US Pat. No. 10,673,228

UNIT

FANUC CORPORATION, Yaman...

1. A unit, comprising:a power supply circuit configured to convert an input voltage from an input power supply to a predetermined output voltage;
an output terminal configured to output the output voltage to the outside of the unit;
a switch provided between the power supply circuit and the output terminal, the switch having
a first contact on a power supply circuit side of the switch, and
a second contact on an output terminal side of the switch;
a switch control part configured to
turn off the switch to electrically disconnect the first contact from the second contact, in response to the input voltage not applied from the input power supply to the power supply circuit, and
turn on the switch to electrically connect the first contact and the second contact, in response to the input voltage applied to the power supply circuit;
a determination part coupled to the first and second contacts of the switch via first and second connections, respectively, the determination part configured to compare a first voltage, which is a real-time voltage on the first contact of the switch, with a second voltage, which is a real-time voltage on the second contact of the switch to determine whether or not the second voltage is higher than the first voltage; and
an output part configured to output an alarm signal in response to the determination part determining that the second voltage is higher than the first voltage.

US Pat. No. 10,673,262

ELECTRIC DEVICE HAVING FUNCTION OF INFORMING BATTERY RESIDUAL CAPACITY

Fanuc Corporation, Yaman...

1. A device controller comprising:a first power source which supplies electric power from an internal power source to electrical devices of the controller;
a second power source which supplies electric power from an outside power source to the electrical devices of the controller;
a switch which switches the first power source and the second power source which supply electric power to the electrical devices of the controller;
the electrical devices of the controller including:
a clock for measuring time;
a voltage detection circuit for measuring a terminal voltage value of the first power source;
a non-volatile memory device for storing the terminal voltage value of the first power source and the time when the terminal voltage value of the first power source is measured;
a processor for calculating a time change rate of the terminal voltage value of the first power source stored in the non-volatile memory device, the time change rate is calculated as a change in the terminal voltage value over a cumulative time of a turn-off period of the device controller as measured by the clock, and for calculating a residual capacity of the first power source in accordance with the time change rate of the terminal voltage value of the first power source; and
an output device for outputting visual or audible information based on the residual capacity.

US Pat. No. 10,664,754

INFORMATION PROCESSING APPARATUS

Fanuc Corporation, Yaman...

1. An information processing apparatus including a machine learning apparatus configured to receive a plurality of different pieces of sensor data and perform machine learning, the information processing apparatus comprising:an input data control section configured to set a selection rule for generating one or more combinations of the sensor data;
an input data selection section configured to generate a plurality of combinations of the sensor data in accordance with the selection rule, input the combinations of the sensor data to the machine learning apparatus, and generate a recognizer corresponding to each of the combinations of the sensor data;
an expected-performance setting section configured to set expected performance required for the recognizers; and
a performance evaluation section configured to evaluate performance of the recognizers in accordance with the expected performance and output the combination of the sensor data corresponding to the recognizer satisfying the expected performance, wherein
the expected performance is defined using cost for acquiring the sensor data, and
the cost for acquiring the sensor data is calculated based on a price of a sensor for acquiring the sensor data, a degree of difficulty of installation of the sensor, or time or processing load required for acquiring or processing the sensor data.

US Pat. No. 10,651,758

MOTOR DRIVE APPARATUS INCLUDING SHORT-CIRCUIT JUDGMENT UNIT FOR CAPACITOR OF DC LINK UNIT

FANUC CORPORATION, Yaman...

1. A motor drive apparatus comprising:a PWM converter configured to convert AC power input from an AC power supply into DC power by PWM control and outputs the DC power;
a DC link unit comprising a plurality of capacitors connected in parallel with a DC output of the PWM converter and connected in series with each other;
an inverter connected in parallel with the DC link unit, and configured to convert the DC power in the DC link unit into AC power for driving a motor and output the AC power;
a DC link voltage detection unit configured to detect a DC link voltage value as a value of a voltage applied to a positive and negative terminal of the DC link unit;
a power supply voltage detection unit configured to detect a peak value of a power supply voltage applied to an AC input of the PWM converter;
a short-circuit judgment unit configured to compare the DC link voltage value with the peak value of the power supply voltage and judge that at least one of the plurality of capacitors in the DC link unit has shorted when, as a result of comparison, the DC link voltage value is smaller than the peak value of the power supply voltage; and
a shut-off unit configured to shut off flow of the AC power from the AC power supply into the PWM converter when the short-circuit judgment unit judges that at least one of the plurality of capacitors has shorted.

US Pat. No. 10,620,164

DIAGNOSTIC DEVICE AND DIAGNOSTIC METHOD

FANUC CORPORATION, Yaman...

1. A diagnostic device for diagnosing a cause of streaks generated on a surface of a workpiece on which mirror surface machining has been performed by a machine tool by moving a tool attached to a spindle relatively to the workpiece, the diagnostic device comprising:a spindle rotational frequency acquisition unit configured to acquire a spindle rotational frequency of the spindle;
a pitch acquisition unit configured to acquire a pitch of the streaks generated on the surface of the workpiece;
a feed rate acquisition unit configured to acquire a feed rate of the tool when the mirror surface machining is performed on the surface of the workpiece;
a streak frequency calculator configured to calculate a streak frequency that is a cause of the streaks, from the pitch of the streaks and the feed rate of the tool;
a causal frequency calculator configured to calculate a causal frequency which causes vibrations of the streak frequency, from the spindle rotational frequency and the streak frequency; and
a notifying unit configured to indicating whether or not there is a peripheral device that generates vibrations at the causal frequency around the machine tool.

US Pat. No. 10,610,952

WELDING WIRE PROCESSING STRUCTURE OF ARC WELDING ROBOT

FANUC CORPORATION, Yaman...

2. A welding wire processing structure of an arc welding robot, the welding wire processing structure comprising: a wire hose for feeding a welding wire to a wire feeder that is attached to a rear portion of an arm provided with a welding torch at a tip, from a rear end surface of the wire feeder to a forward side; and a connector for attaching the wire hose to the rear end surface, wherein the connector connects the wire hose in a direction intersecting a feed direction of the welding wire at the rear end surface of the wire feeder, the connector being attached to the wire feeder so as to be rotatable around an axis line along the feed direction of the welding wire, and the connector configured to rotate around the axis line while fixing an inclination of the wire hose relative to the feed direction of the welding wire, andwherein an intersection angle between a longitudinal axis of the wire hose at an attachment position to the connector and the feed direction of the welding wire inside a housing is between 30 degrees and 90 degrees.

US Pat. No. 10,614,565

INSPECTION DEVICE AND INSPECTION SYSTEM

Fanuc Corporation, Yaman...

1. An inspection device that performs inspection of an inspection target object on the basis of an image of the inspection target object captured by an inspection imaging device, the inspection device comprising: a line-of-sight information acquisition unit that acquires line-of-sight information including a starting point of a line of sight, a line-of-sight direction, and an observation range of an inspector when the inspector performs visual inspection of the inspection target object;a target object information acquisition unit that acquires target object information including a position, an attitude, and a shape of the inspection target object during the visual inspection; and
a program generation unit that specifies an observation position of the inspection target object observed by the inspector during the visual inspection as an inspection position on the basis of a set of pieces of data including the line-of-sight information and the target object information, captures an image of the specified inspection position of the inspection target object using the inspection imaging device, and generates an inspection execution program for performing inspection of the inspection target object on the basis of the captured image of the inspection position of the inspection target object,
wherein the inspection execution program uses an inspection assistance robot that holds the inspection target object or the inspection imaging device using an arm, and includes an operation program of the inspection assistance robot for controlling a relative position between the inspection target object and the inspection imaging device so that an image of the inspection position of the inspection target object is captured using the inspection imaging device,
wherein the inspection device further comprising: an environmental information acquisition unit that acquires a type, an arrangement position, and an attitude of the inspection imaging device and a type of a lens in the inspection imaging device as environmental information,
wherein the program generation unit generates an operation program of the inspection assistance robot for controlling the relative position between the inspection target object and the inspection imaging device on the basis of the environmental information.

US Pat. No. 10,580,553

CABLE

FANUC CORPORATION, Yaman...

1. A cable, comprising:a linear conductor;
a plurality of hollow tubes made of resin and which are disposed around the conductor so that an air layer is formed around the conductor, the hollow tubes extending in a longitudinal direction of the conductor;
an insulating protective member configured to protect the conductor and the plurality of hollow tubes; and
a partitioning portion provided in at least one hollow tube among the plurality of hollow tubes, the partitioning portion being configured to partition an interior of the hollow tube.

US Pat. No. 10,551,817

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 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, based on the rotational position;
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 starting position to a target position, 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 starting 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 position, 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; and
a positioning-motion control section configured to execute a position control for making the spindle axis perform a decelerated rotation so as to reach the target position, based on the maximum acceleration, the residual rotation amount and the current speed, after the accelerated rotation at maximum capacity,
wherein the positioning-motion control section is configured to make the spindle axis perform the decelerated rotation at a positioning deceleration higher than a deceleration corresponding to the maximum acceleration and equal to a maximum deceleration capable of compensating for a mechanical loss in the drive source during the decelerated rotation of the spindle axis.

US Pat. No. 10,551,822

CAD/CAM-CNC INTEGRATED SYSTEM

FANUC CORPORATION, Yaman...

