Patents Assigned to Fanuc LTD
  • Patent number: 9802286
    Abstract: A robot control system provided in a machining system including a robot and a machine tool. The robot control system includes a robot controller controlling the robot, a portable teach pendant connected to the robot controller, and a communication network adapted to connect the robot controller to a machine tool controller controlling the machine tool. The teach pendant includes a display section configured to display information relating to the robot and the machine tool. The robot controller includes a processing section configured to obtain information relating to the machine tool from the machine tool controller through the communication network, make the display section of the teach pendant display a machine tool-related screen in accordance with a given screen program, and make the machine tool-related screen of the display section of the teach pendant display the information, as obtained, relating to the machine tool.
    Type: Grant
    Filed: May 28, 2010
    Date of Patent: October 31, 2017
    Assignee: FANUC LTD
    Inventors: Hiroji Nishi, Tetsuaki Kato
  • Patent number: 9616570
    Abstract: A robot controller making a robot execute tasks including several work units in a parallel manner for several workpieces, in accordance with several operation programs for individually commanding the work units. The robot controller includes an information collecting section collecting state information showing, in real time, a state of an environment of the robot; a program selecting section selecting a first executable program satisfying a task starting condition, from operation programs ready to be executed for workpieces, based on the state information; a processing section processing, for execution, the first executable program; and a program-completion judging section judging whether the processing section has completed a processing of the first executable program.
    Type: Grant
    Filed: June 6, 2006
    Date of Patent: April 11, 2017
    Assignee: FANUC LTD
    Inventors: Ryo Nihei, Tetsuaki Kato, Hiroji Nishi
  • Patent number: 9050728
    Abstract: A measurement apparatus for determining a position of a tool center point (31) of a tool (30), which is attached to a tool attachment surface (32) of a robot (1), with respect to the tool attachment surface (32) includes: a camera (4) attached to the arm tip portion of the robot (1); a touch-up point (an origin of ?m) disposed in a working space of the robot; a measurement section (11a) for measuring the position of the touch-up point by using the robot and the camera; a first storage section (12a) for storing the measured position of the touch-up point; a second storage section (12b) for storing a position of the robot (1) when the tool center point is aligned with the touch-up point by moving the robot; and a calculation section (11b) for calculating the position of the tool center point with respect to the tool attachment surface of the robot by using the stored positions of the touch-up point and the robot.
    Type: Grant
    Filed: February 5, 2014
    Date of Patent: June 9, 2015
    Assignee: FANUC LTD
    Inventors: Kazunori Ban, Katsutoshi Takizawa, Gang Shen
  • Patent number: 8823576
    Abstract: When a communication abnormality occurs between an encoder and communication circuit apparatus in a work apparatus feeding back data output from encoders for control by a control apparatus, an encoder communication circuit is used in place of the encoder to identify the location of occurrence of the abnormality. The encoder communication circuit outputs encoder data comprised position or speed data and alarm data to said control apparatus when connected to the control apparatus through a communication cable.
    Type: Grant
    Filed: September 18, 2007
    Date of Patent: September 2, 2014
    Assignee: Fanuc Ltd
    Inventors: Mitsuyuki Taniguchi, Hirofumi Kikuchi
  • Publication number: 20140156072
    Abstract: A measurement apparatus for determining a position of a tool center point (31) of a tool (30), which is attached to a tool attachment surface (32) of a robot (1), with respect to the tool attachment surface (32) includes: a camera (4) attached to the arm tip portion of the robot (1); a touch-up point (an origin of ?m) disposed in a working space of the robot; a measurement section (11a) for measuring the position of the touch-up point by using the robot and the camera; a first storage section (12a) for storing the measured position of the touch-up point; a second storage section (12b) for storing a position of the robot (1) when the tool center point is aligned with the touch-up point by moving the robot; and a calculation section (11b) for calculating the position of the tool center point with respect to the tool attachment surface of the robot by using the stored positions of the touch-up point and the robot.
