公开(公告)号：US20170291313A1

公开(公告)日：2017-10-12

申请号：US15459422

申请日：2017-03-15

Applicant: FANUC CORPORATION

Inventor： Toshihiko INOUE ,  Tomoyuki MOTOKADO ,  Masayoshi MORI ,  Wataru AMEMIYA

IPC: B25J19/00 ,  B25J17/00

Abstract: A linear object handling structure of a robot includes a rotational drum supported above a base in a rotatable manner about a vertical axis line, a plurality of operation shafts supported by the rotational drum, and a hollow part near the vertical axis line in the rotational drum. A first linear object group including cables for driving the operation shafts has one end fixed to the base and the other end wired to the motors of the operation shafts supported by the rotational drum, and is disposed to penetrate through the hollow part. A second linear object group for a peripheral device supported by any one of the operation shafts is collectively covered by a flexible conduit pipe, disposed to penetrate through the hollow part, and detachably fixed to the base and the rotational drum.

公开(公告)号：US20170028499A1

公开(公告)日：2017-02-02

申请号：US15222051

申请日：2016-07-28

Applicant: FANUC CORPORATION

Inventor： Shigeo YOSHIDA ,  Masayoshi MORI ,  Kazutaka NAKAYAMA

IPC: B23K9/095 ,  B25J9/16

CPC classification number: B23K9/0956 ,  B23K9/0953 ,  B23K9/287 ,  B25J9/163 ,  Y10S901/02 ,  Y10S901/42

Abstract: A machine learning device which learns to determine at least one arc welding condition includes a state observation unit which observes a state variable consisting of at least one physical quantity regarding the arc welding and the at least one arc welding condition at least during or after the arc welding, and a learning unit which learns a change in the at least one physical quantity observed by the state observation unit and the at least one arc welding condition in association with each other.

Abstract translation: 学习确定至少一个电弧焊接条件的机器学习装置包括状态观测单元，其至少在电弧期间或之后观察由至少一个关于电弧焊接的物理量和至少一个电弧焊接条件组成的状态变量 焊接，以及学习单元，其学习由状态观察单元观察到的至少一个物理量和至少一个电弧焊接条件相关联的变化。

公开(公告)号：US20170282382A1

公开(公告)日：2017-10-05

申请号：US15475315

申请日：2017-03-31

Applicant: FANUC CORPORATION

Inventor： Toshihiko INOUE ,  Masayoshi MORI

IPC: B25J19/00 ,  B25J9/10 ,  B25J17/00 ,  F16H1/20

CPC classification number: B25J19/0029 ,  B25J9/102 ,  B25J17/00 ,  F16H1/203 ,  Y10S901/26 ,  Y10S901/28

Abstract: Provided is a robot pivot shaft structure that includes a revolving drum rotatably supported at an upper portion of a base and that has a hollow portion, a drive motor rotating the revolving drum, and a speed reduction mechanism reducing the rotational speed of the drive motor. The speed reduction mechanism has a small gear fixed to a shaft of the drive motor, a large gear meshed with the small gear, an input hypoid gear fixed to the large gear, and an output hypoid gear meshed with the input hypoid gear. The output hypoid gear is fixed to the revolving drum and is disposed in the base. The input hypoid gear and the large gear are rotatably supported at the base. The drive motor is fixed to the base and disposed below the revolving drum, the position being horizontally shifted from vertically below the hollow portion.

公开(公告)号：US20170282381A1

公开(公告)日：2017-10-05

申请号：US15477346

申请日：2017-04-03

Applicant: FANUC CORPORATION

Inventor： Toshihiko INOUE ,  Tomoyuki MOTOKADO ,  Masayoshi MORI ,  Wataru AMEMIYA

IPC: B25J19/00

CPC classification number: B25J19/0025 ,  B25J9/0024 ,  B25J19/0041

Abstract: Provided is a linear-object handling structure of a robot, in which a linear object for a motor that drives a second arm and a wrist and a linear object for a work tool that is attached to the wrist pass from a base part to the inside of a rotational drum in the vicinity of a first axis, are guided upward to the outside through a through-hole provided in the rotational drum, are respectively curved toward opposite lateral sides of the rotational drum in the substantially circumferential directions while each given a margin of length required for the motion of the rotational drum, are guided from the lateral sides of the rotational drum to the second arm in the longitudinal direction of the first arm while each being given a margin of length required for the motions of the first arm and the second arm.