专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

US10478935B2 Deburring apparatus 有权
公开(公告)号：US10478935B2
公开(公告)日：2019-11-19
申请号：US15831971
申请日：2017-12-05
申请人： FANUC CORPORATION
发明人： Yihua Gu , Takashi Satou
IPC分类号： B24B27/00 , B24B49/12 , B24B49/16 , B24B9/00 , B25J11/00 , B25J9/16
摘要： A deburring apparatus including: a robot that uses a deburring tool to deburr an object supported by a support in a machine tool, a visual sensor, a relative movement mechanism for causing relative movement between the visual sensor and the object supported by the support; and a controller, wherein the controller is configured to conduct: an operation process that operates the relative movement mechanism based on a visual sensor relative movement program for controlling an operation of the relative movement mechanism so that a ridge of the object supported by the support is detected by the visual sensor during the relative movement; and a deburring operation program generation process which generates a deburring operation program by using the detected ridge obtained by the visual sensor when the relative movement mechanism is operated based on the visual sensor relative movement program.

2. 发明申请

US20190160689A1 INPUT DEVICE AND ROBOT CONTROL SYSTEM 审中-公开
公开(公告)号：US20190160689A1
公开(公告)日：2019-05-30
申请号：US16181691
申请日：2018-11-06
申请人： Fanuc Corporation
发明人： Yuki ISHII , Takashi Satou , Yihua Gu
IPC分类号： B25J13/08 , B25J13/06
摘要： A compact, intuitively-operable input device for manipulating a robot is provided. Provided is an input device for manipulating a robot. The input device includes: a base; a movable section supported in a three-dimensionally movable manner relative to the base; and a detector that performs detection by resolving an operation amount of the movable section relative to the base into parallel movement amounts along a first axis and a second axis, which extend parallel to a predetermined surface of the base and are orthogonal to each other, and a parallel movement amount along a third axis that is orthogonal to the first axis and the second axis.

3. 发明申请

US20150005923A1 DEBURRING DEVICE INCLUDING VISUAL SENSOR AND FORCE SENSOR 有权
标题翻译：包含视觉传感器和力传感器的脱扣装置
公开(公告)号：US20150005923A1
公开(公告)日：2015-01-01
申请号：US14314506
申请日：2014-06-25
申请人： FANUC CORPORATION
发明人： Yihua Gu
IPC分类号： B24B49/16 , B24B49/12 , B24B9/00
CPC分类号： B24B49/16 , B24B9/00 , B24B27/0038 , B24B49/12 , B25J9/1633 , B25J9/1697 , B25J11/006 , G05B2219/37208 , G05B2219/45151
摘要： A deburring device includes a deburring tool for removing burrs from an object, a robot for moving an object or the tool, a force sensor for detecting force acting on the tool, and a visual sensor for detecting a position of a burr portion of the object. According to the deburring device, information regarding shape data of the burr portion and a posture of the tool is obtained beforehand based on three-dimensional data of the object. Based on the shape data and the posture of the tool, a robot program is created. In accordance with an actual burr portion detected by the visual sensor, the robot program is replaced as necessary. During the deburring, the robot is controlled according to the force control by using a detected value from the force sensor.
摘要翻译：去毛刺装置包括用于从物体去除毛刺的去毛刺工具，用于移动物体或工具的机器人，用于检测作用在刀具上的力的力传感器，以及用于检测物体的毛刺部分的位置的视觉传感器。根据去毛刺装置，基于物体的三维数据预先获得关于毛刺部分的形状数据和工具的姿势的信息。基于形状数据和工具的姿势，创建机器人程序。根据由视觉传感器检测到的实际毛刺部分，根据需要更换机器人程序。在去毛刺期间，通过使用来自力传感器的检测值，根据力控制来控制机器人。

