Patents by Inventor Yanxue Liang
Yanxue Liang 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: 10022879Abstract: A robot controller configured to be able to mitigate the effect that an emergency stop may have on a robot is disclosed. The robot controller includes: a load detection unit which detects the load of a motor for driving each individual articulated axis of the robot; a speed detection unit which detects an axial speed at each individual articulated axis of the robot; a cause-of-stop identifying unit which, when an emergency stop of the robot occurs, identifies a cause of the occurrence of the emergency stop; and a recording unit which records the cause of the occurrence of the emergency stop by associating the cause with the axial speed or the load of the motor. The robot controller may further include a display unit which displays information representing the state of occurrence of the emergency stop of the robot.Type: GrantFiled: October 19, 2016Date of Patent: July 17, 2018Assignee: FANUC CORPORATIONInventors: Yanxue Liang, Yoshiharu Nagatsuka, Hiromitsu Takahashi
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Patent number: 9891618Abstract: A program correcting device comprises an executing part which executes a simulation of operation of the robot based on an operating program, a calculating part which calculates a variation with time of a TCP speed from the simulation results, an evaluating part which evaluates a pattern of the calculated variation with time if a minimum value of the TCP speed during the calculated variation with time is a predetermined lower limit value or less, a selecting part which selects a correction scheme of the operating program for increasing the minimum value of the TCP speed from a plurality of correction schemes, in accordance with the evaluation results of the pattern of the variation with time, and a correcting part which corrects the operating program in accordance with the selected correction scheme.Type: GrantFiled: November 5, 2015Date of Patent: February 13, 2018Assignee: FANUC CORPORATIONInventors: Yanxue Liang, Yoshiharu Nagatsuka
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Patent number: 9682475Abstract: A robot program modification system comprises a robot control apparatus and a program modification apparatus. The robot control apparatus has an information acquisition unit which executes an operation program and acquires robot detection information from a robot, and a communication unit which transmits the robot detection information to the program modification apparatus. The program modification apparatus has a simulation unit which performs simulation on the basis of the operation program, and a program modification unit which modifies the operation program on the basis of the robot detection information so that a result of the simulation satisfies an evaluation basis decided in advance.Type: GrantFiled: July 8, 2015Date of Patent: June 20, 2017Assignee: FANUC CORPORATIONInventors: Yoshiharu Nagatsuka, Yanxue Liang, Norio Takei
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Publication number: 20170151680Abstract: A robot controller configured to be able to mitigate the effect that an emergency stop may have on a robot is disclosed. The robot controller includes: a load detection unit which detects the load of a motor for driving each individual articulated axis of the robot; a speed detection unit which detects an axial speed at each individual articulated axis of the robot; a cause-of-stop identifying unit which, when an emergency stop of the robot occurs, identifies a cause of the occurrence of the emergency stop; and a recording unit which records the cause of the occurrence of the emergency stop by associating the cause with the axial speed or the load of the motor. The robot controller may further include a display unit which displays information representing the state of occurrence of the emergency stop of the robot.Type: ApplicationFiled: October 19, 2016Publication date: June 1, 2017Inventors: Yanxue LIANG, Yoshiharu NAGATSUKA, Hiromitsu TAKAHASHI
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Patent number: 9610688Abstract: A robot program generation apparatus includes an allowable jerk value setting unit for setting allowable jerk values to joints of a robot, a joint information calculation unit for simulating execution of a robot program in a virtual space and calculating positions and jerks of the joints in association with time, a jerks determination unit for determining whether or not the calculated jerk is an excess jerk exceeding the allowable jerk values, a joint information identification unit for identifying the joints and positions of the joints in which the excess jerks are generated, and a robot program adjustment unit for adjusting the robot program by modifying a teaching position within the neighborhood of the positions of the joints in which the excess jerks are generated so that the jerks of the identified joints become equal to or smaller than the allowable jerk values.Type: GrantFiled: August 10, 2015Date of Patent: April 4, 2017Assignee: FANUC CORPORATIONInventors: Masahiro Oyamada, Yoshiharu Nagatsuka, Yanxue Liang, Toshiya Takeda
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Patent number: 9588513Abstract: A robot remote monitoring system (6) which monitors at least one robot (10) at a distant location including at least one robot control device (11), a data server (20), and a mobile terminal (30), wherein a robot control device includes a memory part (14) which stores monitoring information which includes an operating state of the robot and alarm information and attribute information which is linked with the monitoring information and a transmitting part (15) which transmits the monitoring information and the attribute information to the data server together, the data server includes a transmitting part (21) which transmits the monitoring information and the attribute information to the mobile terminal together, and the mobile terminal includes a memory part (33) which stores the monitoring information and the attribute information and a display part (34) which uses the attribute information as the basis to display the monitoring information all together.Type: GrantFiled: January 6, 2015Date of Patent: March 7, 2017Inventors: Yanxue Liang, Yoshiharu Nagatsuka