    Type: Application
    Filed: February 5, 2014
    Publication date: June 5, 2014
    Applicant: FANUC LTD
    Inventors: Kazunori BAN, Katsutoshi TAKIZAWA, Gang SHEN
  • Patent number: 8644984
    Abstract: A robot programming device capable of reducing the operation of a robot in the field required for generating a program for palletizing operation, and shortening a time to generate the palletizing program. The robot programming device includes a storing part for storing three-dimensional models of the plurality kinds of units, a conveyor, a recognition device, a robot and a plurality of pallets; a layout making part for making a layout, in a virtual space, of the three-dimensional models stored in the storing part; a displaying part for displaying the layout made by the layout making part; an information setting part for setting information regarding each component displayed on the displaying part; and a program generating part for generating a palletizing program for the robot based on the layout of the three-dimensional models and the information set by the information setting part.
    Type: Grant
    Filed: August 14, 2008
    Date of Patent: February 4, 2014
    Assignee: Fanuc Ltd
    Inventors: Yoshiharu Nagatsuka, Masahiro Oyamada
  • Patent number: 8598818
    Abstract: A control device for safely controlling an electrical motor during decelerating and stopping operations of the motor. The control device includes a control part for controlling the decelerating and stopping operations; a monitoring part for monitoring the operations of the electric motor; and a judging part for judging whether the velocity of the electric motor monitored by the monitoring part is abnormal while the control part controls the motor so as to decelerate and stop the motor. The judging part forcibly cuts off power to the electric motor, via a circuit breaker, when the judging part judges that the velocity of the motor is abnormal.
    Type: Grant
    Filed: July 29, 2005
    Date of Patent: December 3, 2013
    Assignee: Fanuc Ltd.
    Inventors: Shigeyuki Ushiyama, Kaname Matsumoto
  • Patent number: 8600555
    Abstract: A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.
    Type: Grant
    Filed: January 5, 2011
    Date of Patent: December 3, 2013
    Assignee: FANUC Ltd
    Inventors: Ryo Nihei, Tetsuaki Kato, Hiroji Nishi
  • Patent number: 8589122
    Abstract: A simulation apparatus includes a simulation management unit for designating an elapsed time point, a robot operation calculation unit for causing the operation program to be executed to a designated elapsed time point to determine the operating position of the robot at the designated elapsed time point, a machine tool operation calculation unit for sequentially determining the operating position of the machine tool while at the same time executing the machining program continuously, and a machine tool operation storage unit for storing the determined operating position of the machine tool in correspondence with the elapsed time point each time a unit time elapses. The simulation management unit displays three-dimensional models of the robot and the machine tool on a display unit based on the operating positions of the robot and the machine tool at the designated elapsed time point acquired from the robot operation calculation unit and the machine tool operation calculation unit.
    Type: Grant
    Filed: November 24, 2009
    Date of Patent: November 19, 2013
    Assignee: Fanuc Ltd
    Inventors: Yoshiharu Nagatsuka, Kozo Inoue
  • Patent number: 8436565
    Abstract: In position tandem control in which one movable member is driven by two motors, an output of the integral element of the velocity control unit in the control system for one motor is copied to the integral element of the velocity control unit in the control system for the other motor. A preload is added to a torque command output from each of the velocity control units in the motor control systems for two motors so that torques in mutually opposite directions are generated to suppress backlash between gears.
    Type: Grant
    Filed: September 25, 2009
    Date of Patent: May 7, 2013
    Assignee: FANUC Ltd
    Inventors: Kazuomi Maeda, Yukio Toyozawa, Yasusuke Iwashita
  • Patent number: 8426761
    Abstract: A spot welding system including spot welding gun having a movable electrode driven by a servo motor, a counter electrode arranged facing it and with a multiarticulated robot, holding one of the welding workpiece and spot welding gun which moves welding workpiece and spot welding gun relative to each other and thereby make the movable electrode and the welding workpiece approach each other from a separated state or vice-versa, monitoring the current or torque of the servo motor, and detecting the surface position of the welding workpiece from the position of the movable electrode and the position of the multiarticulated robot when the trend of the current or torque changes. The precision of detection of the surface position of the welding workpiece by a movable electrode in a spot welding system can now be improved without lengthening the time required for detection of the surface position of the welding workpiece.
