Patents by Inventor Hikaru Yamashiro
Hikaru Yamashiro has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
-
Publication number: 20230390950Abstract: 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.Type: ApplicationFiled: November 8, 2021Publication date: December 7, 2023Inventor: Hikaru YAMASHIRO
-
Patent number: 11697202Abstract: 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.Type: GrantFiled: August 30, 2018Date of Patent: July 11, 2023Assignee: FANUC CORPORATIONInventor: Hikaru Yamashiro
-
Patent number: 11298815Abstract: 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.Type: GrantFiled: June 5, 2019Date of Patent: April 12, 2022Assignee: FANUC CORPORATIONInventor: Hikaru Yamashiro
-
Patent number: 10933525Abstract: 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.Type: GrantFiled: May 17, 2019Date of Patent: March 2, 2021Assignee: FANUC CORPORATIONInventor: Hikaru Yamashiro
-
Patent number: 10919143Abstract: 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.Type: GrantFiled: February 7, 2019Date of Patent: February 16, 2021Assignees: FANUC CORPORATION, TOKYO INSTITUTE OF TECHNOLOGYInventors: Hiroshi Nakagawa, Kenichiro Abe, Yunfeng Wu, Hikaru Yamashiro, Hideo Matsui, Soichi Arita, Yukio Takeda, Masumi Ohno
-
Publication number: 20200009722Abstract: 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.Type: ApplicationFiled: June 5, 2019Publication date: January 9, 2020Applicant: FANUC CORPORATIONInventor: Hikaru YAMASHIRO
-
Publication number: 20200009720Abstract: 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.Type: ApplicationFiled: May 17, 2019Publication date: January 9, 2020Applicant: FANUC CORPORATIONInventor: Hikaru YAMASHIRO
-
Publication number: 20190247998Abstract: 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.Type: ApplicationFiled: February 7, 2019Publication date: August 15, 2019Inventors: Hiroshi NAKAGAWA, Kenichiro ABE, Yunfeng WU, Hikaru YAMASHIRO, Hideo MATSUI, Soichi ARITA, Yukio TAKEDA, Masumi OHNO
-
Patent number: 10350753Abstract: 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.Type: GrantFiled: May 30, 2017Date of Patent: July 16, 2019Assignees: FANUC CORPORATION, TOKYO INSTITUTE OF TECHNOLOGYInventors: Kenichiro Abe, Yunfeng Wu, Hikaru Yamashiro, Yukio Takeda, Yusuke Sugahara, Daisuke Matsuura, Masumi Ohno
-
Publication number: 20190105786Abstract: 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.Type: ApplicationFiled: August 30, 2018Publication date: April 11, 2019Applicant: Fanuc CorporationInventor: Hikaru YAMASHIRO
-
Publication number: 20170348855Abstract: 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.Type: ApplicationFiled: May 30, 2017Publication date: December 7, 2017Inventors: Kenichiro ABE, Yunfeng WU, Hikaru YAMASHIRO, Yukio TAKEDA, Yusuke SUGAHARA, Daisuke MATSUURA, Masumi OHNO
-
Patent number: 8893578Abstract: A parallel robot includes a movable-section drive mechanism, and a wrist-section drive mechanism. The wrist section includes a first rotary member supported on the movable section and rotatable about a fourth rotation axis different from axes of the three-axis translational motion of the movable section, a second rotary member connected to the first rotary member and rotatable about a fifth rotation axis orthogonal to the fourth rotation axis, and a third rotary member connected to the second rotary member and rotatable about a sixth rotation axis orthogonal to the fifth rotation axis. The third rotary member is provided with an attachment surface to which a tool is attached. The attachment surface is inclined with respect to the sixth rotation axis at a predetermined angle.Type: GrantFiled: September 21, 2011Date of Patent: November 25, 2014Assignee: Fanuc CorporationInventors: Satoshi Kinoshita, Hikaru Yamashiro
-
Publication number: 20120060637Abstract: A parallel robot includes a movable-section drive mechanism, and a wrist-section drive mechanism. The wrist section includes a first rotary member supported on the movable section and rotatable about a fourth rotation axis different from axes of the three-axis translational motion of the movable section, a second rotary member connected to the first rotary member and rotatable about a fifth rotation axis orthogonal to the fourth rotation axis, and a third rotary member connected to the second rotary member and rotatable about a sixth rotation axis orthogonal to the fifth rotation axis. The third rotary member is provided with an attachment surface to which a tool is attached. The attachment surface is inclined with respect to the sixth rotation axis at a predetermined angle.Type: ApplicationFiled: September 21, 2011Publication date: March 15, 2012Applicant: FANUC LTDInventors: Satoshi KINOSHITA, Hikaru YAMASHIRO
-
Patent number: D935502Type: GrantFiled: June 12, 2020Date of Patent: November 9, 2021Assignee: FANUC CORPORATIONInventors: Hikaru Yamashiro, Kei Watanabe, Keishi Yoneda, Masahide Shinagawa, Harutora Inaba
-
Patent number: D938505Type: GrantFiled: June 12, 2020Date of Patent: December 14, 2021Assignee: FANUC CORPORATIONInventors: Hikaru Yamashiro, Kei Watanabe, Keishi Yoneda, Masahide Shinagawa, Harutora Inaba
-
Patent number: D938506Type: GrantFiled: June 12, 2020Date of Patent: December 14, 2021Assignee: FANUC CORPORATIONInventors: Hikaru Yamashiro, Kei Watanabe, Keishi Yoneda, Masahide Shinagawa, Harutora Inaba
-
Patent number: D947265Type: GrantFiled: June 12, 2020Date of Patent: March 29, 2022Assignee: FANUC CORPORATIONInventors: Hikaru Yamashiro, Kei Watanabe, Keishi Yoneda, Masahide Shinagawa, Harutora Inaba
-
Patent number: D947266Type: GrantFiled: June 12, 2020Date of Patent: March 29, 2022Assignee: FANUC CORPORATIONInventors: Hikaru Yamashiro, Kei Watanabe, Keishi Yoneda, Masahide Shinagawa, Harutora Inaba
-
Patent number: D953399Type: GrantFiled: June 12, 2020Date of Patent: May 31, 2022Assignee: FANUC CORPORATIONInventors: Hikaru Yamashiro, Kei Watanabe, Keishi Yoneda, Masahide Shinagawa, Harutora Inaba
-
Patent number: D953400Type: GrantFiled: June 12, 2020Date of Patent: May 31, 2022Assignee: FANUC CORPORATIONInventors: Hikaru Yamashiro, Kei Watanabe, Keishi Yoneda, Masahide Shinagawa, Harutora Inaba