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Patent number: 9475192Abstract: A simulation device includes a simulation unit which executes, by simulation, a motion program containing a command velocity and a command acceleration of the drive shaft, and a motion waiting instruction, a storage unit which stores in time series a line number of the motion program and the command velocity and the command acceleration at the line number associated with one another; an execution time calculation unit which calculates the execution time of the motion program for each of the line numbers stored in the storage unit based on a simulation result; and a waiting time calculation unit which calculates the motion waiting time in accordance with the motion waiting instruction based on the execution time calculated by the execution time calculation unit.Type: GrantFiled: April 15, 2015Date of Patent: October 25, 2016Assignee: Fanuc CorporationInventors: Yanxue Liang, Yoshiharu Nagatsuka
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Publication number: 20160129589Abstract: A program correcting device comprises an executing part which executes a simulation of operation of the robot based on an operating program, a calculating part which calculates a variation with time of a TCP speed from the simulation results, an evaluating part which evaluates a pattern of the calculated variation with time if a minimum value of the TCP speed during the calculated variation with time is a predetermined lower limit value or less, a selecting part which selects a correction scheme of the operating program for increasing the minimum value of the TCP speed from a plurality of correction schemes, in accordance with the evaluation results of the pattern of the variation with time, and a correcting part which corrects the operating program in accordance with the selected correction scheme.Type: ApplicationFiled: November 5, 2015Publication date: May 12, 2016Inventors: Yanxue LIANG, Yoshiharu NAGATSUKA
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Publication number: 20160039090Abstract: A robot program generation apparatus includes an allowable jerk value setting unit for setting allowable jerk values to joints of a robot, a joint information calculation unit for simulating execution of a robot program in a virtual space and calculating positions and jerks of the joints in association with time, a jerks determination unit for determining whether or not the calculated jerk is an excess jerk exceeding the allowable jerk values, a joint information identification unit for identifying the joints and positions of the joints in which the excess jerks are generated, and a robot program adjustment unit for adjusting the robot program by modifying a teaching position within the neighborhood of the positions of the joints in which the excess jerks are generated so that the jerks of the identified joints become equal to or smaller than the allowable jerk values.Type: ApplicationFiled: August 10, 2015Publication date: February 11, 2016Inventors: Masahiro OYAMADA, Yoshiharu NAGATSUKA, Yanxue LIANG, Toshiya TAKEDA
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Publication number: 20160008976Abstract: A robot program modification system comprises a robot control apparatus and a program modification apparatus. The robot control apparatus has an information acquisition unit which executes an operation program and acquires robot detection information from a robot, and a communication unit which transmits the robot detection information to the program modification apparatus. The program modification apparatus has a simulation unit which performs simulation on the basis of the operation program, and a program modification unit which modifies the operation program on the basis of the robot detection information so that a result of the simulation satisfies an evaluation basis decided in advance.Type: ApplicationFiled: July 8, 2015Publication date: January 14, 2016Inventors: Yoshiharu NAGATSUKA, Yanxue LIANG, Norio TAKEI
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Publication number: 20150306768Abstract: A simulation device includes a simulation unit which executes, by simulation, a motion program containing a command velocity and a command acceleration of the drive shaft, and a motion waiting instruction, a storage unit which stores in time series a line number of the motion program and the command velocity and the command acceleration at the line number associated with one another; an execution time calculation unit which calculates the execution time of the motion program for each of the line numbers stored in the storage unit based on a simulation result; and a waiting time calculation unit which calculates the motion waiting time in accordance with the motion waiting instruction based on the execution time calculated by the execution time calculation unit.Type: ApplicationFiled: April 15, 2015Publication date: October 29, 2015Applicant: FANUC CORPORATIONInventors: Yanxue Liang, Yoshiharu Nagatsuka
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Publication number: 20150198945Abstract: A robot remote monitoring system (6) which monitors at least one robot (10) at a distant location including at least one robot control device (11), a data server (20), and a mobile terminal (30), wherein a robot control device includes a memory part (14) which stores monitoring information which includes an operating state of the robot and alarm information and attribute information which is linked with the monitoring information and a transmitting part (15) which transmits the monitoring information and the attribute information to the data server together, the data server includes a transmitting part (21) which transmits the monitoring information and the attribute information to the mobile terminal together, and the mobile terminal includes a memory part (33) which stores the monitoring information and the attribute information and a display part (34) which uses the attribute information as the basis to display the monitoring information all together.Type: ApplicationFiled: January 6, 2015Publication date: July 16, 2015Applicant: FANUC CORPORATIONInventors: Yanxue Liang, Yoshiharu Nagatsuka