Fanuc Corporation

Masayoshi Mori

Toshihiko Inoue

Tomoyuki Motokado

Wataru Amemiya

Kazutaka Nakayama

Shigeo Yoshida

There is provided a robot arm that includes a proximal unit and a distal unit configured to be connected to the proximal unit, the proximal unit having a multiple-connection interface connectable to a plurality of types of distal units different in shape. The connection interface is provided in an end face of the proximal unit with an annular connection interface disposed concentrically.

Robot arm with multiple-connection interface

A transport tool capable of carrying out attaching an object to an attachment position while positioning the object in a predetermined positional relationship with the attachment position. The transport tool includes a base, a holding section movably supported by the base in a predetermined direction and configured to hold an object, and a positioning section that is provided to the base and configured to arrange the object held by the holding section in a preparation position having a predetermined positional relationship with the attachment position, the positioning section allowing the execution of an attachment operation of attaching the object, which has been arranged in the preparation position, to the attachment position by movement of the holding section relative to the base.

Transport tool used for transporting object

A linear object handling structure of a robot includes a rotational drum supported above a base in a rotatable manner about a vertical axis line, a plurality of operation shafts supported by the rotational drum, and a hollow part near the vertical axis line in the rotational drum. A first linear object group including cables for driving the operation shafts has one end fixed to the base and the other end wired to the motors of the operation shafts supported by the rotational drum, and is disposed to penetrate through the hollow part. A second linear object group for a peripheral device supported by any one of the operation shafts is collectively covered by a flexible conduit pipe, disposed to penetrate through the hollow part, and detachably fixed to the base and the rotational drum.

Robot linear object handling structure

A machine learning device which learns to determine at least one arc welding condition includes a state observation unit which observes a state variable consisting of at least one physical quantity regarding the arc welding and the at least one arc welding condition at least during or after the arc welding, and a learning unit which learns a change in the at least one physical quantity observed by the state observation unit and the at least one arc welding condition in association with each other.

Machine learning device, arc welding control device, arc welding robot system, and welding system

Provided is a robot pivot shaft structure that includes a revolving drum rotatably supported at an upper portion of a base and that has a hollow portion, a drive motor rotating the revolving drum, and a speed reduction mechanism reducing the rotational speed of the drive motor. The speed reduction mechanism has a small gear fixed to a shaft of the drive motor, a large gear meshed with the small gear, an input hypoid gear fixed to the large gear, and an output hypoid gear meshed with the input hypoid gear. The output hypoid gear is fixed to the revolving drum and is disposed in the base. The input hypoid gear and the large gear are rotatably supported at the base. The drive motor is fixed to the base and disposed below the revolving drum, the position being horizontally shifted from vertically below the hollow portion.

Robot pivot shaft structure

Provided is a linear-object handling structure of a robot, in which a linear object for a motor that drives a second arm and a wrist and a linear object for a work tool that is attached to the wrist pass from a base part to the inside of a rotational drum in the vicinity of a first axis, are guided upward to the outside through a through-hole provided in the rotational drum, are respectively curved toward opposite lateral sides of the rotational drum in the substantially circumferential directions while each given a margin of length required for the motion of the rotational drum, are guided from the lateral sides of the rotational drum to the second arm in the longitudinal direction of the first arm while each being given a margin of length required for the motions of the first arm and the second arm.

Robot linear-object handling structure

A spur gear deceleration mechanism unit () of a wrist structure unit is adapted to be driven in a first deceleration ratio structure or a second deceleration ratio structure. The first deceleration ratio structure uses at least a first spur gear () fitted onto an output shaft of a wrist inner frame driving motor () and a second spur gear () rotatably supported by a first auxiliary shaft (). The second deceleration ratio structure uses at least the first spur gear, a first additional spur gear () rotatably supported by an additional auxiliary shaft (), and a second additional spur gear () rotatably supported integrally with the first additional spur gear by the additional auxiliary shaft.

Growing community of inventors

Yamanashi, Japan

Masayoshi Mori