公开(公告)号：US20250027793A1

公开(公告)日：2025-01-23

申请号：US18715159

申请日：2021-12-07

Applicant: FANUC CORPORATION

Inventor： Kazuki WAKABAYASHI

IPC: G01D5/241

Abstract: A displacement detection device includes a first plate member and a second plate member that extend in a predetermined direction; and a sensor that detects displacement. Opposite ends of the first plate member are respectively connected to opposite ends of the second plate member. Each of the first and second plate members has a first end portion and a second end portion, and also has a middle portion located between these two end portions. A gap is formed between the middle portion of the first plate member and the middle portion of the second plate member. The sensor detects variation in the gap. When a second member is displaced in the predetermined direction, the amount of variation in the gap is greater than the amount of displacement of the second member.

公开(公告)号：US20240278428A1

公开(公告)日：2024-08-22

申请号：US18567152

申请日：2021-07-28

Applicant: FANUC CORPORATION

Inventor： Naoki FUJIOKA ,  Kazuki WAKABAYASHI ,  Keita SUYAMA

IPC: B25J9/16 ,  B25J9/10 ,  B25J13/08

CPC classification number: B25J9/1674 ,  B25J9/102 ,  B25J9/163 ,  B25J9/1653 ,  B25J13/085 ,  B25J13/087

Abstract: A robot system includes a robot that includes one or more joints, and a determination unit that is connected to the robot. The joints each include a motor, a speed reduction mechanism that reduces a speed of revolution of the motor; and a torque sensor capable of measuring an output torque of the speed reduction mechanism. The speed reduction mechanism includes a plurality of speed-reduction elements each of which reduces the speed of revolution of the motor at a predetermined reduction ratio. The determination unit calculates time-series data about an input torque to the speed reduction mechanism, and determines the speed reduction mechanism that has a problem, on the basis of time-series data about the number of revolutions of the motor, the calculated time-series data about the input torque, time-series data about the output torque measured by the torque sensor, and the reduction ratio of each of the speed-reduction elements.

公开(公告)号：US20240264020A1

公开(公告)日：2024-08-08

申请号：US18567277

申请日：2021-06-30

Applicant: FANUC CORPORATION

Inventor： Kazuki WAKABAYASHI

IPC: G01L5/1627

CPC classification number: G01L5/1627

Abstract: This torque sensor includes: an outer circumferential part and an inner circumferential part that have an annular shape and are disposed concentrically with a gap therebetween in the radial direction thereof; a plurality of double-supported beam-like connecting beam parts that are disposed with gaps therebetween in the circumferential direction and connect the outer circumferential part and the inner circumferential part; and detecting parts that detect the torque applied about a central axis to the outer circumferential part and the inner circumferential part, wherein both side surfaces of the connecting beam parts in the circumferential direction have concave curved shapes the respective radii of curvature of which gradually increase from the inner circumferential surface of the outer circumferential part and the outer circumferential surface of the inner circumferential part toward the center in the length direction of the connecting beam parts when seen in the direction of the central axis.

公开(公告)号：US20240190001A1

公开(公告)日：2024-06-13

申请号：US18554820

申请日：2021-05-19

Applicant: FANUC CORPORATION

Inventor： Naoki FUJIOKA ,  Kazuki WAKABAYASHI ,  Keita SUYAMA

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/02

CPC classification number: B25J9/1664 ,  B25J9/162 ,  B25J9/163 ,  B25J9/1638 ,  B25J9/1653 ,  B25J13/085 ,  B25J19/02

Abstract: A robot system includes: a robot where a hand for handling a workpiece is mounted; a movement mechanism to change the relative positions of the robot and workpiece; a workpiece sensor to detect the position of the workpiece; an obstacle sensor to detect the position of a surrounding obstacle; and a control device that controls the robot and the movement mechanism. The robot includes a load sensor to detect a load acting on an operating axis of the robot. The control device generates a first map of arrangements of the workpiece and the obstacle from the detected position of the workpiece and position of the obstacle, generates a second map of a degree of influence on the lifetime of the robot for each relative positioning by the movement mechanism, and determines the relative positioning by the movement mechanism on the basis of the generated first map and second map.