    Type: Grant
    Filed: September 16, 2010
    Date of Patent: April 23, 2013
    Assignee: Fanuc Ltd
    Inventors: Hiromitsu Takahashi, Toshimichi Aoki, Akinori Nishimura
  • Patent number: 8402077
    Abstract: An amplitude calculation apparatus or an amplitude calculation program of an output signal of an encoder dividing a resurge waveform into a predetermined number of angle areas, presetting and storing coefficient ? of the A-phase and the coefficient ? of the B-phase corresponding to the divided angle areas, the coefficients being set so that ?A+?B approximates the radius of the theoretical resurge waveform, calculating the radius of the resurge waveform as ?A+?B, and making the calculated radius the amplitude of the output signal of the encoder or converting a phase angle ? of a quadrant n to a phase angle ?? of the quadrant 1, and calculating the radius of the resurge waveform as ?|A|+?|B|, whereby the circuit size of the apparatus for calculating the resurge radius from the output of the encoder is reduced and the processing time by software for calculating the resurge radius is shortened.
    Type: Grant
    Filed: June 11, 2007
    Date of Patent: March 19, 2013
    Assignee: Fanuc Ltd.
    Inventors: Mitsuyuki Taniguchi, Hirofumi Kukuchi, Tadayoshi Matsuo
  • Patent number: 8369983
    Abstract: A fitting apparatus includes a robot arm having, at the forward end thereof, a gripper for holding a workpiece, a force detector for detecting a force and moment received by the workpiece held by the gripper, and a controller for controlling an operation of the robot arm. The controller includes a motion command generating unit for generating an operation command to fit two workpieces to each other, and an operation command correcting unit for correcting the operation command so as to correct the position of the gripper in a direction perpendicular to the fitting direction and the orientation of the gripper around an axis perpendicular to the fitting direction until the detected force and moment become less than or equal to a threshold value, based on either maximum values of the force and moment detected by the force detector while the two workpieces are in contact with each other or the force and moment detected by the force detector when the two workpieces first come into contact with each other.
    Type: Grant
    Filed: June 13, 2008
    Date of Patent: February 5, 2013
    Assignee: Fanuc Ltd.
    Inventors: Takashi Sato, Nobuaki Yamaoka
  • Patent number: 8350713
    Abstract: Signals from a plurality of sensors (vibration sensors, temperature sensors, and humidity sensors) disposed at places on a machine are input through a communication circuit to a numerical controller that controls the machine. The numerical controller uses vibration information, temperature information and humidity information obtained from these sensors to determine whether the machine is in an abnormal state.
    Type: Grant
    Filed: July 8, 2010
    Date of Patent: January 8, 2013
    Assignee: Fanuc Ltd
    Inventors: Shunsuke Matsubara, Yasusuke Iwashita, Shinichi Horikoshi, Akira Hirai, Hiroyasu Sato
  • Patent number: 8350913
    Abstract: A calibrating device for calibration of an image measurement system. The calibrating device includes a main body having an upper surface, and a characteristic portion, which serves as a benchmark for calibration and is in the form of a recess formed in the upper surface of the main body, wherein the characteristic portion includes a side surface extending in a direction crossing the upper surface, and a bottom surface extending in a direction crossing the side surface, the bottom surface has an optical reflectance lower than an optical reflectance of the upper surface in relation to light identical to each other. This can provide a calibrating device for calibration of an image measurement system, which can detect the characteristic portion on the calibrating device stably, precisely and independent of the illumination conditions, which is less costly and can be easily handled.
    Type: Grant
    Filed: December 4, 2009
    Date of Patent: January 8, 2013
    Assignee: Fanuc Ltd
    Inventors: Kazunori Ban, Katsutoshi Takizawa, Gang Shen, Keisuke Watanabe
  • Patent number: 8340821
    Abstract: A robot program adjusting system (11) adjusting an operating program of a robot arm having a plurality of axes including an overload identifying means (12) for successively reading operational instructions from said operating program of said robot arm to run simulations and thereby identify an axis where overload is acting from said plurality of axes, an additional operation generating means (13) for generating an additional operation for an axis other than the axis identified by said overload identifying means (12) to lighten the load of said identified axis, and a program adjusting means (15) for adjusting the operating program of said robot arm based on the additional operation generated by said additional operation generating means (13), whereby the load acting on an axis with a large load can be lightened without trial and error.
