US Pat. No. 9,574,904

ROTATIONAL ANGLE DETECTOR INCLUDING SEAT AND ROTARY MACHINE INCLUDING THE DETECTOR

Fanuc Corporation, Yaman...

1. A rotational angle detector comprising:
a rotary element rotatable around a rotational axis line, the rotary element having a detected portion on an outer circumference
thereof;

a detection element provided radially outward of the detected portion so as to face the detected portion; and
a seat having a mounting surface on which the detection element can be mounted, the mounting surface extending around the
rotational axis line,

wherein the seat is configured such that a distance between the mounting surface and the detected portion in a direction parallel
to the rotational axis line varies along a circumferential direction of the seat.

US Pat. No. 10,957,677

MODULES CONFIGURED TO EMIT AND RECEIVE LIGHT IN ADJACENT DIRECTIONS

FANUC CORPORATION, Yaman...

1. A plurality of modules included by an electronic device so as to be disposed adjacent to each other, each of the modules comprising:a light emitting element configured to emit a communication light toward an adjacent module disposed in one adjacent direction;
a light receiving element configured to receive a communication light emitted by an adjacent module disposed in an other adjacent direction,
a light guide member allowing the communication light emitted by the light emitting element to propagate; and
a casing having a transparent hole, wherein
each of the modules disposed directly adjacent to two other modules of the plurality of modules is capable of emitting the communication light to the light receiving element of the adjacent module disposed in the one adjacent direction, and capable of receiving the communication light emitted by the light emitting element of the adjacent module disposed in the other adjacent direction, and
an emission end of the light guide member is recessed inwardly from the transparent hole.

US Pat. No. 10,953,538

CONTROL DEVICE AND LEARNING DEVICE

Fanuc Corporation, Yaman...

1. A control device that outputs a command for a robot, the control device comprising:a processor configured to:
observe a state of the robot including a posture and a moving speed of a manipulator of the robot and a state of a person present in a peripheral area of the robot including an entering direction and a traffic line of the person, as state variables representing a current state of an environment,
acquire determination data representing an interference state between the robot and the person, and learn the state of the robot, learn the state of the person present in the peripheral area of the robot, and learn the command for the robot by associating the state of the robot and the state of the person present in the peripheral area of the robot, by using the state variables and the determination data.

US Pat. No. 10,924,041

MOTOR DRIVE SYSTEM INCLUDING POWER STORAGE DEVICE

Fanuc Corporation, Yaman...

1. A motor drive system comprising:a converter configured to convert power between AC power in a power source and DC power in a DC link;
an inverter for drive configured to convert power between the DC power in the DC link and AC power serving as one of drive power and regenerative power for a servomotor for drive;
a motor control unit for drive configured to control the servomotor for drive connected to the inverter for drive to operate the servomotor for drive in accordance with a predetermined operation pattern including a plurality of cycles where the servomotor is driven by the motor control unit such that the servomotor is active;
a power storage device configured to store the DC power from the DC link or supplies the DC power to the DC link; and
a determination unit configured to determine whether a holding energy of the power storage device is lower than a threshold for energy shortage determination defined in advance,
wherein when the determination unit determines that the holding energy is lower than the threshold for energy shortage determination, the motor control unit for drive controls the servomotor for drive by setting an additional standby period in between two sequential cycles of the plurality of cycles, during the additional standby period the motor control unit controls the servomotor to stop such that the servomotor is inactive, and
wherein the determination unit determines whether the holding energy of the power storage device is higher than a first threshold for restoration determination defined in advance, and an end point for the additional standby period set upon determination by the determination unit that the holding energy is lower than the threshold for energy shortage determination is set after the determination unit further determines that the holding energy is higher than the first threshold for restoration determination after determining that the holding energy is lower than the threshold for energy shortage determination.

US Pat. No. 10,870,160

WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine that causes a wire electrode and a workpiece to move relatively, and performs electric discharge machining on the workpiece, the wire electric discharge machine comprising:an articulated robot; and
a suctioning waste and gas remover that is provided to a leading end part of the articulated robot, and suctions machining waste and gas generated by wire electric discharge machining and conveys the machining waste and gas away from the workpiece through a pipe, wherein
posture of the suctioning waste and gas remover is changeable by an operation of the articulated robot in accordance with progression of the wire electric discharge machining, and
the suctioning waste and gas remover has a robot coupler comprising a pair of projections and a pair of rotating engagement members that are disposed at the leading end part of the articulated robot and a base of the articulated robot, and are configured to detachably couple the leading end part of the articulated robot and the base of the articulated robot.

US Pat. No. 10,870,205

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a robot including a hand that holds a workpiece, and a wrist capable of rotating the hand around a rotation axis in a substantially vertical direction; and
a control unit that controls the robot so as to rotate the wrist to pick up the workpiece by the hand,
wherein the control unit comprises a processor configured to:
detect a phase of the workpiece around an axis in the substantially vertical direction;
acquire a current phase of the hand based on a current rotation angle of the wrist;
select, based on the acquired current phase of the hand and the detected phase of the workpiece, any one of a plurality of reference phases previously set for a relative phase of the hand with respect to the phase of the workpiece; and
control the robot so as to rotate the wrist until the relative phase becomes the selected reference phase to pick up the workpiece by the hand.

US Pat. No. 10,807,247

ROBOT OPERATION APPARATUS

FANUC CORPORATION, Yaman...

1. A robot operation apparatus for operating a robot having a plurality of joints, the robot operation apparatus comprising:an operation unit that transmits a signal corresponding to an operation by an operator to a control unit of the robot,
wherein the operation unit includes an operation unit body, and an operation knob attached to the operation unit body, the operation knob is rotatable around a predetermined rotation axis and operable in an X axis direction and a Y axis direction orthogonal to the predetermined rotation axis,
the operation unit is configured to be detachably attached to an attachment member fixed to an arm member of the robot arranged between a joint closest to a tip among the plurality of joints and a second joint from the tip,
a wrist flange member that is arranged closer to the tip than the joint closest to the tip of the robot is a member to which a tool is attached,
the attachment member has a part fixed to the arm member, and a plate-like protruding portion protruding from the part and protruding along a rotation axis of the second joint, and
the protruding portion of the attachment member is configured to contact two or more outer surfaces of the operation unit body of the operation unit, and by contacting the two or more outer surfaces of the operation unit body, the operation unit is configured to be attached to the arm member so that the predetermined rotation axis is substantially parallel to a rotation axis of the joint closest to the tip.

US Pat. No. 10,796,226

LASER PROCESSING APPARATUS AND MACHINE LEARNING DEVICE

FANUC CORPORATION, Yaman...

1. A laser processing apparatus, comprising:a laser processing head configured to output laser light for processing a workpiece;
a laser power sensor configured to detect an output of the laser light for a predetermined time period; and
a controller configured to:
calculate a fluctuation in the output of the laser light detected by the laser power sensor; and
command an angle by which the laser processing head is to be inclined with respect to a position of the laser processing head perpendicular to the workpiece, based on the calculated fluctuation in the output of the laser light,
wherein the fluctuation is a deviation between a maximum value and a minimum value of an actual laser light output curve, which is captured for the predetermined time period when processing the workpiece.

US Pat. No. 10,766,206

MANUFACTURING METHOD OF RESIN COMPOSITE PLATE

FANUC CORPORATION, Yaman...

1. A method of manufacturing a resin composite plate having a predetermined thickness, the method comprising:producing a plurality of resin sheet groups, wherein each of the plurality of resin sheet groups is produced by stacking at least
(1) a first fiber-reinforced thermoplastic resin sheet having a first thickness on
(2) a second fiber-reinforced thermoplastic resin sheet having a second thickness which is different from the first thickness,
each of the first and second fiber-reinforced thermoplastic resin sheets containing fibers arranged in one direction;
laying the plurality of resin sheet groups side-by-side on a plane; and
manufacturing the resin composite plate having the predetermined thickness by heating, under pressure, the plurality of resin sheet groups that are laid side-by-side on the plane, to integrate the plurality of resin sheet groups into said resin composite plate, wherein
at least one resin sheet group among the plurality of resin sheet groups laid on the plane requires strength and differs from another resin sheet group not requiring strength among the plurality of resin sheet groups laid on the plane in a number of fiber-reinforced thermoplastic resin sheets that are stacked, so as to increase the strength of said at least one resin sheet group and to weaken the strength of said another resin sheet group.

US Pat. No. 10,763,765

BRAKE CONTROL SYSTEM AND METHOD OF FAULT DETECTION

FANUC CORPORATION, Yaman...

1. A brake control system comprising:a plurality of motors each provided with a brake device and a position detecting section; and
a brake control device that controls a plurality of the brake devices using one brake-oriented power source,
the position detecting section including:
a position detecting circuit section that detects a rotational position of a rotating shaft of the motor; and
a communication circuit section that transmits the rotational position to the brake control device,
the brake device including:
an electromagnetic brake that has a brake coil and releases braking of the rotating shaft of the motor by electrification of the brake coil;
a detecting section that detects at least one of a brake current flowing through the brake coil and a brake voltage applied to the brake coil; and
an insulating circuit section provided between the detecting section and the communication circuit section in order to electrically insulate the detecting section and the communication circuit section and transmit to the brake control device via the communication circuit section a detection signal detected by the detecting section, and
the brake control device comprising a fault specifying section that specifies a faulty brake device based on a plurality of detection signals detected by a plurality of the detecting sections.

US Pat. No. 10,760,986

DISPLACEMENT DETECTION TYPE SIX-AXIS FORCE SENSOR

FANUC CORPORATION, Yaman...

1. A six-axis force sensor comprising:a first end portion;
a second end portion;
an intermediate portion between the first end portion and the second end portion;
a first connecting portion that elastically connects the first end portion to the intermediate portion with first three-degrees of freedom;
a second connecting portion that elastically connects the second end portion to the intermediate portion with second three-degrees of freedom;
a first detecting part that detects a relative displacement between the first end portion and the intermediate portion, accompanied by elastic deformation of the first connecting portion, and outputs, based on the said relative displacement, a first detection value used for acquiring a first force component in a direction of a first axis, a second force component in a direction of a second axis orthogonal to the first axis, and a third moment component about a third axis orthogonal to both of the first axis and the second axis, of a force applied to the first end portion or the second end portion; and
a second detecting part that detects a relative displacement between the second end portion and the intermediate portion, accompanied by elastic deformation of the second connecting portion, and outputs, based on the said relative displacement, a second detection value used for acquiring a first moment component about the first axis, a second moment component about the second axis, and a third force component in a direction of the third axis, of the said force;
wherein the intermediate portion, the first connecting portion and the second connecting portion are disposed in such a manner that the said force is applied to both of the first connecting portion and the second connecting portion without propagating through the intermediate portion between the first connecting portion and the second connecting portion.

US Pat. No. 10,764,905

TRANSMISSION CONTROL SYSTEM

FANUC CORPORATION, Yaman...

1. A transmission control system comprising:a machine control device that (i) controls operation of a machine and acquiring operating information, and (ii) acquires behavior information measured using a sensor provided to the machine; and
a transmission control device that (i) determines a priority of transmission in accordance with a condition set in advance, based on types and combinations of the operating information and the behavior information, and (ii) controls allocation of communication bandwidth for transmitting the operating information and the behavior information, based on a usage condition of communication bandwidth and the priority,
wherein the transmission control device determines the priority based on a sampling period of the operating information and the behavior information such that a priority for real-time data is higher than a priority for data for which changes are slow.

US Pat. No. 10,761,063

APPARATUS AND METHOD FOR PRESUMING ABNORMALITY OCCURRENCE FOR TELESCOPIC COVER

FANUC CORPORATION, Yaman...

1. An abnormality occurrence presumption apparatus for a telescopic cover for presuming occurrence of an abnormality associated with the telescopic cover attached to a device, the abnormality occurrence presumption apparatus comprising:a learning result storage unit which stores a learning result of supervised learning performed on the basis of a feature amount extracted from a physical quantity acquired during an operation of the device and on the basis of information related to an abnormality occurring in the telescopic cover, wherein the physical quantity includes at least any one of a sound produced by the device and a current value in the device and the abnormality includes at least an abnormality occurrence part;
a physical quantity acquisition unit which acquires the physical quantity including at least any one of a sound produced by the device and a current value in the device during the operation of the device;
a feature amount extraction unit which extracts the feature amount of the physical quantity on the basis of the physical quantity acquired by the physical quantity acquisition unit;
an abnormality presumption unit which presumes an abnormality that may occur in the telescopic cover during the operation of the device on the basis of the learning result stored in the learning result storage unit and on the basis of the feature amount extracted by the feature amount extraction unit, wherein the abnormality includes at least an abnormality occurrence part; and
a presumption result output unit which outputs the abnormality presumed by the abnormality presumption unit,
wherein the physical quantity acquisition unit acquires the physical quantity during the operation of the device based on a predetermined block which is defined in advance among blocks in a machining program.

US Pat. No. 10,744,645

MEASUREMENT SYSTEM

FANUC CORPORATION, Yaman...

1. A measurement system, comprising:a plurality of reflectors mounted at a distal end portion of a robot;
a measuring apparatus having a laser head and a head driving device, wherein the laser head emits a laser beam, as incident light, toward the plurality of reflectors, wherein the laser head receives reflected light from the reflectors, wherein the head driving device changes an orientation of the laser head, and wherein the measuring apparatus measuring a position of the reflectors by receiving the reflected light by the laser head; and
a robot control apparatus in which a calibration operation program is stored, wherein the robot control apparatus controls the robot in accordance with the calibration operation program, wherein the calibration operation program places the distal end portion of the robot at a measurement position for conducting calibration,
wherein the robot control apparatus executes a head drive control process by sending a control signal to the head driving device to change the orientation of the laser head using controller coordinate data, wherein the controller coordinate data is recognized by the robot control apparatus when the distal end portion of the robot is placed at the measurement position,
wherein each of the plurality of reflectors are mounted so that reflected light is generated when the incident light is within an incident range and wherein the incident ranges of each of the plurality of reflectors do not overlap with each other, and
wherein the robot control apparatus moves the distal end portion of the robot opposite to a direction of gravity when the laser head does not receive the reflected light after the control signal is sent to the head driving device by the head drive control process.

US Pat. No. 10,744,656

LINE-SHAPED-ITEM SECURING METHOD

FANUC CORPORATION, Yaman...

1. A line-shaped-item securing method, comprising:an elastic-body disposing step of disposing an elastic body so as to surround a 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 a 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.

US Pat. No. 10,730,182

ACTION INFORMATION LEARNING DEVICE, ROBOT CONTROL SYSTEM AND ACTION INFORMATION LEARNING METHOD

FANUC CORPORATION, Yaman...

1. An action information learning device comprising:a state information acquisition unit for acquiring state information of a robot, in a case of the robot handing over a workpiece acquired from a workpiece storage place to an operator within a workpiece handover area, which is an area in which to hand over the workpiece, the state information including first state information related to a handover of a first workpiece and second state information related to a handover of a second workpiece;
an action information output unit for outputting action information, which is adjustment information for the first state information;
a reward calculation unit for defining a first handover time related to the handover of the first workpiece as first determination information, defining a second handover time related to the handover of the second workpiece as second determination information, and calculating a value of reward in reinforcement learning based on the second determination information; and
a value function update unit for updating a value function by way of performing the reinforcement learning based on the value of reward calculated by the reward calculation unit, the second state information and the action information,
wherein the reward calculation unit, in a case of setting the first handover time related to the first state information as a previous handover time, and setting the second handover time related to the second state information after compensation by compensating the first state information based on the action information, as a current handover time,
sets a value of the reward as a positive value in a case of the current handover time, which is the second determination information, being shorter than the previous handover time, and
sets a value of the reward as a negative value in a case of the current handover time, which is the second determination information, being longer than the previous handover time.

US Pat. No. 10,705,504

INFORMATION MANAGEMENT SYSTEM, SERVER, INFORMATION MANAGEMENT METHOD, AND STORAGE MEDIUM

FANUC CORPORATION, Yaman...

1. An information management system comprising:a server for classifying and storing various types of machining technology information of a machine tool; and
one or a plurality of first terminals connected to the server via a network, wherein
the server
discloses a first information classified as a machining result of the machining technology information;
accepts, from each of the first terminals, a request for the disclosed first information; and
provides each of the first terminals with a second information classified as a machining condition of the machining technology information in response to the accepted request, the second information being associated with the first information,
each of the first terminals:
transmits the request for the disclosed first information;
acquires the second information provided in response to the request;
controls a machining tool in accordance with the second information, and
the machining technology information includes the number of requests accepted by the server.

US Pat. No. 10,695,882

CUTTING FLUID SUPPLY DEVICE OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A cutting fluid supply device of a machine tool which performs machining on a cut material with a tool attached to a spindle, the cutting fluid supply device comprising:a storage tank which stores a cutting fluid;
a cutting fluid discharge port which discharges, from an outside of the tool, the cutting fluid to the cut material or a vicinity thereof;
at least one pump which pressurizes the cutting fluid so as to feed the cutting fluid within the storage tank to the cutting fluid discharge port;
a first filter which is provided outside the storage tank;
a second filter which is provided outside the storage tank and which has filter performance different from the first filter;
a path switching unit which switches paths of the cutting fluid flowing between the storage tank and the cutting fluid discharge port; and
a control unit which controls the pump and the path switching unit,
wherein the control unit controls the pump and the path switching unit so as to switch, as the paths, to a first path along which the cutting fluid is fed to the cutting fluid discharge port without being passed through the first filter and the second filter, a second path along which the cutting fluid is passed through the first filter and is fed to the cutting fluid discharge port and a third path along which the cutting fluid is passed through the second filter and is fed to the cutting fluid discharge port,
the path switching unit is configured such that the cutting fluid can be passed through only the first filter, through only the second filter, and through the second filter and the first filter in series,
the at least one pump includes a first pump and a second pump, the first pump and the second pump both being located upstream of the first filter and the second filter, and
the first pump and the second pump can be controlled individually to pass the cutting fluid through only the first filter, through only the second filter, and through the second filter and the first filter in series.

US Pat. No. 10,699,743

AMPLIFIER SELECTION DEVICE, AMPLIFIER SELECTION METHOD, AND COMPUTER-READABLE STORAGE MEDIUM HAVING POWER SOURCE CAPACITY DISPLAY FUNCTION

FANUC CORPORATION, Yaman...

1. An amplifier selection device, comprising:a motor model storage means configured to store a database containing a plurality of motor models expressing types of motors including servo motors and spindle motors along with information pertaining to an amplifier capacity and a feature amount for each of the motor models;
a motor model information obtainment means configured to obtain information pertaining to the motor models selected for each of the spindle motors and the servo motors that drive respective spindle axes;
an amplifier number calculation means configured to calculate necessary numbers of each spindle amplifier and servo amplifier for each amplifier capacity by referring to the database and extracting information pertaining to the amplifier capacities of the selected motor models;
a spindle amplifier selection means configured to select spindle amplifiers to drive the spindle motors on the basis of the amplifier capacities and number of spindle motors;
a combination creation means configured to create a combination of servo amplifiers corresponding to the necessary amplifier capacities and numbers, for each selected spindle amplifier;
a feature amount extraction means configured to extract information pertaining to a feature amount of each created combination of spindle amplifiers and servo amplifiers by referring to the database;
an amplifier determination means configured to determine a combination of spindle amplifiers and servo amplifiers on a basis of the extracted information pertaining to the feature amounts;
a power source capacity calculation means configured to calculate a capacity of a main power source necessary for driving the motors and a capacity of a control power source necessary for driving the spindle amplifiers and the servo amplifiers by referring to the database; and
a display control means configured to
display the combination of spindle amplifiers and servo amplifiers selected by the amplifier determination means, and
display the main power source capacity and the control power source capacity calculated by the power source capacity calculation means.

US Pat. No. 10,691,099

MOTOR SELECTION APPARATUS

Fanuc Corporation, Yaman...

1. A motor selection apparatus comprising:a processor to:
obtain information pertaining to a distance between a center of mass of a workpiece and a rotation center of a motor, the motor driving a machine;
obtain information pertaining to an operating pattern executed on the workpiece by the machine;
obtain information pertaining to instantaneous torque, the instantaneous torque being a maximum torque that can be permitted by the motor;
calculate eccentric load torque, the eccentric load torque being load torque acting on the motor in accordance with a rotation phase of the motor while the operating pattern is being executed, in the case where the center of mass of the workpiece is eccentric relative to the rotation center of the motor and a rotation axis is not parallel to the vertical direction;
calculate acceleration/deceleration torque arising when the motor accelerates or decelerates during the execution of the operating pattern;
calculate a required torque from a sum of the eccentric load torque and the acceleration/deceleration torque arising during the execution of the operating pattern; and
select the motor to drive the machine when the required torque is determined to be less than or equal to the instantaneous torque of the motor in all velocity regions in which the workpiece operates according to the operating pattern during the execution of the operating pattern,
wherein the processor finds the eccentric load torque Tel(?) at a given phase from two different sets of phases (?1, ?2) and eccentric load torques (T1, T2) by the following equation:

where, sin(?1??el0)=0 or sin(?2??el0), Tel?(?)=0,
?el0: a phase at which the eccentric load torque is 0,
?1, ?2: given phases,
T1: the eccentric load torque at a phase ?1,
T2: the eccentric load torque at a phase ?2.

US Pat. No. 10,691,106

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller comprising:a processor configured to:
collect numerical control data produced or detected upon machining under the control of the machine and peripheral equipment data taken from peripheral equipment used for machining,
provide an interface for setting collection information defining a collection condition of the numerical control data and the peripheral equipment data, wherein the collection condition defines specific data to be collected,
collect, via the interface, the numerical control data and the peripheral equipment data in accordance with the collection condition defined in the collection information,
set an aggregation information defining an aggregation condition based upon the collected data of the numerical control data and of the peripheral equipment data, wherein the aggregation condition defines how the data collected based on the collection condition is aggregated;
produce process data obtained by aggregating the collected numerical control data and peripheral equipment data in accordance with the aggregation condition defined in the aggregation information;
output the produced process data; and
control a machine tool of the machine utilizing the produced process data,
wherein the aggregation information comprises time shift of the numerical control data and the peripheral equipment data.

US Pat. No. 10,688,582

ARC SENSOR ADJUSTMENT DEVICE AND ARC SENSOR ADJUSTMENT METHOD

Fanuc Corporation, Yaman...

1. An arc sensor adjustment device in a welding system comprising:a welding torch;
a welding power source configured to supply power to the welding torch;
an oscillation device configured to cause the welding torch to oscillate; and
an arc sensor configured to obtain a welding current or a welding voltage generated when copying control is carried out while power is supplied to the welding torch from the welding power source and the welding torch is caused to oscillate in a left-right direction,
wherein the arc sensor adjustment device is further configured to carry out a calibration operation while the welding torch is caused to oscillate in an up-down direction, the calibration operation including:
obtaining the welding current or the welding voltage while power is supplied to the welding torch from the welding power source and the welding torch is caused to oscillate in the up-down direction,
calculating an adjustment value on the basis of a time delay between the welding current or welding voltage and a displacement of the welding torch due to the oscillating in the up-down direction, and
calculating a correction amount for correcting a position of the welding torch in the copying control on the basis of the adjustment value, and
wherein based on the correction amount calculated during the calibration, the arc sensor adjustment device is further configured to adjust synchronization between the welding current or welding voltage generated during welding and the oscillating movement of the welding torch while causing the welding torch to oscillate in the left-right direction.

US Pat. No. 10,671,054

NUMERICAL CONTROL DEVICE FOR PERFORMING SMOOTH DECELERATION AND STOPPING

FANUC CORPORATION, Minam...

1. A numerical control device configured to perform stopping control of an axis of a machining tool to be controlled corresponding to command for machining interruption during high-speed cycle machining by moving a workpiece or a tool using cycle operation for repeatedly performing same motion,wherein the numerical control device is further configured to analyze an NC program for machining based on an NC program command and to calculate a feed rate at each interpolation period obtained respectively by dividing each input period,
the numerical control device comprising:
an override input unit configured to acquire override to be input in the input period longer than the interpolation period;
a decelerating and stopping override change unit configured to calculate actual override, decelerated in stages at each interpolation period through dividing the override acquired by the override input unit in the input period by the interpolation period; and
a velocity calculation unit configured to perform decelerating and stopping control of the axis based on the actual override,
wherein said interpolation occurs during the high-speed cycle machining when any one of resetting, feed holding, and interlocking is performed; and
in restarting the operation after the deceleration and stop by performing any one of the resetting, the feed holding, and the interlocking, the actual override is changed in stages at each interpolation period of the cycle from 0% to the actual override at start.

US Pat. No. 10,671,057

MANAGEMENT SYSTEM

FANUC CORPORATION, Yaman...

1. A management system that manages machining apparatuses which use coolant, the management system comprising:a duration information generation unit that generates duration information including at least one of an installed duration and operating duration of the machining apparatus;
a condition information generation unit that generates condition information based on at least one of installation conditions and operating conditions of the machining apparatus;
an acquisition unit that acquires the duration information and the condition information for each of the machining apparatuses;
an analysis unit including:
a calculation part that calculates a malfunction occurrence rate for each of the machining apparatuses, by comparing between malfunction occurrence information of the machining apparatus caused by the coolant and the duration information;
a correction part that acquires correction information indicating a correction amount according to an operation conditions of the machining apparatus, that determines an correction amount based on the condition information and the correction information, and that corrects a malfunction occurrence rate calculated by the calculation part to a malfunction occurrence rate by using the determined correction amount; and
an update unit that updates the acquired correction information;
a notification unit that outputs notification information based on the malfunction occurrence rate; and
an allocation unit that allocates an overall load amount of a plurality of the machining apparatuses to each of the machining apparatuses as higher loads to the machining apparatuses having a low post-correction malfunction occurrence rate; wherein
the update unit updates the correction information by adding an correction amount depending on a malfunction occurrence condition to the malfunction occurrence rate calculated by the calculation part, in case of, in the case of a malfunction occurrence condition being included in the condition information
the correction part acquires the updated correction information.

