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公开(公告)号：US11638996B2
公开(公告)日：2023-05-02
申请号：US16892758
申请日：2020-06-04
申请人： FANUC CORPORATION
发明人： Takatoshi Iwayama
摘要： A robot including: a robot body that includes an arm having a longitudinal axis, and at least one joint; and a proximity sensor unit that detects an object approaching the arm of the robot body. The proximity sensor unit includes: a support member that is fixed to the arm of the robot body and that is disposed, at such a position as to extend across the joint of the robot body, so as to be away from a surface of the arm in a direction perpendicular to the longitudinal axis of the arm; and a plurality of proximity sensors that are attached to the support member.
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公开(公告)号：US10478970B2
公开(公告)日：2019-11-19
申请号：US15905029
申请日：2018-02-26
申请人： FANUC CORPORATION
IPC分类号： B25J9/16
摘要： An object is prevented from being sandwiched between robot arms without the occurrence of unintentional operating restrictions of the robot arms. Provided is a robot system including: a robot body that is provided with at least two links that are relatively moved by at least one joint; a sensor that detects the distances from mutually opposed surfaces of the at least two links to an object inserted between the surfaces; and a control unit that performs an interference avoidance operation if the distances detected by the sensor are less than a predetermined threshold.
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公开(公告)号：US12090633B2
公开(公告)日：2024-09-17
申请号：US17904701
申请日：2021-03-03
申请人： FANUC CORPORATION
CPC分类号： B25J13/085 , B23K9/126 , B25J9/1674
摘要： Provided is a robot control device that can suppress the stoppage of operations due to the detection of a contact error. The robot control device controls a robot that implements welding in association with contact with a to-be-welded object, said device comprising: an action stoppage unit that stops the action of the robot if detected that the robot has been subjected to an external force equal to or greater than a threshold; an instructing unit that instructs a welding power supply device to start welding; and a detection sensitivity adjustment unit that lowers the sensitivity at which as external force is detected at the action stoppage unit during a period of time from the point in time at which the instructing unit instructs the welding power supply device to start welding until a prescribed wait time has elapsed.
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公开(公告)号：US11440188B2
公开(公告)日：2022-09-13
申请号：US16105412
申请日：2018-08-20
申请人： FANUC CORPORATION
摘要： 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.
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公开(公告)号：US11338439B2
公开(公告)日：2022-05-24
申请号：US16585820
申请日：2019-09-27
申请人： FANUC CORPORATION
发明人： Takatoshi Iwayama
摘要： A robot control method includes, storing, in a memory, shape information about a robot including a tool attached to a tip and about a peripheral object located on a periphery of the robot. A teaching program also is stored in the memory. The teaching program includes a setting speed when operating the robot. By a processor connected to the memory, a distance between the robot and the peripheral object, based on the shape information, is calculated at each operation position when operating the robot according to the teaching program. By the processor, it is determined whether or not the calculated distance is changing in a decreasing direction. In response to determining that the calculated distance is changing in the decreasing direction, by the processor, the robot is operated at a speed lower than the setting speed in the teaching program.
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公开(公告)号：US09522470B2
公开(公告)日：2016-12-20
申请号：US14681916
申请日：2015-04-08
申请人： FANUC Corporation
CPC分类号： B25J9/1676 , B25J13/085 , G05B2219/36429 , G05B2219/40198 , G05B2219/40201 , G05B2219/49147 , Y02P80/114
摘要： A human-cooperative industrial robot includes a contact force detection part configured to detect a contact force applied to the robot when an operator and a robot come in contact with each other, a contact force monitoring part configured to either stop the robot or make the robot retreat in a direction in which the contact force is reduced if the contact force exceeds a predetermined threshold value, and an operation force detection part configured to detect an operation force applied to the robot when the lead-through operation is implemented. The robot also includes a lead-through switch for switching between the states of enabling and disabling the lead-through operation. When the lead-through operation is enabled, the contact force monitoring is disabled, and when the lead-through operation is disabled, the contact force monitor is enabled.
摘要翻译： 人工合作的工业机器人包括：接触力检测部，被配置为当操作者和机器人彼此接触时检测施加到机器人的接触力;接触力监测部，被配置为停止机器人或使机器人 如果接触力超过预定阈值，接触力减小的方向退避;以及操作力检测部，被配置为当实施所述引导操作时，检测施加到所述机器人的操作力。 机器人还包括用于在启用和禁用导通操作的状态之间切换的引导开关。 当使能导通操作时，接触力监控被禁用，当禁用直通操作时，接触力监视器被使能。
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公开(公告)号：US09946248B2
公开(公告)日：2018-04-17
申请号：US14920168
申请日：2015-10-22
申请人： FANUC CORPORATION
IPC分类号： G05B19/04 , G05B19/4062 , B25J9/16
CPC分类号： G05B19/4062 , B25J9/1633 , Y10S901/09
摘要： A system which can improve the reliability of an emergency stop operation of a robot when contacting a worker. The system is comprised of a force sensor and a malfunction judgment part. The force sensor has a detection part which detects the load in one direction. The detection part includes a first detection element and a second detection element. The malfunction judgment part judges if a first detection value which is detected by the first detection element and a second detection value which is detected by the second detection element differ from each other. If the first detection value and the second detection value differ from each other, it is judged that the first detection element or second detection element have malfunctioned.
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10.发明申请公开(公告)号：US20160114484A1
公开(公告)日：2016-04-28
申请号：US14920168
申请日：2015-10-22
申请人： FANUC CORPORATION
IPC分类号： B25J9/16
CPC分类号： G05B19/4062 , B25J9/1633 , Y10S901/09
摘要： A system which can improve the reliability of an emergency stop operation of a robot when contacting a worker. The system is comprised of a force sensor and a malfunction judgment part. The force sensor has a detection part which detects the load in one direction. The detection part includes a first detection element and a second detection element. The malfunction judgment part judges if a first detection value which is detected by the first detection element and a second detection value which is detected by the second detection element differ from each other. If the first detection value and the second detection value differ from each other, it is judged that the first detection element or second detection element have malfunctioned.
摘要翻译： 一种可以提高机器人在接触工人时的紧急停止操作的可靠性的系统。 该系统由力传感器和故障判断部构成。 力传感器具有检测部件，该检测部件沿一个方向检测负载。 检测部包括第一检测元件和第二检测元件。 故障判断部分判断由第一检测元件检测到的第一检测值和由第二检测元件检测到的第二检测值是否彼此不同。 如果第一检测值和第二检测值彼此不同，则判断为第一检测元件或第二检测元件发生故障。
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