1. A CAD/CAM-CNC integrated system that is configured with devices related to processes from design of a product to machining, the devices including CAD, CAM, and a CNC machine tool, whereineach of the devices is connected to a shared database that allows each device to set information therein and read information therefrom,
the shared database contains machining technique information which is referred to at a time of creation of a machining command,
the machining command which is used by the CNC machine tool at a time of machining contains information on machining which is described in a format complying with a data model of a hierarchical structure,
the CNC machine tool includes
a machining command decoding and executing section that decodes the machining command and carries out machining in accordance with the machining command based on a result of decoding,
a change recording section that records a change made to the machining command by an operator, as change information, in the shared database in association with a changed level of a hierarchy of the machining command, and
a machining information recording section that records information on machining obtained during execution of the machining based on the machining command, as machining execution information, in the shared database in association with the machining command, and
the devices further include a machining technique information updating section that updates the machining technique information based on the change information and the machining execution information.

US Pat. No. 10,549,369

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller for controlling a wire electric discharge machine based on a machining program to move a wire electrode with respect to a workpiece, thereby machining the workpiece using the wire electrode, the numerical controller comprising:a processor configured to:
create a machining path to move the wire electrode by analyzing blocks of the machining program;
create interpolation data indicating an amount of movement for each interpolation period on the machining path based on the machining path;
calculate a machined surface length corresponding to a length of the workpiece to be machined by the wire electrode for each interpolation period, the machined surface length calculated based on a thickness of the workpiece and an angle of the wire electrode relative to the workpiece;
calculate a consumption amount of the wire electrode for each interpolation period based on the machined surface length for each interpolation period; and
calculate a compensation amount for compensating the amount of movement according to the interpolation data based on the consumption amount of the wire electrode for each interpolation period,
wherein the wire electrode is moved on the basis of the amount of movement based on the interpolation data that is compensated by the compensation amount.

US Pat. No. 10,532,432

MACHINE LEARNING DEVICE, MACHINE LEARNING SYSTEM, AND MACHINE LEARNING METHOD

Fanuc Corporation, Yaman...

1. A machine learning device comprising:a state observing means that acquires data indicating an intensity distribution of a laser beam and data indicating a condition for observing the laser beam, performed to generate the data indicating the intensity distribution as input data;
a label acquisition means that acquires an evaluation value related to judgment of the quality of the laser beam as a label; and
a learning means that performs supervised learning using a pair of the input data acquired by the state observing means and the label acquired by the label acquisition means as training data to construct a learning model for judging the quality of the laser beam.

US Pat. No. 10,528,025

MOTOR DRIVING APPARATUS

Fanuc Corporation, Yaman...

1. A motor driving apparatus for driving a motor, the motor driving apparatus comprising:an amplifier circuit for receiving a signal from a detector and amplifying the signal with a set amplification factor, the detector outputting the signal in a sine wave shape in response to rotation of the motor;
an A/D converting part for performing digital conversion by sampling the signal amplified by the amplifier circuit at a sampling timing in a predetermined cycle;
an amplification factor setting part for changing setting of the amplification factor of the amplifier circuit, wherein, during a stabilization period, distortion occurs in a waveform of the signal amplified by the amplifier circuit after changing the setting of the amplification factor; and
an amplification factor set timing command part for issuing a command, at a set time, to change the amplification factor by the amplification factor setting part, wherein
the set time of the issuing of the command by the amplification factor set timing command part is a time that allows the stabilization period of the waveform of the signal amplified by the amplifier circuit to not overlay with the sampling timing.

US Pat. No. 10,527,467

ROTATION ANGLE DETECTOR WHICH CAN DETECT ENTRY OF FOREIGN SUBSTANCES

FANUC CORPORATION, Yaman...

1. A rotation angle detector comprising:a rotating body including a plurality of track parts to detect a rotation angle of a rotary shaft;
detection units arranged in positions which correspond to the track parts; and
an abnormality detecting unit for detecting an abnormality based on signals generated in the detection units, wherein
the rotating body includes a first track part and a second track part,
the detection units generate a first signal based on the first track part and a second signal based on the second track part, and
the abnormality detecting unit includes a fluctuation range calculating unit for calculating a fluctuation range of the first signal and a fluctuation range of the second signal, and a judgement unit for judging an occurrence of an abnormality when a difference between the fluctuation range of the first signal and the fluctuation range of the second signal is larger than a predetermined fluctuation range judgement value, wherein the abnormality detecting unit compares the fluctuation range of the first signal with the fluctuation range of the second signal and determines that the abnormality occurs in one of the first track part or the second track part based on the comparison.

US Pat. No. 10,527,675

MOTOR DRIVING DEVICE AND MEASURING METHOD

FANUC CORPORATION, Yaman...

1. A motor driving device for driving multiple motors, comprising:a converter unit configured to convert an AC voltage supplied from an AC power supply via a first switch into a DC voltage;
a plurality of inverter units configured to convert the DC voltage converted by the converter unit into an AC voltage to thereby drive the multiple motors;
an insulation resistance measuring unit configured to sequentially select one of the multiple motors as a measurement target motor and measure an insulation resistance of the selected measurement target motor to thereby measure insulation resistance of each of the multiple motors;
a measurement interrupting unit configured to determine whether or not a measurement interrupt condition is established, and interrupt the measurement of the insulation resistance by the insulation resistance measuring unit if the measurement interrupt condition is determined to be established;
a storage unit configured to, when the measurement of the insulation resistance is interrupted, store information indicating the motor selected as the measurement target motor; and
a measurement resuming unit configured to, when the measurement of the insulation resistance is resumed, cause the insulation resistance measuring unit to resume the measurement of the insulation resistance sequentially from the motor that had been selected as the measurement target motor when the measurement was interrupted, based on the information stored in the storage unit.

US Pat. No. 10,525,562

ROTARY TABLE DEVICE

FANUC CORPORATION, Yaman...

1. A rotary table device comprising:a case;
a spindle having an axis hole, the spindle provided rotatably in the case and the axis hole extending through the spindle along an axis direction of a center portion;
a rotary joint having a rotary shaft attached non-rotatably to the axis hole of the spindle; and
a clamp mechanism arranged in a rear end side of the case and having a component attached non-rotatably to the spindle,
the rotary shaft having a fluid passage therein that causes working fluid flowing from the rotary joint to flow out to a front end side of the spindle, the rotary shaft having an attachment flange unit in a front end portion, the rotary shaft inserted to the axis hole from the front end side of the spindle to be attached to the spindle by the attachment flange unit, a rear end portion of the rotary shaft projecting from a rear end surface of the spindle,
the component of the clamp mechanism mounted to the rear end portion of the rotary shaft projecting from the rear end surface of the spindle from a rear end side of the rotary shaft, the component contacting with and externally fit to an outer circumferential surface of the rear end portion of the rotary shaft, wherein
the component of the clamp mechanism includes a brake disk, and a disk holder that fixes the brake disk to the spindle,
the outer circumferential surface of the rear end portion of the rotary shaft projecting from the rear end surface of the spindle has a fitting part that contacts with an inner circumferential surface of the component in a region in which the component of the clamp mechanism is externally fit,
the outer circumferential surface of the rear end portion of the rotary shaft includes an escape part rearward of the fitting part, the escape part not in contact with the inner circumferential surface of the component, and
the fitting part is arranged adjacent to the rear end surface of the spindle, wherein a length of the fitting part in an axial direction is longer than a length of the brake disk in the axial direction, and the length of the fitting part is shorter than a sum length of the brake disk and the disk holder in the axial direction.

US Pat. No. 10,518,417

ARTICLE RETRIEVAL SYSTEM

Fanuc Corporation, Yaman...

1. An article retrieval system comprising:a sensor that measures the states of articles stored in a storage container;
an article detection part for detecting the articles on the basis of the states of the articles measured by the sensor;
a handling part for retrieving the articles or changing positions and/or orientations of the articles detected by the article detection part; and
a controller that controls the sensor, the article detection part, and the handling part,
wherein the controller includes:
a space dividing part for dividing a space in which the articles exist according to the states of the articles measured by the sensor; and
a switching part for switching at least one of a method of measurement with the sensor, a method of detection with the article detection part, a method of retrieval of the articles with the handling part, and a method of changing the positions and/or orientations of the articles with the handling part for each of spaces into which the space has been divided by the space dividing part.

US Pat. No. 10,520,913

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller, configured to control a machine tool, which has a plurality of linear movement axes and at least one rotational movement axis for a table and is provided with a tool, based on a machining program and to continuously machine a workpiece fixed on the table using the tool, the numerical controller comprising:an instruction analysis unit that reads an instruction block from the machining program and analyzes the read instruction block to generate movement command data for moving the tool relative to the workpiece; and
an interpolation unit that performs interpolation processing based on the movement command data to generate and output interpolation data for each interpolation cycle,
wherein the interpolation unit includes an extended interpolation unit which performs provisional interpolation processing according to command speed F, instructed based on the machining program on a non-rotating coordinate system, converts a start point and an end point of an interpolation path obtained by the provisional interpolation processing to positions on a rotating coordinate system to obtain speed F? on the rotating coordinate system, obtains a ratio r of the speed F? to the command speed F, and performs main interpolation processing on the non-rotating coordinate system at speed obtained by multiplying the command speed F by the reciprocal of the ratio r.

US Pat. No. 10,522,964

FIBER LASER APPARATUS

FANUC CORPORATION, Yaman...

1. A fiber laser apparatus which includes a fiber laser oscillator that is excited by laser light from at least one laser diode module so as to perform laser oscillation, the fiber laser apparatus comprising:a loop-shaped optical fiber formed with: a combiner in which at least two input side optical fibers each including input ends are connected to one output side optical fiber including one output end; and an optical fiber for connection of both ends in which the output end of the output side optical fiber in the combiner is connected to the input end of any one of the input side optical fibers,
wherein the optical fiber for connection of both ends includes a light leakage means configured such that at least one of values among a numerical aperture, a core diameter and a mode field diameter of the optical fiber for connection of both ends is gradually reduced from a side which is connected to the output end of the output side optical fiber toward a side which is connected to the input end of the input side optical fiber.