US Pat. No. 10,663,946

MACHINE TOOL, PRODUCTION MANAGEMENT SYSTEM AND METHOD FOR ESTIMATING AND DETECTING TOOL LIFE

FANUC CORPORATION, Yaman...

1. A production management system comprising:a machine tool; and
a production management apparatus for managing the machine tool, wherein the machine tool comprises:
a motor for moving one of a workpiece to be machined and a tool for performing a machining operation;
an amplifier for driving the motor;
a servo controller for controlling the motor via the amplifier based on a notification of a predetermined machining operation; and
a numerical controlling (NC) device for notifying the servo controller of the predetermined machining operation, wherein
the servo controller obtains servo data representing a load on the amplifier at high speed through high-speed communication, performs a first processing for compressing the servo data, and transmits the compressed servo data subjected to the first processing to the NC device through medium-speed communication,
the NC device performs a second processing for compressing the received compressed servo data, and transmits the compressed data subjected to the second processing to the production management apparatus through low-speed communication,
the production management apparatus stores the transmitted data in a predetermined memory, monitors a change in the stored data, and performs at least one of estimation and detection of a tool life based on a predetermined determination criterion,
after performing the second processing, the NC device adds machining conditions to the compressed data subjected to the second processing, and
the production management apparatus stores the transmitted data for each of the machining conditions.

US Pat. No. 10,665,262

AMPLIFIER SELECTION DEVICE, AMPLIFIER SELECTION METHOD, AND COMPUTER-READABLE STORAGE MEDIUM HAVING POWER SOURCE CAPACITY DISPLAY FUNCTION

FANUC CORPORATION, Yaman...

1. An amplifier selection device comprising:a motor model storage means configured to store a database containing a plurality of motor models expressing types of motors including servo motors and spindle motors along with information pertaining to an amplifier capacity and a feature amount for each of the motor models, as well as an operation program to execute a plurality of operations for each axis motors configured to drive respective axes in a machine, wherein the feature amount includes at least one of information pertaining to size of the amplifier, information pertaining to power consumed by the amplifier, and information pertaining to cost of the amplifier;
a motor model information obtainment means configured to obtain information pertaining to the motor models selected for each of the spindle motors and the servo motors that drive respective spindle axes and servo axes necessary to configure a desired system;
an amplifier number calculation means configured to calculate necessary numbers of each spindle amplifier and servo amplifier for each amplifier capacity by referring to the database and extracting information pertaining to the amplifier capacities of the selected motor models;
a spindle amplifier selection means configured to select spindle amplifiers to drive the spindle motors on the basis of the amplifier capacities and number of spindle motors;
a combination creation means configured to create a combination of servo amplifiers corresponding to the necessary amplifier capacities and numbers, for each selected spindle amplifier;
a feature amount extraction means configured to extract information pertaining to a feature amount of each created combination of spindle amplifiers and servo amplifiers by referring to the database;
an amplifier determination means configured to determine a combination of spindle amplifiers and servo amplifiers on a basis of the extracted information pertaining to the feature amounts;
a power source capacity calculation means configured to calculate a capacity of a main power source necessary for driving the motors and a capacity of a control power source necessary for driving the spindle amplifiers and the servo amplifiers by referring to the database;
a consumed power calculation means configured to calculate time series data of a total value of power consumed by the motors for all axes when the operation program is executed; and
a display control means configured to display the combination of spindle amplifiers and servo amplifiers selected by the amplifier determination means, and display the time series data of the total value of the power consumed by the motors for all axes along with the main power source capacity and the control power source capacity calculated by the power source capacity calculation means,
wherein the combination creation means:
calculates, in the case where a plurality of combinations of spindle amplifiers and servo amplifiers are present, a total value of the number of spindle amplifiers and servo amplifiers in each combination as well as a minimum value of the total value; and
excludes, from options for selection, combinations in which the total value of the number of spindle amplifiers and servo amplifiers is higher than the minimum value by greater than or equal to a predetermined number.

US Pat. No. 10,664,767

MACHINE LEARNING APPARATUS, LASER MACHINING SYSTEM AND MACHINE LEARNING METHOD

FANUC CORPORATION, Yaman...

1. A machine learning apparatus for learning laser processing condition data of a laser processing system,the laser processing system comprising:
at least one laser apparatus that includes at least one laser oscillator;
at least one processing head that emits a laser light from the laser apparatus to a workpiece;
at least one output light detection unit that detects an amount of the laser light emitted from the processing head;
at least one reflected light detection unit that detects a reflected light emitted from the processing head and reflected on a surface or near the surface of the workpiece to return to the laser apparatus via an optical system in the processing head;
at least one processing result observation unit that observes, without human intervention, at least one of a processing state and a processing result of the workpiece at least during laser processing or after the laser processing; and
at least one driving apparatus that changes a relative positional relationship between the processing head and the workpiece,
the machine learning apparatus comprising:
a state amount observation unit that observes a state amount of the laser processing system;
an operation result acquisition unit that acquires a processing result of the laser processing system;
learning unit that receives an output from the state amount observation unit and an output from the operation result acquisition unit, and learns the laser processing condition data in association with the state amount of the laser processing system and the processing result; and
a decision-making unit that outputs laser processing condition data by referring to the laser processing condition data leaned by the learning unit; wherein
when during processing of the workpiece based on given laser processing condition data, an amount of the reflected light detected by the reflected light detection unit exceeds a second predetermined level set lower than a first predetermined level set lower than an alarm level indicating that at least one of the processing head, the laser apparatus, and a laser light propagation optical component between the processing head and the laser apparatus may be damaged by the reflected light,
the learning unit refers to the learned laser processing condition data to output laser processing condition data enabling a processing result close to a processing result of the given laser processing condition data to be predicted without the amount of the reflected light detected by the reflected light detection unit exceeding the second predetermined level; and
the learning unit includes:
a learning model for learning laser processing condition data varied from one laser processing content to another;
an error calculation unit that calculates a difference between a laser processing result including a processing speed obtained by the operation result acquisition unit or time expended for predetermined processing and a roughly ideal processing result including a processing speed set for each laser processing content or time expended for predetermined processing or a target processing result; and
a learning model update unit that updates the learning model according to the difference.

US Pat. No. 10,651,621

LASER APPARATUS INCLUDING HEAT TRANSFER DEVICE FOR RELEASING HEAT INSIDE HOUSING TO THE OUTSIDE

FANUC CORPORATION, Yaman...

1. A laser apparatus comprising:a laser resonator configured to oscillate a laser beam;
a housing configured to seal a space in which the laser resonator is disposed in an airtight manner;
a temperature sensor configured to detect temperature of air inside the housing;
a humidity sensor configured to detect humidity of the air inside the housing;
a heat transfer device including a high-temperature part, a low-temperature part at a temperature lower than that of the high-temperature part, the low-temperature part being disposed inside the housing, and a cooling fan configured to generate a flow of air in the low-temperature part, and configured to transfer heat in the low-temperature part to the high-temperature part; and
a controller including an operation control unit configured to control the cooling fan and a storage unit configured to store predetermined information; wherein
the storage unit stores a temperature reference value associated with temperature and a humidity reference value associated with humidity, for control of the cooling fan,
the operation control unit performs control of stopping the cooling fan when temperature detected by the temperature sensor is lower than the temperature reference value and humidity detected by the humidity sensor is higher than the humidity reference value, and
the operation control unit performs control of driving the cooling fan when temperature detected by the temperature sensor is higher than the temperature reference value and humidity detected by the humidity sensor is lower than the humidity reference value.

US Pat. No. 10,643,009

SIMULATION APPARATUS

FANUC CORPORATION, Yaman...

1. A simulation apparatus, comprising:a backup information input unit that reads backup information containing parameters and operation programs of a plurality of automated machines operating according to interactive interlock signals;
a virtual device generator that generates virtual devices of respective ones of the plurality of automated machines on the basis of the parameters contained in the backup information read by the backup information input unit;
an I/O association relationship storage that stores an association of the interlock signals between the plurality of automated machines;
an I/O connecting unit that connects the interlock signals between the virtual devices generated in the virtual device generator in accordance with the association stored in the I/O association relationship storage; and
a program executing unit that recognizes the interlock signals connected by the I/O connecting unit as input/output signals between the virtual devices generated in the virtual devices generator and executes the operation programs read by the backup information input unit according to the recognized input/output signals such that the virtual devices are operated in an interactive manner through an interlock based on the interlock signals connected by the I/O connecting unit.

US Pat. No. 10,642,246

NUMERICAL CONTROLLER FOR CORRECTING SPEED FEEDFORWARD GAIN OF MACHINE

Fanuc Corporation, Yaman...

1. A numerical controller which controls a machine having a plurality of axes, the numerical controller comprising:a processor configured to:
store a plurality of correction coefficients for correcting a speed feedforward gain for speed feedforward control along a first axis of a plurality of axes in a memory, the plurality of correction coefficients corresponding to a plurality of coordinate values along a second axis of the plurality of axes, the plurality of correction coefficients for the first axis are computed by:
1) moving the machine along the first axis while increasing the speed feedforward gain to a maximum value free of vibration detected on the first axis while the machine is fixed at each of the plurality of coordinate values along the second axis,
2) computing an adjusted value at each of the plurality of coordinate values along the second axis by adjusting the maximum value of the speed feedforward gain at each of the plurality of coordinate values along the second axis based on a normal value of the speed feedforward gain, and
3) setting each of the plurality of correction coefficients as the adjusted value at each of the plurality of coordinate values along the second axis;
obtain the correction coefficient of the first axis corresponding to the current coordinate value of the second axis, based on Information stored in the memory,
correct the speed feedforward gain for the speed feedforward control of the first axis by the obtained correction coefficient; and
control the first axis based on the corrected speed feedforward gain.

US Pat. No. 10,644,568

STATOR FRAME, STATOR AND ROTARY ELECTRICAL MACHINE

FANUC CORPORATION, Yaman...

1. A substantially cylindrical stator frame which has a function of cooling a stator in a rotary electrical machine, the stator frame comprising:a spiral groove which is provided as a flow path of a coolant from one end side to the other end side in an axis direction spirally along a circumferential direction of an outer circumferential surface; and
annular grooves which individually communicate with end portions of the spiral groove on the one end side and the other end side in the axis direction and which are provided annularly along the circumferential direction of the outer circumferential surface,
wherein the spiral groove is formed such that a groove depth is deep in a manner inclined toward a region around a center in the axis direction in regions on the one end side and the other end side in the axis direction such that a distance between a radially innermost surface of the spiral groove and a center axis of the stator frame decreases from the region on the one end side in the axis direction toward the region around the center in the axis direction and from the region on the other end side in the axis direction toward the region around the center in the axis direction.

US Pat. No. 10,639,753

MACHINE TOOL AND PLASTIC FORMING METHOD

FANUC CORPORATION, Yaman...

1. A machine tool provided with a tool spindle and a work table for supporting a workpiece for performing a plastic forming on the workpiece with a tool attached to the tool spindle by relatively moving the tool spindle and the work table, wherein:the tool has a curved portion at least at a part of a side face thereof; and
the machine tool comprises:
a moving mechanism configured to move the tool spindle relative to the workpiece;
a motor configured to turn the tool spindle relative to the workpiece;
a movement control unit configured to control the moving mechanism so that the tool is moved along a surface of the workpiece to be machined while the curved portion is pressed on the surface of the workpiece to be machined; and
a turn control unit configured to control the motor so that a normal line of the curved portion is oriented toward the surface of the workpiece to be machined at a reference position that touches the surface of the workpiece to be machined when machining starts, wherein the tool is rotated to maintain the same side face of the tool in contact with the surface of the workpiece, such that the side face of the tool does not rotate relative to the surface of the workpiece.

US Pat. No. 10,627,305

WATER LEAKAGE DETECTION SYSTEM FOR LASER DEVICE

FANUC CORPORATION, Yaman...

1. A water leakage detection system for a laser device that detects a water leakage in the laser device including: a part group for outputting laser light; a water cooling plate which cools a laser diode module, a cavity, and a power supply unit among the part group; an enclosed housing in which the part group and the water cooling plate are stored; and an air circulating unit which circulates air within the housing,wherein the air circulating unit is provided in a vicinity of at least one of the laser diode module, the cavity, and the power supply unit among the part group, and
the power supply unit is configured such that a coil and a capacitor are provided on a first surface of a printed board, a switching element is provided on the first surface and a second surface that is opposite to the first surface of the printed board, and the switching element is in contact with the water cooling plate,
the water leakage detection system for the laser device includes:
a humidity detection unit which detects humidity within the housing;
a temperature detection units which are arranged in a plurality of places in the water cooling plate and which respectively detect temperatures of the places; and
a control unit which outputs detection information when the humidity acquired from the humidity detection unit exceeds reference humidity or when at least one of the temperatures acquired from the temperature detection units exceeds a reference temperature of the corresponding place.

US Pat. No. 10,618,163

SIMULATION DEVICE, SIMULATION METHOD, AND COMPUTER PROGRAM FOR ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A simulation device for a robot system in which a robot performs work on a plurality of workpieces conveyed by a conveyor device, the simulation device comprising:a model arrangement section configured to arrange, in a virtual space, a conveyor device model that models the conveyor device, and continuously arranges a workpiece model, that models the workpiece, on the conveyor device model;
an offset determining section configured to randomly determine an offset amount of the workpiece model from its reference position predetermined with respect to the conveyor device model, each time the model arrangement section arranges the workpiece model, wherein the model arrangement section arranges the workpiece model at a position displaced from the reference position by the offset amount determined by the offset determining section;
a conveying operation execution section configured to perform a conveying operation to sequentially convey the plurality of workpiece models, arranged by the model arrangement section, in the virtual space;
an interference detection section configured to detect interference between at least two workpiece models sequentially conveyed by the conveyor device model;
a non-interfering position search section configured to search a non-interfering position where the interference does not occur for at least one of the at least two workpiece models for which the interference is detected; and
a workpiece position correction section configured to correct a position of the at least one workpiece model arranged on the conveyor device model, based on the searched non-interfering position.

US Pat. No. 10,618,164

ROBOT SYSTEM HAVING LEARNING CONTROL FUNCTION AND LEARNING CONTROL METHOD

FANUC CORPORATION, Yaman...

1. A robot system, comprising:a robot;
a robot control device comprising at least one processor configured to control an operation of the robot; and
a sensor configured to detect a vibration generated at a control target portion of the robot, wherein
the at least one processor of the robot control device is configured to perform a learning control in which
a vibration correction amount for correcting the vibration generated, when the robot is controlled to operate by an operation command on the basis of an operation program, is calculated, and
the vibration correction amount is employed in the operation command at a next time,
the at least one processor includes:
a plurality of learning control parts configured to calculate the vibration correction amount, the plurality of learning control parts being respectively assigned to a plurality of use ranges supposed in the robot;
a selection unit configured to select one from among the plurality of learning control parts on the basis of operation information of the robot when the robot is controlled to be operated in accordance with the operation program; and
a determination unit configured to determine whether or not the selected learning control part is optimal on the basis of information of the vibration acquired from the sensor while the learning control is performed,
wherein the selected learning control part is determined as optimal when the vibration detected by the sensor is reduced by the selected learning control part, and
wherein when the selected learning control part is determined to be not optimal by the determination unit, the selection unit is configured to switch to another learning control part among the plurality of learning control parts to perform the learning control,
the operation information includes
position information of a position to which the control target portion being a tip end portion of the robot is controlled to move, and
load information of a load applied to the tip end portion by an end effector attached to the tip end portion, and
each of the plurality of use ranges is defined by both
a range of the position to which the tip end portion of the robot is controlled to move, and
a range of the load in accordance with the end effector.

US Pat. No. 10,618,185

CONNECTION STRUCTURE

FANUC CORPORATION, Yaman...

1. A connection structure in which a robot link member including a first wall extending in a predetermined direction, a second wall extending in the predetermined direction and facing the first wall with an interval in a thickness direction of the first wall, and a connecting wall extending in the predetermined direction and connecting the first and second walls is connected with a member to be connected so that a surface of the first wall of the link member comes into contact with the member to be connected, wherein the surface does not face the second wall, the connection structure comprising:a plurality of bolts, each of which penetrates the first and second walls at an end portion of the robot link member and each of which includes a head part that comes into contact with the second wall and a screw part that is screwed into the member to be connected; and
a deformation preventing member disposed near the bolts between the first and second walls and sandwiched between the first and second walls by tightening the bolts so that the deformation preventing member prevents or reduces deformation of the first and second walls in a direction in which the first and second walls become closer to each other.

US Pat. No. 10,618,202

FAILURE CAUSE DIAGNOSTIC DEVICE FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A failure cause diagnostic device configured to determine a cause of failure of at least one injection molding machine, the device comprising a machine learning device configured toreceive internal and external state data from the at least one injection molding machine, during a failure state and a non-failure state of the at least one injection molding machine,
register a correlation among the internal and external state data in advance to identify primary and secondary causes of the failure state,
perform machine learning on the internal and external state data to obtain an internal parameter of the machine learning device,
set a state variable based on the internal and external state data at a predetermined time and a target variable based on a prediction of the failure state after a predetermined time period, and
predict that the failure state of the injection molding machine occurs after the predetermined time period from the predetermined time.

US Pat. No. 10,618,743

STAGGERED TYPE CONVEYOR CHAIN

FANUC CORPORATION, Yaman...

1. A staggered type conveyor chain, comprising:a chain extending in a serial direction and having a structure in which a plurality of pairs of inner plates and a plurality of pairs of outer plates are rotatably connected in series via a plurality of connecting pins;
a plurality of side rollers arranged in a staggered manner on both sides of the chain in the serial direction; and
a plurality of suppressing members, each arranged to be paired with the side roller across the chain in a staggered manner on either side of the chain in the serial direction, and configured to suppress entrance of foreign material interfering with the side rollers into a space between the neighboring side rollers with respect to the serial direction, the suppressing member being arranged at an end portion of each of the connecting pins opposite from an end portion where the side roller is arranged, wherein the suppressing member is fixed to the connecting pin in a nonrotatable manner with respect to the connecting pin.

US Pat. No. 10,615,734

PARAMETER DETERMINATION SUPPORTING DEVICE

FANUC CORPORATION, Yaman...

1. A parameter determination supporting device for driving a motor comprising:a processor configured to:
acquire specification information about a motor driver and output specification information about a motor;
determine an initial parameter for a trial run based on the specification information and the output specification information;
generate a trial run program based on the output specification information, the trial run program being used in a trial run for acquiring data necessary for adjusting a parameter for determining an output from the motor;
automatically measure operation information determined by driving the motor by applying the initial parameter and following the trial run program;
estimate a circuit constant of the motor based on the operation information; and
calculate an optimum parameter conforming to the output specification of the motor based on the circuit constant.

US Pat. No. 10,613,520

DATA SETTING SYSTEM FOR ROBOT, DATA SETTING METHOD AND PROGRAM

FANUC CORPORATION, Yaman...

1. A data setting system comprising:a plurality of control devices that control robots, the control devices including a representative control device; and
a management device that manages the control devices,
wherein the control devices and the management device are connected through a network,
wherein the management device sets, among the control devices, a plurality of cells corresponding to groups of the robots which cooperatively perform machining on a product,
the management device sets a plurality of data groups, each of the data groups being formed with a group of control devices for which a same function is set among the control devices in the cells,
the management device transmits, to each of the data groups, setting information for setting the group of control devices belonging to the data group, and
the representative control device sets the group of control devices belonging to a same data group as the representative control device based on the setting information transmitted from the management device.

US Pat. No. 10,615,649

INSTALLATION STRUCTURE OF MAGNET PLATE

FANUC CORPORATION, Yaman...

1. An installation structure of a magnet plate for installing a magnet plate for a linear motor to a machine mounting part via a joining member,wherein the magnet plate includes:
a first face on which a magnet is disposed;
a second face which opposes the machine mounting part; and
a first female threaded part provided on an inner side of a hole that passes through the second face and the first face;
wherein the hole includes an opening in the first face that receives a tool for rotating the joining member that fits together with the first female threaded part,
wherein the machine mounting part includes, at a side opposing the magnet plate, a second female threaded part of which winding direction of thread grooves is opposite to the first female threaded part,
wherein the joining member includes:
a first male threaded part that is formed at one end thereof and can screw together with the first female threaded part; and
a second male threaded part that is formed at the other end thereof and can screw together with the second female threaded part,
wherein the magnet plate is installed to the machine mounting part with the first female threaded part being screwed with the first male threaded part of the joining member, and with the second female threaded part of the machine mounting part being screwed with the second male threaded part of the joining member, and
wherein the opening in the first face is smaller than a diameter of the first male threaded part of the joining member.

US Pat. No. 10,585,417

MACHINE LEARNING DEVICE, NUMERICAL CONTROL DEVICE AND MACHINE LEARNING METHOD FOR LEARNING THRESHOLD VALUE OF DETECTING ABNORMAL LOAD

FANUC CORPORATION, Yaman...

12. A machine learning method for learning a threshold value of detecting an abnormal load in a machine tool, comprising:observing a state variable obtained based on at least one of information about a tool, main spindle revolution rate, and amount of coolant of the machine tool, material of a workpiece, and moving direction, cutting speed, and cut depth of the tool; and
learning the threshold value of detecting an abnormal load, based on training data created from the state variable and data related to detection of an abnormal load in the machine tool and on teacher data, wherein learning the threshold value of detecting an abnormal load comprises:
calculating an error between the training data and the teacher data; and
updating a learning model for defining an error of a condition correlated to a detection of an abnormal load in the machine tool based on the state variable and the calculated error between the training data and the teacher data.

US Pat. No. 10,585,418

CONTROL SYSTEM OF MACHINE TOOL

Fanuc Corporation, Yaman...

1. A control system of a machine tool which machines a work, the control system comprising:a control device which controls drive axes of the machine tool based on control data;
a machined surface measurement device which measures a machined surface of the work; and
an analysis device which analyzes a failure on the machined surface of the work,
wherein the analysis device includes:
a first acquisition portion which acquires, from the control device, chronological control data when the work is machined;
a second acquisition portion which acquires spatial machined surface measurement data after the machining of the work measured by the machined surface measurement device;
a storage portion which stores the chronological control data acquired by the first acquisition portion and the spatial machined surface measurement data acquired by the second acquisition portion when the work is machined in at least two machining directions;
a data-associating processing portion which associates, with each other, the chronological control data and the spatial machined surface measurement data stored in the storage portion when the work is machined in at least the two machining directions;
a machined surface failure detection portion which detects the failure on the machined surface of the work and a location thereof based on the spatial machined surface measurement data stored in the storage portion when the work is machined in at least the two machining directions; and
an identification portion which identifies the drive axis that causes the failure detected by the machined surface failure detection portion based on the control data and the machined surface measurement data associated with each other by the data-associating processing portion from the failure detected by the machined surface failure detection portion and the machining direction of the control data corresponding to the failure location detected by the machined surface failure detection portion.

US Pat. No. 10,583,558

ROBOT CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A robot control device comprising:a parameter estimating unit that causes a robot to operate under estimation conditions input by a user and that estimates a load parameter of a load attached to the robot;
a torque calculating unit that calculates operation torques of respective joints of the robot caused to operate during estimation of the load parameter; and
an alert unit that issues an alert to the user when the difference between the maximum value and the minimum value of the operation torques is equal to or less than a predetermined threshold.

US Pat. No. 10,585,122

CURRENT DETECTION CIRCUIT NOT AFFECTED BY NOISE

FANUC CORPORATION, Yaman...

1. A current detection circuit that detects a current flowing in a current path in a motor driving device, the circuit comprising:a resistor disposed in the current path;
a first signal transmission wire that transmits a signal indicating a potential at a first terminal side of the resistor;
a second signal transmission wire that transmits a signal indicating a potential at a second terminal side of the resistor;
a first difference operation circuit that obtains a first difference signal by executing a difference operation in which the signal transmitted by the second signal transmission wire is subtracted from the signal transmitted by the first signal transmission wire;
a noise-capturing transmission starting point provided in the motor driving device;
a third signal transmission wire connected with the noise-capturing transmission starting point;
a fourth signal transmission wire connected with the noise-capturing transmission starting point and being a different wire from the third signal transmission wire;
a second difference operation circuit that obtains a second difference signal by executing a difference operation in which the signal transmitted by the fourth signal transmission wire is subtracted from the signal transmitted by the third signal transmission wire; and
a summing operation circuit that obtains a summed signal by executing a summing operation on the first difference signal and the second difference signal,
wherein the first signal transmission wire and the fourth signal transmission wire are disposed close to each other and the second signal transmission wire and the third signal transmission wire are disposed close to each other, and
wherein the noise-capturing transmission starting point is disposed in such a position that magnetic flux through a region enclosed by a closed loop formed by the resistor, the first signal transmission wire, the first difference operation circuit, and the second signal transmission wire is substantially identical to magnetic flux through a region enclosed by a closed loop formed by the noise-capturing transmission starting point, the third signal transmission wire, the second difference operation circuit, and the fourth signal transmission wire.

US Pat. No. 10,576,628

CONTROLLER AND MACHINE LEARNING DEVICE

Fanuc Corporation, Yaman...

