Patents by Inventor Toru Shirahata
Toru Shirahata 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).
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Patent number: 9943966Abstract: A processing machine system includes a processing machine having a machining table, a robot that removes chips produced from processing of the work, a chip collecting hand attached to a distal end portion of the robot to collect the chips, and a robot control unit. The robot control unit acquires a deposition amount of the chips deposited on the machining table, decides whether it is necessary to collect the chips on the basis of the acquired deposition amount. When the chip collection is necessary, the robot control unit operates the robot so as to collect the chips with the chip collecting hand, after the processing is finished.Type: GrantFiled: March 10, 2016Date of Patent: April 17, 2018Assignee: FANUC CORPORATIONInventor: Toru Shirahata
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Publication number: 20160263745Abstract: A processing machine system includes a processing machine having a machining table, a robot that removes chips produced from processing of the work, a chip collecting hand attached to a distal end portion of the robot to collect the chips, and a robot control unit. The robot control unit acquires a deposition amount of the chips deposited on the machining table, decides whether it is necessary to collect the chips on the basis of the acquired deposition amount. When the chip collection is necessary, the robot control unit operates the robot so as to collect the chips with the chip collecting hand, after the processing is finished.Type: ApplicationFiled: March 10, 2016Publication date: September 15, 2016Applicant: FANUC CORPORATIONInventor: Toru Shirahata
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Patent number: 8282333Abstract: A workpiece transfer robot system including a machine tool provided with a workpiece support section and a robot capable of transferring a workpiece relative to the workpiece support section of the machine tool. The machine tool includes a cover surrounding at least the workpiece support section. The cover includes a first side wall provided with a first opening usable for a workpiece transferring task of the robot.Type: GrantFiled: October 1, 2009Date of Patent: October 9, 2012Assignee: FANUC LtdInventors: Masaru Oda, Toru Shirahata, Toshihiko Inoue, Takatoshi Iwayama, Masaaki Uematsu, Kentarou Ootani
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Publication number: 20100092273Abstract: A workpiece transfer robot system including a machine tool provided with a workpiece support section and a robot capable of transferring a workpiece relative to the workpiece support section of the machine tool. The machine tool includes a cover surrounding at least the workpiece support section. The cover includes a first side wall provided with a first opening usable for a workpiece transferring task of the robot.Type: ApplicationFiled: October 1, 2009Publication date: April 15, 2010Applicant: FANUC LTDInventors: Masaru ODA, Toru Shirahata, Toshihiko Inoue, Takatoshi Iwayama, Masaaki Uematsu, Kentarou Ootani
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Patent number: 7118365Abstract: In a controller for avoiding interference between a mold body comprising a mold and a peripheral equipment installed to said mold and a product removing unit in an injection molding machine, a distance between the position of the mold body and the position of the product removing unit is determined. It is then judged whether or not the distance is smaller than a predetermined distance. If the distance is smaller than the predetermined distance, the operation of product removing unit is decelerated or stopped.Type: GrantFiled: June 19, 2003Date of Patent: October 10, 2006Assignee: Fanuc LTDInventors: Toru Shirahata, Masayuki Ueno
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Publication number: 20040005372Abstract: In a controller for avoiding interference between a mold body comprising a mold and a peripheral equipment installed to said mold and a product removing unit in an injection molding machine, a distance between the position of the mold body and the position of the product removing unit is determined. It is then judged whether or not the distance is smaller than a predetermined distance. If the distance is smaller than the predetermined distance, the operation of product removing unit is decelerated or stopped.Type: ApplicationFiled: June 19, 2003Publication date: January 8, 2004Applicant: FANUC LTD.Inventors: Toru Shirahata, Masayuki Ueno
