公开(公告)号：US20190162608A1

公开(公告)日：2019-05-30

申请号：US16190411

申请日：2018-11-14

Applicant: FANUC CORPORATION

Inventor： Junya FUJITA ,  Tetsuro SAKANO

IPC: G01L1/22 ,  B25J19/02

CPC classification number: G01L1/2206 ,  B25J19/02 ,  G01L5/0076 ,  G01L5/226

Abstract: A force detecting device includes an installed member that is installed on an installing face and a force sensor main unit that is fixed to a top face of the installed member. The installed member has a plate-shaped or brim-shaped first portion having the top face and extending at least in a horizontal direction; a second portion extending at least downward from a bottom face side of the first portion; and a third portion extending at least in the horizontal direction from the second portion and fixed to the installing face, and a gap SP in a top-down direction is formed between the first portion and the third portion.

公开(公告)号：US20190160688A1

公开(公告)日：2019-05-30

申请号：US16150440

申请日：2018-10-03

Applicant: FANUC CORPORATION

Inventor： Junya FUJITA

IPC: B25J13/08 ,  B25J9/16 ,  B25J19/06

Abstract: A robot includes a base; an articulated arm provided on the base; a sensor that is provided on the base and detects external force applied to the articulated arm; a controller that causes the articulated arm to perform a stop motion on a basis of a detected value of the sensor; and a cable having one end connected to devices mounted on a tip-side arm member of the articulated arm, and having the other end connected to the controller that controls the devices wherein the cable enters into the articulated arm from an arm member, passes through arm members which are disposed closer to the base side than the arm member is, and is connected to the controller.

公开(公告)号：US20240083025A1

公开(公告)日：2024-03-14

申请号：US18281062

申请日：2021-04-15

Applicant: FANUC CORPORATION

Inventor： Junya FUJITA

IPC: B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1633 ,  B25J9/0009

Abstract: A robot apparatus according to one aspect of the present disclosure includes a robot body and a transfer leg for transferring the robot body. The robot body includes a robot arm mechanism and a sensor device for detecting an external force applied to the robot arm mechanism. The sensor device includes a sensor bottom plate to be installed on a robot installation table, a sensor top plate attached to the bottom surface of a base of the robot arm mechanism, and a sensor body for detecting the displacement between the sensor bottom plate and the sensor top plate. The transfer leg is configured to be able to fix the base or the sensor top plate to a transfer table in such a manner as to prevent the sensor bottom plate from coming into contact with the transfer table.

公开(公告)号：US20160346935A1

公开(公告)日：2016-12-01

申请号：US15143622

申请日：2016-05-01

Applicant: FANUC CORPORATION

Inventor： Kazutaka NAKAYAMA ,  Junya FUJITA ,  Youichi INOUE

IPC: B25J9/16 ,  G01L5/00 ,  G01L5/22 ,  B25J13/08

CPC classification number: G01L5/226 ,  B25J9/1674 ,  B25J13/085 ,  B25J13/087 ,  G01L5/161

Abstract: The human cooperative robot system according to the present invention includes a robot, a force sensor detecting a load applied to a robot, and a robot controller controlling the robot. The force sensor includes at least one temperature detection element detecting temperature, incorporated therein. The robot controller determines whether or not to stop the operation of the robot based on the detected temperature output from the temperature detection element.

Abstract translation: 根据本发明的人体协作机器人系统包括机器人，检测施加到机器人的负载的力传感器和控制机器人的机器人控制器。 力传感器包括至少一个检测温度的温度检测元件，其中并入其中。 机器人控制器基于从温度检测元件输出的检测到的温度来判定是否停止机器人的动作。

公开(公告)号：US20150174771A1

公开(公告)日：2015-06-25

申请号：US14578640

申请日：2014-12-22

Applicant: FANUC Corporation

Inventor： Junya FUJITA

IPC: B25J19/06

Abstract: A human-cooperative industrial robot having a base unit and a movable unit movably provided on or above the base unit. The robot includes a protection member composed of a material with a rigidity lower than rigidities of the base unit and the movable unit, the protection member covering a circumference of at least the movable unit of the base unit and the movable unit; and a detector provided on at least either the base unit or the movable unit to detect an external force input through the protection member.

Abstract translation: 一种具有基本单元和可移动地设置在基座单元上或上方的可移动单元的人工合作的工业机器人。 机器人包括保护构件，该保护构件具有刚性低于基座单元和可移动单元的刚性的材料，保护构件覆盖至少基座单元的可移动单元的圆周和可移动单元; 以及检测器，设置在所述基座单元或所述可移动单元中的至少一个上，以检测通过所述保护构件输入的外力。

公开(公告)号：US20190070730A1

公开(公告)日：2019-03-07

申请号：US16105412

申请日：2018-08-20

Applicant: FANUC CORPORATION

Inventor： Masahiro MORIOKA ,  Takatoshi IWAYAMA ,  Junya FUJITA

IPC: B25J9/16

Abstract: The present invention provides a robot system including: a movable human-collaborative robot including a human-collaborative robot, and a moving device that moves the human-collaborative robot mounted thereon; a control unit that controls the movable human-collaborative robot; and an approach sensor that detects approach of a human to the movable human-collaborative robot. The human-collaborative robot includes a human detection sensor that detects approach or contact of a human to or with the movable human-collaborative robot. When the approach sensor has detected the approach of a human, the control unit restricts the operation of at least the moving device and, when the human detection sensor has detected the approach of or contact with a human, the control unit performs control so as to stop the movable human-collaborative robot or so as to avoid the approach of or contact with the human.