4. 发明授权

US10564635B2 Human-cooperative robot system 有权
公开(公告)号：US10564635B2
公开(公告)日：2020-02-18
申请号：US15472502
申请日：2017-03-29
申请人： FANUC CORPORATION
发明人： Takashi Sato , Yihua Gu
IPC分类号： G05B15/00 , G05B19/00 , G05B19/423 , B25J9/00
摘要： A robot system capable of reliably detecting contact between a robot or a workpiece and an external object. The robot system includes: a robot including a handling part; a handling force-detection part that detects a handling force applied to the handling part; an operation controller that causes the robot to operate in accordance with the handling force; an external force-detection part that detects an external force acting on the robot; and a contact force-calculation part that calculates a contact force by subtracting the handling force from the detected external force.

5. 发明授权

US09724801B2 Deburring device including visual sensor and force sensor 有权
公开(公告)号：US09724801B2
公开(公告)日：2017-08-08
申请号：US14314506
申请日：2014-06-25
申请人： FANUC CORPORATION
发明人： Yihua Gu
IPC分类号： G06F19/00 , B23C1/16 , B23C1/18 , B23B5/16 , B24C3/00 , B25J9/22 , B24B49/16 , B24B49/12 , B24B27/00 , B25J11/00 , B24B9/00 , B25J9/16
CPC分类号： B24B49/16 , B24B9/00 , B24B27/0038 , B24B49/12 , B25J9/1633 , B25J9/1697 , B25J11/006 , G05B2219/37208 , G05B2219/45151
摘要： A deburring device includes a deburring tool for removing burrs from an object, a robot for moving an object or the tool, a force sensor for detecting force acting on the tool, and a visual sensor for detecting a position of a burr portion of the object. According to the deburring device, information regarding shape data of the burr portion and a posture of the tool is obtained beforehand based on three-dimensional data of the object. Based on the shape data and the posture of the tool, a robot program is created. In accordance with an actual burr portion detected by the visual sensor, the robot program is replaced as necessary. During the deburring, the robot is controlled according to the force control by using a detected value from the force sensor.

6. 发明授权

US11358287B2 Input device and robot control system 有权
公开(公告)号：US11358287B2
公开(公告)日：2022-06-14
申请号：US16181691
申请日：2018-11-06
申请人： Fanuc Corporation
发明人： Yuki Ishii , Takashi Satou , Yihua Gu
IPC分类号： G05B15/00 , G05B19/00 , B25J13/08 , B25J13/06 , G05B19/42 , B25J9/00 , B25J13/02 , G05G1/00
摘要： A compact, intuitively-operable input device for manipulating a robot is provided. Provided is an input device for manipulating a robot. The input device includes: a base; a movable section supported in a three-dimensionally movable manner relative to the base; and a detector that performs detection by resolving an operation amount of the movable section relative to the base into parallel movement amounts along a first axis and a second axis, which extend parallel to a predetermined surface of the base and are orthogonal to each other, and a parallel movement amount along a third axis that is orthogonal to the first axis and the second axis.

7. 发明申请

US20180161952A1 DEBURRING APPARATUS 审中-公开
公开(公告)号：US20180161952A1
公开(公告)日：2018-06-14
申请号：US15831971
申请日：2017-12-05
申请人： FANUC CORPORATION
发明人： Yihua Gu , Takashi Satou
IPC分类号： B24B27/00 , B24B49/12 , B24B49/16 , B24B9/00 , B25J11/00 , B25J9/16
摘要： A deburring apparatus including: a robot that uses a deburring tool to deburr an object supported by a support in a machine tool, a visual sensor, a relative movement mechanism for causing relative movement between the visual sensor and the object supported by the support; and a controller, wherein the controller is configured to conduct: an operation process that operates the relative movement mechanism based on a visual sensor relative movement program for controlling an operation of the relative movement mechanism so that a ridge of the object supported by the support is detected by the visual sensor during the relative movement; and a deburring operation program generation process which generates a deburring operation program by using the detected ridge obtained by the visual sensor when the relative movement mechanism is operated based on the visual sensor relative movement program.

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式