1. A controller adjusting a movement speed of each motor of a robot that performs coating of a sealing material, the controller comprising:a machine learning device that learns an adjustment amount of the movement speed of each of the motors of the robot by performing a machine learning algorithm including:
observing, by a state observation section, state variables expressing a current operational state of the robot, the state variables including a teaching speed adjustment amount data indicating the adjustment amount of the movement speed of each of the motors of the robot, a target speed data indicating a target speed of a tip end of the robot, a movement speed data indicating the movement speed of each of the motors of the robot, and a movement path data indicating a movement path proximate to the tip end of the robot,
acquiring, by a determination data acquisition section, determination data indicating a comparison between the movement speed and the target speed of the tip end of the robot is within an allowable range, and
learning, by a learning section, based on the state variables and the determination data, an adjusted target speed data, an adjusted movement speed data, and an adjusted movement path data in association with the adjustment amount of the movement speed of each of the motors of the robot, and
wherein the controller controls the motors of the robot based on at least one of the adjusted target speed data, the adjusted movement speed data, and the adjusted movement path data.

US Pat. No. 10,571,890

DIAGNOSTIC DATA ACQUISITION SYSTEM, DIAGNOSTIC SYSTEM, AND COMPUTER READABLE MEDIUM

FANUC CORPORATION, Yaman...

1. A diagnostic data acquisition system that acquires diagnostic data for diagnosing a machine tool, the system comprising:a control unit that controls, based on control data including a feedback signal acquired from the machine tool for controlling driving of a mobile part by way of feedback control, driving of the mobile part;
a timing generation unit that generates an acquisition timing for the diagnostic data based on at least the feedback signal included in the control data; and
a diagnostic data acquisition unit that acquires data, which varies accompanying driving of the mobile part by way of control of the control unit, based on the acquisition timing as the diagnostic data.

US Pat. No. 10,539,945

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller configured to retrieve a specific block of a plurality of blocks from a machining program, the numerical controller comprising:a retrieval command input unit configured to accept the input of a retrieval command including information for identifying the machining program to be retrieved;
a tool position acquisition unit configured to acquire a current position of a tool;
a distance calculation unit configured to calculate the distance between a position of a command path of at least one of the plurality of blocks included in the machining program and the current tool position acquired by the tool position acquisition unit; and
a search result display unit configured to display at least one of the plurality of blocks included in the machining program in the ascending order of, distance from the current tool position acquired by the tool position acquisition unit, based on the distance calculated by the distance calculation unit.

US Pat. No. 10,532,400

ASSEMBLY SYSTEM, ASSEMBLING METHOD, AND ASSEMBLY UNIT

FANUC CORPORATION, Yaman...

1. An assembly system comprising:a molding machine that molds first parts and second parts in a same mold so as to assemble the first parts and the second parts with each other; and
a robot that removes the first parts and the second parts from the mold after the first parts and the second parts are molded by the molding machine, and assembles the removed first parts and second parts;
wherein the robot includes an assembly unit having a first holder that grips the first parts and a second holder that grips the second parts;
wherein the first parts and the second parts molded by the molding machine are held by the first holder and the second holder of the robot, respectively and removed from the mold; and
wherein the one of at least one of the first holder and the second holder is moved relative to the other, in such a manner the first parts held by the first holder and the second parts held by the second holder face each other, so that the first parts held by the first holder and the second parts held by the second holder are assembled with each other without releasing the first parts and the second parts from their respective first holder and second holder;
further comprising a driving unit (M1, M2) that rotates at least one of the first holder and the second holder in a plane perpendicular to an assembling direction of the first parts and the second parts.

US Pat. No. 10,527,676

ABNORMALITY DIAGNOSING DEVICE AND ABNORMALITY DIAGNOSING METHOD

FANUC CORPORATION, Yaman...

1. An abnormality diagnosing device adapted to diagnose a driving abnormality of a single motor that is driven by a plurality of motor driving devices;wherein the plurality of motor driving devices drive the motor by supplying a three-phase alternating current to a plurality of three-phase windings possessed by the motor;
the abnormality diagnosing device comprising:
a rotational speed acquisition unit adapted to acquire a rotational speed value of the motor;
a current acquisition unit adapted to acquire phase current values of respective phases flowing through the three-phase windings; and
a determination unit adapted to determine a presence of an abnormality, if an absolute value of the rotational speed value exceeds a predetermined value, and an absolute value of the phase current value of any one phase of the three-phase windings is less than a threshold value, continuously for a predetermined time period.

US Pat. No. 10,525,649

SERVO MOTOR CONTROLLER

FANUC CORPORATION, Yaman...

1. A servo motor controller that controls a servo motor to drive a driving target and executes position control for controlling the position of the driving target and force control for controlling force to be applied to a subject by the driving target, the servo motor controller comprising:a position command generation unit that generates a position command for instructing the position of the driving target;
a position detection unit that detects the position of the driving target;
a position control unit that generates a velocity command for the servo motor for the position control based on the position command generated by the position command generation unit and the position detected by the position detection unit;
a force command generation unit that generates a force command for instructing force to be applied to the subject by the driving target;
a force detection unit that detects force applied to the subject by the driving target;
a force control unit that generates a velocity command for the servo motor for the force control based on the force command generated by the force command generation unit and the force detected by the force detection unit;
a selection unit that selects one of the position control and the force control; and
a storage unit that stores a force threshold for selection by the selection unit, wherein
the selection unit compares the velocity command for the position control generated by the position control unit and the velocity command for the force control generated by the force control unit, and selects one of the velocity commands of a smaller value, and
if the force detected by the force detection unit is smaller than the force threshold, the selection unit selects the velocity command for the position control independently of a result of the comparison.

US Pat. No. 10,529,481

THREE-PHASE REACTOR INCLUDING VIBRATION SUPPRESSING STRUCTURE PART

FANUC CORPORATION, Yaman...

1. A three-phase reactor comprising:an outer peripheral iron core for surrounding the outer periphery of the three-phase reactor;
at least three iron core coils, which are in contact with or coupled to the inner surface of the outer peripheral iron core, wherein
the at least three iron core coils include iron cores and coils wound around the iron cores, and
gaps, which can be magnetically coupled, are each formed between two adjacent ones of the iron cores; and
a vibration suppressing structure part disposed at an intersection of the gaps or the vicinity of the intersection so as to reduce vibrations occurring at the gaps, the vibration suppressing structure part includes:
a vibration reducing part having a plurality of elastic extensions spaced apart from each other, each of the plurality of elastic extensions radially extending from the intersection of the gaps to a respective one of the iron cores, and
a fixture for pressing each of the plurality of elastic extensions against the respective one of the iron cores.

US Pat. No. 10,525,559

TELESCOPIC COVER

FANUC CORPORATION, Yaman...

1. A telescopic cover of a machine tool, comprising:a plurality of cover pieces of different sizes stacked in a nested fashion in an order of the different sizes such that an entire structure of the stacked plurality of cover pieces is extendable and retractable, the plurality of cover pieces including a receiving-side cover piece and an insert-side cover piece, the insert-side cover piece telescopically inserted in the receiving-side cover piece;
a wiper provided on the receiving-side cover piece and configured to close a gap between the receiving-side cover piece and the insert-side cover piece and wipe off substances adhering to an upper surface of the insert-side cover piece;
a first member provided on an inner side surface of the receiving-side cover piece, the first member including a base and a cushioned body, the first member is configured to restrict a range of movement of the insert-side cover piece; and
a second member provided on the insert-side cover piece and configured to abut the first member,
wherein the wiper has a front edge in a forward direction in which the entire structure of the stacked plurality of cover pieces is extendable,
wherein the receiving-side cover piece has a front edge in the forward direction,
wherein the front edge of the receiving-side cover piece is offset from and is forward of the front edge of the wiper in the forward direction, and
wherein, in a lateral direction perpendicular to the forward direction, the wiper extends to overlap a respective upper surface of the base, cushioned body, and second member when the insert-side cover piece and the receiving-side cover piece are in an extended state with the first member and the second member abutting each other.

US Pat. No. 10,503,147

PROGRAM GENERATING APPARATUS

FANUC CORPORATION, Yaman...

1. A program generating apparatus, comprising:an input unit configured to be operated by a user to thereby input a machining shape of a workpiece; and
a processor configured to generate a machining program configured to control a wire electrical discharge machine so as to machine the workpiece in accordance with the input machining shape of the workpiece and so as to fix, to the workpiece, a core which is produced when the workpiece is machined,
wherein the processor generates a core handling program configured to control a robot so as to remove the core from the workpiece by applying an impact to the core in accordance with the input machining shape of the workpiece,
the program generating apparatus further comprising a display unit configured to display on a screen of the display unit the input machining shape of the workpiece and a shape of the core obtained in accordance with the machining shape of the workpiece,
wherein:
the input unit designates an arbitrary position on the core displayed on the screen of the display unit by being operated by the user, and
the processor generates the core handling program configured to set the arbitrary position designated by the input unit as a core handling position and control the robot so as to apply an impact to the core at the core handling position.

US Pat. No. 10,498,278

MOTOR CONTROLLER

FANUC CORPORATION, Yaman...

1. A motor controller that performs speed sensorless control for a motor, comprising:a rotation speed estimating unit that estimates a rotation speed of the motor based on current information and primary frequency information of the motor;
a proximity switch that outputs an ON signal when a portion of a rotating body of the motor is in proximity and outputs an OFF signal when a portion of the rotating body of the motor is not in proximity;
a rotation speed computing unit that computes a rotation speed of the motor based on the ON signal and the OFF signal output from the proximity switch; and
a state determining unit that determines whether a present state is a speed attainment state in which the rotation speed of the motor reaches a speed command value and whether a present state is a speed zero state in which the rotation speed of the motor is zero based on rotation speed estimation value estimated by the rotation speed estimating unit and a rotation speed computation value computed by the rotation speed computing unit.

US Pat. No. 10,486,306

CONTROL DEVICE FOR CONTROLLING ROBOT BY LEARNING ACTION OF PERSON, ROBOT SYSTEM, AND PRODUCTION SYSTEM

FANUC CORPORATION, Yaman...

1. A control device for a robot for performing an operation in cooperation with a person, the control device comprising:a machine learning device including a recognition unit which recognizes a face of the person to classify an action of the person based on a weight in a neural network corresponding to the person, and a learning unit for receiving data based on an image input as state variable, and learning and outputting the action of the person based on the action of the person classified by the recognition unit, while the person performs an operation in cooperation with the robot; and
an action control unit for controlling the action of the robot based on the action of the person classified by the recognition unit and a learned result of the learning unit.

US Pat. No. 10,490,340

REACTOR HAVING FUNCTION OF PREVENTING ELECTRICAL SHOCK

FANUC CORPORATION, Yaman...

1. A reactor comprising:a core body including an outer peripheral iron core, at least three iron cores disposed so as to contact an inside of the outer peripheral iron core or to be coupled to an internal surface of the outer peripheral iron core, and coils wound on the iron cores,
a gap formed between one of the iron cores and another of the iron cores adjacent to the one of the iron cores, so as to be magnetically connectable through the gap;
a terminal base including terminals connected to the coils, the terminals being configured to be connected to cables through a current carrying portion; and
an electrical shock prevention cover disposed so as to cover the terminal base,
wherein the electrical shock prevention cover has openings through which the cables connected to the terminals are passed, and
wherein the terminal base has a plate configured to block at least a part of the openings so as to prevent a finger from touching the current carrying portions in a state in which the cables are connected to the terminal, the plate being detachable in accordance with the thicknesses of the cables.

US Pat. No. 10,488,299

CONTROLLER AND CONTROL METHOD FOR DOUBLY CHECKING THE STATE OF A CONTROL SHAFT

FANUC CORPORATION, Yaman...

1. A controller configured to doubly check a state of a control shaft by applying motive power to the control shaft of a power transmission unit having an irregular speed characteristic, comprising:a motor configured to apply motive power to the control shaft;
a position detecting unit configured to detect a position of the control shaft, and output a first detection signal indicative of the detected position;
a motor position detecting unit configured to detect a position of the motor, and output a motor position signal indicative of the detected position;
a position converting unit configured to output a second detection signal corresponding to the position of the control shaft, by forwardly converting the motor position signal output by the motor position detecting unit, using a motion conversion characteristic of the power transmission unit wherein the motion conversion characteristic is that the position of the motor and the position of the control shaft are not in proportional relation; and
an abnormality determining unit configured to doubly determine whether or not the state of the control shaft is abnormal, using the first detection signal output from the position detecting unit, and the second detection signal output from the position converting unit,
wherein the abnormality determining unit is configured to determine whether or not each of a first position of the control shaft on a basis of the first detection signal, and a second position of the control shaft on a basis of the second detection signal lies within a predetermined normal range.

US Pat. No. 10,478,962

ROBOT BASE STAND

FANUC CORPORATION, Yaman...

1. A robot base stand comprising:a first support table configured to mount a robot thereon;
the robot fixed to the first support table;
a second support table configured to place thereon objects to be handled by the robot; and
a relative distance adjusting mechanism that adjusts a relative distance between the first support table and the second support table wherein the relative distance adjusting mechanism is configured to permit selection of one distance from a plurality of relative distances preset in accordance with types of the robot, wherein each of the preset distances is marked by an indicia indicative of the type of robot to be mounted to the first support table, wherein the relative distance adjusting mechanism includes:
a plurality of first connecting portions that is provided in the first support table, extends in the direction of relative distance adjustment between the first support table and the second support table, and is spaced from each other in the horizontal direction perpendicular to the direction of relative distance adjustment;
a plurality of second connecting portions that is provided in the second support table, extends in the direction of relative distance adjustment, and is spaced from each other in the horizontal direction perpendicular to the direction of relative distance adjustment; and
a plurality of fixing parts for fixing the first connecting portions and the second connecting portions to each other, wherein the plurality of first connecting portions has an arm-like shape projecting toward the second support table, is displaceable horizontally with respect to the second support table in the direction of the relative distance adjustment, and is fixed with respect to the second support table at a position that is determined by the selected distance.

US Pat. No. 10,481,590

CONTROL SYSTEM OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A control system of a machine tool which machines a work, the control system comprising:a control device which controls a drive axis of the machine tool based on speed control data;
a machined surface measurement device which measures a machined surface of the work; and
an analysis device which analyzes failures on the machined surface of the work,
wherein the analysis device includes:
a first acquisition portion which acquires, from the control device, the chronological speed control data when the work is machined;
a second acquisition portion which acquires spatial machined surface measurement data after the machining of the work measured by the machined surface measurement device;
a data-associating processing portion which associates the chronological speed control data acquired by the first acquisition portion and the spatial machined surface measurement data acquired by the second acquisition portion with each other;
a machined surface failure detection portion which detects the failures on the machined surface of the work and the locations thereof based on the spatial machined surface measurement data acquired by the second acquisition portion;
an identification portion which identifies, based on the speed control data and the machined surface measurement data associated by the data-associating processing portion, the speed control data of the failure locations corresponding to the machined surface measurement data of the failure locations detected by the machined surface failure detection portion;
a failure interval detection portion which detects an interval of the failures detected by the machined surface failure detection portion;
a calculation portion which determines a speed in a direction of the machining based on the speed control data of the failure locations identified by the identification portion and which calculates, based on the determined speed and the interval of the failures detected by the failure interval detection portion, a frequency of vibrations of the machine tool that cause the failures; and
an adjustment portion which adjusts, based on the frequency of the vibrations calculated by the calculation portion, a filter or a machining condition of the control device so as to reduce the vibrations.

US Pat. No. 10,473,491

ROTARY ENCODER

FANUC CORPORATION, Yaman...

1. A rotary encoder comprising:an axis holding unit that holds a rotary axis member;
a rotary slit plate that is connected to the rotary axis member and rotates around a rotary axis of the rotary axis member;
a fixed slit plate that is arranged so as to face the rotary slit plate;
a light emitting unit that emits light to the fixed slit plate and the rotary slit plate;
a light receiving unit that receives the light emitted from the light emitting unit; and
a fixed slit table that has a first positioning unit that is attached with the fixed slit plate and positions the fixed slit plate, and a light emitting unit holding unit that holds the light emitting unit,
the first positioning unit having
an abutting unit to which a first side surface of the fixed slit plate abuts and that substantially does not deform, and
a deformation unit that is arranged so as to face the abutting unit, has a tip being formed with a sharp end in a direction facing the abutting unit, and deforms by abutting a second side surface of the fixed slit plate, wherein
the fixed slit plate is arranged in between the abutting unit and the deformation unit in a state where the fixed slit plate abuts to the abutting unit, by the deformation unit that has deformed.

US Pat. No. 10,452,057

CONTROL SYSTEM OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A control system of a machine tool which machines a work, the control system comprising:a control device which controls a drive axis of the machine tool based on speed control data;
a machined surface measurement device which measures a machined surface of the work; and
an analysis device which analyzes failures on the machined surface of the work,
wherein the analysis device includes:
a first acquisition portion which acquires, from the control device, the chronological speed control data when the work is machined;
a second acquisition portion which acquires spatial machined surface measurement data after the machining of the work measured by the machined surface measurement device;
a data-associating processing portion which associates the chronological speed control data acquired by the first acquisition portion and the spatial machined surface measurement data acquired by the second acquisition portion with each other;
a machined surface failure detection portion which detects the failures on the machined surface of the work and the locations thereof based on the spatial machined surface measurement data acquired by the second acquisition portion;
an identification portion which identifies, based on the speed control data and the machined surface measurement data associated by the data-associating processing portion, the speed control data of the failure locations corresponding to the machined surface measurement data of the failure locations detected by the machined surface failure detection portion;
a failure interval detection portion which detects an interval of the failures detected by the machined surface failure detection portion;
a calculation portion which determines a speed in a direction of the machining based on the speed control data of the failure locations identified by the identification portion and which calculates, based on the determined speed and the interval of the failures detected by the failure interval detection portion, a frequency of vibrations of the machine tool that cause the failures; and
an adjustment portion which adjusts, based on the frequency of the vibrations calculated by the calculation portion, a filter or a machining condition of the control device so as to reduce the vibrations.

US Pat. No. 10,442,051

PROCESSING SYSTEM HAVING FUNCTION FOR MAINTAINING PROCESSING ACCURACY

FANUC CORPORATION, Yaman...

1. A processing system, comprising:a machine tool;
a robot which has a movable section configured to supply or eject a workpiece to or from the machine tool and to be moved away from a processing area of the machine tool while the workpiece is processed by the machine tool;
a capturing device which is arranged on the movable section of the robot and captures a tool of the machine tool;
an image processing part which compares a reference image of the tool captured by the capturing device to an image of the tool captured by the capturing device at each time when a predetermined number of processing operations are finished, and detects an amount of abrasion of the tool;
a correcting part which corrects a tool position in a processing program of the machine tool based on the amount of abrasion; and
an outputting part which calculates a number of remaining possible processing operations until the amount of abrasion reaches a predetermined limit amount of abrasion of the tool, based on an amount of tool abrasion per one processing operation, and externally outputs the calculated number of remaining possible processing operations.

US Pat. No. 10,442,633

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a conveying device that conveys an object in one direction;
a robot, installed near the conveying device, that performs a process on the object being conveyed by the conveying device;
a first supply unit and a second supply unit that supply the object onto the conveying device;
a movement amount detection unit that successively detects an amount of movement, by the conveying device, of the object supplied by the first supply unit onto the conveying device;
a single vision sensor that successively acquires, on an upstream side of the robot in a conveying direction, visual information of the object being conveyed by the conveying device;
an object detection unit that processes the visual information acquired by the vision sensor to detect position and orientation of the object;
an interval detection unit that processes the visual information acquired by the vision sensor to detect an interval between objects on the conveying device in the conveying direction;
a control unit that controls the robot based on the amount of movement of the object detected by the movement amount detection unit and the position and orientation of the object detected by the object detection unit; and
a production management unit that causes the second supply unit to supply the object at a position of the interval detected by the interval detection unit, in a case where the interval is greater than a predetermined threshold.

US Pat. No. 10,434,665

ROBOT INCLUDING TOOL HAVING SHOCK-ABSORBING MEMBER

FANUC CORPORATION, Yaman...

1. A robot that shares a work space with a person, to perform an operation, wherein the robot includes a robot arm to which a working tool is attached, the working tool having a base part and a movable part provided in the base part, the robot comprising:a shock-absorbing member which covers the periphery of at least the base part of the working tool and which is made of a material having a rigidity lower than that of the base part and the movable part of the working tool;
a detector which is provided for the robot arm, to detect an external force input on the working tool via the shock-absorbing member; and
a robot control device which determines, based on information of the external force detected by the detector, whether the working tool collides with the person, and stops the robot when determining that the working tool collides with the person,
wherein
the external force input on the working tool is transmitted via the shock-absorbing absorbing member to the base part of the working tool and then transmitted to the robot arm, and then is detected by the detector.

US Pat. No. 10,427,233

WIRE ELECTRICAL DISCHARGE MACHINE AND WIRE ELECTRICAL DISCHARGE MACHINING METHOD

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine, comprising:a mounting table having a placement plane on which a workpiece is to be placed, wherein a three-axis coordinate system is defined by (i) an XY-plane coinciding with the placement plane and (ii) a normal direction of the placement plane;
a first guide portion and second guide portion configured to support and stretch a wire electrode therebetween, wherein the workpiece is subjected to electrical discharge machining under a condition where a relative position between the first guide portion and the second guide portion is changed so as to align an inclination of the wire electrode with a tilt of the workpiece relative to the placement plane;
a probe configured to be movable integrally with the first guide portion and detect abutment against the workpiece placed on the mounting table;
an offset storage configured to store, as an offset, a relative position in the XY-plane between the first guide portion and the probe that is in a detected position of abutment against the workpiece before the relative position between the first guide portion and the second guide portion is changed; and
a controller including a processor and a memory, the controller configured to
acquire tilt information representing a tilt state of the workpiece with respect to the placement plane, and
correct the offset stored in the offset storage based on the acquired tilt information to obtain an offset corresponding to the tilt state of the workpiece after the relative position between the first guide portion and the second guide portion is changed.

US Pat. No. 10,429,816

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller for machining a workpiece by controlling a machine including at least one axis based on a machining program, the numerical controller comprising:a processor configured to: predict a reference machining time corresponding to a machining time not considering a delay time of servo control and machine motion based on the machining program;
extract combinations of program commands included in the machining program by analyzing the machining program, each of the combinations including commands from at least two different blocks of the machining program;
store, in a memory device, information related to an actual delay time of servo control and machine motion measured in actual machining by the machine for of the combinations;
calculate a correction time for correction of the reference machining time based on each of the combinations and information related to an actual delay time of servo control and machine motion for each of the combinations;
calculate a predicted machining time obtained by correcting the reference machining time using the correction time; and control at least one of a servo motor or a spindle motor of the machine based on the predicted machining time; and
measure an actual delay time of servo control and machine motion for each combination of program commands and update the information related to the actual delay time of servo control and machine motion for each combination of the program command types stored in the memory device based on the measured actual delay time of servo control and machine motion for each combination of program commands.

US Pat. No. 10,429,818

NUMERICAL CONTROL DEVICE

FANUC Corporation, Minam...

1. A numerical control device for controlling a drive shaft of a machining tool based on a machining program, the numerical control device comprising a processor, the processor configured to:acquire an operating condition data representing operating condition of the shaft;
acquire an executing part of the machining program;
acquire a stopping factor information representing an information concerning a stopping factor at a time when the drive shaft stops;
store the operating condition data, the executing part, and the stopping factor, with each being related to an acquisition time thereof;
store a reduction information of the stopping time corresponding to the stopping factor information;
determine whether the stopping time corresponding to the stopping factor information satisfies a predetermining threshold value;
responsive to determining that the stopping time corresponding to the stopping factor information satisfies the predetermined threshold value, acquire the reduction information of the stopping time corresponding to the stopping factor information based on the stored stopping factor information; and
display the stored executing part and the stopping factor information, and the acquired reduction information of the stopping time corresponding to the stopping factor information,
wherein the predetermined threshold value corresponds to a time duration associated with reducing a cycle time of the machining tool.

US Pat. No. 10,425,031

MOTOR DRIVER HAVING FUNCTION OF DETECTING INSULATION RESISTANCE

FANUC CORPORATION, Yaman...

1. A motor driver comprising:a converter unit having a rectifier circuit configured to rectify an AC voltage supplied from an AC power supply through a first switch to a DC voltage;
a power supply unit configured to smooth the DC voltage rectified by the rectifier circuit using a capacitor;
a plurality of inverter units configured to convert the DC voltage from the power supply unit into an AC voltage by switching operation of an upper arm semiconductor switching element connected between a positive terminal of the capacitor and a motor coil and a lower arm semiconductor switching element connected between a negative terminal of the capacitor and the motor coil, to drive a plurality of motors;
a second switch configured to connect one terminal of the capacitor to a ground;
a voltage and current detector configured to measure a current flowing between the one terminal of the capacitor and the ground, and a voltage between the one terminal of the capacitor and the ground;
a voltage detector configured to measure a voltage across the capacitor; and
an insulation resistance detector configured to detect an insulation resistance value of each of the motors driven by the inverter units, wherein
the insulation resistance detector determines a voltage value and a current value measured by the voltage and current detector and a voltage value measured by the voltage detector as first measurement results, in the state of stopping the operation of the motors, turning off the first switch while turning on the second switch, and turning on the semiconductor switching element of every motor that is connected between the other terminal of the capacitor and the motor coil, out of the upper arm or lower arm semiconductor switching element of the inverter unit connected to each motor;
the insulation resistance detector calculates a composite resistance value of the insulation resistance of all the motors using the first measurement results;
when the composite resistance value is lower than a reference value, the insulation resistance detector determines a voltage value and a current value measured by the voltage and current detector and a voltage value measured by the voltage detector as second measurement results, in the state of dividing all the motors into two arbitrary groups including a group A and a group B, and as to the motor belonging the group A, turning on the semiconductor switching element connected between the other terminal of the capacitor and the motor coil, out of the upper arm or lower arm semiconductor switching element of the inverter unit connected to each motor, and as to the motor belonging to the group B, turning on the semiconductor switching element connected between the one terminal of the capacitor and the motor coil, out of the upper arm or lower arm semiconductor switching element of the inverter unit connected to each motor; and
the insulation resistance detector calculates insulation resistance values between the coil of the motor belonging to the group A and the ground and between coil of the motor belonging to the group B and the ground, using the first measurement results and the second measurement results.

