Patents by Inventor Yasuhiro Naitou

Yasuhiro Naitou 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: 20220297321
    Abstract: A device, a method and a program, by which a weight and/or a position of a gravity center of a load attached to a movable part of a robot can be estimated by a simple configuration. The device has a torque sensor configured to detect a torque applied to an axis for driving the movable part of the robot, and a calculation section configured to calculate the weight of the article, by using: a first torque applied to the axis, when the article attached to the movable part is positioned at a first position and represents a first posture; a second torque applied to the axis, when the article attached to the movable part is positioned at a second position different from the first position and represents the first posture; the first position; and the second position.
    Type: Application
    Filed: June 7, 2022
    Publication date: September 22, 2022
    Applicant: Fanuc Corporation
    Inventor: Yasuhiro Naitou
  • Patent number: 11389959
    Abstract: A robot system including a robot and a control device that controls the robot. The robot includes a first member, a second member that is rotationally driven around a predetermined first axis relative to the first member, and a first torque detector that detects a torque around the first axis. The control device includes an external-force upper-limit-value estimator that estimates an external-force upper limit value serving as an assumable upper limit value for an external force acting on the second member based on the torque detected by the first torque detector, and controls the robot to avoid an increase in the external force when the estimated external-force upper limit value is larger than a predetermined threshold value.
    Type: Grant
    Filed: April 23, 2020
    Date of Patent: July 19, 2022
    Assignee: FANUC CORPORATION
    Inventors: Akifumi Furuichi, Kazutaka Nakayama, Kuniyasu Matsumoto, Yasuhiro Naitou
  • Patent number: 11331810
    Abstract: A device, a method and a program, by which a weight and a horizontal position of a gravity center of a load attached to a movable part of a robot can be estimated by a simple configuration. The device has: two torque sensors configured to detect a first torque applied to a first axis of a robot, and a second torque applied to a second axis of the robot; and a calculation section configured to calculate a weight and a horizontal position of a gravity center of a workpiece, by using two detection values of the torque sensors in one posture in which a hand attached to a movable part of the robot holds the workpiece.
    Type: Grant
    Filed: March 13, 2020
    Date of Patent: May 17, 2022
    Assignee: FANUC CORPORATION
    Inventor: Yasuhiro Naitou
  • Patent number: 11194316
    Abstract: A robot controller and a robot control method, by which a human can be prevented from being sandwiched between a collaborative robot and a workpiece conveyed by a conveyor. The robot controller controls the robot configured to perform a predetermined operation for the workpiece conveyed by a convey section moving in a convey direction. The robot controller has: a receive section configured to receive a signal representing that an abnormality of the robot is detected or contact against the robot is detected; and a motion control section configured to control a motion of robot so that, after the receive section receives the signal, a minimum distance between a movable section of the robot and the workpiece is not less than a predetermined safe distance.
    Type: Grant
    Filed: March 13, 2019
    Date of Patent: December 7, 2021
    Assignee: Fanuc Corporation
    Inventor: Yasuhiro Naitou
  • Patent number: 11005111
    Abstract: A redox flow battery includes a battery cell to which a positive electrolyte and a negative electrolyte are supplied, and an electrical quantity measurement system configured to measure a quantity of electricity when a predetermined amount of electrolyte is discharged, for at least one of the positive electrolyte and the negative electrolyte.
    Type: Grant
    Filed: June 16, 2017
    Date of Patent: May 11, 2021
    Assignee: SUMITOMO ELECTRIC INDUSTRIES, LTD.
    Inventors: Yasuhiro Naitou, Yongrong Dong, Hideki Miyawaki, Yoshiyasu Kawagoe
  • Publication number: 20210060794
    Abstract: A robot system including a robot having one or more joints, and a control device that controls the robot, where the robot has, at at least one of the joints, a torque sensor for detecting a first torque about an axis of said joint, and has, at a position farther on a distal end side than the torque sensor, a force sensor for detecting a force. The control device determines whether or not to stop the robot on the basis of only the first torque, when the force detected by the force sensor is less than or equal to a prescribed first threshold.
    Type: Application
    Filed: July 21, 2020
    Publication date: March 4, 2021
    Applicant: FANUC CORPORATION
    Inventor: Yasuhiro NAITOU
  • Patent number: 10899018
    Abstract: A human-collaborative robot, by which the robot is unlikely to be accidentally operated despite the intention of the human, even if a relatively simple action pattern is determined as a command to the robot. When an external force by a human is applied to the robot, the force is detected by a force sensor. The robot is configured to be stopped when the detected external force exceeds a predetermined threshold. In order to restart the stopped motion of the robot, the human purposely applies the external force to the robot. When a judging section judges that the external force is applied to a specified portion the robot based on a predetermined action pattern, a commanding section commands the robot so that the robot performs a motion which is previously associated with the pattern.