US Pat. No. 10,514,667

MACHINE TOOL AND MACHINE LEARNING DEVICE

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:a plurality of control circuits for moving a spindle including a tool relative to a workpiece by controlling at least one axis on the basis of a machining program and machining the workpiece; and
a machine learning device which includes a processor configured to predict occurrence or non-occurrence of a collision between
(i) the spindle or the tool, and
(ii) the workpiece, a jig holding the workpiece, or a constituent element of the machine tool,said collision caused by an operation for the axis through manual operation after interruption of the machining, whereinthe machine learning device further includes a storage device which stores a learning model constructed by supervised learning using
(i) input data based on information related to the manual operation, and
(ii) teacher data based on information related to the occurrence or non-occurrence of the collision of the spindle or the tool at the time of the manual operation, and
the processor is further configured to
acquire the information related to the manual operation from log data recorded at the time of the manual operation in the machine tool,
create the input data on the basis of the information related to the manual operation acquired from the log data, wherein the input data include (i) first input data in a case where a spindle collision occurred due to an improper manual operation by an operator, and (ii) second input data in a case where no spindle collision occurred due to an improper manual operation by an operator, and
predict, using the learning model, the occurrence or non-occurrence of the collision of the spindle or the tool from the input data created based on the information related to the manual operation.

US Pat. No. 10,514,676

THERMAL DISPLACEMENT CORRECTION APPARATUS FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A thermal displacement correction apparatus for a machine tool comprising:a processor programmed to
predict a thermal displacement amount from an operation of the machine tool or a temperature of each portion of the machine tool, and calculate a thermal displacement correction amount for correcting thermal displacement by adding, to a position command value of a feed axis of the machine tool, the thermal displacement correction amount for cancelling the thermal displacement amount thus predicted,
calculate an adjustment value for adjusting the thermal displacement correction amount on the basis of the thermal displacement correction amount,
determine, on the basis of a changing situation of the adjustment value, whether it is needed to perform, by a measurement unit, measurement of an actual dimension of a workpiece to be processed by the machine tool, wherein the processor is programmed to
compare (1) a first value associated with the adjustment value which changes with time upon starting of processing by the machine tool with (2) a second value representing a threshold which is designated previously,
in response to the first value not exceeding the second value, determine that the measurement of the actual dimension of the workpiece is not needed, and
in response to the first value exceeding the second value, determine that the measurement of the actual dimension of the workpiece is needed, and
in response to a determination that the measurement of the actual dimension of the workpiece is needed,
control the measurement unit to perform the measurement of the actual dimension of the workpiece,
calculate the thermal displacement correction amount based on the actual dimension of the workpiece obtained by the measurement, and
control the feed axis of the machine tool by the position command value corrected by the thermal displacement correction amount calculated based on the actual dimension of the workpiece, wherein the adjustment value is changed, through the actual measurement, in real time and reflected on correction of the thermal displacement.

US Pat. No. 10,516,247

LASER OSCILLATOR

FANUC CORPORATION, Yaman...

1. A laser oscillator comprising:a laser beam generating unit;
a heat exchanger that cools a surrounding with a coolant;
a coolant bypass circuit;
a coolant, circuit connected to the laser beam generating unit, the heat exchanger, and the coolant bypass circuit;
a housing that stores the laser beam generating unit, the heat exchanger, the coolant bypass circuit, and the coolant circuit;
a coolant circulating unit that circulates the coolant to the laser beam generating unit, the heat exchanger, and the coolant bypass circuit with the aid of the coolant circuit;
a first valve that adjusts a flow rate of the coolant supplied to the laser beam generating unit;
a second valve that adjusts a flow rate of the coolant supplied to the heat exchanger;
a third valve that adjusts a flow rate of the coolant supplied to the coolant bypass circuit;
a dew point measuring unit that measures a dew point inside the housing;
a temperature measuring unit that measures a temperature of the coolant; and
a control unit that controls the first, second, and third valves on the basis of the dew point and the coolant temperature.

US Pat. No. 10,512,995

WORK CLAMPING DEVICE

FANUC CORPORATION, Yaman...

1. A work clamping system comprising:a receiving member which has a first contacting surface which comes into contact with a first circumference position of an outer circumference surface of a columnar portion of a work which has the columnar portion and a head portion provided at one end of the columnar portion in an axial direction of the columnar portion, and a second contacting surface which comes into contact with a second circumference position of the outer circumference surface of the columnar portion; and
a clamp mechanism which presses the columnar portion on the first contacting surface and the second contacting surface,
wherein a center of gravity of the work is located at a side of the head portion,
wherein the work clamping device further comprises:
an attraction member which is provided in the receiving member and which comprises a ferromagnetic material or a magnet; and
a pre-clamping positioning member which is not a liquid state but a solid state and which is to be inserted into a hollow portion in the columnar portion, the hollow portion extending in the axial direction of the columnar member, and which temporarily hold the columnar portion to the receiving member by being attracted to the attraction member by magnetic force,
wherein the clamp mechanism presses the columnar portion temporarily positioned by the pre-clamping positioning member on the first and the second contacting surfaces of the receiving member.

US Pat. No. 10,516,344

CONVERTOR APPARATUS CONFIGURED TO OPTIMIZE INITIAL CHARGING TIME OF DC LINK CAPACITOR

FANUC CORPORATION, Yaman...

1. A convertor apparatus comprising:a main circuit unit which converts an alternating current inputted from an alternating current power supply to a direct current and outputs the direct current to a DC link which is a direct current side;
a DC link capacitor provided to the DC link;
an alternating current voltage detection unit which detects an alternating current voltage crest value at an alternating current input side of the main circuit unit;
a DC link capacitor voltage detection unit which detects a DC link capacitor voltage value applied to the DC link capacitor;
an initial charging unit which includes a switch for opening and closing an electrical path between the main circuit unit and the DC link capacitor and a charging resistor connected in parallel to the switch, the initial charging unit initially charging the DC link capacitor by a direct current power supplied from the main circuit unit through the charging resistor during an opening period of the switch, and completing an initial charging operation of the DC link capacitor by switching the switch from to be opened into to be closed when a difference between the DC link capacitor voltage value and the alternating current voltage crest value becomes smaller than or equal to a voltage reference value;
a current detection unit which detects a current value flowing into the main circuit unit or flowing out of the main circuit unit; and
a voltage reference value setting unit which changes the voltage reference value to a new voltage reference value in accordance with the current value as detected by the current detection unit, the new voltage reference value used by the initial charging unit for controlling the switch in a subsequent initial charging of the DC link capacitor.

US Pat. No. 10,513,035

ROBOT-DEFECTIVE-PART DIAGNOSING DEVICE AND METHOD

FANUC CORPORATION, Yaman...

1. A robot-defective-part diagnostic device, comprising:a processor comprising hardware, the processor being configured to:
measure positions of a target with a sensor to capture an image of the target, for a plurality of postures of a robot, one of the target and the sensor being attached to the robot and the other being disposed outside the robot;
calculate a positioning error of the robot based on the measured positions of the target;
determine whether the calculated positioning error is larger than a predetermined threshold;
in response to determining that the calculated positioning error is larger than the predetermined threshold, calculate mechanical parameters of respective operation shafts of the robot based on the measured positions of the target for the respective postures; and
identify, as a causal part, the operation shaft in which a difference between the calculated mechanical parameters and preset mechanical parameters for achieving the respective postures is the largest.

US Pat. No. 10,497,146

VISUAL SENSOR ABNORMALITY CAUSE ESTIMATION SYSTEM

FANUC CORPORATION, Yaman...

1. A visual sensor abnormality cause estimation system for estimating causes of abnormalities in a visual sensor in a production system including a production device and a controller, the visual sensor being a sensor that detects visual information on the production device or of a surrounding thereof, and the controller being a controller that controls the production device based on the visual information obtained by the visual sensor, the visual sensor abnormality cause estimation system comprising:a storage device having stored therein information comprising: time-series pieces of the visual information from the visual sensor; and a plurality of predetermined abnormality cause items, including at least one visual sensor equipment cause item and at least one environmental cause item;
at least one environment sensor;
an environment information acquisition means for acquiring, via the at least one environment sensor, time-series environment information of an environment of the visual sensor at a timing according to a predetermined time interval, the time-series environment information including time-series values of one or more types of environmental items, respectively, and storing the time-series environment information of the one or more types of environmental items in the storage device as the at least one environmental cause item, respectively;
an operation determination unit that determines an abnormality of the production device based on the time-series pieces of the visual information from the visual sensor, and that determines an abnormality occurrence time point associated with the abnormality, and that stores the abnormality time point in the storage device; and
an abnormality cause estimation means for estimating a strength of correlation between the abnormality and each of the plurality of predetermined abnormality cause items based on the time-series environment information at the abnormality time point, and for displaying the estimated strength of correlation on a display for the respective abnormality cause items.

