Fanuc Corporation

Akihiro Terada

Ryo Nihei

Nobutoshi Torii

Susumu Ito

Yasuo Sasaki

Atsushi Watanabe

Kenichi Toyoda

Mitsuhiro Okuda

Toshihiko Inoue

Seiichiro Nakashima

Hikaru Yamashiro

Kyozi Iwasaki

Masaru Oda

Norio Karube

Hiroji Nishi

Nobuaki Iehisa

Kenichiro Abe

Katsuyuki Yamanaka

Mitsuhiro Yasumura

Takahiro Hase

Masatoshi Ito

Hiroshi Takamatsu

Kazutaka Nakayama

Kazunori Ban

Hitoshi Mizuno

Fumikazu Warashina

Masahiro Morioka

Tetsuya Kosaka

Katsutoshi Takizawa

Makoto Yamada

Hidenori Kurebayashi

Toshinari Tamura

Hideki Sugiyama

Jun Kikuchi

Hisashi Ogawa

Kazuki Shinano

Shinsuke Nakao

Nobutoshi Toril

To make customer check promptly and properly in response to a request for purchase of a 3app developed by a 3party using an application store operated in a foreign country. A management servermanages online store sale for making only an application stored in an app DBand registered for online store sale available for purchase. The management servercomprises: an ordering processing unitthat judges whether the requested application to be purchased from a user is a 3app developed by a 3party; and a sales approval processing unit. If the application requested to be purchased is the 3app, the sales approval processing unitnotifies the user of a state waiting for approval by the 3party, and gains approval of sale of the 3app by transmitting a notification to the 3party requesting customer check.

Overseas-compatible application sales management server system

To provide an overseas-compatible application sales management systemfor managing a 3app properly developed by a 3party. The overseas-compatible application sales management systemmanages online store sale of an application to run at an edge serverin a third country and comprises a store registration server. The store registration serveraccepts an export control list including a conformity/nonconformity judgement note and a trade control definition judgement result about an application if a developer of the application is a 3party. If the application is judged to be available for store sale in the third country, the store registration serverregisters the application and the export control list including the conformity/nonconformity judgement note and the trade control definition judgement result in correlation with each other.

Overseas-compatible application sales management system

An application sales management server system that assists B2B online processing related to sales and distribution of applications while making use of a conventional business practice related to B2B is provided. A sales management server system operating in an edge server communicably connected to one or more edge devices is communicably connected to a terminal of an intermediary dealer that relays sales of applications and a terminal of an end user who uses the edge device and the edge server via a communication unit. A control unit includes: an ordering processing unit that notifies the terminal of a serial number corresponding to an application on the basis of an application purchase request from the terminal of the intermediary dealer; and a distribution processing unit that distributes an application corresponding to a serial number to the edge server in response to receiving the serial number transmitted from the terminal of the end user.

Application sales management server system and method

Application sales management server systems and method

A robot system and a machining method capable of accurately and simply cutting an end of a pipe into a saddle shape and forming a hole on an outer surface thereof, and further machining a workpiece of a three-dimensional shape which does not have platelike shape. A tool unit is attached to a final axis of a moveable arm of a robot. The tool unit is provided with a first additional variable axis expanding and retracting vertically and a second additional variable axis expanding and retracting in the horizontal direction. By rotating the final axis, a cutting tool (machining nozzle of laser) at a distal end of the tool unit is turned about the final axis to cut a workpiece W of a pipe shape. By driving the first and the second additional variable axes in synchronism with rotation of the final axis, the cutting into a saddle shape and the forming of a hole are carried out. The movable arm of the robot is only for rotating the final axis and the machining accuracy is promoted.

Robot system and machining method with robot system

A laser welding nozzle used as a working tool, a linear movement mechanism of a pressing device, and a servomotor are fixed to a bracket. A roller support frame is fixed on a moving side of the linear movement mechanism. A roller is pivotally mounted at a distal end of the roller support frame. The roller is located in the vicinity of a weld point of the laser welding nozzle. By driving the servomotor in a controlled manner, a portion in the vicinity of the weld point of a plate portion to be welded is pressed by the roller to restrain a floating of the weld portion, by which a gap between the plate portions is regulated, and thus uniform weld can be obtained. The pressing position, speed, and pressing force of roller can be controlled easily, so that the pressing device can be used for various types of workpieces.

Pressing device

An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.

Robot teaching apparatus

A laser machining apparatus with a simplified laser beam transmitting network. Respective laser beams form laser generators LS&num; to LS&num; divided into groups of G and G are aggregated to fiber-optic cables H and H by confluence devices HC and HC and transmitted to a most upstream laser beam outlet OP The laser beams are further aggregated to a fiber-optic cable H and distributed to a branch fiber-optic cable HH by the laser beam outlet OP and then distributed by laser beam outlet OP to OP to branch fiber-optic cables HH to HH The laser beams distributed to branch fiber-optic cables are focused by the machining tools TL to TL attached to robots RB to RB for laser machining. By controlling output levels of the laser generators with different oscillation wavelengths and different polarization characteristics, blend ratio of the laser beams can be adjusted. Distribution ratios of the laser beams at the laser beam outlets OP to OP are adjustable.