US Pat. No. 10,416,617

INJECTION MOLDING SYSTEM FOR THE CALCULATION OF OPTIMUM OPERATING CONDITIONS AND MACHINE LEARNING THEREFOR

FANUC CORPORATION, Yaman...

1. An injection molding system provided with at least one injection molding machine and having artificial intelligence that performs machine learning, the injection molding system comprising:a state observation section that observes, when injection molding is performed by the injection molding machine, physical amounts relating to the injection molding that is being performed;
a physical-amount data storage section that stores the physical-amount data observed by the state observation section;
a reward-conditions setting section that sets reward conditions for the machine learning;
a reward calculation section that calculates a reward based on the physical-amount data observed by the state observation section and the reward conditions set by the reward-conditions setting section;
an operating-conditions adjustment learning section that performs machine learning of adjusting operating conditions based on the reward calculated by the reward calculation section and operating conditions set in the injection molding system and the physical-amount data;
a learning-result storage section that stores a learning result of the machine learning by the operating-conditions adjustment learning section; and
an operating-conditions adjustment-amount output section that determines and outputs an operating condition to be adjusted and an adjustment amount on the basis of the learning result by the operating-conditions adjustment learning section.

US Pat. No. 10,416,645

NUMERICAL CONTROLLER ENABLING INCREASE IN NUMBER OF ANALYSIS DIGITS OF PROGRAM INSTRUCTION

Fanuc Corporation, Yaman...

1. A numerical controller comprising:a processor for which controlling a machine to perform machining of a workpiece in a machining region based on a program composed of at least one block, the processor configured to:
set division information which is information related to a plurality of areas obtained when the machining region is divided;
set a virtual coordinate system in the plurality of areas based on the division information;
set operation precision based on the division information;
analyze divided programs, the divided programs being obtained by dividing the program based on the division information, in accordance with the virtual coordinate system and the operation precision and outputs instruction data for instructing an operation of the machine based on an analysis result;
calculate interpolation data representing a position of a drive shaft on a moving path in each interpolation period in accordance with the virtual coordinate system and the operation precision, based on the instruction data;
control a speed of a servo motor in each interpolation period with respect to the interpolation data in accordance with the virtual coordinate system and the operation precision, the servo motor driving the machine along an axis in the virtual coordinate system; and
control a spindle motor to rotate a machine tool for machining the workpiece in the virtual coordinate system.

US Pat. No. 10,416,653

PARAMETER SETTING DEVICE AND PARAMETER SETTING METHOD

FANUC CORPORATION, Yaman...

1. A parameter setting device configured to set parameters for driving a machine in which a numerical controller is incorporated, comprising:a machine configuration file in which information is described pertaining to a configuration of the machine;
a parameter generating unit configured to generate parameters for driving the machine, based on the machine configuration file; and
a parameter setting unit configured to set the generated parameters in the numerical controller, wherein the machine configuration file contains:
order information including information of a model of the numerical controller, a type and number of motors, and a type and number of amplifiers;
connection information indicative of wire connections in the machine; and
machine information including information of a configuration of axes of the machine,
wherein the parameter setting device further comprises a file construction unit configured to acquire or generate the machine configuration file and wherein the file construction unit comprises a file supplementing unit having a supplementary table including the order information, the connection information, and the machine information, and in a case that a portion from among the order information, the connection information, and the machine information is insufficient in the machine configuration file that was acquired or generated by the file construction unit, the file supplementing unit supplements the insufficient portion of the information automatically from the supplementary table and, wherein the file supplementing unit, when automatically supplementing the insufficient portion of the information from the supplementary table, in a case that information requiring confirmation by an operator is to be added, adds information indicative of non-confirmation to the machine configuration file; and
the parameter generating unit, when generating the parameters for driving the machine, generates a parameter indicative of non-confirmation, based on the information indicative of non-confirmation.

US Pat. No. 10,409,670

ENCODER WITH ACCURACY CORRECTION FUNCTION

FANUC CORPORATION, Yaman...

1. An encoder including a body to be measured and a measuring body, the measuring body comprising:a detector to:
detect a movement amount of the body to be measured; and
generate an analog signal representative thereof, the analog signal having an error comprising periodic error components and aperiodic error components, the periodic error components have a periodicity within one rotation of the body to be measured and the aperiodic error components have no periodicity within the one rotation of the body to be measured; and
a signal processor comprising:
an analog-digital converter to digitize the analog signal to a digital signal, the digital signal having:
digitized values of signals representative of a position of the body to be measured,
digitized values of the periodic error components, and
digitized values of the aperiodic error components;
a storage to only store correction data for the digitized value of the aperiodic error components, the correction data being a result of previously-obtained digitized aperiodic error components after noise components are removed,
a first processor to receive the correction data from the storage and apply the correction data to the digital signal to remove the digitized value of the aperiodic error components from the digital signal, to generate a first signal; and
a second processor to calculate correction data for the periodic error components including an amplitude offset, and apply the calculated correction data for the periodic error components to the first signal to remove the periodic error components from the first signal to generate position data, wherein the position data represents the position of the body.

US Pat. No. 10,411,554

MOTOR WITH WIRING BOARD FORMED BY CONNECTING WINDING UNDER PRESSURE

FANUC CORPORATION, Yaman...

1. A motor with a wiring board attached to a stator with multiple wound windings, the wiring board comprising:a wiring settlement member where ends of the multiple windings are housed in their settled positions, the wiring settlement member being axially positioned above the multiple windings and covering a radial width of each winding; and
a circuit board with multiple terminals at positions corresponding to positions of the wiring settlement member where the windings are housed, wherein
the wiring settlement member includes:
multiple grooves extending from an inner peripheral surface of the wiring settlement member to an outer peripheral surface of the wiring settlement member in a radial pattern; and
recessed terminal housing parts communicating with the grooves and formed to allow the terminals to be housed in the terminal housing parts, each of the terminal housing parts being positioned in between the inner peripheral surface and the outer peripheral surface of the wiring settlement member, and formed above each winding of the stator in the axial direction, wherein
the grooves have a predetermined thickness in a direction in which the circuit board is arranged in relation to a stator core, and the multiple windings are settled in their positions by arranging ends of the windings inside the grooves, and wherein
attaching the circuit board having the multiple terminals at positions corresponding to positions of the wiring settlement member where the windings are housed to the wiring settlement member in a direction in which the circuit board is arranged causes the positioned terminals to be connected under pressure to respective ends of the windings.

US Pat. No. 10,408,611

MONITORING APPARATUS INCLUDING SENSORS

FANUC CORPORATION, Yaman...

1. An object monitoring apparatus, comprising:a first sensor that measures a spatial area and a second sensor that measures a spatial area corresponding to the spatial area measured by the first sensor;
a first judging unit that judges whether an object is present in a monitored area defined within the spatial area, based on measurement data of the first sensor;
a second judging unit that judges whether an object is present in an extended area extending toward an outside of the monitored area to a predetermined outside range, based on measurement data of the second sensor;
a first signal-output unit that outputs a first object-sensing signal as a result of judgement of the monitored area based on the measurement data of the first sensor, when the first judging unit judges that an object is present in the monitored area; and
a second signal-output, unit that outputs a second object-sensing signal as a result of judgement of the monitored area based on the measurement data of the second sensor, when the first judging unit judges that an object is present in the monitored area and in a case where the second judging unit judges that an object is present in the extended area.

US Pat. No. 10,389,288

MOTOR CONTROLLER

FANUC CORPORATION, Yaman...

1. A motor controller that performs speed sensorless control for a motor, comprising:a rotation speed estimating unit that estimates a rotation speed of the motor on the basis of current information and primary frequency information of the motor;
a proximity switch that outputs an ON signal when a portion of a rotating body of the motor is in proximity and outputs an OFF signal when a portion of the rotating body of the motor is not in proximity;
a rotation speed computing unit that computes a rotation speed of the motor on the basis of the ON signal and the OFF signal output from the proximity switch; and
an abnormality detection unit that detects an abnormality is a rotation speed estimation value or as abnormality in the proximity switch when a difference between the rotation speed estimation value estimated by the rotation speed estimating unit and a rotation speed computation value computed by the rotation speed computing unit is equal to or larger than a threshold.

US Pat. No. 10,386,816

MANUFACTURING MANAGEMENT SYSTEM FOR CHANGING ABNORMALITY DETECTION CONDITION ACCORDING TO MANUFACTURING PERIOD-OF-TIME INFORMATION

FANUC CORPORATION, Yaman...

1. A manufacturing management system, comprising:a manufacturing machine for manufacturing of an article;
a manufacturing management device that manages the manufacturing of the article; and
at least one machine control device that controls the manufacturing machine an under instruction from the manufacturing management device, wherein
the machine control device includes:
an abnormality detection unit that
acquires an internal state quantity of the manufacturing machine,
detects an abnormality of the manufacturing machine based on (i) the internal state quantity and (ii) a predetermined abnormality detection condition stored in the machine control device, and
transmits a signal indicating occurrence of the detected abnormality of the manufacturing machine to a control unit of the machine control device;
a command creation unit that creates a command for either a manufacturing operation or a preparation running operation of the manufacturing machine under instruction from the manufacturing management device; and
the control unit that
controls the manufacturing machine in accordance with the command of the command creation unit, and
transmits operating information indicating whether the manufacturing machine has been manufacturing or not to the manufacturing management device,
the manufacturing management device includes:
a manufacturing start time storage unit that stores a manufacturing start time of the manufacturing machine in advance;
a manufacturing period-of-time information storage unit that acquires and stores, based on the operating information of the manufacturing machine transmitted from the control unit, manufacturing period-of-time information relating to a period of time for which the manufacturing machine has been manufacturing;
an operation instruction unit that
performs a first determination as to which of the manufacturing operation and the preparation running operation is to be started based on (i) the manufacturing start time of the manufacturing machine and (ii) the manufacturing period-of-time information of the manufacturing machine, and
instructs the command creation unit based on a result of the first determination; and
an abnormality detection condition change instruction unit that
performs a second determination as to whether or not to change the predetermined abnormality detection condition based on (i) the manufacturing start time of the manufacturing machine and (ii) the manufacturing period-of-time information of the manufacturing machine, and
instructs the abnormality detection unit based on a result of the second determination, and
the abnormality detection unit, in response to being instructed by the abnormality detection condition change instruction unit of the manufacturing management device, further changes the predetermined abnormality detection condition.

US Pat. No. 10,376,975

WIRE ELECTRIC DISCHARGE MACHINE WITH TENSION MONITORING FUNCTION

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine with a tension monitoring function, the wire electric discharge machine configured to relatively move a wire electrode and a workpiece while applying voltage to an electrode gap formed between the wire electrode and the workpiece in machining the workpiece by removal processing, the wire electric discharge machine comprising:a tension generation device configured to stretch the wire electrode between a pair of guides, and generate tension in the wire electrode;
a first tension measurement device fixed on the wire electrode between the pair of guides, the first tension measurement device being configured to measure the tension of the wire electrode; and
a tension controller connected to the first tension measurement device and to the tension generation device, the tension controller being configured to
receive a tension value measured by the first tension measurement device,
output a tension command value to the tension generation device such that the tension value is equal to a target value, and
preset a range of tension of the wire electrode, the range corresponding to the target value,
wherein the tension controller is configured to generate a warning signal in response to the tension command value, which is output in response to the tension value actually measured by the first tension measurement device, being not within the range of tension preset by the tension controller,
wherein the wire electric discharge machine further comprises:
a robot; and
a second tension measurement device movably mounted on the wire electrode between the pair of guides, and the second tension measurement device being configured to measure the tension of the wire electrode,
wherein the tension controller is further configured to determine whether the tension generation device or the first tension measurement device is broken on the basis of the tension of the wire electrode measured by the second tension measurement device, and
wherein, in response to the warning signal,
the robot moves the second tension measurement device to the wire electrode and mounts the second tension measurement device on the wire electrode between the pair of guides, and
the second tension measurement device measures the tension of the wire electrode while the machining is stopped.

US Pat. No. 10,377,581

ARTICLE CONVEYING DEVICE USING AT LEAST ONE SENSOR

FANUC CORPORATION, Yaman...

1. An article conveying device comprising:a supplying section configured to convey a plurality of articles;
at least one position/orientation detecting section configured to detect a three-dimensional position/orientation of the article on the supplying section;
a movement amount detecting section configured to detect an amount of movement of the supplying section;
at least one working section configured to take out the article while following a conveying motion of the supplying section, and based on the three-dimensional position/orientation of the article detected by the position/orientation detecting section and based on the amount of movement of the supplying section detected by the movement amount detecting section; and
an article selecting section configured to, when the articles are conveyed while being overlapped with each other, select an article among the articles as an object to be taken out, on which another article is not overlapped on the object in a take-out direction determined for each of the articles, based on the three-dimensional position/orientation of the article detected by the position/orientation detecting section, and output a command to the working section for taking out the object to be taken out in the take-out direction, wherein each take-out direction varies depending on a shape of each article and the orientation of each article on the supplying section.

US Pat. No. 10,369,734

INJECTION MOLDING SYSTEM FOR PERFORMING ASSEMBLY OPERATION IN MOLD

FANUC CORPORATION, Yaman...

1. An injection molding system, comprising:a mold in which a first molded article and a second molded article can be simultaneously molded;
a first extruding member that extrudes the first molded article from a cavity of the mold;
a molded-article transfer device that includes a retention mechanism for retaining the first molded article extruded from the cavity of the mold, and transfers the first molded article retained by way of the retention mechanism to an assembling position in relation to the second molded article in the mold;
a second extruding member that extrudes the second molded article from the cavity of the mold against the first molded article retained at the assembling position in the mold by way of the retention mechanism of the molded-article transfer device, and assembles the second molded article to the first molded article; and
a load detection unit that detects load applied to both the second extruding member and the molded-article transfer device, wherein
defect discrimination of a state of fitting the first molded article, the second molded article, or an assembled state of the first molded article and the second molded article is performed, based on load detected by way of the load detection unit when the second molded article is assembled to the first molded article, in the mold.

US Pat. No. 10,374,736

SLAVE DEVICE, SERIAL COMMUNICATIONS SYSTEM, AND COMMUNICATION METHOD FOR SERIAL COMMUNICATIONS SYSTEM

FANUC CORPORATION, Yaman...

1. A slave device connected in a daisy chain fashion with a master device, and which is equipped with a communications circuit configured to carry out serial communications in a communication mode in which received data is transmitted in synchronism with its own clock pulse signal, the slave device further comprising:a communications line configured to carry out serial communications in a pass through mode in which the received data is directly transmitted without depending on its own clock pulse signal;
a switching unit configured to switch from the communication mode to the pass through mode; and
a control unit configured to control the switching unit,
wherein, in a case that the received data from the master device is synchronization request data configured to request time synchronization with a slave device other than itself, then after having transmitted in the communication mode the synchronization request data received by the slave device itself, the control unit controls the switching unit to switch from the communication mode to the pass through mode.

US Pat. No. 10,359,758

TOOL INFORMATION READ/WRITE DEVICE AND MACHINE TOOL HAVING THE SAME

FANUC CORPORATION, Yaman...

1. A tool information read/write device for reading/writing information stored in a data carrier of a tool held by an automatic tool changer and positioned to a predetermined position, the tool information read/write device comprising:an arm section attached to the automatic tool changer;
a base section attached to the arm section;
a slide section arranged on the base section so as to be linearly moved;
an adjustment mechanism between the base section and the arm section, the adjustment mechanism being configured to adjust and fix a position and orientation of the base section relative to the arm section:
a read/write head section attached to the slide section and configured to read/write information to the data carrier;
a drive section which drives the slide section so that the slide section reciprocates between
a read/write position where the read/write head reads or writes the information of the data carrier of the tool positioned at the predetermined position, and
an evacuation position which is backwardly separated from the read/write position; and
a control section which controls the drive section in conjunction with a motion of the automatic tool changer.

US Pat. No. 10,353,959

COMPONENT ASSEMBLY SYSTEM AND METHOD USING INSPECTION INFORMATION

FANUC CORPORATION, Yaman...

1. A component assembly system, comprising:a component reserving device configured to reserve each of a plurality of first components and a plurality of second components;
a controller configured to
read first inspection information regarding assembling and associated with each of the plurality of first components each having a dimension within a specified tolerance,
read second inspection information regarding assembling and associated with each of the plurality of second components each having a dimension within a specified tolerance and being configured to be assembled to each of the first components,
store a relationship between each component among the first and second components, the inspection information of said each component, and a reserve position of said each component in the component reserving device,
provide a plurality of first groups each including a predetermined number of the first components, and a plurality of second groups each including the same predetermined number of the second components,
order the first components in each of the first groups based on the first inspection information,
order the second components in each of the second groups based on the second inspection information, and
determine a combination of one first component in each first group and one second component in each second group on one-to-one correspondence, based on the ordering of the first components and the ordering of the second components; and
a component conveying device configured to convey the first and second components corresponding to the determined combination from the component reserving device to an assembly device, by using the relationship stored in the controller.

US Pat. No. 10,355,544

ROTOR MEMBER FIXED TO ROTARY SHAFT OF ELECTRICAL ROTATING MACHINE, ROTOR, ROTARY ELECTRIC MACHINE AND METHOD FOR DISASSEMBLING ROTOR

FANUC CORPORATION, Yaman...

1. A rotor member fixed to a rotary shaft of a rotary electric machine, comprising:a plurality of magnet mounting member segments arranged to align in the circumferential direction of the rotary shaft, each magnet mounting member segment having an inner periphery and outer periphery which are flat surfaces;
a plurality of magnets respectively arranged on the outer peripheries of the plurality of magnet mounting member segments; and
a tubular holding member arranged radially outside of the plurality of magnets so as to surround the plurality of magnets, wherein the inner periphery of each magnet mounting member segment is a tapered-flat surface slanted with respect to an axis of the rotary shaft so as to continuously expand radially outward as it extends from an axially first end of the magnet mounting member segment toward an axially second end of the magnet mounting member segment opposite the first end.

US Pat. No. 10,355,545

ROTATING-ELECTRIC-MACHINE ROTOR STRUCTURE, AND ROTATING ELECTRIC MACHINE

FANUC CORPORATION, Yaman...

1. A rotating-electric-machine rotor structure comprising:a cylindrical rotor core; and
a plurality of permanent magnets that are adhered to an outer circumferential surface of the rotor core with an adhesive;
wherein the rotor core is formed by alternately or periodically stacking a plurality of electromagnetic steel plates, the plurality of electromagnetic steel plates including a plurality of large-diameter electromagnetic steel plates having a large outer diameter and a plurality of small-diameter electromagnetic steel plates having a small outer diameter,
wherein, in an adhesion surface of the rotor core to which the permanent magnets are adhered, a plurality of protrusions that extend in a radially outward direction are formed by a diameter difference between adjacent ones of the large-diameter electromagnetic steel plates and the small-diameter electromagnetic steel plates,
wherein the plurality of protrusions are formed so as to deform in a stacking direction of the electromagnetic steel plates, and
wherein the plurality of permanent magnets are adhered so as to straddle the plurality of protrusions.

US Pat. No. 10,355,565

METHOD OF MANUFACTURING STATOR FOR MOTOR

FANUC CORPORATION, Yaman...

1. A method for manufacturing a stator of a motor, the method comprising:first stamping a first stator core from a first electromagnetic steel sheet, which extends in a first rolling direction,
second stamping a second stator core from a second electromagnetic steel sheet, which extends in a second rolling direction, and
laminating the first stator core and the second stator core to form the stator of the motor,
prior to the first stamping and the second stamping, setting a first position of the first stator core and a second position of the second stator core so that, during the laminating, an angular difference between the first rolling direction and the second rolling direction equals 360 degrees divided by a product of four times a motor pole pair number of the motor,
prior to the first stamping, for the first stator core, aligning a location of the first electromagnetic steel sheet at which the first stator is stamped out in one row in the first rolling direction in which the first electromagnetic steel sheet extends, and setting a positional relationship in which an orientation of a shortest segment, among virtual segments linking opposite sides or diagonals by passing through a center of the first stator core, is orthogonal to the first rolling direction, and
prior to the second stamping, for the second stator core, aligning a location of the second electromagnetic steel sheet at which the second stator is stamped out in two rows in the second rolling direction in which the second electromagnetic steel sheet extends, and setting a slope relative to a width direction of a shortest segment among virtual segments linking opposite sides or diagonals which pass through a center of the second stator core, so that the angular difference is produced.

US Pat. No. 10,355,575

LINEAR MOTOR WITH REDUCED COGGING FORCE

FANUC CORPORATION, Yaman...

1. A linear motor comprising:a plurality of magnets arranged at equal intervals; and
an armature arranged opposite to the magnets, the armature comprising an armature core having a plurality of teeth extending toward the magnets, the linear motor being configured to generate thrust in a thrust direction along a plane facing the magnets and the armature,
wherein the teeth include a first tooth located at one end of the armature core in the thrust direction and a second tooth located at the other end opposite to the one end, the first tooth and the second tooth having different dimensions or different shapes from each other, so as to reduce cogging force generated due to a structure of the armature core at ends in the thrust direction,
wherein the armature core comprises a first armature core element and a second armature core element having the same shape in cross section as each other in the thrust direction,
wherein a width of the first tooth in the thrust direction of the first armature core element is different from a width of the second tooth in the thrust direction of the first armature core element,
wherein a width of the first tooth in the thrust direction of the second armature core element is different from a width of the second tooth in the thrust direction of the second armature core element,
wherein the teeth further include a third tooth and a fourth tooth respectively adjacent to the first tooth and the second tooth in the thrust direction, each width in the thrust direction of the third tooth and the fourth tooth being identical to that of the first tooth,
wherein the first armature core element and the second armature core element are juxtaposed on the same side relative to the plurality of magnets and in a transverse direction perpendicular to the thrust direction,
wherein the first armature core element is oriented in a direction opposite to the second armature core element with respect to the thrust direction, so that the first tooth has a projecting portion projecting toward the thrust direction and the second tooth has a depressed portion depressed toward the thrust direction,
wherein a width of the first tooth in the thrust direction of the second armature core element is equal to a width of the first tooth in the thrust direction of the first armature core element, and
wherein the first tooth and the second tooth of each of the first armature core element and the second armature core element are rectangular parallelepiped.

US Pat. No. 10,346,332

SLAVE DEVICE

FANUC CORPORATION, Yaman...

1. A slave device for performing master-slave communication with a master device and, in response to a data request sent from the master device, sending data requested by the data request as a response, the slave device comprising:a data section for storing data;
a functional operating section for updating data stored in the data section;
a data update management section for managing an update of data stored in the data section; and
a command analysis section for, in response to a data request sent from the master device,
determining whether a piece of data requested by the data request among data stored in the data section has been updated after previous transmission of the piece of data,
sending the updated piece of data as a response to the data request if it is determined that the piece of data have been updated after the previous transmission, and
suspending a response to the data request if it is determined that the piece of data has not been updated after the previous transmission, wherein
while the command analysis section suspends the response to the data request, the command analysis section is configured to monitor whether the data stored in the data section is updated,
in response to the data stored in the data section being updated within a predetermined period of time after the data request is sent from the master device, the command analysis section is configured to read the updated data stored in the data section and send, as the response to the data request, the updated data to the master device, and
in response to the data stored in the data section not being updated within the predetermined period of time after the data request is sent from the master device, the command analysis section is configured to send, as the response to the data request, the unupdated data stored in the data section to the master device.

US Pat. No. 10,335,912

RADIATING STRUCTURE FOR MAIN SPINDLE IN MACHINING APPARATUS

FANUC CORPORATION, Yaman...

1. A radiating structure for a main spindle in a machining apparatus, the radiating structure comprising:a drive key fixing member having a drive key configured to prevent a phase shift in a rotation direction of a tool holder arising from rotation of the main spindle when
the drive key fixing member is fixed to a distal end of the main spindle, and
a tapered portion of the tool holder is detachably mounted into a tapered bore formed at the distal end of the main spindle so that the drive key is fit into a key groove formed in the tool holder; and
a radiating member configured to exchange heat with an ambient atmosphere as the drive key fixing member rotates together with the rotation of the main spindle, wherein
the drive key fixing member has an annular hub which has, along an axial direction of the main spindle, a front end and a rear end,
the drive key has
a first portion that extends from the front end of the annular hub forward along the axial direction of the main spindle, and
a second portion that extends from a front end of the first portion, inwardly in a radial direction of the main spindle,
the radiating member extends from an outer circumferential surface of the annular hub outwardly in the radial direction of the main spindle and has a front side facing toward the drive key in the axial direction of the main spindle,
the radiating member includes a plurality of grooves formed on the front side for increasing an area of contact with the atmosphere and agitating the atmosphere,
the radiating member is integral with the drive key fixing member,
the radiating member is of a same material as the drive key fixing member, and
the radiating member and the drive key fixing member are part of a unitary body of said material.

US Pat. No. 10,335,944

ROBOT WRIST STRUCTURE

FANUC CORPORATION, Yaman...