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Patent number: 6507165Abstract: A controller for a machine such as a robot and a machine tool having an electric motor as a driving source of the machine, capable of suppressing a natural vibration of the machine and/or an attachment attached to the machine. A frequency or a cycle of the natural vibration of an end effector of the robot as the attachment or the machine itself is determined and a coefficient of a filter for suppressing an amplitude of the natural vibration is altered in accordance with the measured frequency or cycle of the natural vibration. In the case of suppressing a natural vibration of the end effector attached to the robot, frequencies or cycles of natural vibrations of various end effectors in accordance with an operation status of the end effector are determined and stored, and the coefficient of the filter is set in accordance with the stored frequency or cycle of the natural vibration in accordance with the end effector attached to the robot and the operation status.Type: GrantFiled: February 9, 2001Date of Patent: January 14, 2003Assignee: Fanuc Ltd.Inventors: Tetsuaki Kato, Toru Shirahata, Kaname Matsumoto, Hiroyuki Kawamura
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Publication number: 20010033146Abstract: A controller for a machine such as a robot and a machine tool having an electric motor as a driving source of the machine, capable of suppressing a natural vibration of the machine and/or an attachment attached to the machine. A frequency or a cycle of the natural vibration of an end effector of the robot as the attachment or the machine itself is determined and a coefficient of a filter for suppressing an amplitude of the natural vibration is altered in accordance with the measured frequency or cycle of the natural vibration. In the case of suppressing a natural vibration of the end effector attached to the robot, frequencies or cycles of natural vibrations of various end effectors in accordance with an operation status of the end effector are determined and stored, and the coefficient of the filter is set in accordance with the stored frequency or cycle of the natural vibration in accordance with the end effector attached to the robot and the operation status.Type: ApplicationFiled: February 9, 2001Publication date: October 25, 2001Inventors: Tetsuaki Kato, Toru Shirahata, Kaname Matsumoto, Hiroyuki Kawamura
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Patent number: 6208105Abstract: A robot controller determines an abnormality in position, velocity or acceleration of an end effector or a rotational axis of a robot. The robot controller includes a servo CPU that periodically writes current position data in a shared RAM with a host CPU. The current position data is obtained from robot position sensors. Using the written position data, the host CPU periodically compares stored data corresponding to position, velocity or acceleration with the newly written data. When an abnormal motion is detected, the robot is immediately stopped.Type: GrantFiled: November 25, 1998Date of Patent: March 27, 2001Assignee: Fanuc Ltd.Inventors: Tetsuaki Kato, Toru Shirahata
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Patent number: 6163124Abstract: A robot controller resolving a path deviation caused in relation to override processing or temporary stop. A motion planning section constituting software of the robot controller forms a motion plan of a robot with no consideration of overriding and outputs it to an interpolation processing section. The interpolation processing section carries out interpolation processing at each period of calculation processing, calculates a motion amount at each ITP and outputs it to a filtering section. An output filtered for acceleration or deceleration control at the filtering section is processed by an overriding processing section having an operational shutter. An output after the processing to which an override value .beta. (0.ltoreq..beta..ltoreq.1) common to respective axes has been applied is constituted by velocity and acceleration respectively multiplied by .beta. and .beta..sup.2.Type: GrantFiled: December 14, 1998Date of Patent: December 19, 2000Assignee: Fanuc Ltd.Inventors: Takayuki Ito, Toru Shirahata, Atsuo Nagayama, Kazuto Hirose
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Patent number: 6097169Abstract: A stitch machining method by an industrial robot capable of performing a teaching operation easily and the stitch machining accurately. Instead of teaching switchover points p1, P2, . . . for application and non-application of sealant in sealing as shown in FIG. 5a, a distance n1 of a machining section (where sealant is applied) and a distance n2 of a non-machining section are set to a robot controller as shown in FIG. 5b. The robot controller monitors a travel distance and switches from machining to non-machining and vice versa each time the robot travels the distance n1 and the distance n2, respectively, to thereby effect the stitch machining. As shown in FIGS. 5c and 5g, it is possible to ensure that a start and an end points of each block are positioned in the machining sections n1. Further, as shown in FIG. 5d, the stitch machining can be performed continuously for a plurality of blocks. As shown in FIG.Type: GrantFiled: April 13, 1998Date of Patent: August 1, 2000Assignee: Fanuc LtdInventors: Atsushi Watanabe, Tetsuaki Kato, Toru Shirahata, Atsuo Nagayama