公开(公告)号：US20240131725A1

公开(公告)日：2024-04-25

申请号：US18547723

申请日：2021-04-29

Applicant: FANUC CORPORATION

Inventor： Kazuki WAKABAYASHI ,  Yihua GU

IPC: B25J13/08 ,  B25J15/12

CPC classification number: B25J13/085 ,  B25J15/12

Abstract: A robot control device controls a robot equipped with a sensor capable of measuring force, the robot control device including: a measurement value acquisition unit acquires a first measurement value measured by the sensor when a first tool having a known mass and center-of-gravity position is placed at the tip of the wrist of the robot and the wrist performs a specific motion, and a second measurement value measured by the sensor when a second tool having a known mass and center-of-gravity position is placed and the wrist performs a specific motion; a measurement value storage unit that stores the first measurement value and the second measurement value acquired by the measurement value acquisition unit; and a correction unit that corrects the measurement values from the sensor, on the basis of the first measurement value and the second measurement value stored in the measurement value storage unit.

公开(公告)号：US20240227202A9

公开(公告)日：2024-07-11

申请号：US18547723

申请日：2021-04-30

Applicant: FANUC CORPORATION

Inventor： Kazuki WAKABAYASHI ,  Yihua GU

IPC: B25J13/08 ,  B25J15/12

CPC classification number: B25J13/085 ,  B25J15/12

Abstract: A robot control device controls a robot equipped with a sensor capable of measuring force, the robot control device including: a measurement value acquisition unit acquires a first measurement value measured by the sensor when a first tool having a known mass and center-of-gravity position is placed at the tip of the wrist of the robot and the wrist performs a specific motion, and a second measurement value measured by the sensor when a second tool having a known mass and center-of-gravity position is placed and the wrist performs a specific motion; a measurement value storage unit that stores the first measurement value and the second measurement value acquired by the measurement value acquisition unit; and a correction unit that corrects the measurement values from the sensor, on the basis of the first measurement value and the second measurement value stored in the measurement value storage unit.

公开(公告)号：US20230211499A1

公开(公告)日：2023-07-06

申请号：US17996749

申请日：2021-04-23

Applicant: FANUC CORPORATION

Inventor： Kazuki WAKABAYASHI ,  Toshihiro NISHIMURA ,  Shigeo YOSHIDA ,  Gou INABA

IPC: B25J9/16 ,  B23K37/02 ,  G05B19/423

CPC classification number: B25J9/1664 ,  B23K37/0229 ,  G05B19/423

Abstract: Provided are a robot system, a robot control device, a control method, and a program which make it possible to more simply teach a robot action. The robot system comprises: a feature point teaching unit which causes a storage unit to store the position of a feature point that has been taught using lead-through; an input accepting unit which accepts the input of an angle value of a tool with respect to a workpiece W; a posture determining unit which determines the posture of the tool on the basis of the angle value of the tool; and a program generating unit which generates a robot program for a robot on the basis of the position of the feature point and the posture.

公开(公告)号：US20230175902A1

公开(公告)日：2023-06-08

申请号：US18008227

申请日：2021-06-07

Applicant: FANUC CORPORATION

Inventor： Kazuki WAKABAYASHI

IPC: G01L3/14

CPC classification number: G01L3/14

Abstract: A displacement detection device and a torque sensor include a movable part that is connected to a first member and to a second member and that changes a gap along with displacement of the second member with respect to the first member in a prescribed direction; and a detection part (detection circuit) that, on the basis of the change in the gap detects displacement of the second member with respect to the first member in the prescribed direction, wherein the movable part is configured to make the amount of N change in the gap greater than the amount of displacement of the second member with respect to the first member in the prescribed direction.