    Type: Grant
    Filed: September 5, 2017
    Date of Patent: January 26, 2021
    Assignee: FANUC CORPORATION
    Inventor: Yasuhiro Naitou
  • Patent number: 10882188
    Abstract: A robot controller and a robot control method, capable of preventing an operator from being sandwiched between a robot and a workpiece, when a conveyor for conveying the workpiece is stopped. The robot controller is configured to output a robot stop command when a conveyor starts the stop operation thereof. The robot stop command includes at least one of: a first stop command by which, when a movable section of the robot is positioned anterior to the workpiece, the movable section is moved at a higher velocity than the conveyor, and then is stopped after traveling a distance longer than a coasting distance of the conveyor; and a second stop command by which, when the movable section is positioned posterior to the workpiece, the movable section is moved at a lower velocity than the conveyor, and then is stopped after traveling a distance shorter than the coasting distance.
    Type: Grant
    Filed: February 28, 2019
    Date of Patent: January 5, 2021
    Assignee: Fanuc Corporation
    Inventor: Yasuhiro Naitou
  • Publication number: 20200376660
    Abstract: A robot system including a robot and a control device that controls the robot. The robot includes a first member, a second member that is rotationally driven around a predetermined first axis relative to the first member, and a first torque detector that detects a torque around the first axis. The control device includes an external-force upper-limit-value estimator that estimates an external-force upper limit value serving as an assumable upper limit value for an external force acting on the second member based on the torque detected by the first torque detector, and controls the robot to avoid an increase in the external force when the estimated external-force upper limit value is larger than a predetermined threshold value.
    Type: Application
    Filed: April 23, 2020
    Publication date: December 3, 2020
    Applicant: FANUC CORPORATION
    Inventors: Akifumi FURUICHI, Kazutaka NAKAYAMA, Kuniyasu MATSUMOTO, Yasuhiro NAITOU
  • Publication number: 20200306976
    Abstract: A controller includes a parameter setting unit that invalidates first mechanism error parameters. The controller includes a measurement control unit that drives a robot with a plurality of orientations at a plurality of positions by using second mechanism error parameters other than the first mechanism error parameters and measures the actual measurement position of the robot by a three-dimensional measuring device. The controller includes a parameter calculation unit that calculates the first mechanism error parameter based on the actual measurement position of the robot and the rotation position of a robot drive motor. The controller includes a correction unit that changes the first mechanism error parameter invalidated by the parameter setting unit to the first mechanism error parameter calculated by the parameter calculation unit.
    Type: Application
    Filed: March 27, 2020
    Publication date: October 1, 2020
    Applicant: Fanuc Corporation
    Inventors: Wang Yuelai, Soichi Arita, Yasuhiro Naitou
  • Publication number: 20200298417
    Abstract: A device, a method and a program, by which a weight and a horizontal position of a gravity center of a load attached to a movable part of a robot can be estimated by a simple configuration. The device has: two torque sensors configured to detect a first torque applied to a first axis of a robot, and a second torque applied to a second axis of the robot; and a calculation section configured to calculate a weight and a horizontal position of a gravity center of a workpiece, by using two detection values of the torque sensors in one posture in which a hand attached to a movable part of the robot holds the workpiece.
    Type: Application
    Filed: March 13, 2020
    Publication date: September 24, 2020
    Inventor: Yasuhiro NAITOU
  • Patent number: 10675759
    Abstract: An interference region setting apparatus capable of setting an interference region in a coordinate system of a mobile robot, with an inexpensive configuration and a little effort. The apparatus has: a shape model storage section configured to store a shape, a position, and an orientation of an obstruction present in a work region of the mobile robot as an obstruction shape model, in a reference coordinate system; a position and orientation calculation section configured to analyze an image, captured by the image capturing apparatus, of a shape feature in a fixed position within the work region, and calculate a position and orientation of the reference coordinate system represented in a robot coordinate system; and an interference region setting section configured to set an interference region based on the position and orientation of the reference coordinate system converted into the robot coordinate system and the stored obstruction shape model.
    Type: Grant
    Filed: December 4, 2017
    Date of Patent: June 9, 2020
    Assignee: FANUC CORPORATION
    Inventor: Yasuhiro Naitou
  • Patent number: 10562185
    Abstract: A robot system including a robot, a control unit, a sensor to detect a magnitude of force applied to the robot, a determination unit configured to determine, based on the magnitude of the detected force, whether there is application of an external force different from a load acting on the robot during a task performed by the robot, and a storage unit to store the magnitude of force detected by the sensor when the control unit executes at least one operation command when there is no application of the external force, in association with the operation command, where the determination unit determines, when the operation command is executed by the control unit, presence or absence of the external force based on the magnitude of force stored in the storage unit in association with the operation command and the magnitude of force detected by the sensor.
    Type: Grant
    Filed: February 21, 2018
    Date of Patent: February 18, 2020
    Assignee: FANUC CORPORATION
    Inventor: Yasuhiro Naitou
  • Patent number: 10471603
    Abstract: A conveying system includes an external force calculation unit which calculates an external force applied to a robot based on a force or torque applied to the robot detected by a force detection unit, and workpiece parameters changed in accordance with the holding state of a workpiece, and a robot stopping unit which stops the robot when the calculated external force exceeds a threshold. The conveying system further includes a relative movement unit which moves the held workpiece and a workpiece support relative to each other. By the relative movement unit, the workpiece and workpiece support are moved relative to each other without changing the position and posture of the robot.