US Pat. No. 10,493,581

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool comprising a bed, covers configured to be expandable and contractible and respectively protect a moving mechanism for moving a saddle relative to the bed in a first direction and another moving mechanism for moving a table relative to the saddle in a second direction intersecting the first direction, and a splash guard attached to the bed and configured to surround the saddle, the table and the covers,wherein the splash guard includes:
a first sidewall portion on which an end portion of at least one of the covers abuts;
a slope portion slanting so as to descend from the first sidewall portion in an expansion and contraction direction of the at least one cover toward an inner side of the splash guard, the slope portion being configured to enable cutting fluid flowing between the first sidewall portion and the end portion of the at least one cover to flow downward toward the inner side of the splash guard;
a second sidewall portion perpendicularly extending downward from the slope portion; and
a bottom portion horizontally extending from the second sidewall portion more inward than a lower end of the slope portion in the splash guard, the bottom portion being configured to receive the cutting fluid; and
wherein the machine tool further includes a guiding section disposed more inward than the lower end of the slope portion in the splash guard, the guiding section being configured to guide toward the bottom portion the cutting fluid falling from the slope portion.

US Pat. No. 10,490,339

REACTOR INCLUDING FIRST END PLATE AND SECOND END PLATE

FANUC CORPORATION, Yaman...

1. A reactor comprising:a core body;
a first end plate and a second end plate which sandwich and fasten the core body; and
an axis portion which passes through a center of the core body and is supported by the first end plate and the second end plate;wherein the core body includes:an outer circumference portion iron core;
at least three iron cores which are in contact with an inner surface of the outer circumference portion iron core or coupled to the inner surface; and
coils respectively wound onto the at least three iron cores,
the at least three iron cores extend only in a radial direction of the outer circumference portion iron core,
between two iron cores adjacent to each other from among the at least three iron cores, a gap which can be magnetically coupled is formed, and
a region at which a magnetic field fails to be formed is formed at the center of the core body.

US Pat. No. 10,481,264

LASER PROCESSING DEVICE AND LASER PROCESSING SYSTEM

FANUC CORPORATION, Yaman...

1. A laser processing device for processing of a work using a processing laser beam, comprising:at least one optical path splitting means that splits the processing laser beam;
a photodetector that detects the intensity of the processing laser beam split by the optical path splitting means, and outputs a detection signal having a signal intensity responsive to the detected intensity together with a time of detection of the intensity;
a signal intensity comparing unit that compares the signal intensities of multiple detection signals each being the detection signal received from the photodetector; and
a detection time comparing unit that compares times of detection of multiple intensities each being the intensity received from the photodetector,
the signal intensity comparing unit measuring a processing quality by comparing the signal intensity of a detection signal received from the photodetector responsive to an incident beam on the work resulting from splitting by the optical path splitting means and the signal intensity of a detection signal received from the photodetector responsive to a reflected beam from the work resulting from splitting by the optical path splitting means,
the detection time comparing unit measuring a distance between the laser processing device and the work by comparing a time of detection of an intensity received from the photodetector responsive to the incident beam and a time of detection of an intensity received from the photodetector responsive to the reflected beam.

US Pat. No. 10,478,970

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a robot body that is provided with at least two links that are relatively moved by at least one joint;
a sensor that detects the distances from mutually opposed surfaces of the at least two links to an object inserted between the surfaces; and
a control unit that performs an interference avoidance operation if the distances detected by the sensor are less than a predetermined threshold,
wherein the sensor disposed in the vicinity of the joint and that measures the object distance to each position on the surface of the object inserted between the links, and calculates the distances from the surfaces of the links to the object on the basis of the distance from the sensor to the surface of the object and the angle of the joint.

US Pat. No. 10,481,583

NUMERICAL CONTROL APPARATUS

FANUC CORPORATION, Yaman...

1. A numerical control apparatus for controlling a machine tool, comprising:a first control unit configured to control the machine tool for machining;
an image display device configured to display at least status of the machine tool and the first control unit;
a second control unit configured to control the image display device;
a first light-emitting portion; and,
a second light-emitting portion, wherein
when an anomaly occurs in the second control unit, making the second control unit unable to display the status of the machine tool and the first control unit on the image display device, the first light-emitting portion notifies the status of the machine tool or the first control unit by emission of light and the second light-emitting portion notifies by emission of light that an anomaly has occurred in the second control unit,
the first control unit and the second control unit are configured to control, while the numerical control apparatus is being booted up, the first light-emitting portion and the second light-emitting portion, respectively, so as to notify operating status of the first control unit and the second control unit in a stepwise manner that is in association with progress of a startup process.

US Pat. No. 10,458,475

OIL MIST CONCENTRATION MANAGEMENT APPARATUS, OIL MIST MANAGEMENT SYSTEM, AND OIL MIST MANAGEMENT METHOD

FANUC CORPORATION, Yaman...

1. An oil mist concentration management apparatus comprising:a state quantity acquisition unit configured to acquire a state quantity regarding a running state of a machine provided in each of a plurality of areas;
a concentration acquisition unit configured to acquire a concentration of oil mist measured in each of the plurality of areas;
an identifying unit configured to identify whether distribution of the oil mist in the plurality of areas is normal or abnormal on an area-by-area basis, based on the state quantity of the machine in each of the plurality of areas and the concentration of the oil mist in each of the plurality of areas; and
a notification processing unit configured to notify a user of an abnormal area which has been identified as abnormal by the identifying unit,
wherein
the identifying unit uses, as the state quantity regarding the running state of the machine, a flow rate of coolant used at time of operating the machine,
the identifying unit includes
a concentration rank determination unit configured to determine a relative concentration rank regarding the concentration of the oil mist among the plurality of areas, based on the concentration of the oil mist in each of the plurality of areas,
a state quantity rank determination unit configured to determine a relative state quantity rank regarding the state quantity among the plurality of areas, based on the state quantity of the machine in each of the plurality of areas,
a rank comparison unit configured to compare the concentration rank and the state quantity rank to thereby extract an area having a match or a mismatch between the concentration rank and the state quantity rank, and determine that the area having the mismatch is the abnormal area.

US Pat. No. 10,456,967

INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. An injection molding machine having a safety door that can be opened and closed, comprising:a door driving unit configured to open and close the safety door;
a presence detector configured to detect whether or not an operator or object is present within a door operating space of the safety door, or within a predetermined vicinal area of the safety door including the door operating space; and
a controller configured to control the door driving unit with a reference control amount in order to perform a closing operation of the safety door,
wherein during a time it is detected by the presence detector that an operator or object is present within the vicinal area outside of the door operating space, the controller causes a control amount that controls the door driving unit to decrease from the reference control amount and performs the closing operation of the safety door, and
during a time it is detected by the presence detector that an operator or object is present within the door operating space, the controller temporarily stops the closing operation of the safety door.

US Pat. No. 10,459,816

COMMUNICATION SETTING NOTIFICATION APPARATUS

Fanuc Corporation, Yaman...

1. A communication setting notification apparatus which automatically investigates communication setting of I/O data communication of EtherNet/IP compatible with adapter equipment, the communication setting notification apparatus comprising:an I/O data confirming unit configured to transmit an I/O data read request message to the adapter equipment and determine a valid instance ID based on an I/O data read response message from the adapter equipment;
a communication start testing unit configured to transmit a communication start request message to the adapter equipment and determine valid communication setting based on whether or not I/O data communication can be established with the adapter equipment; and
a communication setting notifying unit configured to output the valid communication setting,
wherein the I/O data confirming unit transmits a plurality of I/O data read request messages including different instance IDs to the adapter equipment and, wherein when there is I/O data having a designated instance ID of the different instant IDs, the adapter equipment returns a success response to the I/O data read response message, and the instance ID included in the I/O data read request message.

US Pat. No. 10,461,608

MOTOR HAVING SENSOR FOR DETECTING OPERATING STATE OF BEARING

FANUC CORPORATION, Yaman...

1. A motor comprising:a stator unit having a stator;
a rotor having a rotor core inserted into the stator so as to form a gap, and a shaft including a first shaft portion and a second shaft portion, each protruding from the rotor core in opposite directions;
a first bearing for rotatably supporting the first shaft portion of the shaft in a first portion of the stator unit;
a second bearing for rotatably supporting the second shaft portion of the shaft in a second portion of the stator unit;
a first sensor for measuring a first parameter related to an operating state of the first bearing in the first portion of the stator unit, the first sensor having a first signal line for outputting the first parameter; and
a guide path provided in the stator unit, for guiding the first signal line from the first portion to the second portion;
wherein the stator unit includes a first housing attached on the stator, for supporting the first bearing, and a second housing attached on the stator, for supporting the second bearing,
the stator has a first through hole extending from a first end surface on which the first housing is attached to a second end surface on which the second housing is attached, and
the guide path includes the first through hole of the stator.

US Pat. No. 10,449,639

MACHINING ROUTE DISPLAY DEVICE

FANUC CORPORATION, Yaman...

1. A machining route display device configured to display a machining route in a laser machine configured to machine a workpiece by using a laser output from a laser machining head, while relatively moving the laser machining head and the workpiece by using at least one drive shaft, the machining route display device comprising:a positional information acquiring section configured to acquire positional information of the at least one drive shaft in a predefined control cycle;
a laser machining head coordinate calculator configured to calculate a coordinate value of the laser machining head from the positional information of the at least one drive shaft and machine configuration information of the laser machine;
a laser output acquiring section configured to acquire a laser output value of the laser output from the laser machining head;
a display format setting section configured to set at least one of a display color of the laser and a density degree of the display color as a display format; and
a display section configured to display the machining route, based on a coordinate value of the laser machining head calculated by the laser machining head coordinate calculator and a display format set by the display format setting section;
wherein at least one of the display color of the laser and the display density of the display color is changed in accordance with the laser output value acquired by the laser output acquiring section.

