公开(公告)号：US20190247998A1

公开(公告)日：2019-08-15

申请号：US16269568

申请日：2019-02-07

Applicant: FANUC CORPORATION ,  TOKYO INSTITUTE OF TECHNOLOGY

Inventor： Hiroshi NAKAGAWA ,  Kenichiro ABE ,  Yunfeng WU ,  Hikaru YAMASHIRO ,  Hideo MATSUI ,  Soichi ARITA ,  Yukio TAKEDA ,  Masumi OHNO

IPC: B25J9/00 ,  B25J9/16 ,  B25J17/02

CPC classification number: B25J9/0051 ,  B25J9/1633 ,  B25J9/1664 ,  B25J9/1674 ,  B25J17/0266 ,  B25J17/0275

Abstract: A device and method for judging the presence or absence of an abnormal clearance between paring elements of a passive joint of a robot. The device has sections configured to: calculate a score for each motion path, wherein the score is increased when the paring elements of an objective pair collide with each other and is decreased when the paring elements of the other pair collide with each other; generate a robot motion for moving the robot along the motion path having the score not lower than a predetermined threshold; measure a drive torque or a current value of a motor when the robot is moved according to the generated robot motion; calculate an index value based on a magnitude of variation of the measured drive torque or current value; and judge as to whether the abnormal clearance exists in the objective pair, based on the index value.

公开(公告)号：US20170348855A1

公开(公告)日：2017-12-07

申请号：US15608987

申请日：2017-05-30

Applicant: FANUC CORPORATION ,  TOKYO INSTITUTE OF TECHNOLOGY

Inventor： Kenichiro ABE ,  Yunfeng WU ,  Hikaru YAMASHIRO ,  Yukio TAKEDA ,  Yusuke SUGAHARA ,  Daisuke MATSUURA ,  Masumi OHNO

IPC: B25J9/16 ,  B25J19/02 ,  B25J9/00

CPC classification number: B25J9/1633 ,  B25J9/0051 ,  B25J9/1664 ,  B25J9/1674 ,  B25J9/1676 ,  B25J19/02 ,  G05B2219/37373 ,  Y10T74/20329

Abstract: A device and method for easily detecting an abnormality of a joint part of a delta-type parallel link robot having a link ball structure, by estimating a friction torque of a ball joint of the robot. A controller of the robot has: a control section configured to control the motion of the robot; a torque measurement section configured to measure or calculate, during the robot is operated, an amount of change in a drive torque, based on a current value of the motor, before and after the robot represents a specified posture where a sign of a relative angular velocity between a ball and a housing of the ball joint is changed; and a judgment section configured to judge that, when the measured amount of change in the drive torque exceeds a predetermined threshold, a friction state of the ball joint corresponding to the motor is abnormal.

公开(公告)号：US20200009722A1

公开(公告)日：2020-01-09

申请号：US16431994

申请日：2019-06-05

Applicant: FANUC CORPORATION

Inventor： Hikaru YAMASHIRO

IPC: B25J9/04 ,  B25J9/06 ,  B25J18/04 ,  B25J19/00 ,  B25J9/10 ,  B25J17/02

Abstract: A horizontal articulated robot includes a base, a first arm, a second arm, and a cable unit connected to the base and the second arm. The cable unit includes an arm conduit having one end connected to the second arm, and the other end attached to a first plate-shaped member fixed to an upper surface of the base, a number of cables passing through the arm conduit, a second plate-shaped member that closes a back-side opening made in the back surface of the base. The first plate-shaped member is configured to close a top surface opening made in the upper surface of the base, and the top surface opening is continuous with the back-side opening.

公开(公告)号：US20230390950A1

公开(公告)日：2023-12-07

申请号：US18032230

申请日：2021-11-08

Applicant: FANUC CORPORATION

Inventor： Hikaru YAMASHIRO

IPC: B25J19/00

CPC classification number: B25J19/0029

Abstract: A separator plate is used to separate a cable from structural parts housed in a casing. The back surface side of the separator plate facing a structural part is provided with a concave portion to fit to the structural part. The front surface side of the separator plate facing a cover of the casing is provided with a groove for accommodating and routing the cable. The groove is formed by making a portion on the front surface side that avoids a protrusion on the surface side due to the concave portion provided on the back surface side protrude toward the cover of the casing.

公开(公告)号：US20200009720A1

公开(公告)日：2020-01-09

申请号：US16415227

申请日：2019-05-17

Applicant: FANUC CORPORATION

Inventor： Hikaru YAMASHIRO

IPC: B25J9/00 ,  F16F15/02

Abstract: A horizontal articulated robot includes a base, a first arm supported by the base to be pivotable in a horizontal direction, a second arm supported by the first arm to be pivotable in the horizontal direction, a shaft supported by the second arm to be linearly movable along a longitudinal axis in a vertical direction, and a stopper mounted to the shaft and limiting movement of the shaft within a movable range. The stopper includes a fixing section fixed to an outer circumferential surface of the shaft and protruding therefrom, and a shock absorbing section fixed to one of the fixing section and the second arm. The shock absorbing section is disposed in a position sandwiched by the fixing section and the second arm in the vertical direction, and is elastically compressed in the vertical direction when the shaft tries to move beyond the movable range.

公开(公告)号：US20190105786A1

公开(公告)日：2019-04-11

申请号：US16117423

申请日：2018-08-30

Applicant: Fanuc Corporation

Inventor： Hikaru YAMASHIRO

IPC: B25J17/00 ,  F16H49/00 ,  F16H57/031 ,  F16H57/021

Abstract: A joint shaft structure includes: a base member; an output shaft member supported on one side of the base member so as to be rotatable; and a strain wave gear reducer rotating the shaft member relative to the base member by transmitting rotation of a motor to the shaft member while reducing the speed of the rotation. The reducer includes: a wave generator fixed to a shaft rotated by a driving force from the motor; a flexspline having, at one end, an elastic part which includes a plurality of external teeth and inside which the generator is fitted; and a ring gear disposed on a radially outer side of the flexspline and fixed to the shaft member, and having internal teeth meshing with the external teeth. The flexspline is fixed to the base member at the other end disposed farther on the base member side than the elastic part.