1. A robot wrist structure comprising:a first wrist element cantilevered so as to be rotatable about a first axis;
a second wrist element cantilevered by the first wrist element so as to be rotatable about a second axis that intersects the first axis;
a third wrist element cantilevered by the second wrist element so as to be rotatable about a third axis that intersects the second axis;
two drive motors disposed in the first wrist element, the two drive motors being configured to drive the second wrist element and the third wrist element, respectively; and
two gear sets that reduce speeds of rotation of the drive motors,
wherein one of the gear sets includes a driven-side large-diameter gear that rotates the second wrist element and another of the gear sets includes a driven-side small-diameter gear that rotates the third wrist element, where the driven-side large-diameter gear and the driven-side small-diameter gear are coaxially arranged so as to be rotatable about the second axis,
and
the second wrist element includes a first housing that is fixed to the driven-side large-diameter gear and a second housing that rotatably supports the third wrist element, wherein
a shaft that is supported so as to be rotatable about the second axis and has one end fixed to the driven-side small-diameter gear and the other end fixed to a drive-side bevel gear is accommodated in the first housing;
the drive-side bevel gear is meshed with a driven-side bevel gear fixed to the third wrist element;
the first housing has a flange face;
the flange face is disposed at a position displaced to a side on which the driven-side small-diameter gear is located, and about an entire circumference of the drive-side bevel gear;
the second housing is fixed to the flange face;
the first housing includes a cylinder inner face set back from the flange face and whose center lies on the second axis and which is adjacent to the flange face, and the first housing is gradually decreased in height in a stepwise manner in a radial direction between an unner surface of the first housing and the flange face, wherein the flange face is the most radial outward surface relative to the second axis;
the second housing includes a fitting face that is formed of a protruding cylinder face,
wherein the drive-side bevel gear is meshed with the driven-side bevel gear by fitting and fastening the cylinder inner face to the fitting face to bring the second housing in close contact with the first housing.

US Pat. No. 10,338,129

DETERIORATION DETECTION DEVICE FOR PRINTED CIRCUIT BOARD

FANUC CORPORATION, Yaman...

1. A deterioration detection device for detecting deterioration of a printed circuit board in an electronic device, the deterioration detection device comprising:a deterioration state detection unit including
a monitoring conductor for detecting deterioration, and
a voltage supply conductor for supplying voltage arranged on the printed circuit board at a distance from the monitoring conductor, wherein
the voltage supply conductor is applied a given voltage by a voltage source through a plurality of points,
the monitoring conductor is applied, from the voltage supply conductor and through a resistance between the monitoring conductor and the voltage supply conductor, a voltage lower than that applied to the voltage supply conductor, and
a variation of the voltage from the monitoring conductor is detected as an output signal indicative of a deterioration state of the printed circuit board; and
a deterioration determination detection unit configured to
determine and detect the deterioration state of the printed circuit board, based on the output signal of the deterioration state detection unit, and
output a deterioration detection signal,
wherein the deterioration state detection unit comprises one or more amplifier circuits connected to the monitoring conductor such that an output or outputs of the amplifier circuit or circuits are regarded as the output of the deterioration state detection unit.

US Pat. No. 10,339,668

OBJECT RECOGNITION APPARATUS

FANUC CORPORATION, Yaman...

1. An object recognition apparatus comprising:a two-dimensional sensor for acquiring two-dimensional information of an object at a first clock time;
a three-dimensional sensor for acquiring three-dimensional information of the object at a second clock time;
a storage unit that associates and stores a first position of the two-dimensional sensor at the first clock time and the two-dimensional information and that associates and stores a second position of the three-dimensional sensor at the second clock time and the three-dimensional information; and
an arithmetic operation unit that calculates an amount of change in orientation between the orientation of the two-dimensional sensor at the first position and the orientation of the three-dimensional sensor at the second position on the basis of the first position and the second position stored in the storage unit, that converts the three-dimensional information acquired at the second position into three-dimensional information acquired at the first position on the basis of the calculated amount of change in orientation, and that calculates a state of the object on the basis of the converted three-dimensional information and the two-dimensional information.

US Pat. No. 10,324,438

SEQUENCE-CONTROL PROGRAMMING APPARATUS, SEQUENCE-CONTROL PROGRAMMING METHOD, AND OPERATING SYSTEM

FANUC CORPORATION, Yaman...

1. A sequence-control programming apparatus that generates a control program for sequence control of an operating system including a robot and an operating instrument that cooperates with the robot, the sequence-control programming apparatus comprising:a storage device that stores plural types of given ladders respectively describing plural types of commands separately from each other by ladder logic, the commands related to a specific operation to be executed by the operating system, and several given ladders describing commands of mutually different contents and being provided in connection with each of the plural types of given ladders; and
a processor that
prepares a selection sheet including select fields corresponding to the several given ladders provided in connection with each of the plural types of given ladders,
receives a selection input in the select fields of the selection sheet for selecting one or more of the several given ladders provided in connection with each of the plural types of given ladders so as to select a plurality of desired given ladders from the plural types of given ladders,
extracts the plurality of desired given ladders from the storage device in accordance with the selection input, and
combines the extracted desired given ladders to convert the extracted desired given ladders into a single system-compatible ladder for making the operating system execute the specific operation, so as to generate the control program, wherein a controller controls at least one of the robot and the operating instrument in accordance with the control program generated by the sequence-control programming apparatus.

US Pat. No. 10,317,258

ROTARY ENCODER HAVING FUNCTION TO OBTAIN MOISTURE ABSORBING AMOUNT OF DESICCANT

FANUC CORPORATION, Yaman...

1. A rotary encoder, comprising:a hermetically sealed structure configured to define a sealed space;
a rotary plate arranged in the sealed space;
at least one desiccant arranged in the sealed space;
a circuit board arranged in the sealed space and including an electric circuit configured to obtain a moisture absorbing amount of the desiccant;
an element provided on the circuit board for detection of rotation of the rotary plate; and
a holding member attached to the circuit board and arranged in the sealed space, the holding member configured to hold the desiccant at a predetermined position in the sealed space.

US Pat. No. 10,317,853

MACHINE LEARNING METHOD AND MACHINE LEARNING DEVICE FOR LEARNING FAULT CONDITIONS, AND FAULT PREDICTION DEVICE AND FAULT PREDICTION SYSTEM INCLUDING THE MACHINE LEARNING DEVICE

FANUC CORPORATION, Yaman...

1. A machine learning device configured to learn a condition associated with a fault of an industrial machine, the machine learning device comprising:a memory; and
at least one processor coupled to the memory, the at least one processor being configured to:
while the industrial machine is in operation or at rest, obtain a state variable including at least one of
output data from a sensor configured to detect a state of one of the industrial machine and a surrounding environment,
internal data of control software controlling the industrial machine, and
computational data obtained based on one of the output data and the internal data;
obtain determination data indicating a fault of the industrial machine, and
learn the condition associated with the fault of the industrial machine in accordance with a training data set including a combination of the state variable and the determination data, wherein
the fault of the industrial machine is predicted in accordance with the learned condition, and
the at least one processor is further configured to update the condition by weighting each of the determination data comprised in the training data set, in accordance with a length of time from when each of the determination data is obtained until the fault actually occurs.

US Pat. No. 10,317,866

STATE CHANGE MANAGEMENT SYSTEM FOR MANUFACTURING CELL IN CELL CONTROL SYSTEM

FANUC CORPORATION, Yaman...

1. A state change management system of a manufacturing cell in a cell control system, whereinthe cell control system is connected via a communication device to a manufacturing cell composed of multiple manufacturing machines including at least one of a robot, a PLC (Programmable Logic Controller), and a machine tool for manufacturing a product, and is connected via the communication device to a computer that performs production planning of the product manufactured by the manufacturing cell, thereby carrying out manufacturing management by transmission and reception of manufacturing information with the manufacturing cell and the computer, and
the state change management system comprises:
a processor configured to
receive, from the manufacturing cell, event information items in different forms generated from the multiple manufacturing machines, the event information items including at least one of an alarm, a warning and a change in machining condition,
determine whether or not there is a state change in the multiple manufacturing machines based on the received event information items,
execute a process of converting the received event information items in the different forms into a standardized form, the process including a process of standardizing formats and a process of standardizing languages, and
output event information in the standardized form to the computer.

US Pat. No. 10,317,876

NUMERICAL CONTROL DEVICE AND CONTROL METHOD FOR NUMERICAL CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A numerical control device for controlling a machine tool configured to machine a workpiece with a tool, comprising:a program look-ahead unit configured to sequentially preread and analyze multiple blocks constituting a machining program in order from an initial one of the blocks; and
a program execution unit configured to execute the blocks preread and analyzed by the program look-ahead unit to thereby control machining operations and an auxiliary operation configured to assist the machining operations, wherein:
the multiple blocks include machining operation blocks with machining codes for performing the machining operations being written therein, and an auxiliary operation block with an auxiliary function code for performing the auxiliary operation being written therein;
the program execution unit is configured to
sequentially execute the blocks in order from the initial block,
concerning the auxiliary operation block, shift an execution start time of the auxiliary operation block by an offset time corresponding to the auxiliary function code written in the auxiliary operation block,
calculate a completion time required to complete execution of all machining operation blocks that have not yet been executed, among the already-preread machining operation blocks, at a detection time when the auxiliary operation block is detected by prereading of the program look-ahead unit, and
start execution of the detected auxiliary operation block at the execution start time that is shifted by the offset time from the calculated completion time.

US Pat. No. 10,303,495

ROBOT SYSTEM INCLUDING CNC AND ROBOT CONTROLLER CONNECTED THROUGH COMMUNICATION NETWORK

FANUC CORPORATION, Yaman...

1. A robot system including a machine using CNC, a robot controller connected to the CNC through a communication network, and a display device displaying a GUI screen of the machine, the robot system comprising:a machine attribute value storage part storing a combination of values corresponding to attributes of the types, appearances, and display positions for addition of display elements of the robot to the GUI screen of the display device and a combination of values corresponding to attributes of various definition types of both operations and responses of the display elements; and
a machine screen generation part using the combinations of values corresponding to attributes stored in the machine attribute value storage part as the basis to generate and add display elements of the robot to the GUI screen of the machine,
wherein when the machine attribute value storage part stores combinations of values corresponding to attributes of the display elements of the robot and various definition types of both operations and responses of the display elements, the machine screen generation part is configured to generate the GUI screen of the display device including the display elements of the robot,
wherein confirmation of status or operation of the robot from the machine is enabled when the CNC and the robot controller are communicating,
wherein the robot controller further comprises a robot attribute value storage part for adding display elements of the robot and various definition types of both operations and responses of the display elements to the GUI screen of the display device,
wherein the robot system further comprises:
a display device GUI screen capture processing part by which the machine captures the GUI screen of the display device to obtain screen capture image data,
a second transmitter part transmitting the screen capture image data from the display device GUI screen capture processing part via the communication network to the robot controller,
a third generation part by which the robot controller analyzes the transmitted screen capture image data to identify the appearances, display positions, and types of the display elements of the GUI screen of the display device, makes the values corresponding to the attributes of the appearances of the display elements of the robot stored in the robot attribute value storage part to be added match the appearances identified from the screen capture image data, and prepares a combination of values corresponding to the attributes of the display elements of the robot matching the appearances of the display elements of the GUI screen of the display device, and
a fourth generation part extracting an arrangement rule of the display elements at a region of the GUI screen of the display device separated by at least utility or purpose by analysis of the positions of the display elements identified from the screen capture image data, applying it to the display elements of the robot stored in the robot attribute value storage part to be added, and preparing a combination of attribute values of the display positions of each display element of the robot,
wherein the machine attribute value storage part is configured to reflect the combination of values corresponding to the attributes of the display elements of the robot matching the appearances of the display elements of the GUI screen of the display device prepared and the combination of attribute values of the display positions of each display element of the robot prepared via the communication network, and
wherein the machine screen generation part is configured to again generate a GUI screen of the display as the attribute values of the machine attribute value storage part change.

US Pat. No. 10,289,095

WIRE ELECTRIC DISCHARGE MACHINING SYSTEM

FANUC CORPORATION, Yaman...

1. A wire electric discharge machining system, comprising:a wire electric discharge machine configured to
relatively move a wire electrode and a workpiece to be machined according to a program, and
subject the workpiece to be machined to electric discharge machining by the wire electrode;
at least one hand;
a robot having an arm, the hand being mounted on a head of the arm of the robot; and
a visual sensor configured to detect a position of a machined workpiece in a machining tank of the wire electric discharge machine, wherein
the machined workpiece has been cut from the workpiece to be machined by the electric discharge machining, and
the robot is configured to perform, by using the hand, an operation of removing the machined workpiece dropped into the machining tank from the machining tank, based on the position of the machined workpiece, which has been detected by the visual sensor.

US Pat. No. 10,285,594

ELECTRIC MOTOR CAPABLE OF REDUCING COGGING TORQUE

FANUC CORPORATION, Yaman...

1. A method of reducing cogging torque in a synchronous electric motor comprising:providing a rotor including a plurality of magnetic pole units, each magnetic pole unit having the same shape wherein each magnetic pole unit has an outer peripheral surface and each of the magnetic pole units has a magnetic pole center P1; and
providing a stator including slots facing the outer peripheral surface of the rotor, wherein,
correcting the outer peripheral surface of each of the magnetic poles by adding a correction amount based on a sine function to a reference surface to create a corrected outer peripheral surface, the reference surface having a rotor radius given by:
R=a?b/cos(c?)
and the correction amount is given by:
?R=d sin(e?),
wherein, the corrected outer peripheral surface has a rotor radius given by:
R+?R=a?b/cos(c?)+d sin(e?),
wherein,
a is a radius of an inner peripheral surface of the stator,
b is a minimum gap between the rotor and the stator,
c is a coefficient,
? is a mechanical angle between about ?7.5° and about 7.5°,
d is a maximum correction amount, and
e is a coefficient set so that e? is about 180° when the mechanical angle is at its maximum value and about ?180° when the mechanical angle is at its minimum value,
wherein the corrected outer peripheral surface of each of the magnetic pole units is bulged to an outside in a radial direction so that a waveform of a magnetic flux density generated from the rotor is a sine wave shape, and
a concave part is formed at a central part in a circumferential direction of an outer peripheral surface in each of the magnetic pole units, the concave part being small enough to prevent changing of a waveform cycle of cogging torque determined by a least common multiple of the number of slots and the number of magnetic poles of the rotor.

US Pat. No. 10,279,524

MOUNTING STAND FOR INJECTION APPARATUS AND INJECTION MOLDING APPARATUS

FANUC CORPORATION, Yaman...

1. A mounting stand for an injection apparatus, the mounting stand comprising:a base member;
an erecting member which is vertically arranged on the base member and to which the injection apparatus is attached;
a base member protruding portion provided on an upper surface of the base member around a portion of the base member that comes into contact with the erecting member;
an erecting member protruding portion provided on a side surface of the erecting member around a portion of the erecting member that comes into contact with the base member; and
an anchored portion at which a side surface of the base member protruding portion is anchored to a side surface of the erecting member protruding portion,
wherein the mounting stand is movable with respect to a support that supports the base member of the mounting stand.

US Pat. No. 10,281,900

NUMERICAL CONTROLLER WITH SUBMERSION PROTECTION CIRCUIT

FANUC Corporation, Minam...

1. A numerical controller, the numerical controller including a processor and a memory having instructions stored therein, when executed by the processor, perform a method comprising:detecting, using a water level sensor, a water level;
supplying power to the numerical controller, via a main power source, when the main power source is turned on; and
supplying power to the numerical controller, via a back-up power source, when the main power source is turned off,
wherein the memory and the water level sensor receive power from the backup power source when the main power source is turned off,
wherein the memory and the water level sensor receive power from the main power source when the main power source is turned on,
wherein when the water level sensor detects a second first water level, the main power source is turned off, and
wherein, after the water level sensor detects the first water level and when the water level sensor detects a second water level, power from the backup power source is cutoff, the first water level being less than the second water level.

US Pat. No. 10,281,901

NUMERICAL CONTROLLER FOR REDUCING CONSUMED POWER IN NON-CUTTING STATE

Fanuc Corporation, Yaman...

1. A numerical controller comprising:a program analysis unit that analyzes a machining program; and
a program execution unit that outputs a program execution command ire accordance with the machining program,
wherein the program analysis unit looks ahead the machining program to detect one non-cutting block or a plurality of consecutive non-cutting blocks, and calculates first consumed power needed during an execution duration of the non-cutting block to shift equipment to a power saving state, operate the equipment in the power saving state, and restore the equipment to a state before the shifting to the power saving state, and second consumed power needed during the execution duration of the non-cutting block to operate the equipment without shifting the equipment to the power saving state, and
when the first consumed power is lower than the second consumed power, the program analysis unit creates an equipment operation variation pattern according to which the equipment is to be shifted to the power saving state, operated in the power saving state, and then restored to the state before the shifting to the power saving state,
wherein the power saving state is a state where a continuous axis operation including an oscillating operation or a circular motion is changed, or a state where an operation of a peripheral equipment including a coolant apparatus, a cutting chip discharge apparatus, an air blow output apparatus and a machining state monitoring apparatus is changed.

US Pat. No. 10,279,427

BEAM DISTRIBUTOR

FANUC CORPORATION, Yaman...

1. A beam distributor comprising:a housing through which a beam passes;
one or more beam incidence openings;
one or more beam exiting openings;
a beam director that changes a direction of a beam incident into the housing from the beam incidence opening so that the beam is guided to the beam exiting opening, the beam director movable to a plurality of positions;
a first drive that moves the beam director in an optical axis direction of an incident beam from a first one of the plurality of positions to a second one of the plurality of positions;
and
a guide laser that oscillates a visible light positioned on and movable with the beam director,
wherein
the beam director has a dichroic property that the beam director reflects the incident beam and transmits the visible light, and
the guide laser is disposed so as to move with movement of the beam director from the first one of the plurality of positions to the second one of the plurality of positions in the optical axis direction of the incident beam when oscillating the visible light so that the visible light passes through the beam director and an optical axis thereof is identical to an optical axis of the reflection beam.

US Pat. No. 10,279,448

MACHINING SYSTEM AND REMOVAL SYSTEM HAVING MACHINING CHIP REMOVING FUNCTION

FANUC CORPORATION, Yaman...

1. A machining system comprising: a machine tool equipped with a machining tool; a robot configured to be able to use selectively a gripper capable of gripping a workpiece to be machined by the machine tool and a removal tool used for removing machining chips; and an image capturing device attached to a moving part of the robot, wherein the machining system includes:an image processing unit which detects position and amount of the machining chips adhering to the workpiece and the machining tool by comparing a first reference image acquired by shooting the workpiece and the machining tool with the image capturing device before starting the machining with a first target image acquired by shooting the workpiece and the machining tool with the image capturing device after starting the machining;
a condition judging unit which determines whether or not there is a need to remove the machining chips, based on the amount of the machining chips detected by the image processing unit;
a removal executing unit which, if it is determined by the condition judging unit that there is a need to remove the machining chips, then operates the robot and executes a removal step to remove the machining chips using the removal tool, based on the position of the machining chips detected by the image processing unit; and
a result judging unit which judges a result of the removal step by comparing a second reference image acquired by shooting the workpiece and the machining tool with the image capturing device just before the execution of the removal step with a second target image acquired by shooting the workpiece and the machining tool with the image capturing device immediately after the execution of the removal step.

US Pat. No. 10,265,853

LASER WELDING SYSTEM

FANUC CORPORATION, Yaman...

1. A laser welding system comprising a robot, a laser head provided to a leading end of an arm of the robot, a control unit that controls operations of the robot and the laser head, and a laser light source that generates a laser beam,wherein the laser head includes: at least one mirror which is configured to be rotatable around a rotation axis, and reflects the laser beam; and
a motor that rotationally drives the mirror, and
wherein the control unit includes: an acceleration acquisition section that acquires acceleration of vibration occurring at the leading end of the arm due to operation of the robot and
a command correction section that corrects a control command to the motor which rotationally drives the mirror so as to suppress divergence of a laser beam irradiation position due to the vibration, based on the acceleration of the vibration acquired by the acceleration acquisition section,
the laser welding system further comprising an electric current sensor that detects drive current of a motor driving the robot,
wherein the acceleration acquisition section is configured to include the electric current sensor, and calculates the acceleration of the vibration from the drive current detected by the electric current sensor.

US Pat. No. 10,259,116

ROBOT SYSTEM

Fanuc Corporation, Yaman...

1. A robot system comprising:a distance image data acquisition device that chronologically and sequentially acquires distance image data containing at least a partial image of a work area for a robot and at least a partial image of an area that an operator or another robot is allowed to enter;
a reference image data storage which stores at least one reference image data that is to be compared with an image appearing in the series of distance image data in order to recognize the operator or the other robot in the series of distance image data by the comparison; and
a controller, wherein the controller conducts:
a recognition process that refers to the reference image data and recognizes the operator or the other robot in the series of distance image data as a security surveillance target;
an area setting process that sets a common work area in the series of distance image data, the common work area being an area that the robot is allowed to enter and the operator recognized as the security surveillance target or the other robot recognized as the security surveillance target is also allowed to enter;
a boundary setting process that sets a first boundary and a second boundary in the series of distance image data, the first boundary being a boundary that the operator recognized as the security surveillance target or the other robot recognized as the security surveillance target is allowed to cross for entering the common work area but the robot or a non-target object not recognized as the security surveillance target is not allowed to cross, the second boundary being a boundary that the robot is allowed to cross for entering the common work area but the operator or the other robot is not allowed to cross; and
a boundary crossing detection process that detects, in the series of distance image data, crossing of the second boundary by the security surveillance target and crossing of the first boundary by the non-target object not recognized as the security surveillance target.

US Pat. No. 10,241,324

MACHINE LEARNING DEVICE FOR LEARNING PROCEDURE FOR ALIGNING OPTICAL PART OF LIGHT SOURCE UNIT, AND LIGHT-SOURCE UNIT MANUFACTURING APPARATUS

FANUC CORPORATION, Yaman...

1. A machine learning device that learns a procedure for aligning optical parts of a light source unit, the machine learning device comprising:a state observation unit that acquires state data including a position and an orientation of the optical part and quality information on a component of the light source unit;
a decision data acquisition unit that acquires decision data including an adjustment time of the position and the orientation of the optical part and a state of light measured by a light measurement device; and
a learning unit that learns a procedure for adjusting the position and the orientation of the optical part based on the state data acquired by the state observation unit and the decision data acquired by the decision data acquisition unit,
the learning unit including:
a reward calculation unit that calculates a reward based on the adjustment time and the state of light that are acquired by the decision data acquisition unit;
a value function updating unit that updates a value function based on the reward set by the reward calculation unit; and
a decision unit that sets a movement method of the optical part based on the value function.

US Pat. No. 10,241,501

NUMERICAL CONTROLLER HAVING AUTOMATIC TRACE FUNCTION OF RELATED SIGNAL IN ASSOCIATION WITH NC PROGRAM OPERATION

Fanuc Corporation, Yaman...

1. A numerical controller including a programmable controller that performs input and output of a signal based on a ladder program and performing control of a machine based on an NC program, the numerical controller comprising:a processor configured to:
register therein NC function related signal data formed by associating a function code that commands a function usable in control of the machine, a code output signal that is output by the function, and a code input signal that indicates that external processing related to the function has been completed;
register therein functional sampling signal data formed by associating the code output signal, the code input signal, and a signal in a dependent relation with the code output signal and the code input signal included in the ladder program;
preread a block of the NC program and output a function code of a function commanded by the block;
refer to the NC function related signal table and the functional sampling signal table based on the function code output and identify a signal to be subjected to automatic trace during execution of the function; and
trace the signal to be subjected to automatic trace.

US Pat. No. 10,230,209

LASER CONTROL DEVICE, METHOD AND PROGRAM

FANUC CORPORATION, Yaman...

1. A laser control device, comprising:a laser oscillator having a light output;
a detector positioned to detect the light output from the laser oscillator;
an averaging circuit that averages actual instantaneous values of intensity of light that is output from the laser oscillator during a predetermined period based on a set time constant, thereby calculating a first filter value;
a data processing unit that averages a plurality of first filter values to calculate an actual average value, for each predetermined processing period, thereby calculating a second filter value;
a reference value generation unit that generates an output reduction reference value, based on an output command value for the laser oscillator; and
an output reduction determination unit that compares the actual instantaneous value or the second filter value with the output reduction reference value, thereby determining output reduction of the laser oscillator, and upon determining that the output of the laser oscillator is reduced, stops the light output of the laser oscillator, wherein
in a case in which pulse on time in the output command value exceeds a sum of the processing period and start-up time of a power supply of the laser oscillator, if the actual instantaneous value falls below the output reduction reference value, the output reduction determination unit determines that an output is reduced, and
in a case in which the pulse on time is equal to or less than the sum, if the second filter value falls below the output reduction reference value, the output reduction determination unit determines that an output is reduced.

US Pat. No. 10,224,852

CONTROL DEVICE OF INDUCTION MOTOR

FANUC CORPORATION, Yaman...

1. A control device of an induction motor which performs vector control on the induction motor, the control device comprising:an excitation current command generation portion which Generates an excitation current command value based on a magnetic flux command value and which limits the excitation current command value based on an excitation current command maximum value;
a torque current command generation portion which generates a torque current command value based on a torque command value and which limits the torque current command value based on a torque current command maximum value;
a drive portion which supplies a drive current to the induction motor based on the excitation current command value and the torque current command value; and
a current command maximum value setting portion which sets the excitation current command maximum value and the torque current command maximum value,
wherein the current command maximum value setting portion changes, when the induction motor is accelerated/decelerated, the excitation current command maximum value based on which one of a first excitation current command maximum value and a second excitation current command maximum value is lower, and changes the torque current command maximum value based on the excitation current command maximum value and an allowable maximum current value of the induction motor or the drive portion,
the first excitation current command maximum value is based on the allowable maximum current value and
the second excitation current command maximum value is based on a power supply voltage of the drive portion, a current frequency of the drive current and an excitation inductance of the induction motor.