US Pat. No. 10,452,483

AUTOMATIC BACKUP DEVICE, AUTOMATIC BACKUP METHOD, AND RECORDING MEDIUM

FANUC CORPORATION, Yaman...

1. An automatic backup device comprising:a history information acquisition unit that acquires history information containing a time of a change in setting on a backup target device and a content of the change associated with each other;
a restoration request acquisition unit that acquires a restoration request containing a time intended for restoration of the backup target device;
a restoration information generation unit that generates restoration information for restoring the backup target device based on the time contained in the restoration request by using the history information acquired by the history information acquisition unit; and
a restoration information transmission unit that transmits the restoration information generated by the restoration information generation unit to the backup target device,
wherein the history information includes first change history and second change history,
wherein, when there is a contradiction between the first change history and the second change history, the restoration information generation unit further executes processing of generating third change history for resolving the contradiction, the third change history being generated by interpolating between the first change history and the second change history, and
wherein the third change history resolves the contradiction by providing values that are intermediate to the first change history and the second change history.

US Pat. No. 10,449,667

ROBOT PEDESTAL HAVING SUPPORT STRUCTURE FOR CONTROLLER

FANUC CORPORATION, Yaman...

1. A robot pedestal comprising:a mount part for mounting a robot mechanical unit;
a robot controller for controlling the robot mechanical unit, the robot controller including a top surface arranged beneath the mount part and a bottom surface arranged below the top surface;
a plurality of legs arranged beneath the mount part on a lower portion of the mount part and configured to support the mount part, each of neighboring legs among the plurality of legs including a protruding portion arranged beneath of the mount part, the protruding portions of the neighboring legs extending in horizontal directions opposed to each other, the protruding portion of each of the neighboring legs including a top surface facing in a first direction towards the mount part and a bottom surface facing in a second direction opposite the first direction and away from the mount part, and the bottom surface of the robot controller seated on the top surface of the protruding portion of each of the neighboring legs; and
a plurality of brackets fixed to the robot controller and fixing the robot controller to the neighboring legs, each of the plurality of brackets fixed to a respective one of the neighboring legs above the top surface of the protruding portion of the respective one of the neighboring legs, each of the plurality of brackets including a first bracket portion fixed to a respective one of side surfaces of the robot controller and a second bracket portion fixed to a side surface of the respective one of the neighboring legs, and
wherein a fastening section for fixing the robot mechanical unit to the mount part is formed on an upper portion of the mount part.

US Pat. No. 10,451,738

LASER PROCESSING DEVICE AND LASER PROCESSING SYSTEM

FANUC CORPORATION, Yaman...

1. A laser processing system comprising a laser oscillator, an oscillator controller that controls the laser oscillator, and a laser processing device for processing of a work using a processing laser beam oscillated by the laser oscillator,the laser processing device comprising:
at least one optical path splitting means that splits the processing laser beam; and
a photodetector that detects the intensity of the processing laser beam split by the optical path splitting means, and outputs a detection signal having a signal intensity responsive to the detected intensity together with a time of detection of the intensity,
the laser processing system further comprising a signal intensity comparing device and a detection time comparing device, the signal intensity comparing device comparing the signal intensities of multiple detection signals each being the detection signal received from the photodetector, the detection time comparing device comparing times of detection of multiple intensities each being the intensity received from the photodetector,
the signal intensity comparing device measuring a processing quality by comparing the signal intensity of a detection signal received from the photodetector responsive to an incident beam on the work resulting from splitting by the optical path splitting means and the signal intensity of a detection signal received from the photodetector responsive to a reflected beam from the work resulting from splitting by the optical path splitting means,
the detection time comparing device measuring a distance between the laser processing device and the work by comparing a time of detection of an intensity received from the photodetector responsive to the incident beam and a time of detection of an intensity received from the photodetector responsive to the reflected beam.

US Pat. No. 10,452,049

SERVOMOTOR CONTROL DEVICE, AND SERVOMOTOR CONTROL SYSTEM

FANUC CORPORATION, Yaman...

1. A servomotor control device comprising:a servomotor;
a driven body that is driven by way of the servomotor;
a connection mechanism that connects the servomotor and the driven body to transmit power of the servomotor to the driven body; and
a motor control unit that controls the servomotor, wherein
the motor control unit includes:
a force acquisition section that acquires a torque command value or actual torque for the servomotor, as a drive force acting on the driven body at a connection part between the connection mechanism and the driven body;
a rigidity estimation section that, based on position information of the servomotor and a drive force acquired by the force acquisition section when causing the servomotor to rotate in a state mechanically fixing the driven body, obtains slope of relationship between the drive force acting on the driven body at the connection part between the connection mechanism and the driven body and the position information of the servomotor, and estimates the slope as a magnitude of rigidity of the connection mechanism;
a storage section that stores a plurality of magnitudes of rigidity estimated by the rigidity estimation section at every predetermined fixed time interval or irregular time interval, as rigidity data; and
a rigidity variation detection section that detects a change and variation in the rigidity of the connection mechanism, based on the rigidity data stored in the storage section.

US Pat. No. 10,444,288

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 calculate a plurality of voltage command values on a basis of a position command or a speed command commanded from a numerical controller, and based on the plurality of calculated voltage command values, voltages are applied to a plurality of windings possessed by the motor, thereby driving the motor;
the abnormality diagnosing device comprising:
a command value difference calculating unit adapted to calculate a difference between the plurality of voltage command values calculated by the plurality of motor driving devices; and
a determination unit adapted to determine a presence of an abnormality, in an event that an absolute value of the difference calculated by the command value difference calculating unit exceeds a first threshold value continuously for a predetermined time period.

US Pat. No. 10,444,041

ENCODER HAVING FUNCTION OF ADJUSTING THRESHOLD VALUE OF COMPARATOR AND METHOD FOR CONTROLLING ENCODER

FANUC CORPORATION, Yaman...

1. An encoder comprising:a voltage generation circuit connected to a power supply through a diode and having a variable resistor, the voltage generation circuit configured to output a voltage (I×R) corresponding to a current I flowing through the diode and a resistance value R of the variable resistor, as a threshold value Vth;
a comparator configured to perform a comparison between an analog signal inputted from a detector for detecting rotation of a motor and the threshold value inputted from the voltage generation circuit, and output a comparison result as a comparator output;
an A/D converter configured to convert the analog signal into a digital signal;
a threshold value determination circuit configured to calculate an average value of a maximum value Vmax and a minimum value Vmin of the digital signal, as a new threshold value; and
a resistance value change circuit configured to change a resistance value R of the variable resistor, such that the calculated new threshold value is inputted from the voltage generation circuit to the comparator.

US Pat. No. 10,442,085

PRODUCTION SYSTEM FOR PERFORMING COOPERATIVE WORK BY OPERATOR AND ROBOT

FANUC CORPORATION, Yaman...

2. The production system according to claim 1, wherein the controller further includes:an operation command unit that provides the robot with an operation command; and
a command speed regulation unit that has a function of reducing, at a constant rate, all of the command speeds included in the operation command so as to regulate the command speeds to a predetermined speed limit or lower,
the predetermined speed limit is a maximum value of a robot operation speed where the external-force comparison unit does not activate the power cutoff unit, and
the controller is configured to disable the function of the command speed regulation unit while the person detection part detects absence of the operator in the cooperative operation space.

US Pat. No. 10,416,618

MACHINE LEARNING APPARATUS FOR LEARNING GAIN OPTIMIZATION, MOTOR CONTROL APPARATUS EQUIPPED WITH MACHINE LEARNING APPARATUS, AND MACHINE LEARNING METHOD

FANUC CORPORATION, Yaman...

1. A machine learning apparatus for learning a condition associated with adjustment of a current gain parameter in electrical machine control, the apparatus comprising:a state observing unit comprising a current sensor configured to acquire actual current of a motor, the state observing unit configured to
acquire an integral gain function and a proportional gain function in a current control loop of the motor, and
detect state variables which include
the integral gain function,
the proportional gain function, and
at least one of an amount of overshoot, an amount of undershoot, and a rise time of the actual current occurring in response to a stepwise torque command; and
a learning unit configured to learn the condition associated with the adjustment of the current gain parameter in accordance with a training data set constructed from the state variables,
wherein the machine learning apparatus is configured to apply a result of the learned condition based on the integral gain function and the proportional gain function to control the motor in accordance with the result of the learned condition.

US Pat. No. 10,416,390

OPTICAL FIBER CABLE UNIT

FANUC CORPORATION, Yaman...

1. An optical fiber cable unit which has an optical fiber cable obtained by binding a plurality of optical fibers and which transmits a laser beam using a plurality of transmission paths having the optical fibers, respectively, the optical fiber cable unit comprising:an input-side connection unit which is a connection unit on a side where the laser beam is input to the optical fiber;
a one-end-side connection unit which is fixed to one end of the optical fiber cable and is connected to the input-side connection unit;
an other-end-side connection unit fixed to the other end of the optical fiber cable;
an output-side connection unit to which the other-end-side connection unit is connected and which is a connection unit on a side where the laser beam from the optical fiber is output; and
a guide frame positioned on an entire rim of a distal end of the one-end-side connection unit,whereinat least one of the input-side connection unit, the one-end-side connection unit, the other-end-side connection unit, and the output-side connection unit has a switching mechanism that switches the transmission path for transmitting the laser beam,
the one-end-side connection unit has a plurality of one-end-side blocks that protrude at equal intervals in a circumferential direction to form the transmission path,
the input-side connection unit and the one-end-side connection unit have a one-end-side positioning mechanism that realizes positioning of the one-end-side connection unit with respect to the input-side connection unit, and
the guide frame surrounds at least a portion of each of the one-end-side blocks.