Laser machining apparatus

A plurality of laser generators are provided to be environmentally separated from a machining station, and temperature, humidity, vibration, cleanliness and the like are detected by a sensor, and displayed. When an abnormal environment is detected, machining operation is stopped immediately or after a predetermined time elapsed. The laser generators are grouped according to each machining tool, and fiber-optic cable switching devices FC and FC are arranged for each group. By the switchover of the laser generator, and the selective connection of a fiber-optic cable by using the fiber-optic cable switching device, the degree of freedom in selecting the laser generator and the fiber-optic cable is produced. The degree of freedom is utilized according to the abnormality of the laser generator, the abnormality of the fiber-optic cable, the type of machining work, and the like, by which a machining apparatus in which the occurrence of a partial failure does not lead to long-term shutdown of a manufacturing line can be obtained.

An operation line tracking device for a robot for performing an operation with a tool mounted on the robot while tracking an operation line using a sensor wherein a detection failure of the sensor is restored by automatically changing or resetting a detecting condition of the sensor when the sensor fails in detecting the operation line. If a detection failure occurs for a cause of excessive or too small quantity of light impinged on light receiving elements of a laser sensor, a laser output intensity is automatically changed. If a detection failure occurs for a cause of basing of the quantity of the impinged light, an orientation of the laser sensor is automatically adjusted. If a detection failure occurs for a cause of biasing of position of the operation line in the visual field of the laser sensor, the position of the laser sensor is automatically adjusted. If a detection failure occurs for a cause of detection of an unexpected line, an algorithm for detecting the operation line is replaced with another one. Thus, the detecting condition is automatically changed or reset in accordance with the cause of the detection failure, and the tracking operation of the robot is automatically restarted.

Operation line tracking device using sensor

An operation line searching method in which an operation start position is automatically approached and a robot/sensor system having such function of detecting the operation line. A robot having a laser sensor and an operation tool attached to a distal end thereof approaches an operation start position Q,using various searching motion path patterns (a) to (d). Pattern (a) is determined to avoid an obstacle F or an obstructively-shaped portion G. The path thereof, for example, can be determined by specifying a coordinate axis of a coordinate system w. Patterns (b) and (c) are carried out by teaching, to the robot, data for determining the paths thereof in order. Pattern (d) is carried out in the following manner: an initial parameter <V,>, an angle of rotation and a norm increase factor are specified as parameters, and at the time when incremental travel quantity of a (i&plus;1)th occurrence (i&equals;0, 1, 2, . . . ) Should be obtained, it is obtained by calculating <Vi&plus;1>&minus;<Vi>, where the vector <Vi&plus;1> is obtained from the last obtained vector <Vi>based on the illustrated relationship (the angle of rotation and the norm growth factor).

Operation line searching method and robot/sensor system having operation line searching function

A first arm (,) of a articulated robot has a double arm structure composed of a first arm piece (,) and a second arm piece (,). The first arm piece (,) transmits a drive force, and a housing (,) of a second arm (,) is rotatably mounted to the first arm piece (,) at the end thereof. The second arm piece (,) houses cables and pipes or the like, and a cover (,) of the housing (,) is rotatably mounted to the second arm piece at the end thereof. The cover (,) is fixed to the housing (,) through a fixing tool (,). The housing (,) is permitted to be opened by separating the housing (,) and the cover (,) from each other by causing the second arm piece (,) to rotate relatively to the first arm piece (,) after the removal of the fixing tool (,).

Articulated robot

A robot,A comprises a robot stationary base,a first speed reducer mechanism attachment base,to which a first axis speed reducer mechanism,and a second axis speed reducer mechanism,are attached, a first arm AM,a second speed reducer mechanism attachment base,to which a third axis speed reducer mechanism,and a fourth axis speed reducer mechanism,are attached, and a second arm AM,An electric cable (CB) or a pipeline passes from the robot stationary base,through a hollow part in the first axis speed reducer mechanism,and from there passes around the outside of the second axis speed reducer mechanism,extending along the first arm AM

Robot construction

An emergency stop switch mechanism for a robot which can take an emergency position when an external operation force is released and when a strong external operation force is applied. When the robot operation is started, a main lever La is pushed down from the OFF state with a normal external operation force. Since an elastic biasing force S,is sufficiently larger than S,a second ancillary lever Lc is pushed by a plunger PL and is turned downward together with a first ancillary lever Lb. A movable contact element ME of a contact mechanism section CM is moved to the ON position by the second ancillary lever Lc, so that the ON state (motion permitting state) is established. If emergency stop becomes necessary, the pressure of the main lever La is released from this state, or a specially strong force is applied to the main lever La. When the former is selected, the movable contact element ME is returned to the OFF position. When the latter is selected, a strong torque is applied to an axis AX,so that the first and second ancillary lever Lb and Lc become in a bent state. As a result, the OFF state is established, by which the robot is stopped.

Emergency stop switching mechanism for robot and teaching control panel provided with same

Deadman switch mechanism for emergency stop of robot and teaching

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Fujiyoshida, Japan

Akihiro Terada