公开(公告)号：US20190126479A1

公开(公告)日：2019-05-02

申请号：US16172136

申请日：2018-10-26

Applicant: FANUC CORPORATION

Inventor： Masao MOTOHASHI ,  Takahiro KITANO

IPC: B25J9/16 ,  B25J13/06

Abstract: A robot system includes: an articulated type robot which retains a processing tool at an arm tip end portion and which includes a plurality of drive units that drive a plurality of drive axes; and a robot controller which controls the drive units so as to control a relative position of the processing target and the processing tool and the robot controller includes: a torque information detection unit which detects torque information on the torques of the drive units; a contact position estimation unit which estimates, based on the change of tendency of a variation in the detected torque information of at least one of the drive units, a contact position in which the processing target and the processing tool make contact with each other; and a position compensation unit which compensates the target position of the robot based on the estimated contact position.

公开(公告)号：US20250100137A1

公开(公告)日：2025-03-27

申请号：US18832511

申请日：2022-02-08

Applicant: FANUC CORPORATION

Inventor： Takahiro KITANO ,  Masao MOTOHASHI

IPC: B25J9/16 ,  B25J15/02 ,  B25J19/06

Abstract: An object is to set a detection parameter used for detecting contact with a workpiece or pinching of the workpiece to an appropriate value without user's time and effort. A control device 40, 50 according to one aspect of the present disclosure is a control device that controls a servo motor 35 for driving a tool 30 for holding a workpiece W1 or applying a treatment to the workpiece W1. The control device includes a control unit 41 that selectively controls the servo motor in a preliminary adjustment mode in which the tool is operated in the absence of the workpiece and in an operation mode in which the tool is operated in the presence of the workpiece, and a parameter adjustment unit 42 that adjusts a detection parameter in the preliminary adjustment mode. The control unit controls the servo motor in the operation mode using the detection parameter adjusted by the parameter adjustment unit.

公开(公告)号：US20240416446A1

公开(公告)日：2024-12-19

申请号：US18695141

申请日：2021-10-15

Applicant: FANUC CORPORATION

Inventor： Masao MOTOHASHI ,  Takahiro KITANO

IPC: B23K11/11

Abstract: Provided is a welding gun control device whereby it is possible to reduce a load placed on a workpiece during workpiece detection in spot welding. This welding gun control device for controlling a welding gun for pressing an object to be welded between a movable electrode driven by a servomotor and a counter electrode facing the movable electrode and performing welding comprises: an operation control unit for causing the movable electrode to move at a first speed in a state in which the object to be welded is disposed between the movable electrode and the counter electrode, and causing the counter electrode or the object to be welded to move at a second speed slower than the first speed; and a workpiece detection unit for detecting the object to be welded on the basis of the operating state of the servomotor for driving the movable electrode, while the movable electrode and the counter electrode are caused to move by the operation control unit.

公开(公告)号：US20230191602A1

公开(公告)日：2023-06-22

申请号：US17758872

申请日：2021-04-22

Applicant: FANUC CORPORATION

Inventor： Masao MOTOHASHI ,  Kentarou YANAGIHARA

IPC: B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1653

Abstract: Provided is a mastering method that can be easily carried out with respect to a processing tool mounted to an arm tip portion of a robot having a driving shaft. The present invention provides a processing tool mastering method for mastering a processing tool by: controlling a driving unit of a multi-joint robot which carries, at an arm tip portion, a processing tool for performing a predetermined process on a workpiece and which is provided with a plurality of driving units for driving one or a plurality of driving shafts; and controlling a processing position of the processing tool with respect to the workpiece. The mastering method comprises obtaining, from the movement of the robot, reference direction information which is information pertaining to a reference direction of the robot, and carrying out mastering of the processing tool on the basis of the reference direction information thus obtained.

公开(公告)号：US20230166402A1

公开(公告)日：2023-06-01

申请号：US17921703

申请日：2021-05-20

Applicant: FANUC CORPORATION

Inventor： Junya TERASAKA ,  Masao MOTOHASHI

IPC: B25J9/16

CPC classification number: B25J9/1682 ,  B25J9/1669 ,  B25J9/1674

Abstract: A robot system including a plurality of robots, controllers that respectively control the robots, hands attached to wrist ends of the robots and configured to hold and release a workpiece, and a sensor configured to detect that the workpiece is being held by the hands of the robots. The controllers are interconnected and configured to exchange signals so that the robots operate in coordination in response to an operation command that includes a coordination command, and prohibit operation of each of the robots based on an operation command that lacks a coordination command in a state in which the sensor detects the workpiece being held.

公开(公告)号：US20200306865A1

公开(公告)日：2020-10-01

申请号：US16801100

申请日：2020-02-25

Applicant: FANUC CORPORATION

Inventor： Masao MOTOHASHI ,  Takahiro KITANO

IPC: B23K11/11 ,  B25J11/00 ,  B25J9/16

Abstract: A robot control device for a robot system that includes: an articulated robot having a plurality of internal drive axes; a processing head which is retained to a leading end of the robot, and has a processing tool and a tool drive axis that causes the processing tool to move; and an external driving mechanism which has one or a plurality of external drive axes and positions the robot, in which the robot system causes the processing tool to make contact with a processing target, and conducts predetermined processing on the processing target, in which the control device controls the internal drive axis and the external drive axis so as to position the processing head at a target position which is set as a position of processing the processing target, and controls the tool drive axis so as to make the processing tool make contact with the processing target, and the robot control device detects contact between the processing tool and the processing target by monitoring torque of the internal drive axis, the tool drive axis and the external drive axis, and performs position compensation of the robot.