US Pat. No. 10,224,780

MOTOR HAVING INTERNAL COOLANT SUPPLY PASSAGE

FANUC CORPORATION, Yaman...

1. A motor comprising:a rotor supported by an output shaft-side bearing and a counter-output shaft-side bearing;
an enclosure member including a front housing supporting the output shaft-side bearing, a rear housing supporting the counter-output shaft-side bearing, and a stator surrounding the rotor, both ends of the front housing and the rear housing being mounted to the stator;
an output shaft-side coolant supply port at an outer circumference of the enclosure member;
an output shaft-side coolant supply path configured to supply coolant from the output shaft-side coolant supply port to an output shaft side;
a counter-output shaft-side coolant supply port at the outer circumference of the enclosure member;
a counter-output shaft-side coolant supply path configured to supply coolant from the counter-output shaft-side coolant supply port to a counter-output shaft side;
a temperature measurement unit configured to measure a temperature of the enclosure member;
an output shaft-side switching part configured to switch between a plurality of coolants based on the temperature of the enclosure member measured by the temperature measurement unit;
a counter-output shaft-side switching part configured to switch between the plurality of coolants based on the temperature of the enclosure member measured by the temperature measurement unit;
a coolant-for-cooling supply device configured to supply coolant for cooling selectively to the output shaft-side switching part and the counter-output shaft-side switching part;
an output shaft-side cooling coolant flow path that connects the coolant-for-cooling supply device and the output shaft-side switching part;
a counter-output shaft-side cooling coolant flow path that connects the coolant-for-cooling supply device and the counter-output shaft-side switching part;
a coolant-for-air-purge supply device configured to supply coolant for air purge selectively to the output shaft-side switching part and the counter-output shaft-side switching part;
an output shaft-side air-purge flow path that connects the coolant-for-air-purge supply device and the output shaft-side switching part; and
a counter-output shaft-side air-purge flow path that connects the coolant-for-air-purge supply device and the counter-output shaft-side switching part.

US Pat. No. 10,224,791

ELECTRIC MOTOR AND MACHINE TOOL EQUIPPED WITH THE ELECTRIC MOTOR

FANUC CORPORATION, Yaman...

1. An electric motor comprising: a cylindrical stator; a rotor having a rotary shaft part inserted inside of the stator; a housing installed to both ends in an axial direction of the stator; a terminal box mounted to the housing and accommodating a terminal block;an opening provided so as to open within the terminal box through the housing, and disposed to be separated from a cooling ventilation passage formed in the stator; and
a balance correction component that is installed to the rotary shaft part, and corrects balance of the rotor,
wherein the balance correction component is exposed within the terminal box from the opening.

US Pat. No. 10,197,989

ROBOT CONTROLLER OF ROBOT USED WITH MACHINE TOOL, AND PROCESSING SYSTEM

FANUC CORPORATION, Yaman...

1. A robot controller for controlling a robot, the robot controller and the robot being included in a system having a numerical controlled machine tool and an upper-level computer configured to manage production management information of the numerical controlled machine tool, the robot being configured to supply or eject an article to be processed to or from the numerical controlled machine tool,wherein the robot controller is configured to transmit, to the upper-level computer, at least a part of the production management information which was originally obtained by the numerical controlled machine tool and was transmitted from the numerical controlled machine tool to the robot controller, wherein the at least part of the production management information originally obtained by the numerical controlled machine tool is provided to the upper-level computer without requiring a direct network connection between the upper-level computer and the numerical controlled machine tool,
wherein the upper-level computer is configured to manage the production management information for controlling the numerical controlled machine tool,
wherein the robot controller is configured to
combine (i) first production management information previously transmitted to the robot controller from the numerical controlled machine tool and (ii) second production management information associated with the robot into combined production management information, and
transmit the combined production management information to the upper-level computer, and
wherein the combined production management information includes information on (a) a total number of processed workpieces and (b) a total number of inspected non-defective workpieces.

US Pat. No. 10,191,469

NUMERICAL CONTROL DEVICE FOR SAFETY APPROACH TO RESTARTING MACHINING POINT

FANUC Corporation, Minam...

1. A numerical control device for moving a tool to a restarting machining point when restarting machining after machining interruption based on machining program, the numerical control device comprising:an approach path calculation unit configured to calculate an approach path to the restarting machining point of the tool;
a manual operation approach command unit configured to receive a manual operation approach instruction by an operator; and
an approaching operation switching unit configured to switch automatic operation approach and manual operation approach, wherein approaching operation switching unit is further configured to determine when the tool is within a predetermined approach region for safely moving the tool to the restarting machining point by automatic operation, the predetermined approach region is an area based on both (i) the restarting machining point and (ii) a manual operation starting point, the manual operation starting point being a point when the operator stops the automatic operation approach during the automatic operation approach to conduct manual operation approach,
wherein the approaching operation switching unit is configured to receive switching request from the operator during the manual operation approach and switch to the automatic operation approach, or receive manual intervention by the operator during the automatic operation approach and switch to the manual operation approach.

US Pat. No. 10,189,129

TOOL REPLACEMENT APPARATUS

FANUC CORPORATION, Yaman...

1. A tool replacement apparatus for a machine tool comprising:a turning tool magazine capable of attaching or removing a tool to/from a spindle of a machine tool;
a tool replacement control unit which controls operations of turning the tool magazine and attaching or removing a tool to/from a spindle; and
a setting unit which sets a rotatable range of the tool magazine,
the tool replacement control unit including:
a determining unit which determines whether or not a designated rotation angle in an instruction for turning a tool magazine is within the rotatable range set by the setting unit; and
a unit which stops an operation of replacing a tool when the determining unit determines that a designated rotation angle is out of a rotatable range.

US Pat. No. 10,186,391

CIRCUIT BREAKING SYSTEM

FANUC CORPORATION, Yaman...

1. A circuit breaking system comprising:an output device for outputting an output signal;
a control device controlled by the output signal of the output device;
a power input terminal provided in the output device, for supplying power to the control device;
a power supply for supplying power to the output device, the power supply has a ground terminal;
a break circuit disposed between a power output terminal, different from the ground terminal, of the power supply and the power input terminal of the output device;
a switching circuit disposed between the break circuit and the power output terminal; and
a short circuit disposed between a ground and a node which connects the power input terminal and the break circuit, wherein
the break circuit and the short circuit are operated so as to not be closed at the same time,
when the switching circuit is closed, the break circuit is closed while the short circuit is open to supply power to the output device,
when the switching circuit is open, the break circuit is open while the short circuit is closed to cut off the supply of power to the output device, and even when the power output terminal and the power input terminal are wrongly shorted out, the short circuit prevents the supply of power to the output device.

US Pat. No. 10,122,229

MOTOR HAVING ROTOR OF OPTIMIZED SHAPE

FANUC CORPORATION, Yaman...

1. A motor comprising:a rotor having a rotor core and a plurality of magnetic poles including permanent magnets provided in the rotor core; and
a stator having a stator core in which a plurality of teeth disposed on the side of the outer periphery of the rotor so as to be opposed to the plurality of magnetic poles and slots for containing armature winding wound around the plurality of teeth are formed, wherein
the rotor has an outer peripheral surface, the outer peripheral surface having a curved shape with shape parameters, ?, ?, ?, and ? as set forth below, such that a distance r(?) between the center of the rotor and the outer peripheral surface is related to a first function ƒ(?) describing a first arcuate shape, and a second function r1(?) describing a second arcuate shape by the following equations (1) and (2):

wherein,

R: the minimum diameter of the stator core
r0: the maximum diameter of the rotor
p: the number of poles of the rotor
?: an angle [rad] with respect to a straight line (0 [rad]) that extends from the rotation center of the rotor to the center of the pole of the rotor orthogonally to a rotation axis
?: a specified range [rad] of r(?)
?, ?, ?, and ?: parameters each having a range specified by the equations (6)-(9)
wherein ?0=1.

US Pat. No. 10,099,414

MOLD CLAMPING DEVICE OF INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A mold clamping device of an injection molding machine comprising:a stationary platen fixed to a base frame and configured to hold a fixed mold;
a rear platen movably provided on the base frame;
a plurality of tie bars configured to couple the stationary platen and the rear platen, and arranged in parallel to each other;
a moving platen provided between the stationary platen and the rear platen so as to be movable along the tie bars, and configured to hold a movable mold facing toward the fixed mold;
a drive motor configured to move the moving platen;
a fixing member provided between the drive motor and the rear platen and configured to fix the drive motor to the rear platen;
a support member coupled to the fixing member and configured to support the fixing member with respect to the base frame; and
movable support members configured to support the support member with respect to the base frame movably in a movement direction of the moving platen, wherein:
when viewed from a direction of a rotation axis of the drive motor, a width of the support member is formed to progressively increase outwardly from the fixing member toward the base frame; and
the movable support members are provided on a portion of the support member that is located on a side of the base frame, at at least both ends of the portion in a width direction of the support member.

US Pat. No. 10,082,781

MACHINING PROGRAM CREATION APPARATUS FOR WIRE ELECTRICAL DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A numerical controller for creating a machining program and controlling a wire electrical discharge machine to perform cutting a predetermined machining shape in an object to be machined in accordance with the machining program, the numerical controller comprising a processor, the processor configured to:define the machining shape,
define a shape of the object to be machined,
designate a machining reference position to be used when the machining shape is machined,
generate a first machining path for cutting the machining shape in the object to be machined based on the machining shape, the shape of the object to be machined, and the machining reference position,
generate a second machining path corresponding to the shape of the object to be machined, based on the shape of the object to be machined and the machining reference position,
draw the first machining path and the second machining path on a same screen, and
control the wire electrical discharge machine to perform cutting the machining shape in the object along the first machining path, wherein the second machining path displayed on the same screen with the first machining path provides a visual check of a machining position of the machining shape.

US Pat. No. 10,025,290

THERMAL DISPLACEMENT CORRECTION TRAINING UNIT FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A thermal displacement correction training unit having on a computer a virtual machine tool unit, a virtual machine tool control unit for virtually controlling said virtual machine tool unit, a virtual machine tool operating unit for operating said virtual machine tool unit and said virtual machine tool control unit, and a virtual machine tool display unit, characterized in thatsaid virtual machine tool unit has:
a precision decline imitating unit for imitating the process precision decline caused by the heat during operation of said virtual machine tool unit; and
a precision decline calculating unit for finding the amount of precision decline that represents the process precision decline in said virtual machine tool unit that is imitated in said precision decline imitating unit,
said virtual machine tool control unit has:
a precision correction unit for finding the correction amount by which the processing point is corrected in response to thermal displacement; and
a correction amount adjustment unit for adjusting the correction amount that is found by said precision correction unit, and
said virtual machine tool display unit displays the amount of precision decline found by said precision decline calculating unit in said virtual machine tool unit and the correction amount adjusted by said correction amount adjustment unit in said virtual machine tool control unit.

US Pat. No. 10,025,296

SERVO CONTROL APPARATUS HAVING FUNCTION OF OBTAINING FREQUENCY CHARACTERISTICS OF MACHINE ON LINE

FANUC CORPORATION, Yaman...

1. A servo control apparatus that is a control apparatus for a machine tool having a feed axis driven by a servomotor comprising:a speed command generator for generating a speed command value for the servomotor;
a torque command generator for generating a torque command value for the servomotor;
a speed detector for detecting the speed of the servomotor;
a speed control loop including the speed command generator, the torque command generator, and the speed detector;
a sinusoidal sweep input unit for performing a sinusoidal sweep on the speed control loop; and
a frequency characteristics calculator for estimating the gain and phase of speed control loop input and output signals from the output of the speed control loop when a sinusoidal disturbance is inputted to the speed control loop of the control device,
wherein the frequency characteristics calculator expresses the output of the speed control loop as the Fourier series having an arbitrary number of terms using a disturbance input frequency from the sinusoidal sweep input unit as a fundamental frequency, and calculates the amplitude and phase of a fundamental component of the Fourier series in order to calculate frequency characteristics on line,
wherein the frequency characteristics calculator verifies a convergence of the output of the speed control loop to a steady state by monitoring energy of one period of a sinusoidal wave on a periodic basis, and the sinusoidal sweep input unit continues inputting the sinusoidal wave at a constant frequency, until the frequency characteristics calculator determines that the output of the speed control loop has reached the steady state.

US Pat. No. 10,005,165

DEVICE AND METHOD OF CONTROLLING MACHINE TOOL, TO CONTROL SYNCHRONIZED OPERATION OF SPINDLE AXIS AND FEED AXIS

FANUC CORPORATION, Yaman...

1. A controller of a machine tool, configured to control a synchronized operation of a spindle axis and a feed axis, the controller comprising a hardware configured as:a numerical control section configured to prepare a spindle-axis command and a feed-axis command based on a tapping program;
a spindle-axis control section configured to control a rotational motion of the spindle axis in accordance with the spindle-axis command;
a rotation detecting section configured to detect a rotational position of the spindle axis;
and a feed-axis control section configured to control a feed motion of the feed axis in accordance with the feed-axis command and based on the rotational position of the spindle axis;
the numerical control section comprising:
a spindle-axis command outputting section configured to obtain, from the tapping program, a total rotation amount and a maximum rotation speed of the spindle axis during a period when the spindle axis operates from a process start position to a target thread depth, and to send the total rotation amount and the maximum rotation speed as the spindle-axis command to the spindle-axis control section;
the spindle-axis control section comprising:
an initial-motion control section configured to make the spindle axis perform an accelerated rotation at maximum capacity using a maximum permissible current of a drive source from the process start position, by a velocity control in which the maximum rotation speed is set as a target value;
a maximum-acceleration detecting section configured to detect a maximum acceleration of the spindle axis during the accelerated rotation at maximum capacity, based on the rotational position;
a residual rotation-amount detecting section configured to detect a residual rotation amount of the spindle axis during a period when the spindle axis operates from a current position to the target thread depth, based on the total rotation amount and the rotational position;
a current-speed detecting section configured to detect a current speed of the spindle axis based on the rotational position;
a decelerating-motion control section configured to make the spindle axis perform a decelerated rotation so as to reach a predetermined intermediate rotation speed, by a velocity control, after the accelerated rotation at maximum capacity;
and a positioning-motion control section configured to make the spindle axis perform a decelerated rotation at maximum deceleration corresponding to the maximum acceleration so as to reach the target thread depth, by a position control, after the spindle axis reaches the intermediate rotation speed, based on the maximum acceleration, the residual rotation amount and the current speed;
wherein the decelerating-motion control section is configured to successively update a velocity command for the decelerated rotation by the velocity control with use of the residual rotation amount and the current speed, and to make the spindle axis perform the decelerated rotation by the successively updated velocity command so that the residual rotation amount at an instant when the spindle axis reaches the intermediate rotation speed becomes equal to a positioning rotation amount of the spindle axis required for the spindle axis to reach the target thread depth under the position control.

US Pat. No. 10,007,252

MACHINE TOOL CONTROLLER

FANUC CORPORATION, Yaman...

1. A controller configured to control a machine tool that has a spindle and at least two feed shafts to move a workpiece relative to the spindle in directions perpendicular to the spindle and to rotate a cutting tool attached to the spindle to cut the workpiece in accordance with a machining program, the controller comprising:a processor configured to
identify, when the machining program is executed to cause the cutting tool to cut into the workpiece, a position where the cutting tool has come into contact with the workpiece for the first time, and a machining direction at the time when the cutting tool has cut into the workpiece,
insert, in the machining program, a roll-in path instruction corresponding to a roll-in path having an end point set to the identified position at which the cutting tool has come into contact with the workpiece for the first time, and
control the machine tool to cut workpieces in accordance with the machining program having the inserted roll-in path instruction; and
a storage device that stores
a cutting load value at regular time intervals during execution of a cutting instruction in the machining program, and
at regular time intervals during the cutting, machining information in which coordinate values of each of the axes are contained,
wherein the processor is further configured to
calculate a cutting end position, as the position where the cutting tool has come into contact with the workpiece for the first time, by using the coordinate values of each of the axes when the stored cutting load value exceeds a predetermined threshold, a predetermined cutting tool diameter, and the identified machining direction, and
insert, in a position before a cutting instruction block for cutting start in the machining program, an arcuate interpolation instruction having a preset radius of curvature and having an end point that coincides with the cutting end position, as the roll-in path instruction, and also a linear interpolation instruction that connects a start point of the cutting instruction block and a start point of the arcuate interpolation instruction.

US Pat. No. 9,954,426

MOTOR DRIVING DEVICE HAVING PWM CONVERTER

FANUC CORPORATION, Yaman...

1. A motor driving device comprising:a PWM converter that performs power conversion between AC power on an AC power supply side and DC power in a DC link by PWM control;
an inverter that converts, during powering operation, the DC power in the DC link to AC power for motor driving and supplies the AC power to a motor, and that converts, during regenerative operation, the AC power regenerated in the motor to DC power and returns the DC power to the DC link;
a power storage unit that is provided in the DC link and may store DC power;
an AC power supply switch that connects or disconnects an AC power supply to or from the PWM converter in response to a received command; and
a command unit that:
continues outputting a connection command to the AC power supply switch while a DC voltage in the DC link is boosted up to a prescribed voltage resulting from the DC power being stored in the power storage unit, the DC power having been obtained from the AC power converted by the PWM converter in a manner such that an AC current to be fed from the AC power supply does not exceed a preset input current limit value,
initiates outputting a disconnection command to the AC power supply switch after the DC voltage in the DC link reaches the prescribed voltage and before the inverter initiates powering operation, and
continues outputting the disconnection command to the AC power supply switch when the inverter initiates the powering operation and supplies the AC power to the motor.

US Pat. No. 9,902,063

ROBOT SYSTEM JUDGING ABNORMALITY OF FASTENED WORK AND ABNORMALITY JUDGMENT METHOD

FANUC CORPORATION, Yaman...

3. An abnormality judgment method which judges abnormality of a work which is loaded by a robot into a work fastening device
and is fastened by that work fastening device, the abnormality judgment method comprising,
monitoring a disturbance torque of a motor driving rotation about a joint of the robot in response to an operating command
to the robot and,

when gripping a work by a hand of the robot, arranging it at a predetermined position of the work fastening device, and then
fastening the gripped work by the work fastening device, comparing the disturbance torque with a predetermined first threshold
value and, when the disturbance torque is over a first threshold value, judging that an abnormality has occurred in the position
of the work fastened by the work fastening device, and breaking down a history of disturbance torque of the motor which is
monitored into a plurality of frequency components, extracting a specific frequency component from among the plurality of
frequency components, comparing that specific frequency component with a predetermined second threshold value and, when the
specific frequency component is over the second threshold value, judging that damage has occurred in the work fastened by
the work fastening device.

US Pat. No. 9,895,801

OFFLINE TEACHING DEVICE USING SIMULATION

FANUC CORPORATION, Yaman...

1. An offline teaching device wherein a workpiece held by a robot is brought into contact with or is moved close to a first
tool disposed at a predetermined position and a second tool separated by a predetermined distance from the first tool, to
carry out work, said offline teaching device comprising:
a robot control device configured to
set a holding position of the workpiece held by the robot,
specify a work line on which the first tool carries out work according to CAD data of the workpiece,
set an installation position and posture of the first and second tools,
set a work posture of the first tool with respect to the workpiece,
calculate a second position for the second tool on the work line, which is a position separated by the predetermined distance
from a first position of the first tool on the work line,

calculate a workpiece position where the first tool in the first position contacts or adjoins the workpiece,
calculate a workpiece position and posture such that the second tool in the second position contacts or adjoins the workpiece
by changing a position of the workpiece with respect to the first tool, while maintaining the work posture of the first tool,

generate a robot teaching position based on the calculated workpiece position and posture and the set holding position of
the workpiece,

generate a program according to which the first tool and the second tool pass along the work line, wherein the work line includes
a straight section and a curved section, and

move the first and second tools to pass along the work line according to the generated program while maintaining the distance
between the first tool and the second tool along the straight section of the work line to be the same as the distance between
the first tool and the second tool along the curved section of the work line.

US Pat. No. 9,895,810

COOPERATION SYSTEM HAVING MACHINE TOOL AND ROBOT

FANUC CORPORATION, Yaman...

1. A cooperation system, the cooperation system comprising:
a machine tool having a machine coordinate system defined with respect to a machine tool;
a robot for carrying out an operation with respect to the machine tool, the robot having a robot coordinate system defined
with respect to the robot, and distinct from the machine coordinate system;

a camera attached to a movable portion of the robot;
at least one calibration marker arranged on the machine tool;
a first marker coordinate obtaining part arranged on the machine tool which obtains a first coordinate value of the calibration
marker in the machine coordinate system, by detecting a position of the calibration marker with respect to a position of the
machine tool;

a second marker coordinate obtaining part arranged on the robot which obtains a second coordinate value of the calibration
marker in the robot coordinate system, by capturing the calibration marker by the camera; and

a coordinate transforming part which calculates a coordinate transformation for transforming the robot coordinate system to
the machine coordinate system, based on a plurality of distinct sets of the first and second coordinate values of the calibration
marker.

US Pat. No. 9,887,660

MOTOR CONTROL DEVICE EQUIPPED WITH TORQUE COMMAND LIMITING FUNCTION AT POWER OUTAGE

FANUC CORPORATION, Yaman...

1. A motor control device for a motor for driving a feed shaft of a machine tool, comprising:
a power outage detector configured to detect a power outage of a power source for supplying power to drive the motor;
a forcible decelerator configured to forcibly decelerate the motor in response to a torque command at the time when a power
outage is detected;

a DC link voltage monitor configured to monitor a DC link voltage applied to an amplifier for driving the motor;
a determination unit configured to determine whether or not the value of the DC link voltage is greater than a first threshold,
or whether or not the change ratio of the DC link voltage is greater than a second threshold; and,

a torque command limiter configured to limit the torque command to a predetermined torque command limiting value, in accordance
with the result of determination at the determination unit,

wherein the determination unit outputs a signal for limiting the torque command when the value of the DC link voltage is determined
to exceed the first threshold.

US Pat. No. 9,849,529

WIRE ELECTRICAL DISCHARGE MACHINE HAVING UPPER/LOWER GUIDE THERMAL DISPLACEMENT CORRECTION FUNCTION

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine having an upper/lower guide thermal displacement correction function that corrects
upper/lower guide section thermal displacement by relatively moving a wire electrode and a workpiece, the wire electrical
discharge machine comprising:
a temperature detection unit configured to detect at least one of the mechanical section temperature, machining fluid temperature,
and machine ambient temperature of the wire electrical discharge machine;

a storage unit configured to store temperature information acquired by the temperature detection unit;
a first storage execution unit configured to command individual drive shafts at a reference temperature to relatively move
the wire electrode with respect to a reference object, bring the wire electrode into contact with the reference object, and
store the position of the wire electrode in the form of reference position coordinates in the storage unit together with the
reference temperature;

a second storage execution unit configured to command the individual drive shafts at a temperature different from the reference
temperature to relatively move the wire electrode with respect to a reference object, bring the wire electrode into contact
with the reference object, and store in the storage unit the position of the wire electrode in the form of measured position
coordinates in the storage unit together with the temperature different from the reference temperature;

a correction amount calculation unit on the basis of a measured result configured to calculate a correction amount for an
upper/lower guide section in accordance with the reference position coordinates and the measured position coordinates;

a correction amount calculation unit configured to store a prepared correction amount arithmetic expression and calculate
a position correction amount for the upper/lower guide section by substituting a temperature difference between the reference
temperature and the temperature different from the reference temperature into the correction amount arithmetic expression;

a correction amount adjustment unit configured to calculate a correction amount adjustment value from the correction amount
on the basis of the measured result for the upper/lower guide section and from the position correction amount therefor;

a position correction amount adjustment unit configured to correct the position correction amount based on the calculated
correction amount adjustment value; and

a corrective movement amount calculation unit configured to calculate a corrective movement amount for each of the individual
drive shafts of the wire electrical discharge machine in accordance with the position correction amount for the upper/lower
guide section, which is corrected by the position correction amount adjustment unit;

wherein the movement amount for each of the individual drive shafts is corrected by using the corrective movement amount and
used to control each of the individual drive shafts.

US Pat. No. 9,836,044

MACHINING TIME ESTIMATING DEVICE FOR ESTIMATING MACHINING TIME AFTER MODIFICATION OF NC PROGRAM

FANUC CORPORATION, Minam...

1. A machining time estimating device that estimates a machining time required for a machine tool to machine a workpiece,
the machine tool being controlled based on an NC program, the machining time estimating device comprising:
a storage unit that stores first segment information on a plurality of segments that forms a first NC program;
a program dividing unit that divides a second NC program modified based on the first NC program into a plurality of segments,
and generates second segment information on the plurality of segments;

a segment relation specifying unit that specifies correlation between the plurality of segments that forms the first NC program
and the plurality of segments that forms the second NC program, based on the first segment information and the second segment
information;

an estimation segment determining unit that determines a machining time estimation target segment among the plurality of segments
that forms the second NC program; and

a machining time estimating unit that estimates a machining time required for the machining of the machine tool controlled
based on the second NC program, wherein

the first segment information includes an estimated machining time based on the plurality of segments for each of the plurality
of segments that forms the first NC program, and

the machining time estimating unit is configured to estimate the machining time for a segment that is determined as the machining
time estimation target segment by the estimation segment determining unit, and acquire the estimated machining time included
in the first segment information with respect to segments that are determined as segments other than the machining time estimation
target segment by the estimation segment determining unit, to thereby calculate a total machining time.

