Toshimichi AOKI

    IPC: G05B13/02

    CPC classification number: G05B13/0265 ,  G05B23/0237 ,  Y02P90/02 ,  Y02P90/087 ,  Y02P90/14 ,  Y02P90/86

    Abstract: A cell controller includes an inside information acquiring unit for acquiring the inside information of the plurality of manufacturing machines, and an inside information comparing unit which compares, with regard to a first manufacturing machine and a second manufacturing machine, which are selected by the comparison object selecting unit, first inside information and second inside information, which are acquired, and the inside information comparing unit extracting a difference therebetween. The cell controller also includes an abnormality cause finding unit for finding a cause of an abnormality that occurs in the first manufacturing machine or the second manufacturing machine, based on the difference, and an abnormality cause conveying unit for conveying the cause of the abnormality to the outside of the cell controller.

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