US Pat. No. 10,414,001

GALVANOMETER SCANNER

FANUC CORPORATION, Yaman...

1. A galvanometer scanner comprising a mirror for reflecting a laser beam emitted from a laser source, a rotary motor for rotating the mirror, a lens movable in a direction of the optical axis of the laser beam emitted from the laser source, and a direct drive mechanism for driving the lens, the galvanometer scanner scanning a machining target with the laser beam by reflecting the laser beam from the laser source on the mirror and passing the laser beam through the lens, the galvanometer scanner comprising:a conversion unit that converts a command for machining position on the machining target to a movement command for the rotary motor and a movement command for the direct drive mechanism;
a control filter unit that removes a weak direct drive component from the movement command for the direct drive mechanism if the weak direct drive component has an amplitude that is equal to or less than a predetermined amplitude and a frequency that is equal to or greater than a predetermined frequency, and then outputs control signals corresponding to each of the movement command for the rotary motor and the movement command for the direct drive mechanism; and
a control unit that controls the rotary motor and the direct drive mechanism based on the control signals output from the control filter unit, wherein
the weak direct drive component is a waveform, in the movement command for the direct drive mechanism, that arises from the conversion of the command for machining position to the movement command for the rotary motor.

US Pat. No. 10,406,663

DETACHMENT TOOL AND MOTOR DRIVE DEVICE PROVIDED WITH THE SAME

FANUC CORPORATION, Yaman...

5. A motor drive device to be disposed at the wall portion of a housing of a control panel, the device comprising:an attachment portion having a plate shape for attaching the motor drive device to the wall portion; and
a member integrally provided to an end portion of the attachment portion, the member comprising a first part and a second part, the first part having a first through hole and a second through hole,
the second part being orthogonal to the first part, the second part having an extension portion;
the first through hole configured to receive a first screw that fixes the member to the device, wherein, the extension portion extending away from the wall portion when the member is fixed to the motor drive device; and
the second through hole configured to receive a second screw that pushes the wall portion, wherein the extension portion extends further than the second screw along an insertion direction of the first screw and the second screw,
wherein, the second through hole is a threaded hole that screw-engages with the second screw, and the second screw is longer than the first screw; and
wherein the first and second screws each extend in the insertion direction along a same side of the second part.

US Pat. No. 10,409,256

TOOL-PATH GENERATING DEVICE, TOOL-PATH GENERATING METHOD, AND NON-TRANSITORY RECORDING MEDIUM STORING TOOL-PATH GENERATING PROGRAM

FANUC CORPORATION, Yaman...

1. A tool-path generating device comprising:at least one processor that generates a point sequence that represents a tool path based on a machining program; and
the at least one processor smooths the generated point sequence;
wherein the smoothing unit includes
the at least one processor sets filter lengths that are applied to the points such that a pre/post-smoothing divergence amount of each point in the point sequence is equal to or less than a first threshold, and that the filter lengths are set the largest,
the at least one processor changes the set filter lengths such that an absolute value of a difference between the filter lengths applied to adjacent points in the point sequence is equal to or less than a second threshold, and
the at least one processor performs filter processing based on the changed filter lengths.

US Pat. No. 10,399,194

ROTARY TABLE ASSEMBLY WITH COVER

FANUC CORPORATION, Yaman...

1. A rotary table assembly, comprising:a rotating shaft,
a rotary table with a workpiece mounting table on one end of the rotating shaft,
a cover covering the rotary table,
a first plate member and a second plate member, wherein the first and second plate members are attached to the workpiece mounting table to rotate together with the workpiece mounting table, and
a seal member disposed between the cover and the workpiece mounting table, wherein the seal member is located between the first and second plate members,
wherein, in a cross-section view taken along a rotational axis of the rotating shaft, the cover has
a first cover portion extending toward the workpiece mounting table and located between the first and second plate members, and
a second cover portion extending toward the workpiece mounting table and located on an outside of the second plate member, the second plate member arranged between the first and second cover portions,
wherein the seal member is an air seal ring disposed between an inner end of the first cover portion and the workpiece mounting table, and
wherein the assembly is free of a seal between the cover and the second plate member.

US Pat. No. 10,385,917

MOTOR

FANUC CORPORATION, Yaman...

1. A motor comprising:a rotor supported by an output shaft-side bearing and an anti-output shaft-side bearing;
a front housing that supports the output shaft-side bearing;
a rear housing that supports the anti-output shaft-side bearing;
a stator having both ends attached to the front housing and the rear housing, the stator surrounding the rotor; and
a pair of pipelines which has an opening formed in a surface of the rotor close to the rear housing and which is provided inside the rotor, the pipelines which are disposed at positions symmetric about an axis of the rotor and communicating with at least one of the output shaft-side bearing and the anti-output shaft-side bearing and capable of circulating a lubricating liquid,
wherein the output shaft-side bearing comprises:
an output shaft-side inner ring which can engage with the front end of the rotor; and
a pair of through-holes which pass from the inner circumferential surface of the output shaft-side inner ring to the outer circumferential surface, the pair of through-holes communicating with each of the pair of pipelines,
wherein one of the through-holes is disposed closer to the front end than an axial central position of the output shaft-side inner ring, and
the other through-hole is disposed closer to the rear end than the axial central position of the output shaft-side inner ring.

US Pat. No. 10,386,811

NUMERICAL CONTROLLER

FANUC CORPORATION, Yaman...

1. A controller that generates a movement command pulse that controls at least one servo motor of a machine based on a command in a program for controlling the machine having at least one drive axis respectively controlled by the at least one servo motor, wherein the machine has a machine coordinate system as an orthogonal coordinate system, the controller exerting acceleration/deceleration control over the drive axis via the respective servo motor so as to satisfy a condition for the acceleration/deceleration in each of (i) the machine coordinate system and (ii) a drive axis coordinate system by performing normalization of each of acceleration/deceleration related information in the machine coordinate system and acceleration/deceleration related information in the drive axis coordinate system to a value in the drive axis coordinate system,wherein, in performing the normalization, the controller:
converts a position and a movement amount of a control target in the machine coordinate system and a position and a movement amount of an origin position of the machine coordinate system into a position and a movement amount in the drive axis coordinate system, and
multiplies a tangential direction acceleration and a speed limit in the machine coordinate system by a ratio between the movement amounts in both coordinate systems, to obtain a tangential direction acceleration and a speed limit in the drive axis coordinate system.

US Pat. No. 10,379,518

NUMERICAL CONTROL DEVICE AND CONTROL SYSTEM

FANUC Corporation, Minam...

1. A numerical control device for controlling a first control axis of a machine tool, the numerical control device comprising:a first movement command data buffer to store movement command data commanding axis movement amount of the first control axis of the machine tool, the first control axis to operate in a first period that is shorter than a reference control period and is controlled based on a first input command input by a first external input device;
non-transitory computer readable memory; and
one or more hardware processors coupled to the non-transitory memory and configured to read instructions from the non-transitory memory to cause the numerical control device to perform operations comprising:
calculating the movement command data based on a control program at each reference control period and writing the movement command data in the first movement command data buffer;
acquiring, at the same period as the first control axis, the movement command data from the first movement command data buffer on receiving the first input command and controlling the first control axis of the machine tool; and
in response to determining that a condition for starting high speed response control of the first control axis is satisfied, calculating a plurality of the movement command data commanding movement amount of an axis to be moved by the first control axis during the reference control period and writing the plurality of the movement command data in the first movement command data buffer in the process of calculating the movement command data, wherein
the first input command is acquired and the first control axis is controlled without delay associated with the reference control period.

US Pat. No. 10,372,103

NUMERICAL CONTROLLER AND MOVEMENT CONTROL METHOD FOR TOOL THAT MAXIMIZES MOVEMENT TORQUE IN A CUTTING FEED

FANUC CORPORATION, Yaman...

1. A numerical controller that moves a tool based on a program stored in a storage medium of the numerical controller, the tool being configured to machine a work supported on a table having a rotation center position and being movable along at least two axis directions orthogonal to each other, the numerical controller comprising:a program analyzing processor configured to obtain, from the program, an end point position of the tool for a linear cutting feed;
a first angle calculating processor configured to calculate an inclination angle of a synthetic feeding direction that maximizes a synthetic torque of the tool, based on a predetermined upper limit movement torque of the tool in each of the at least two axis directions;
a second angle calculating processor configured to calculate an inclination angle of a cutting feed direction of the tool, based on a start point position and the end point position of the tool;
a rotation angle calculating processor configured to calculate a difference between the inclination angle of the synthetic feeding direction and the inclination angle of the cutting feed direction as a rotation angle of the table; and
a rotation control processor configured to control rotation of the table about the rotation center position of the table, based on the rotation angle so that the tool is able to perform a cutting feed at a maximum movement torque of the tool wherein the maximum movement torque is based on a predetermined upper limit movement torque of the tool in each of the at least two axis directions.

US Pat. No. 10,374,540

SYNCHRONOUS MOTOR HAVING COMPONENT IDENTICAL TO THAT OF ANOTHER KIND OF SYNCHRONOUS MOTOR AND METHOD OF MANUFACTURING SYNCHRONOUS MOTORS

FANUC CORPORATION, Yaman...