US Pat. No. 9,827,673

ROBOT CONTROLLER INHIBITING SHAKING OF TOOL TIP IN ROBOT EQUIPPED WITH TRAVEL AXIS

FANUC CORPORATION, Yaman...

1. A robot controller for controlling a multiarticulated robot provided with a tool at an arm end and a travel axis making
the multiarticulated robot move back and forth, the robot controller comprising:
a movement calculating part calculating an amount of movement of the travel axis and an amount of movement of the tool tip
each time the travel axis operates in accordance with a command; and

a correcting part that corrects a command value so that at least one command value of a speed and acceleration to the travel
axis becomes smaller when the amount of movement of the travel axis is larger than a predetermined first threshold value and
the amount of movement of the tool tip is smaller than a predetermined second threshold value.

US Pat. No. 9,827,682

JOINT STRUCTURE FOR ROBOT INCLUDING MOTOR FOR CAUSING ARM TO BE SWUNG

FANUC CORPORATION, Yaman...

1. A joint structure for a robot, the joint structure comprising:
a hollow-structured arm;
a U-shaped housing that forms a pair of support portions disposed in opposing relationship to each other with the arm being
held therebetween, the housing supporting the arm swingably about a swing axis by the pair of support portions, wherein the
U-shaped housing is formed as a single component;

a motor having an outer main housing extending substantially along the entire length of the motor and accommodated in an inner
space of the arm and fixed to a first wall portion of the arm which is adjacent to a first support portion of the pair of
support portions, wherein the motor causes the arm to be swung about the swing axis with respect to the first support portion;

a hollow bearing inserted in a first opening portion formed in a second wall portion of the arm which is adjacent to a second
support portion of the pair of support portions, wherein a center axis of the hollow bearing is coincident with the swing
axis; and

a hollow shaft portion that supports an inner ring of the hollow bearing inserted in the first opening portion,
wherein:
the hollow shaft portion is removably fixed to a wall portion of the housing forming the second support portion adjacent to
the second wall portion of the arm, and the wall portion of the housing is formed with a second opening portion that allows
the hollow bearing and the motor to pass therethrough,

the first opening portion is formed such that the motor is allowed to pass therethrough, and
a hollow portion of the hollow shaft portion has an inner diameter which is smaller than an outer diameter of the main housing
of the motor.

US Pat. No. 9,796,034

WIRE ELECTRICAL DISCHARGE MACHINE, MACHINING PATH GENERATOR OF WIRE ELECTRICAL DISCHARGE MACHINE, AND MACHINING METHOD FOR USE IN WIRE ELECTRICAL DISCHARGE MACHINE FOR PERFORMING PATH COMPENSATION IN CONCAVE ARC CORNER PORTION

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine, comprising:
a wire electrode configured to machine a workpiece by electric discharges;
a machining program storage storing a machining program; and
a processor configured to
perform an analysis of the machining program stored in the machining program storage,
generate a programmed path for moving the wire electrode relative to the workpiece, based on a result of said analysis, and
in response to a shape of the generated programmed path including a concave arc at a corner portion, compensate the generated
programmed path by inserting a path leading from an end point to a start point of the concave arc along a path inside the
concave arc and leading from the start point to the end point of the concave arc on the concave arc again.

US Pat. No. 9,796,120

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system for making a molded item freely fall in a demolding process from a mold, the injection molding
system comprising:
a first molded item photographing device for capturing an image of the molded item falling freely and determining the position
of the molded item;

a second molded item photographing device for photographing the molded item to analyze the image of the molded item;
a molded item movement device configured to grasp the molded item at the position of the molded item that has been determined
by the first molded item photographing device and move the molded item to a photographing position for photographing the molded
item by the second molded item photographing device;

an image analysis unit configured to analyze the image of the molded item that has been photographed by the second molded
item photographing device; and

a molded item classification device configured to classify the molded item into one of a plurality of predetermined regions
based on the result of the image analysis where the appearance features of the molded item are analyzed by the image analysis
device.

US Pat. No. 9,785,125

MOTOR CONTROL DEVICE FOR COMPENSATING BACKLASH

FANUC CORPORATION, Yaman...

1. A motor control device for compensating backlash between a movable part to be driven by a motor and a driven part to be
driven by the movable part, comprising:
a position command calculation unit calculates a position command for the driven part;
a first position detecting unit for detecting a position of the movable part;
a second position detecting unit detects a position of the driven part;
an error computing unit computes an error based on a first position detection value detected by the first position detecting
unit and a second position detection value detected by the second position detecting unit;

a memory unit memorizes, as an initial error, the error computed by the error computing unit when the movable part engages
with the driven part;

an acceleration computing unit computes an acceleration command based on the position command;
a compensation gain computing unit computes a compensation gain based on the acceleration command computed by the acceleration
computing unit; and

a compensation amount computing unit computes a backlash compensation amount for compensating the backlash by multiplying
an error between the initial error memorized by the memory unit and the error computed by the error computing unit, by the
compensation gain computed by the compensation gain computing unit.

US Pat. No. 9,722,386

LASER OSCILLATOR COMPRISING HEAT EXCHANGER HAVING FUNCTION OF COLLECTING FOREIGN MATTERS

Fanuc Corporation, Yaman...

1. A laser oscillator comprising:
a gas flow channel through which a gas medium which amplifies light circulates;
a blower which is disposed at the gas flow channel and makes the gas medium to circulate; and
a heat exchanger which is disposed at the gas flow channel and cools the gas medium; wherein
the heat exchanger includes a frame body, a cooling part which performs heat exchange between the gas medium and a cooling
medium, a tubular member fixed to the frame body, and a foreign matter collection container which collects the foreign matter
contained in the gas medium,

the tubular member has an inlet portion of an interior flow channel communicating with an interior space of the frame body
and an outlet portion of the interior flow channel connected to the gas flow channel,

the cooling part is disposed so that the gas medium flowing out of the cooling part flows toward an outer surface of the tubular
member,

the tubular member is disposed so that the gas medium which flows out of the cooling part moves along the outer surface of
the tubular member and then changes a proceeding direction to flow into the inlet portion, and

the foreign matter collection container is disposed at a location to face the inlet portion of the tubular member and formed
to be capable of collecting the foreign matters separated from a flow of the gas medium.

US Pat. No. 9,647,530

SWITCHING POWER SUPPLY WITH PREVENTIVE MAINTENANCE FUNCTION

FANUC CORPORATION, Yaman...

1. A switching power supply, comprising:
a power supply control unit configured to output a PWM waveform for controlling an input voltage to be a constant output voltage;
and

a choke coil and an output capacitor configured to smooth the PWM waveform output by the power supply control unit,
the switching power supply further comprising:
a switching frequency monitoring unit configured to measure a switching frequency of the PWM waveform; and
an alarm output unit configured to determine whether or not the switching frequency measured by the switching frequency monitoring
unit is within a predetermined frequency range and output a preventive maintenance alarm if the switching frequency is not
within the range,

wherein the power supply control unit is configured to perform control such that the switching frequency deviates from the
predetermined frequency range before the output voltage deviates from a predetermined voltage range due to degradation of
the choke coil and the output capacitor.

US Pat. No. 9,590,380

LASER OSCILLATOR PROVIDED WITH BLOWER

Fanuc Corporation, Yaman...

1. A laser oscillator comprising:
a controller;
a laser medium flow path which forms a flow path of a laser medium;
a resonator part which generates laser light by using the laser medium flowing through the laser medium flow path;
a blower which causes the laser medium to flow in the laser medium flow path;
a pressure detecting part which detects a pressure of the laser medium in the laser medium flow path;
a laser medium supply-exhaust part which supplies the laser medium to the laser medium flow path and which discharges the
laser medium from the laser medium flow path; and

a temporary stop command part which commands a temporary stop for generating laser light by the resonator part to the controller;
wherein

before the temporary stop command part commands the temporary stop, the controller controls the blower so as to rotate at
a predetermined first rotational speed, and controls the laser medium supply-exhaust part so that the pressure is a first
target value,

when the temporary stop command part commands the temporary stop, the controller controls the resonator part so as to stop
to generate laser light, controls the blower so as to decrease the rotational speed of the blower to a second rotational speed
lower than the first rotational speed, and controls the laser medium supply-exhaust part so that the pressure is a second
target value lower than the pressure at the time when the rotational speed of the blower is the second rotational speed.

US Pat. No. 9,581,989

CONTROL DEVICE OF MACHINE TOOL WHICH ESTIMATES OVERHEATING OF MOTOR

Fanuc Corporation, Yaman...

1. A control device of a machine tool comprising:
a motor which drives a spindle,
a current detection device which detects a value of current of said motor,
a storage device in which an overheat temperature which is prescribed for said motor is stored,
a temperature detection device which detects a temperature of said motor,
a time estimation device which uses a temperature which is detected by said temperature detection device and said overheat
temperature to estimate a time from a current point of time to when said motor reaches said overheat temperature in the case
where a current which said current detection device detects continues to flow through said motor,

a filter which receives as an input, the value of time which said time estimation device estimates,
a time constant changing device which changes a filter time constant in said filter in accordance with either of a value of
current and a current command value which is given when controlling the motor, and

a display device which displays a value of time which said filter outputs, wherein time constant changing device decreases
said filter time constant when either of said value of current or said current command value is a predetermined threshold
value or more and increases said filter time constant when it is less than the predetermined threshold value.

US Pat. No. 9,558,303

TOOL GRAVITY CENTER POSITION ESTIMATION DEVICE AND MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A tool gravity position estimation device, comprising:
a data storage unit configured to store moment of inertia of a tool and weight data of the tool;
a relational expression storage unit configured to store a relational expression between shape data and tool moment of inertia
in a predetermined tool shape model and a relational expression between the shape data and tool weight data in the predetermined
tool shape model;

a calculation unit configured to calculate a value of the shape data based on the tool moment of inertia and tool weight data
stored in the data storage unit and the relational expressions stored in the relational expression storage unit;

a tool shape estimation unit configured to estimate a shape of the tool from the shape data value calculated by the calculation
unit; and

a tool gravity center position calculation unit configured to calculate a gravity center position of the tool based on the
tool shape estimated by the tool shape estimation unit.

US Pat. No. 9,502,853

GAS LASER DEVICE HAVING FUNCTION FOR DISCRIMINATING TYPE OF ALARM

Fanuc Corporation, Yaman...

1. A gas laser device having a discharge-excited gas laser oscillator, configured to carry out a process for stopping discharging
in the gas laser oscillator when an alarm by which the discharging should be stopped is generated, the gas laser device comprising:
an alarm judging part which discriminates a type of the alarm generated in the gas laser oscillator; and
a gas pressure controlling part which controls a pressure of laser gas within a discharge tube of the gas laser oscillator,
wherein the gas pressure controlling part controls the pressure of the laser gas within the discharge tube, after the alarm
is generated, based on one of a plurality of control patterns which are predetermined corresponding to the types of the alarm,

wherein, when the alarm judging part judges that the type of the generated alarm indicates that the gas laser device can be
in a processable state merely by initiating discharging, the gas pressure controlling part controls the pressure of the laser
gas so as to maintain the pressure of the laser gas within the discharge tube from when the alarm is generated,

wherein, when the alarm judging part judges that the type of the generated alarm indicates that maintenance of a gas circulation
system of the gas laser device is necessary, the gas pressure controlling part controls the pressure of the laser gas so as
to increase the pressure of the laser gas within the discharge tube from when the alarm is generated, and

wherein, when the alarm judging part judges that the type of the generated alarm indicates that it is necessary to assuredly
initiate discharging of the gas laser device, the gas pressure controlling part controls the pressure of the laser gas so
as to decrease the pressure of the laser gas within the discharge tube from when the alarm is generated.

US Pat. No. 9,459,136

ROBOT HAVING WORKPIECE MASS MEASUREMENT FUNCTION

FANUC CORPORATION, Yaman...

1. A robot having a workpiece mass measurement function for measuring a mass of a workpiece held by the robot, the robot comprising:
a force measurement unit configured to measure a force applied to a tip part of a mechanism part of the robot; and
a mass estimation unit configured to estimate the mass of the workpiece held by the robot, based on the force measured by
the force measurement unit while the robot is moving;

wherein
the mass estimation unit comprises an acceleration acquiring unit configured to acquire, by measuring or estimating, an acceleration
applied to the tip part of the mechanism part of the robot;

the mass estimation unit is configured to estimate the mass of the workpiece held by the robot, based on an equation between
the force measured by the force measurement unit while the robot is moving, the acceleration acquired by the acceleration
acquiring unit and the mass of the workpiece held by the robot;

the force measurement unit is configured to measure the force in a plurality of directions;
the acceleration acquiring unit is configured to acquire the acceleration in the plurality of directions;
the mass estimation unit is configured to estimate the mass with respect to the plurality of directions, so that the mass
corresponding to a direction where an absolute value of the acceleration is greatest, among the plurality of directions, is
made a mass estimation value of the mass of the workpiece, and

at a given time,
the force measurement unit is configured to measure force values of the force in the plurality of directions,
the acceleration acquiring unit is configured to acquire acceleration values of the acceleration in the plurality of directions,
the mass estimation unit is configured to determine the greatest absolute value, among the acquired acceleration values, as
corresponding to one direction among the plurality of directions, and

the mass estimation unit is configured to use the force value and the acceleration value in said one direction to estimate
the mass of the workpiece.

US Pat. No. 10,955,002

LINEAR MOTION MECHANISM, BALANCER DEVICE AND MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A balancer device including a linear motion mechanism, comprising:a shaft;
a base member including a through hole through which the shaft is configured to be inserted;
a static pressure bearing provided between the shaft disposed in the through hole and the base member and configured to slidably support the shaft relative to the base member by introducing a pressurized fluid to the shaft; and
an annular member provided between the static pressure bearing and the base member and configured to elastically support the static pressure bearing, wherein the balancer device reduces gravity acting on a slider that is movable along a guide shaft, comprising:
a cylinder, fixed to the base member so as to cover one opening side of the through-hole, and having an interior space into which the shaft protruding from the opening is inserted; and
a regulator, provided on a pipe connected to the interior space of the cylinder, and configured to adjust a gas pressure of the compressed gas in the interior space of the cylinder to a predetermined pressure, wherein:
the shaft is arranged along the guide shaft; and
the base member is fixed to the slider and configured to move together with the slider.

US Pat. No. 10,956,863

FACILITY MANAGEMENT UNIT THAT REPLENISHES MULTIPLE MANUFACTURING FACILITIES WITH SUPPLIES, AND PRODUCTION SYSTEM

FANUC CORPORATION, Yaman...

1. A production system, comprising:a plurality of manufacturing facilities configured to manufacture parts;
a facility management unit for managing manufacturing of the parts in the plurality of manufacturing facilities;
a production planning device configured to indicate a production plan to the facility management unit, the production planning device being connected so as to communicate with the facility management unit;
a storage facility configured to store tools for manufacturing parts in manufacturing facilities, the storage facility being connected so as to communicate with the facility management unit; and
a transport facility configured to transport the tools between the storage facility and the manufacturing facilities, the transport facility being connected so as to communicate with the facility management unit,
the facility management unit comprising:
at least one communication device configured to communicate with the manufacturing facilities, the storage facility, the transport facility, and the production planning device;
a memory configured to store a transport status, obtained in real time, including information on
a current position of the transport facility, and
presence or absence of at least one of the tools on the transport facility; and
a processor configured to
collect supply information on consumption statuses of the tools for the manufacturing facilities in real time,
determine, based on the supply information collected on the manufacturing facilities, whether the manufacturing facilities require tool replenishment with the tools stored at the storage facility,
determine an order of tool replenishment for all the manufacturing facilities that require tool replenishment,
acquire inventory information on the tools from the storage facility,
confirm, based on the inventory information, whether the storage facility contains the tools for the manufacturing facilities judged to require tool replenishment, and
indicate to the transport facility, a transport path along which the tools are sequentially transported from the storage facility to the manufacturing facilities in the determined order of tool replenishment in response to a determination that the storage facility contains the tools for the manufacturing facilities,
wherein the processor is configured to
determine, based on the transport status, whether or not the transport facility is transporting the tools for the manufacturing facilities that require tool replenishment, and
(i) indicate, to the transport facility, the transport path along which the transport facility sequentially moves from the current position to each manufacturing facility according to the determined order of tool replenishment, in a response to a determination that the transport facility has tools for replenishment of the manufacturing facilities, and
(ii) indicate, to the transport facility, the transport path along which the transport facility moves from the current position to the each manufacturing facility through the storage facility, in a response to a determination that the transport facility does not have tools for replenishment of the manufacturing facilities,
wherein the supply information includes information on
a number of tools stored in each of the manufacturing facilities,
a number of lost tools at each of the manufacturing facilities, and
a consumption rate of the tools in each of the manufacturing facilities, and
wherein the processor is configured to determine the order of tool replenishment based on
the number of parts to be manufactured in each of the manufacturing facilities,
the number of tools stored in each of the manufacturing facilities,
the number of lost tools at each of the manufacturing facilities, and
the consumption rate of the tools in each of the manufacturing facilities.

US Pat. No. 10,928,452

PARAMETER DETERMINATION SUPPORT DEVICE, AND NON-TRANSITORY COMPUTER-READABLE MEDIUM ENCODED WITH PROGRAM

FANUC CORPORATION, Yaman...

1. A parameter determination support device for motor driving, comprising:an acquisition means for acquiring specification information of a motor drive device and output specification information of a synchronous motor;
an initial parameter determination means for determining an initial parameter for test running, based on the specification information and the output specification information, the test running causing the synchronous motor to drive in order for confirmation of drive current value, drive voltage value, revolution speed of the synchronous motor when rotating the synchronous motor at a substantially constant revolution speed, when accelerating, or when decelerating;
a program creation means for creating a test-run program used for acquiring data that is required for adjustment of a parameter that determines output of the synchronous motor, based on the output specification information;
an automatic measurement means for automatically measuring acceleration of the synchronous motor and a D-phase current of the motor drive device, as operating information upon driving while accelerating the synchronous motor under each condition of a first condition based on a base speed, and a second condition in which the D-phase current of the motor drive device is changed from the first condition, according to the test-run program, by applying the initial parameter;
an estimation means for estimating an inductance ratio and a Q-phase inductance, as circuit constants of the synchronous motor, based on the operating information; and
a calculation means for performing calculation of an optimum parameter tailored to the output specification of the synchronous motor, based on the circuit constants,
wherein said initial parameters include at least one among a maximum current value for driving the synchronous motor, D-phase current value, a highest revolution speed of the synchronous motor, and a coefficient converting the feedback of current value introduced from the motor drive device into an actual physical quantity,
said output specification information includes at least one among a rated output and base revolution speed of the synchronous motor,
the D-phase current is a current flowing through a D-axis coil when the synchronous motor is represented as a two-phase equivalent circuit corresponding to a D-axis, which is a magnetic field direction created by a rotor of the synchronous motor, and a Q-axis, which is a magnetic field direction perpendicular to the D-axis, and
the Q-phase inductance is an ease of passage of magnetic flux in a Q-axis magnetic path when the synchronous motor is represented as the two-phase equivalent circuit corresponding to the D-axis and the Q-axis.

US Pat. No. 10,888,966

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool for machining a workpiece, the machine tool comprising:a spindle configured to rotate a holder mounted with a tool used for machining;
one or more moving shafts configured to move the holder and/or a work base on which the workpiece is placed;
a torque measurement unit configured to measure driving torque of the spindle and/or the one or more moving shafts;
a reference value calculation unit configured to use, as a reference value, the driving torque measured by performing a no-load operation by rotating the spindle in a normal state;
a torque comparison unit configured to compare, to the reference value, the driving torque measured by performing a no-load operation by rotating the spindle before actual machining; and
an alarm unit configured to determine whether to issue an alarm on the basis of results of the comparison.

US Pat. No. 10,870,203

MACHINE TOOL CONTROL DEVICE AND PRODUCTION SYSTEM

FANUC CORPORATION, Yaman...

10. A production system comprising:a robot control device that controls a robot; and
a machine tool control device that is connected to the robot control device, and controls a machine tool which is used in combination with the robot,
wherein the machine tool control device includes:
a reception unit for accepting, by a user inputting an instruction to an operating member in the machine tool control device, setting information including at least one of a type of hand of the robot or information relating to an arrangement of an unmachined workpiece for the robot;
a processor that determines a signal of the machine tool control device based on the setting information and sets a parameter of the robot control device based on the setting information and the signal, the parameter indicating: an operating program, and an operation of the operating program based on the setting information accepted by the reception unit; and
a sending unit for sending the parameter to the robot control device, the parameter being for use by the robot control device in selecting an operating program in the robot control device and for use by the robot control device in setting an operation of the operating program in the robot control device, and
wherein the robot control device includes:
a receiving unit for receiving the parameter; and
a program setting unit for selecting the operating program of the robot based on the parameter received by the receiving unit, and setting an operation of the operating program thus selected.

US Pat. No. 10,871,759

MACHINING TIME PREDICTION DEVICE FOR PREDICTING AN EXECUTION TIME FOR TOOL CHANGE

FANUC CORPORATION, Yaman...

1. A machining time prediction device configured to predict an execution time of an auxiliary function for tool change, the machining time prediction device comprising:a processor configured to:
extract an auxiliary function command for tool change from a machining program,
calculate a storage position of a before-exchange tool and a storage position of an after-exchange tool, based on the auxiliary function command,
calculate a distance between tools, based on the storage position of a before-exchange tool and the storage position of an after-exchange tool, and
predict the execution time of the extracted auxiliary function command for tool change with reference to a database in which the distance between tools is associated with an actual value of the auxiliary function execution time for tool change.

US Pat. No. 10,866,411

CLEANING DEVICE

FANUC CORPORATION, Yaman...

1. A cleaning device comprising:a lens cover configured to cover an object lens of a camera provided in a machining area of a machine tool, the lens cover being transparent;
a motor configured to rotate the lens cover; and
a wiping member configured to, when the lens cover rotates, wipe at least an adhering substance that has adhered to a region of the lens cover in an angle-of-view of the camera,
an information acquisition unit configured to acquire machining state information indicating a machining state of the machine tool; and
a motor control unit configured to control a rotational speed of the motor based on the machining state information acquired by the information acquisition unit,
wherein the machining state includes at least one of an ejection amount of a cutting fluid ejected in the machining area, a spindle rotational speed of a spindle for rotating a tool, a cutting feed rate of the tool, and a cutting depth of the tool.

US Pat. No. 10,864,630

CONTROL DEVICE AND MACHINE LEARNING DEVICE

Fanuc Corporation, Yaman...

7. A machine learning device that learns estimation for a width of a hand of a robot in gripping a gripping object with respect to a shape of the gripping object having small reaction force, the machine learning device comprising:a state observation unit that observes gripping object shape data and peripheral state data including at least ambient humidity related to the shape of the gripping object as a state variable representing a current state of an environment;
a label data acquisition unit that acquires gripping width data, the gripping width data representing the width of the hand of the robot in gripping the gripping object, as label data; and
a learning unit that performs learning by using the state variable and the label data in a manner to associate the gripping object shape data and the peripheral state data with the gripping width data.

US Pat. No. 10,821,533

WIRE ELECTRICAL DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine which creates a machining path consisting of successive first, second and third machining blocks based on commands of a machining program, and performs electrical discharge machining on a workpiece by making a wire electrode and the workpiece to relatively move according to the machining path, the wire electrical discharge machine comprising:a processor and a memory connectively coupled to the processor, the processor configured to compensate the machining path,
in a case of creating a corner part which is a circular arc as the second machining block,
by compensating a position of the center of a circular arc of the second machining block by way of a compensation vector calculated based on at least one indicator among four indicators of: deflection of the wire electrode; amount of change in voltage between the wire electrode and the workpiece in the second machining block relative to the first machining block; amount of change in relative movement speed between the wire electrode and the workpiece in the second machining block relative to the first machining block; and amount of change in electrical discharge pulse number per unit time between the wire electrode and the workpiece in the second machining block relative to the first machining block; and inserting a linear first compensation block between an end point of the first machining block and a start point of the second machining block which was compensated, and
creating a starting point of the third machining block by eliminating or extending a predetermined distance from a start point of the third machining block, and then inserting a second compensation block between the end point of the second machining block which was compensated, and the starting point of the third machining block which was created, wherein
the processor
calculates the compensation vector based on a correction factor according to the radius and central angle of a circular arc of the second machining block, and
based on the calculated compensation vector, creates the machining path for operation of the wire electrical discharge machine.

US Pat. No. 10,807,235

MACHINE LEARNING DEVICE, ROBOT CONTROLLER, ROBOT SYSTEM, AND MACHINE LEARNING METHOD FOR LEARNING ACTION PATTERN OF HUMAN

FANUC CORPORATION, Yaman...

19. A machine learning method, comprising:obtaining a state variable representing a state of a robot when a human and the robot work cooperatively;
obtaining determination data for a level of burden on the human, wherein the level of burden varies based on an action of the robot;
setting a reward based on the determination data; and
updating a neural network representing a function for setting the action of the robot, based on the state variable and the reward,
wherein the reward becomes greater for a smaller value of the level of burden, and the neural network is updated to set the action of the robot that leads to a smaller level of burden on the human.

US Pat. No. 10,797,545

MAGNET-EMBEDDED TYPE ROTOR AND ELECTRIC ROTATING MACHINE HAVING MAGNET-EMBEDDED TYPE ROTOR

FANUC CORPORATION, Yaman...