    Type: Grant
    Filed: May 11, 2015
    Date of Patent: November 12, 2019
    Assignee: FANUC CORPORATION
    Inventors: Wang Yuelai, Yasuhiro Naitou, Soichi Arita
  • Publication number: 20190321990
    Abstract: A device, a method and a program, by which a weight and/or a position of a gravity center of a load attached to a movable part of a robot can be estimated by a simple configuration. The device has a torque sensor configured to detect a torque applied to an axis for driving the movable part of the robot, and a calculation section configured to calculate the weight of the article, by using: a first torque applied to the axis, when the article attached to the movable part is positioned at a first position and represents a first posture; a second torque applied to the axis, when the article attached to the movable part is positioned at a second position different from the first position and represents the first posture; the first position; and the second position.
    Type: Application
    Filed: April 19, 2019
    Publication date: October 24, 2019
    Applicant: Fanuc Corporation
    Inventor: Yasuhiro Naitou
  • Publication number: 20190302741
    Abstract: A robot controller and a robot control method, by which a human can be prevented from being sandwiched between a collaborative robot and a workpiece conveyed by a conveyor. The robot controller controls the robot configured to perform a predetermined operation for the workpiece conveyed by a convey section moving in a convey direction. The robot controller has: a receive section configured to receive a signal representing that an abnormality of the robot is detected or contact against the robot is detected; and a motion control section configured to control a motion of robot so that, after the receive section receives the signal, a minimum distance between a movable section of the robot and the workpiece is not less than a predetermined safe distance.
    Type: Application
    Filed: March 13, 2019
    Publication date: October 3, 2019
    Applicant: Fanuc Corporation
    Inventor: Yasuhiro Naitou
  • Publication number: 20190283253
    Abstract: A robot controller and a robot control method, capable of preventing an operator from being sandwiched between a robot and a workpiece, when a conveyor for conveying the workpiece is stopped. The robot controller is configured to output a robot stop command when a conveyor starts the stop operation thereof. The robot stop command includes at least one of: a first stop command by which, when a movable section of the robot is positioned anterior to the workpiece, the movable section is moved at a higher velocity than the conveyor, and then is stopped after traveling a distance longer than a coasting distance of the conveyor; and a second stop command by which, when the movable section is positioned posterior to the workpiece, the movable section is moved at a lower velocity than the conveyor, and then is stopped after traveling a distance shorter than the coasting distance.
    Type: Application
    Filed: February 28, 2019
    Publication date: September 19, 2019
    Applicant: Fanuc Corporation
    Inventor: Yasuhiro Naitou
  • Publication number: 20190165384
    Abstract: A redox flow battery includes a battery cell to which a positive electrolyte and a negative electrolyte are supplied, and an electrical quantity measurement system configured to measure a quantity of electricity when a predetermined amount of electrolyte is discharged, for at least one of the positive electrolyte and the negative electrolyte.
    Type: Application
    Filed: June 16, 2017
    Publication date: May 30, 2019
    Inventors: Yasuhiro Naitou, Yongrong Dong, Hideki Miyawaki, Yoshiyasu Kawagoe
  • Patent number: 10232513
    Abstract: There is provided a robot control device enabling a robot to carry various types of objects without exceeding an allowable weight thereof. The robot control device for controlling the robot for carrying an object in cooperation with a person includes a force acquisition part configured to acquire force applied from the object to the robot when the object is lifted, a comparison part configured to compare a force component in a gravity direction of the force acquired by the force acquisition part with a first threshold value predetermined with respect to the force component, and a stop command part configured to stop the robot when the force component is greater than the first threshold value.
    Type: Grant
    Filed: October 13, 2016
    Date of Patent: March 19, 2019
    Assignee: FANUC CORPORATION
    Inventors: Yasuhiro Naitou, Soichi Arita, Hiromitsu Takahashi
  • Patent number: 10152043
    Abstract: An object is to prevent automatic operation from being started while a monitoring function is in a disabled state. The present invention provides a robot system includes a robot, a control unit controlling the robot, and an operation monitoring unit having a monitoring function for monitoring contact or the possibility of contact between the robot and a peripheral object. The operation monitoring unit has a monitoring changeover switch that switches between enabling and disabling of the monitoring function. The control unit has a mode changeover switch that switches between a manual operation mode, and an automatic operation mode. The control unit performs control so as to inhibit the operation of the robot in a state in which the monitoring function is disabled and in which the operation mode is set to the automatic operation mode.
    Type: Grant
    Filed: January 31, 2017
    Date of Patent: December 11, 2018
    Assignee: Fanuc Corporation
    Inventors: Yasuhiro Naitou, Soichi Arita