1. A synchronous motor driven by three phase alternate current, comprising:a rotor including a rotor core and magnets fixed to the rotor core; and
a stator including a stator core; wherein
the rotor core includes a laminated body configured by laminating plate members made of electrical steel sheet;
each plate member is formed in a substantially circular shape in a plan view and formed with projections along an outer circumference;
the number of slots of the stator is 3xy, the number of poles of the rotor is (3y+1)x or (3y?1)x, and the number of projections of each plate member is a common measure of (3y+1)x and (3y?1)x, when variable x is a natural number and variable y is a positive odd number;
the laminated body has a structure in which the plate members are laminated so that the projections are shifted relative to one another; and
the magnets are fixed between the projections.

US Pat. No. 10,373,776

SWITCH DEVICE INCLUDING DUAL ON/OFF SIGNAL GENERATION UNITS, AND NUMERICAL CONTROL SYSTEM

FANUC CORPORATION, Yaman...

1. A switch device comprising:a press operation type switch operation unit;
two detection units configured to convert an amount of press of the switch operation unit into electrical detection signals and output the detection signals; and
two ON/OFF signal generation units provided in correspondence with the respective detection units, each of the ON/OFF signal generation units comprising a determination unit configured to determine whether the switch operation unit is in a full pressed state, a half pressed state, or a non-pressed state, based on the detection signal output from the detection unit corresponding to the each of the ON/OFF signal generation units, a monitoring unit configured to monitor a pressed state determined by the determination unit in the ON/OFF signal generation unit different from the each of the ON/OFF signal generation units, and an output unit configured to output one of an ON signal and an OFF signal,
wherein each of the output units
outputs the ON signal in a case where the determination unit in the ON/OFF signal generation unit equipped with the each of the output units determines that the full pressed state is maintained, and in a case where, when the determination unit in the ON/OFF signal generation unit equipped with the each of the output units determines that the half pressed state is maintained, the detection signal output from the detection unit corresponding to the ON/OFF signal generation unit equipped with the each of the output units is not less than an ON threshold and a monitoring result obtained by the monitoring unit indicates the full pressed state, and
outputs the OFF signal in a case where the determination unit in the ON/OFF signal generation unit equipped with the each of the output units determines that the non-pressed state is maintained, and in a case where, when the determination unit in the ON/OFF signal generation unit equipped with the each of the output units determines that the half pressed state is maintained, the detection signal output from the detection unit corresponding to the ON/OFF signal generation unit equipped with the each of the output units is not more than an OFF threshold and a monitoring result obtained by the monitoring unit indicates the non-pressed state.

US Pat. No. 10,363,630

LASER PROCESSING APPARATUS AND LASER PROCESSING METHOD FOR PERFORMING LASER PROCESSING WHILE CONTROLLING REFLECTED LIGHT

FANUC CORPORATION, Yaman...

1. A laser processing method performed in a laser processing apparatus which outputs a laser beam from a processing head to a workpiece, to perform laser processing while controlling reflected light of the output laser beam to a prescribed value or less, the laser processing method comprising the steps of:before performing laser processing for the workpiece, increasing laser power stepwise from laser power lower than laser power included in a processing condition of the laser processing, to emit a laser beam from a laser oscillator, and measuring reflected light by a reflected light sensor;
deciding an output condition for decreasing reflected light based on a measured value of the reflected light and the prescribed value; and
decreasing reflected light before performing the laser processing by irradiating the workpiece with a laser beam for a predetermined period of time on the decided output condition.

US Pat. No. 10,363,637

MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. A molding system for assembling a part by displacing a workpiece, which is gripped by a hand of a robot, toward a mold of an injection molding machine, while rotating the workpiece and a molded article, which is supported on the mold, relative to each other, whereby the molded article and the workpiece are screw-engaged with each other, the molding system comprising:a rotation detector configured to detect a relative rotational amount between the molded article and the workpiece;
an assembled state judging unit configured to judge whether an assembled state of the assembled part corresponds to a predetermined state or not; and
a control unit configured to relatively rotate and displace the molded article and the workpiece until the rotational amount detected by the rotation detector exceeds a predetermined rotational amount and until the assembled state determined by the assembled state judging unit becomes the predetermined state.

US Pat. No. 10,365,255

VIBRATION ANALYSIS DEVICE WHICH CALCULATES CYCLE OF VIBRATION OF TOOL WITH RESPECT TO WORKPIECE

FANUC CORPORATION, Yaman...

1. A system comprising:a controller having a processor configured to control a machine tool to move along a drive axis; and
a vibration analysis device which calculates a vibration cycle at which a tool vibrates with respect to a workpiece during a period in which the workpiece is processed by the machine tool controlled by the controller, the vibration analysis device comprising:
a processor configured to:
acquire positional information of the drive axis in time series,
calculate a velocity in a tangential direction of a movement path of a processing point by using the positional information,
calculate a first movement distance of the processing point on the movement path by using the velocity in the tangential direction,
acquire a previously measured interval between streaks on the workpiece,
calculate a vibration cycle corresponding to the streaks on the basis of the interval between the streaks and the first movement distance of the processing point,
calculate a second movement distance of the processing point on the basis of at least two of the intervals between the streaks,
calculate a cross-correlation function of the first movement distance and the second movement distance, and
calculate the vibration cycle corresponding to the streaks on the basis of the cross-correlation function.

US Pat. No. 10,357,876

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a conveying device driven by a drive device to convey an object;
a robot driven by a plurality of robot driving motors to perform a predetermined action for the object conveyed by the conveying device; and
a control unit which controls operation of the robot by transmitting a drive signal to each of the plurality of robot driving motors and which is capable of transmitting, to the drive device, a driving speed control signal for controlling a driving speed of the drive device; and
an input device to which an operator can input a conveying speed of the conveying device
wherein the control unit is configured to receive a conveying speed of the conveying device input to the input device by the operator, the conveying speed is a speed in a working operation mode in which the predetermined action is performed by the robot on the object conveyed by the conveying device, and
wherein the control unit is configured to receive an override value for reducing an operation speed of the robot from a predetermined speed, and when the robot is to be operated in a teach mode and a test mode, the control unit is configured to transmit the drive signal such that driving speeds of the plurality of robot driving motors are each reduced by the received override value, and transmit the driving speed control signal such that a conveying speed of the conveying device is reduced from the conveying speed in the working operation mode by the override value.

US Pat. No. 10,353,350

SERVO CONTROL SYSTEM HAVING FUNCTION OF MEASURING CHARACTERISTIC OF LEARNING CONTROLLER

FANUC CORPORATION, Yaman...

1. A servo control system for a machine tool having a feed shaft driven by a servomotor, comprising:a position command generator for generating a position command to drive the feed shaft in a specific repeated operation pattern;
a position detector for detecting the position of the feed shaft;
a positional deviation obtainer for obtaining a position command value generated by the position command generator and a position detection value detected by the position detector, and calculating a positional deviation that is the difference between the position command value and the position detection value;
a position control loop including the position command generator, the position detector, and the positional deviation obtainer;
a band limiting filter for attenuating a high frequency component of the positional deviation outputted from the positional deviation obtainer;
a dynamic characteristic compensation element for advancing the phase of the positional deviation outputted from the band limiting filter;
a learning controller including the band limiting filter and the dynamic characteristic compensation element;
a sine wave sweep input unit for performing a sine wave sweep to the position control loop; and
a frequency characteristic calculator for estimating the gain and phase of position control loop input and output signals from the output of the position control loop when sine waves are inputted to the position control loop, wherein
the frequency characteristic calculator calculates an evaluation function that indicates the characteristic of a position control including the learning controller based on the measurement value of the frequency characteristic of the position control loop, the band limiting filter, and the dynamic characteristic compensation element, and
the frequency characteristic calculator represents the frequency characteristic of the position control loop in one rigid body mode and at least one resonance mode, and calculates the evaluation function on the basis of a peak value and a half-width of the characteristic of the resonance mode.

US Pat. No. 10,333,375

ELECTRIC MOTOR HAVING BALANCE STRUCTURE 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;an opening provided in at least one outer peripheral lateral face of the housing, and disposed to be separated from an internal space of the stator and 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 to outside from the opening.

US Pat. No. 10,324,450

EMERGENCY STOP SYSTEM ATTACHED TO MOBILE DEVICE

FANUC CORPORATION, Yaman...

1. An emergency stop system which performs an emergency stop of a machine operated by a mobile device, the emergency stop system comprising:an emergency stop switch including an operation button having a pushed down position and a non-pushed down position, a state output indicator which outputs a state in accordance with whether or not the operation button is in the pushed down position, wherein the operation button and the state output indicator are attached to the mobile device in a detachable manner such that the state of the state output indicator is positioned at a side facing a camera of the mobile device at the time of attachment to the mobile device; and
a processor configured to determine, in accordance with an image of the state of the state output indicator received from the camera of the mobile device, whether to output an emergency stop signal indicating an emergency stop action of the machine operated by the mobile device when the operation button is in the pushed down position or to output a signal indicating no emergency stop of the machine when the operation button is in the non-pushed down position.

US Pat. No. 10,323,995

ROTATION-SHAFT JOINT STRUCTURE

Fanuc Corporation, Yaman...

1. A rotation-shaft joint structure comprising:a driving-force generating part that includes a fixed member that is fixed to a base member, and a movable member that is rotationally driven about a predetermined axis relative to the fixed member;
a link member that is fixed to the movable member of the driving-force generating part;
when viewed in a direction along a central axis of the fixed member, a uniaxial strain sensor is disposed inside a space between a fixed area over which the link member is fixed to the movable member and an outer circumferential surface of the driving-force generating part about the central axis, the uniaxial strain sensor is attached to a surface of the link member or the movable member located in the space; and
wherein the uniaxial strain sensor is configured to detect strain of the surface.