    Type: Grant
    Filed: July 18, 2008
    Date of Patent: December 25, 2012
    Assignee: FANUC Ltd
    Inventors: Takayuki Ito, Yoshiharu Nagatsuka
  • Patent number: 8315735
    Abstract: A production system in which a human and a robot may simultaneously perform a cooperative task in the same area while ensuring human's safety. A robot is positioned at one side of a working table, and an operator is positioned at the other side of the working table. The reachable area of the operator is limited by the working table. An area of the working table is divided into an area where only the operator may perform a task, an area where only the robot may perform a task, and an area where both the operator and the robot may enter. In a cooperation mode, the maximum movement speed of a component of the robot is limited lower than when the component of the robot is outside the cooperative task area, and, the motion of the robot is limited so that the robot does not enter a robot entry-prohibited area.
    Type: Grant
    Filed: January 26, 2010
    Date of Patent: November 20, 2012
    Assignee: Fanuc Ltd
    Inventors: Ryo Nihei, Shinsuke Sakakibara, Kazunori Ban, Masahiro Morioka, Satoshi Adachi, Shouta Takizawa
  • Patent number: 8308419
    Abstract: A robot includes a base member, which is installed at a position offset from the front of a door of a machine tool to the side, as viewed in a direction vertical to the surface where the door is provided and is fixed to a surface of a base slanted so as to face the door side. A rotary member is coupled to the base member so as to be rotatable about a first axis extending vertical to the slanted surface. A first arm member is coupled to the rotary member so as to be able to swivel about a second axis vertical to the first axis, and a second arm member is coupled to the first arm member so as to be able to swivel about a third axis parallel to the second axis.
    Type: Grant
    Filed: June 25, 2009
    Date of Patent: November 13, 2012
    Assignee: Fanuc Ltd
    Inventors: Ryo Nihei, Satoshi Kinoshita
  • Patent number: 8307732
    Abstract: A parallel link robot (10) provided with a base (11), a moving part (12), three links (20a to 20c) coupling the base and the moving part and having respectively single degrees of freedom with respect to the base, and three actuators (13a to 13c) respectively driving the links, each of the links comprised of a drive link (21a to 21c) coupled with the base and two driven links (22a to 22c, 23a to 23c) coupling the drive link and the moving part and parallel to each other, and further provided with a posture changing mechanism (15) which changes a posture of an element (19) attached to the moving part, an additional actuator (13d to 13f) arranged between the two driven links of at least one link in parallel to these driven links, and a power transmission shaft (39) which extends coaxially from the additional actuator and transmits rotational drive force to the posture changing mechanism.
    Type: Grant
    Filed: July 16, 2010
    Date of Patent: November 13, 2012
    Assignee: Fanuc Ltd
    Inventors: Satoshi Kinoshita, Tomoaki Nagayama, Masahiro Yamamoto, Hidenori Kurebayashi, Katsumi Fujimoto, Tokitaka Uemura
  • Patent number: 8305016
    Abstract: A control device for electric motors, capable of precisely moving one object by using two electric motors based on periodically repeated commands. The control device includes a first learning controller for calculating an amount of correction so that a positional deviation of a first electric motor is minimized, and a second learning controller for calculating an amount of correction so that a positional deviation of a second electric motor is minimized. The first and second learning controllers are independent from each other, and configured to minimize the positional deviation of the corresponding electric motor. The parameters set in the learning controllers, each defining the response of learning control of each electric motor, are equal to each other.
    Type: Grant
    Filed: September 17, 2008
    Date of Patent: November 6, 2012
    Assignee: Fanuc Ltd
    Inventors: Tadashi Okita, Yukio Toyozawa, Naoto Sonoda