1. A rotor comprising:a rotor core configured to rotate integrally with a rotor shaft;
a first slot and a second slot, each penetrating through the rotor core in a direction of a rotary axis and when viewed from the direction of the rotary axis of the rotor core, each slot having a substantially rectangular shape with a short inner side and a short outer side and a first long side and a second long side wherein the short inner side and the short outer side each couple an end of the first and second long sides and the short outer sides are radially farther from the rotor shaft than the short inner sides, the short inner side of each of the first slot and the second slot has a first end point and a second end point, the first end points are located closer to each other and the second end points are located farther from each other, the first slot and the second slot being arranged in a V-shape in which the outer sides of the first slot and the second slot are apart from each other and the short inner sides of the first slot and the second slot are close to each other;
a first permanent magnet and a second permanent magnet, each having a substantially rectangular shape when viewed from the direction of the rotary axis of the rotor core, and being inserted in the first slot and the second slot, respectively; and
a communicating portion that penetrates through the rotor core in the direction of the rotary axis and when viewed from the direction of the rotary axis of the rotor core, has a first side connecting the first end points of the short inner sides and a second side connecting the second end points of the short inner sides of the first and second slots wherein the first and second sides are arc-shaped with the arcs being centered on the rotary axis, wherein the rotor core is solid and continuous without an opening from a shaft insertion hole to the communicating portion; and the outer end of the first slot and the outer end of the second slot are apart from the outer surface of the rotor core.

US Pat. No. 10,792,743

WIRE ELECTRICAL DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine that feeds a wire electrode to perform auto wire feeding of the wire electrode, comprising:a transport mechanism configured to feed the wire electrode along a travelling route;
a failure detector configured to be able to detect a failure of the auto wire feeding;
a position detector configured to be able to detect a position of a tip of the wire electrode on the travelling route;
a storage medium configured such that a plurality of divisional regions obtained by sectioning the travelling route are set and failure evaluation reference data of the auto wire feeding for every divisional region is stored; and,
a control device configured to identify the position of the tip of the wire electrode when a failure of the auto wire feeding occurs, based on detection signals from the failure detector and the position detector and determine whether to perform or stop retry of the auto wire feeding, based on the position of the tip and the failure evaluation reference data for every divisional region,
wherein:
the failure evaluation reference data for every divisional region is configured to include information on the multiple divisional regions and information on a difficulty level set for every divisional region in accordance with difficulty for the wire electrode to pass therethrough;
the control device is configured
to count the number of failures in the auto wire feeding actually arising in each individual divisional region, based on the identified position of the tip and the divisional region obtained from the storage medium and
to calculate an evaluation value of the counted number of failures in each divisional region based on the difficulty level for the divisional region and compares the sum of the evaluation values for every divisional region with an upper limit value stored in the storage medium to determine whether to perform or stop retry of the auto wire feeding when the failure of the auto wire feeding is detected, and
wherein the control device is configured to calculate the evaluation value by, at least, dividing the count of failures by the difficulty level.

US Pat. No. 10,792,744

WIRE ELECTRIC DISCHARGE MACHINE INCLUDING AVERAGE DISCHARGE DELAY TIME CALCULATING UNIT

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine that applies, while moving a relative position of a table with respect to a wire electrode, a voltage to a machining gap between the wire electrode and a workpiece arranged on the table to generate electric discharge and machines the workpiece, the wire electric discharge machine comprising:a measurement circuit configured to measure, as a discharge delay time, a no-load time from the application of the voltage to the machining gap until occurrence of the electric discharge, and integrate the measured discharge delay time over a predetermined measurement period to calculate a discharge delay integrated time;
a counting circuit configured to count the number of times of the voltage application in the predetermined measurement period; and
a controller configured to calculate an average discharge delay time per voltage application in the predetermined measurement period from the discharge delay integrated time calculated by the measurement circuit and the number of times of voltage application calculated by the counting circuit, wherein, when the average discharge delay time is smaller than a predetermined reference value, the voltage application is not performed on the machining gap for a predetermined time.

US Pat. No. 10,792,745

CONTROLLER FOR WIRE ELECTRICAL DISCHARGE MACHINE AND CONTROL METHOD OF WIRE ELECTRICAL DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A controller for a wire electrical discharge machine that machines a workpiece along a machining path by moving the workpiece and a wire electrode relative to each other while generating electric discharge across an electrode gap between the workpiece and the wire electrode, comprising:a machining surface state acquisition unit configured to acquire a state of a machining surface of the workpiece; and
a machining path setting unit configured to specify an excessively machined portion of the workpiece based on the acquired state of the machining surface and set an access point at which the wire electrode approaches the machining surface from a machining start point, so as to avoid the excessively machined portion, wherein:
the machining surface state acquisition unit is configured to acquire the state of the machining surface according to a discharge count across the electrode gap; and
the machining path setting unit is configured to designate, as the excessively machined portion, a portion where the discharge count across the electrode gap is smaller than a second predetermined discharge count.

US Pat. No. 10,792,751

TEACHING SYSTEM AND TEACHING METHOD OF WELDING ROBOT

Fanuc Corporation, Yaman...

1. A teaching system configured to teach a teaching position of a welding torch, the teaching system comprising:a robot to which the welding torch is attached;
a welding wire protruding from the welding torch;
a wire feeding motor configured to feed and rewind the welding wire;
a contact detection circuit configured to detect contact of a tip of the welding wire protruding from the welding torch with a teach subject; and
a controller configured to:
1) move the robot to a teaching position until the contact detection circuit detects contact of the tip of the welding wire with the teach subject,
2) cause the wire feeding motor to rewind the welding wire, when the contact detection circuit detects the contact of the tip of the welding wire with the teach subject in step (1),
3) cause the wire feeding motor to feed the welding wire, when the contact detection circuit does not detect the contact of the tip of the welding wire with the teach subject after the rewind in step (2),
4) when after step (2) or step (3):
a) determine a protruding length of the welding wire,
b) compare the protruding length of the welding wire to a predetermined length:
b1) when the protruding length is less than the predetermined length, move the robot in a direction away from the teach subject,
 b1i) when the contact detection circuit detects the contact of the tip of the welding wire with the teach subject after step (b1), cause the wire feeding motor to rewind the welding wire and repeat step (4),
 b1ii) when the contact detection circuit does not detect the contact of the tip of the welding wire with the teach subject after step (b1), cause the wire feeding motor to feed the welding wire and repeat step (4),
b2) when the protruding length is greater than the predetermined length, move the robot in a direction closer to the teach subject,
 b2i) when the contact detection circuit detects the contact of the tip of the welding wire with the teach subject after step (b2), cause the wire feeding motor to rewind the welding wire and repeat step (4),
 b2ii) when the contact detection circuit does not detect the contact of the tip of the welding wire with the teach subject after step (b2), cause the wire feeding motor to feed the welding wire and repeat step (4), and
b3) when the protruding length is equal to the predetermined length, stop feeding and rewinding of the welding wire and stop the robot, and store a stop position of the robot as the teaching position.

US Pat. No. 10,792,758

LASER MACHINING DEVICE FOR CORRECTING PROCESSING CONDITIONS BEFORE LASER MACHINING BASED ON CONTAMINATION LEVEL OF OPTICAL SYSTEM

Fanuc Corporation, Yaman...

1. A laser machining device configured to laser machine a workpiece after correcting a processing condition in accordance with a contamination level of an optical system, the laser machining device comprising:a laser oscillator;
an external optical system configured to guide laser light from the laser oscillator and focus the laser light on the surface of a workpiece;
a driver configured to move a focus position of the laser light emitted from the external optical system;
a reflection plate disposed perpendicularly to an optical axis of the laser light and having a constant reflectance with respect to the laser light;
a returning light measurement sensor configured to measure an energy amount of returning light reflected by the reflection plate and returning to the laser machining device;
a memory configured to store a reference value based on the energy amount of the returning light when laser light is emitted, in a state where the external optical system is not contaminated, toward the reflection plate with a predetermined output low enough not to melt or deform the reflection plate such that the focus position of the laser light aligns with a predetermined position; and
a processor configured to correct, prior to laser machining, a processing condition in accordance with the contamination level of the external optical system,
wherein the processor is configured to:
issue, with respect to the driver, a command to align the focus position to a position identical to the predetermined position toward the reflection plate,
issue, with respect to the laser oscillator, a command to emit laser light toward the reflection plate with a low output identical to the predetermined output, and
correct the laser power of the processing condition based on the measurement value measured by the returning light measurement sensor and the reference value.

US Pat. No. 10,792,768

LASER MACHINING HEAD WITH STAIN PREVENTION FOR PROTECTION WINDOW

Fanuc Corporation, Yaman...

1. A laser machining head with stain prevention, comprising:a protection window disposed inclined with respect to an optical axis of a laser beam;
an inflow port disposed downstream of the protection window and configured to allow a gas to flow in; and
a flow dividing projection configured to divide the gas into a first laminar flow flowing along parallel to a surface of the protection window and a second laminar flow flowing toward a workpiece.

US Pat. No. 10,792,776

MACHINE TOOL AND ORIGIN POINT CORRECTION METHOD

FANUC CORPORATION, Yaman...

1. A machine tool including a tool changer configured to change a tool mounted on a spindle by way of a turret provided with a plurality of grips for retaining the tool, comprising:a turning drive motor configured to turn the turret;
a controller operatively coupled to the machine tool and the turning drive motor; the controller programmed to perform the following steps:
acquire a turning position of the turret with respect to an origin point;
acquire an amount of sway of the tool when the tool is transferred between a grip of the plurality of grips and the spindle;
control the turning drive motor so that, when the tool is transferred, if the amount of sway of the tool is greater than or equal to a threshold value, the turret is turned and the amount of sway of the tool becomes less than the threshold value; and
correct the origin point in accordance with a turning position of the turret acquired, when the turret is turned by the turning drive motor so that the amount of sway of the tool becomes less than the threshold value.

US Pat. No. 10,780,577

MACHINE LEARNING DEVICE, ROBOT SYSTEM, AND MACHINE LEARNING METHOD FOR LEARNING OPERATIONS OF ROBOT AND LASER SCANNER

FANUC CORPORATION, Yaman...

1. A machine learning device for learning operations of a robot and a laser scanner, the machine learning device comprising a processor configured to:acquire state data of a tip end of the robot to which the laser scanner is mounted and state data of an optical component in the laser scanner,
receive a plurality of determination data comprising
a machining time of the robot to which the laser scanner is mounted,
a passing time in a processable area in which the laser scanner performs processing,
at least one of a drive current to drive the robot, and a command path of the laser scanner, and
a distance between the robot and a part at which the laser scanner performs processing, and
learn operations of the robot and the laser scanner based on the state data and the determination data,
wherein the processor is further configured to:
calculate a reward based on the state data and the determination data, by
calculating a first value as a first reward value given to a first one of the plurality of determination data,
calculating a second value as a second reward value given to a second one of the plurality of determination data, and
adding the first reward value to the second reward value to obtain the reward, and
update a value function that determines a value of the operations of the robot and the laser scanner based on the state data, the determination data, and the reward.

US Pat. No. 10,739,168

ABSOLUTE ENCODER COMPRISING A CLOCK CONTROL CIRCUIT TO CHANGE THE PULSE WIDTH OF EACH BACKUP CLOCK PULSE

FANUC CORPORATION, Yaman...

1. An absolute encoder configured to be driven by backup power from an external battery for backup, comprising:a clock generator configured to generate backup clock pulses at intervals of a predetermined period when the backup power is supplied;
an analog signal generation circuit configured to operate according to each clock pulse so as to detect a displacement position of a motor and generate an analog signal corresponding to the detected displacement position;
a comparator configured to operate according to the clock pulse so as to compare the analog signal with a predetermined voltage; and
a clock control circuit configured to control the clock generator to change a pulse width of the clock pulse.

US Pat. No. 10,737,382

ROBOT

FANUC CORPORATION, Yaman...

1. A robot comprising:a base including a flat mounting surface section to be set on an installation surface by a fixing part; and
a movable unit that is movable relative to the base; and
a friction reducing mechanism that is stored in the mounting surface section so as to be movable into and out from a mounting surface of the mounting surface section, that protrudes from the mounting surface when a relocating process is performed, and that reduces friction between the mounting surface of the mounting surface section and the installation surface,
the base further including a tip-over prevention member that is disposed in a switchable manner between a state where the tip-over prevention member at least protrudes forward from the mounting surface section in a moving direction when a relocating process is performed and a state where the tip-over prevention member does not protrude forward from the mounting surface section,
the mounting surface section includes a raised portion extending upward from a center thereof, and accommodates the friction reducing mechanism in a space inside the raised portion, and
the friction reducing mechanism is not connected to the tip-over prevention member.

US Pat. No. 10,739,734

MOTOR CONTROL APPARATUS

FANUC CORPORATION, Yaman...

1. A motor control apparatus comprising a controller configured to control a servo motor or a spindle motor of a machine tool, a robot or an industrial machine, the motor control apparatus comprising:a switching determining part or first communication means configured to communicate with the switching determining part, the switching determining part configured to determine a switching condition of the controller on a basis of position information on an axis related to control of the motor control apparatus;
a machine learning part or second communication means configured to communicate with the machine learning part, the machine learning part configured to adjust one or more parameter(s) for the controller by machine learning for each of the switching conditions; and
a parameter holding part or third communication means configured to communicate with the parameter holding part, the parameter holding part configured to hold the parameter adjusted by the machine learning part for each of the switching conditions,
wherein the switching determining part, when determining the switching condition after adjustment of the parameter, uses the adjusted parameter corresponding to the switching condition in the controller.

US Pat. No. 10,740,811

APPLICATION SALES MANAGEMENT SERVER SYSTEMS AND METHOD

FANUC CORPORATION, Yaman...

1. An application sales management server system that manages sales of applications operated by an edge server communicably connected to an edge device, the application sales management server system comprising:a server including a processor and a non-transitory storage;
the edge server; and
the edge device,
wherein the server is communicably connected to a user terminal of an intermediary dealer that relays sales of applications and a user terminal of an end user who uses the edge device and the edge server via a network,
wherein based on an application purchase request transmitted from the user terminal of the intermediary dealer to the sales management server system, the processor transmits distribution authorization information to the user terminal of the intermediary dealer,
wherein the distribution authorization information identifies an application and indicates authorization of distribution of the application,
wherein in response to receiving the distribution authorization information from the user terminal of the end user, the processor distributes the application identified by the distribution authorization information to the edge server,
wherein the distributed application is downloaded, installed, and executed on the edge server,
wherein the application executed on the edge server collects data from the edge device, and
wherein the edge device is a CNC machine tool or an industrial robot.

US Pat. No. 10,734,783

LASER OSCILLATOR

FANUC CORPORATION, Yaman...

1. A laser oscillator comprising: a semiconductor laser module;a first optical fiber for propagating a laser beam from the semiconductor laser module;
a first prism including a first input surface fusion-bonded to the first optical fiber and receiving the laser beam having been input from the first optical fiber, a first reflection surface for reflecting the laser beam having been input from the first input surface and for transmitting a stimulated Raman scattered beam, and a first output surface for outputting the laser beam having been reflected on the first reflection surface;
an optical system for propagating the laser beam having been output from the first prism;
a second prism including a second input surface for receiving the laser beam having been propagated through the optical system, a second reflection surface for reflecting the laser beam having been input from the second input surface and for transmitting a stimulated Raman scattered beam, and a second output surface for outputting the laser beam having been reflected on the second reflection surface; and
a second optical fiber to which the second output surface is fusion-bonded and used for propagating the laser beam, the first prism and the second prism configured to be attachable to and detachable from the optical system.

US Pat. No. 10,723,023

CONTROL DEVICE AND CONTROL METHOD FOR CONTROLLING WORKPIECE MOVING DEVICE AND ROBOT TO OPERATE IN COOPERATION WITH EACH OTHER

Fanuc Corporation, Yaman...

1. A control device configured to control a workpiece moving device moving a workpiece and a robot carrying out a work on the workpiece such that the workpiece moving device and the robot cooperate with each other,the control device comprising a workpiece moving device controller configured to control the workpiece moving device such that a time constant for when the robot and the workpiece moving device perform an operation other than a workpiece processing operation, in which the robot and the workpiece moving device carries out a work on the workpiece in cooperation with each other, is longer than that for when the robot and the workpiece moving device performs the workpiece processing operation, the time constant corresponding to a time period from commencement to termination of acceleration or deceleration of the workpiece moving device.

US Pat. No. 10,705,489

CONTROLLER

FANUC CORPORATION, Yaman...

1. A controller that reteaches taught positions in blocks contained in a plurality of machine control programs for controlling a plurality of mechanisms, each of the plurality of machine control programs including at least one piece of linkage information that indicates linkage between blocks of the machine control programs, the controller comprising:a teaching information management table in which the linkage information and taught positions in blocks of the plurality of machine control programs that are indicated by the linkage information as being linked to one another are associated with each other and managed;
a machine position acquiring section that acquires current positions of the mechanisms;
a reteach block search section that assigns with reference to the teaching information management table rank order numbers to the linkage information on the basis of relation between the current positions of each of the mechanisms acquired by the machine position acquiring section and a taught position in a block of the plurality of machine control programs that relates to the linkage information;
a search result output section that outputs blocks of the plurality of machine control programs that relate to the linkage information on the basis of the rank order numbers assigned by the reteach block search section; and
a reteach result reflecting section that reflects, in blocks of the plurality of machine control programs that have been selected as blocks to be retaught among the blocks output by the search result output section, the current positions of the mechanism that have been obtained by the machine position acquiring section as positions to be retaught.

US Pat. No. 10,695,879

MACHINING SYSTEM

FANUC CORPORATION, Yaman...

1. A machining system comprising:an automatic warehouse that stores workpieces and moves the stored workpieces to a supply position;
a warehouse controller, comprising a first processor, that receives a request for a workpiece to be moved to the supply position, and controls the automatic warehouse to move the workpiece corresponding to the received workpiece request to the supply position;
a machine tool that machines the workpieces;
a robot that transfers the workpieces, which are moved to the supply position by the automatic warehouse, to a machine tool side, in order for the workpiece to be machined by the machine tool;
a robot controller, comprising a second processor device that controls the robot, wherein
the automatic warehouse stores hail at least one robot fixture, each fixture may be one of a tool, a hand, and a hand claw to be attached to a tip of the robot,
the warehouse controller receives a request for flail one of the at least one robot fixture to be moved to the supply position, and controls the automatic warehouse to move the robot fixture corresponding to the received request to the supply position, and
the robot controller controls the robot to attach thereto the robot fixture supplied to the supply position,
wherein the automatic warehouse stores at least one jig used for machining by the machine tool,
the warehouse control device receives a request for one of the at least one jig to be moved to the supply position, and controls the automatic warehouse to move a corresponding jig corresponding to the received request and a jig-carrying hand for carrying the corresponding jig to the supply position, and
the control device controls the robot to attach thereto the jig-carrying hand moved to the supply position and to carry the corresponding jig moved to the supply position to the machine tool side by the jig-carrying hand.

US Pat. No. 10,691,102

MACHINING TECHNIQUE MANAGEMENT SYSTEM AND MACHINING TECHNIQUE MANAGEMENT METHOD

FANUC CORPORATION, Yaman...

1. A machining technique management system of an integrated system in which a CAD that outputs a machined shape; a CAM which creates a machining command for machining a workpiece into the machined shape; and a CNC machine tool which performs machining based on the machining command and outputs a machining execution state, are connected to a shared database, the machining technique management system managing the machining technique state based on the machined shape, the machining command and the machining execution state, the machining technique management system comprising:a processor; and
a non-transitory memory having executable instructions stored therein, which when executed, cause the processor to perform:
recording, in a case of the CNC machine tool executing the machining, request information indicating a request demanded in the machining, and state information indicating the machining execution state to be associated as machining execution information in the shared database;
comparing each of a plurality of sets of the machining execution information in which at least part of the request information matches;
defining machining execution information which was determined as satisfying a request in the request information better than other machining execution information based on a comparison result, as a candidate for machining technique information to be used for creation of the machining command at the CAM; and
using the candidate machining technique information to create the machining command, wherein the created machining command is used by the CAM.

US Pat. No. 10,692,650

THREE-PHASE TRANSFORMER

FANUC CORPORATION, Yaman...

1. A three-phase transformer comprising:a first plate iron core and a second plate iron core disposed opposite each other;
a plurality of columnar iron cores disposed between the first plate iron core and the second plate iron core so as to be connected to the first plate iron core or the second plate iron core, the number of the columnar iron cores being an integer multiple of 3, the columnar iron cores being disposed rotation-symmetrically with respect to an axis serving as a rotation axis equidistant from central axes of the columnar iron cores; and
coils including a plurality of primary coils and a plurality of secondary coils A, the number of the primary coils being an integer multiple of 3, the number of the secondary coils A being an integer multiple of 3, the primary coils and the secondary coils A being wound on the individual columnar iron cores, wherein
each of the columnar iron cores is separated into a first columnar iron core portion on which the primary coil is wound, and a second columnar iron core portion on which the secondary coil A is wound,
the second plate iron core has a plurality of third columnar iron core portions and a plurality of secondary coils B wound on the individual third columnar iron core portions, and the secondary coil B has a different winding number from the secondary coil A, and the number of the plurality of third columnar iron core portions is the same as the number of the plurality of column iron cores, and
the first plate iron core or the second plate iron core is rotatable about the rotation axis, so as to selectively switch between a combination of the primary coils and the secondary coils A and a combination of the primary coils and the secondary coils B.

US Pat. No. 10,684,608

ABNORMALITY DETECTION APPARATUS AND MACHINE LEARNING DEVICE

FANUC CORPORATION, Yaman...

1. An abnormality detection apparatus that detects an abnormality during exchange of tools in a machine tool having a tool exchange device, the abnormality detection apparatus comprising:a state observation section that observes tool weight data on weights of the tools attached to the tool exchange device, tool balance data on balances of the tools, and tool exchange state data on a state during the exchange of the tools;
a tool exchange state data storage section that stores the tool weight data, the tool balance data, and the tool exchange state data in association with each other; and
a determination result output section that detects an abnormality in the exchange of the tools based on the tool weight data, the tool balance data, and the tool exchange state data observed by the state observation section during the exchange of the tools in the processing machine and the data stored in the tool exchange state data storage section.

US Pat. No. 10,677,672

DISPLACEMENT DETECTION TYPE FORCE-DETECTION STRUCTURE AND DISPLACEMENT DETECTION TYPE FORCE SENSOR

FANUC CORPORATION, Yaman...

1. A force-detection structure comprising:a first end portion;
a second end portion;
a connecting portion that elastically connects the first end portion to the second end portion;
a detecting part that detects a relative displacement between the first end portion and the second end portion, accompanied by elastic deformation of the connecting portion, and outputs, based on the said relative displacement, a detection value used for acquiring a first force component in a direction of a first axis, a second force component in a direction of a second axis orthogonal to the first axis, and a moment component about a third axis orthogonal to both of the first axis and the second axis, of a force applied to the first end portion or the second end portion; wherein
the detecting part comprises:
two first gaps provided between the first end portion and the second end portion, and configured to change in accordance with a relative movement between the first end portion and the second end portion;
two second gaps provided between the first end portion and the second end portion at positions different from positions of the two first gaps, and configured to change in accordance with a relative movement between the first end portion and the second end portion;
a first differentially-detecting section that detects, in a differential manner, changes occurring oppositely in phase in the two first gaps in accordance with a relative movement between the first end portion and the second end portion along the first axis as first movement data, by converting the changes to signals mutually reverse in phase and executing arithmetic processing for the signals in a differential manner;
a second differentially-detecting section that detects, in a differential manner, changes occurring oppositely in phase in the two second gaps in accordance with a relative movement between the first end portion and the second end portion along the second axis as second movement data, by converting the changes to signals mutually reverse in phase and executing arithmetic processing for the signals in a differential manner; and
a third differentially-detecting section that detects, in a differential manner, changes occurring oppositely in phase in the first and second gaps in accordance with a relative rotation between the first end portion and the second end portion about a central axis along the third axis as rotation data, by converting the changes to signals mutually reverse in phase and executing arithmetic processing for the signals in a differential manner, so that
the detecting part outputs the detection value based on the first movement data, the second movement data and the rotation data.

US Pat. No. 10,678,222

DATA COLLECTION DEVICE AND COMPUTER READABLE MEDIUM

FANUC CORPORATION, Yaman...

1. A data collection device connected with a plurality of machine tools via a network, the data collection device comprising:a priority calculation means for calculating a degree of relative priority for each of the plurality of machines tools, based on information related to a state of each of the machine tools that is previously received; and
a measured data collection means for deciding, in a case of receiving a collection request of measured data for the machine tool, which machine tool among the machine tools corresponding to the collection request to set as a collection target of the measured data based on the degree of relative priority, and for collecting the measured data from the machine tool decided as the collection target via the network,
wherein the measured data collected from each of the machine tools is included in information related to the state of each of the machine tools for calculating the degree of relative priority by the priority calculation means,
wherein a demanded precision is set for each of the plurality of machine tools,
wherein the priority calculation means calculates an estimated error related to a machining process for each of the plurality of machine tools, based on the measured data collected from each of the machine tools, and decides the degree of relative priority so that the degree of relative priority becomes higher for a machine tool having a higher value of a ratio between a value of the estimated error calculated and a value of the demanded precision that is set,
wherein the measured data collection means causes operation for collecting the measured data to be performed in a machine tool decided as the collection target of the measured data based on the degree of relative priority, and
collects information representing a physical quantity which changes accompanying the operation as the measured data.