Fanuc Corporation

Yasuyoshi Tanaka

Satoshi Kinoshita

Satoshi Adachi

Hidenori Kurebayashi

Toshinari Tamura

Kazutaka Nakayama

Hideyuki Watanabe

Masahide Shinagawa

Atsushi Aizawa

Katsumi Fujimoto

A robot device includes an arm mechanism that includes links and joints. A hand is mounted to a tip of the arm. A motor driver drives motors of the joints. A processor outputs, to the motor driver, a command value for moving a reference point of the hand to a target position. A storage device stores a first thermal displacement amount temporal variation representing a variation with respect to a continuous operation time period in a thermal displacement amount by which the hand reference point is displaced from a cool position to a heat balance position due to heat generation accompanying operation of the arm mechanism, and a second thermal displacement amount temporal variation representing a variation with respect to a continuous stopped time period in a thermal displacement amount by which the hand reference point returns from the heat balance position to the cool position accompanying stopping of operation of the arm mechanism. The processor refers to the first and second thermal displacement amount temporal variations to estimate a thermal displacement amount of the hand reference point based on the continuous operation time period and continuous stopped time period of the arm mechanism, and corrects the target position based on the estimated thermal displacement amount.

Robot device and thermal displacement amount estimation device

A robot in which a signal lamp can be installed easily while maintaining the design property of the robot and a method of installing a signal lamp in the robot are provided. A robot includes: a panel that covers an opening of an upper arm; a side wall arranged so as to surround the opening to connect the panel and the upper arm and formed of a light transmitting member; and a signal lamp provided on an inner side of an enclosure formed by the side wall.

Robot and method of installing signal lamp in robot

Provided is a line-shaped-item securing method including an elastic-body disposing step of disposing an elastic body so as to surround the periphery of one or more line-shaped items; a compressing step of compressing the elastic body, disposed around the periphery of the line-shaped items in the elastic-body disposing step, in a direction perpendicular to the lengthwise direction of the line-shaped items to dimensions smaller than a gap in a robot, through which the line-shaped items are to be passed; a line-shaped-item inserting step of inserting a portion of the line-shaped items, surrounded by the elastic body compressed in the compressing step, into the gap; and an expanding step of releasing the elastic body from compression, with the line-shaped items inserted into the gap in the line-shaped-item inserting step, thereby expanding the elastic body.

Line-shaped-item securing method

A robot with a downsized joint unit is disclosed. The articulated robot includes a motor which is provided with a gear or a pulley at an end of a motor shaft, and which generates a force for driving a joint, a speed reduction mechanism which reduces the speed of rotation of the gear or pulley rotating integrally with the motor shaft, and a supporting member which supports the motor and the speed reduction mechanism, and which defines an interior space for accommodating the motor, wherein the supporting member has an opposing face opposing the motor in the interior space and spreading in a plane perpendicular to the motor shaft, and the opposing face includes a groove-like recessed portion recessed in a protruding direction of the motor shaft and extending in a direction perpendicular to the motor shaft.

Articulated industrial robot with downsized joint unit

Provided is a joint structure for a robot which can prevent leakage of a lubricant which is charged to the interior of the joint structure while improving a drip-proof property. The joint structure for the robot includes: a first arm which is hollow; a second arm which is rotatably mounted to the first arm; a power transmission mechanism which is provided adjacent to the outside of the first arm, the power transmission mechanism including a gear and an inner space which houses the gear and is charged with a lubricant; a booster section which increases a pressure in an interior of the first arm to be higher than an outside pressure; and a one-way communication section which allows the interior of the first arm and the inner space to communicate with each other and a gas in the interior of the first arm to flow into the inner space, while preventing the lubricant in the inner space from flowing out to the interior of the first arm.

Joint structure for robot

A motor is fixed to one wall portion of an arm in an inner space of the arm. A hollow bearing is inserted in a first opening portion formed in other wall portion of the arm. A hollow shaft portion is removably fixed to a housing and supports an inner ring of the hollowing bearing. A hollow portion of the hollow shaft portion is formed to be smaller than the motor. The first opening portion is formed such that the motor is allowed to pass therethrough. A wall portion of the housing that forms support portions is formed with a second opening portion that allows the hollow bearing and the motor to pass therethrough.

Joint structure for robot including motor for causing arm to be swung

A robot hand () and has: a measurement instrument (); a hollow shaft unit () attached to a distal end of the measurement instrument coaxially with the distal shaft; a suction unit () attached to a distal end of the hollow shaft unit and holds the object; a hollow member () that surrounds the hollow shaft unit rotatably in the circumferential direction; a hollow member connecting unit () that extends from a casing () supporting the distal shaft () and is connected to the hollow member; and a suction unit drive unit () that is connected to the hollow member in a position corresponding to the peripheral surface of the hollow shaft unit and drives the suction unit, and the suction unit drive unit communicates with the inner space of the hollow shaft unit through one opening ().

Suction-type robot hand with weight measurement function

A sealing device provided to a joint section of a robot. The sealing device includes overlapped seal portions having a multi-stage configuration, provided for a driving mechanism incorporated into the joint section. The overlapped seal portions include a first seal portion including a first contact seal element sealing a first inter-member gap defined adjacent to a lubricant retaining section provided in the driving mechanism; and a second seal portion arranged outside the first seal portion and including a second contact seal element sealing a second inter-member gap defined in a circumferential wall of the joint section, the circumferential wall defining an accommodation space for accommodating the driving mechanism.

Sealing device for joint section of robot and articulated robot having the same

An industrial robot () comprising three power transmission units () arranged concentrically and three drive means for driving the three power transmission units, respectively, is disclosed. The drive means for at least one of the three power transmission units includes two motors (). Also, all of the three power transmission units and the three drive means are desirably built into the base () of the industrial robot. This configuration makes it possible to have high-duty operation with a comparatively compact structure.

Growing community of inventors

Yamanashi, Japan

Yasuyoshi Tanaka