US Pat. No. 10,322,482

NUMERICAL CONTROLLER FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A numerical controller which controls a machine tool with a spindle motor formed from an induction motor, and a feed axis drive motor, the numerical controller comprising:a processor; and
a non-transitory computer-readable medium having a program stored thereon that, when executed by the processor, causes the numerical controller to:
acquire magnetic flux content at the spindle motor;
store a time constant for change in the magnetic flux content at the spindle motor;
accept a command speed and issue a command instructing a feed speed to the feed axis drive motor;
calculate time elapsed from the start of cutting;
change the feed speed of the feed axis drive motor at the start of cutting to an initial speed lower than the command speed, based on the acquired magnetic flux content at the start of cutting; and
change the feed speed from the initial speed to the command speed continuously or intermittently based on the calculated elapsed time and the stored time constant for change in the magnetic flux content.

US Pat. No. 10,315,261

WIRE ELECTRICAL DISCHARGE MACHINE AND MEASURING METHOD

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine for positioning a wire electrode supported by upper and lower wire guides or measuring a shape of a measurement target, by moving the wire electrode and the measurement target relatively to each other to detect contact, comprising:a driver configured to relatively move the wire electrode to the measurement target;
servomotors configured to move the driver;
a setting changer configured to change a setting of a directive speed;
a motor controller configured to control the servomotors in performing move-and-contact detection for detecting contact between the wire electrode and the measurement target by moving the wire electrode and the measurement target relative to each other, so that the wire electrode is moved relative to the measurement target based on the directive speed; and
a contact detector configured to detect contact between the wire electrode and the measurement target,
wherein the setting changer is configured to change the setting of a time constant; and,
the motor controller is configured to control the servomotors in performing move-and-contact detection so that a relative motion speed of wire electrode to the measurement target comes to the directive speed with the time constant to thereby relatively move the wire electrode to the measurement target, and control the servomotors so that the wire electrode moving at the directive speed relative to the measurement target stops with the time contact when contact between the wire electrode and the measurement target is detected by the contact detector.

US Pat. No. 10,315,263

WIRE ELECTRIC DISCHARGE MACHINE OPERATING WITH CONSTANT INTER-POLE DISTANCE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine for producing electric discharge through a pole gap defined between poles formed of a wire electrode and a workpiece to machine the workpiece, the wire electric discharge machine comprising:a controller programmed to
determine at least one of normal electric discharge and abnormal electric discharge in the electric discharge,
for each predetermined period, count a number of electric discharge events including at least one of (i) normal electric discharge events having the normal electric discharge, and (ii) abnormal electric discharge events having the abnormal electric discharge,
determine a control variable that correlates with a distance between the poles,
calculate a machining feed speed based on (i) a deviation between the control variable and a target value with respect to the control variable, and (ii) the counted number of electric discharge events, and
control movement of the wire electrode and the workpiece relative to each other at the determined machining feed speed,
wherein the controller is further programmed to make correction of at least one of (i) the control variable, (ii) the target value with respect to the control variable, and (iii) the deviation between the control variable and the target value, based on the number of electric discharge events counted in each predetermined period, and
wherein the controller is programmed to make the correction in such a way that
the machining feed speed decreases in response to any of
the number of normal electric discharge events for each predetermined period increases and
the number of abnormal electric discharge events for the period decreases, and
the machining feed speed increases in response to any of
the number of normal electric discharge events in each predetermined period decreases and
the number of abnormal electric discharge events for the period increases.

US Pat. No. 10,315,271

DRESSING SYSTEM FOR ELECTRODE OF SPOT WELDING GUN

FANUC CORPORATION, Yaman...

1. A dressing system for dressing an electrode of a spot welding gun, comprising:a cutter having a cutter axis which is aligned with an electrode axis to dress the electrode;
a controller which controls rotation of the cutter around the cutter axis; and
a measuring part which measures a dressing amount of the electrode along the electrode axis based on detecting an electrode position, wherein the electrode position is detected based on either a rotation angle of a servo motor or a position of a linear actuator which is used to facilitate a reciprocating movement of the electrode along the electrode axis,
wherein the controller determines a rotational speed of the cutter based on the dressing amount measured by the measuring part, and
wherein the controller:
judges whether the dressing amount measured along the electrode axis by the measuring part is between a predetermined first threshold value and a predetermined second threshold value greater than the first threshold value,
determines the rotational speed so as to be higher than the rotational speed at the time of measurement of the dressing amount along the electrode axis, when judging that the dressing amount along the electrode axis is smaller than the first threshold value, and
determines the rotational speed so as to be lower than the rotational speed at the time of measurement of the dressing amount along the electrode axis, when judging that the dressing amount along the electrode axis is greater than the second threshold value.

US Pat. No. 10,315,282

CONTROL DEVICE AND CONTROL METHOD

FANUC CORPORATION, Yaman...

1. A control device for controlling a machine tool so as to drill a workpiece based on a machining program, wherein the machine tool includes a rotary tool configured to drill the workpiece and an axis feed motor configured to move the rotary tool in an axial direction,the control device comprising:
a motor control unit controlling the axis feed motor so that the rotary tool is axially moved by intermittently decelerated feed in which a feed rate of the rotary tool is alternately switched between a first feed rate and a second feed rate that is lower than the first feed rate, under a condition in which the following relational equations are satisfied:
where S is a rotational speed of the rotary tool; FS is a feed rate specified in accordance with the machining program; F1 is the first feed rate; F2 is the second feed rate; t1 is a first rate moving time for which the rotary tool is moved at the first feed rate in one switching cycle; t2 is a second rate moving time for which the rotary tool is moved at the second feed rate in one switching cycle; C is a constant; and F1>FS>F2>0, and C?0.

US Pat. No. 10,317,854

MACHINE LEARNING DEVICE THAT PERFORMS LEARNING USING SIMULATION RESULT, MACHINE SYSTEM, MANUFACTURING SYSTEM, AND MACHINE LEARNING METHOD

FANUC CORPORATION, Yaman...

1. A machine learning device that learns a control command for a machine by machine learning, comprising:a machine learning unit that performs the machine learning to output the control command;
a simulator that performs a simulation of a work operation of the machine based on the control command; and
a first determination unit that determines the control command based on an execution result of the simulation by the simulator,
wherein the first determination unit
determines that the control command is good and performs inputting of the control command to the machine when there is no problem in the execution result of the simulation, and
determines that the control command is bad and stops the inputting of the control command to the machine when there is a problem in the execution result of the simulation, and
wherein when a determination result by the first determination unit is bad,
the inputting of the control command to the machine is stopped, and
learning is performed by providing a first result label obtained from the first determination unit to the machine learning unit as training data.

US Pat. No. 10,317,869

PLC MAINTENANCE SUPPORT DEVICE AND PLC MAINTENANCE SUPPORT PROGRAM

FANUC CORPORATION, Yaman...

1. A PLC (Programmable Logic Controller) maintenance support device comprising:a signal identification tag reader for reading a signal address from a signal identification tag attached to an input and output signal cable of a PLC to identify the signal address of the input and output signal cable;
a transmitter for transmitting the signal address identified by the signal identification tag reader to the PLC;
a receiver for receiving the on or off state of a signal corresponding to the transmitted signal address from the PLC; and
a monitor for displaying the received on or off state of the signal.

US Pat. No. 10,317,884

SERVO CONTROLLER

FANUC CORPORATION, Yaman...

1. A servo controller used in a machine tool having a feed axis driven by a servo motor, comprising:a speed command creation unit that creates a speed command value of the servo motor;
a torque command creation unit that creates a torque command value of the servo motor;
a speed detection unit that detects speed of the servo motor;
a speed control loop formed by the speed command creation unit, the torque command creation unit, and the speed detection unit;
a speed control gain which is a control gain of the speed control loop;
a filter that attenuates a specific frequency component included in a torque command created by the torque command creation unit;
a parameter storage unit that stores parameters for designating characteristics of the speed control gain and the filter;
a sinusoidal disturbance input unit that performs sinusoidal sweeping on the speed control loop;
a frequency characteristics calculation unit for estimating a gain and a phase of an input/output signal of the speed control loop from an output of the speed control loop when a sinusoidal wave is input to the speed control loop; and
a parameter adjustment unit that adjusts the parameters stored in the parameter storage unit on the basis of the frequency characteristic calculated by the frequency characteristics calculation unit, wherein
the parameter storage unit stores a history of past frequency characteristics obtained by the frequency characteristics calculation unit in correlation with past parameter history, and
the parameter storage unit stores the frequency characteristic history as a graph, a gain margin, a phase margin, machining accuracy information, or a combination thereof.

US Pat. No. 10,315,346

INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. An injection molding machine comprising:a clamping device including a mold and configured to produce a clamping force by opening and closing the mold;
an injection device configured to inject molten resin into the mold along an opening/closing direction of the mold; and
a machine base configured to support the clamping device and the injection device, wherein: the injection molding machine further comprises:
a sub injection device configured to inject molten resin into the mold along a direction perpendicular to the opening/closing direction of the mold;
a sub machine base configured to support the sub injection device; and
a coupling unit provided on the machine base and configured to couple the machine base and the sub machine base together;
wherein the coupling unit includes:
a base provided on the machine base;
two fixed blocks fixed to the base;
a guide bar supported by and bridged between the two fixed blocks in parallel to the opening/closing direction of the mold; and
a movable block slidably fitted onto the guide bar,
the movable block is connected to the sub machine base, and
the sub injection device is supported on the sub machine base with a linear guide bearing portion interposed therebetween, the linear guide bearing portion being configured to enable movement of the sub injection device with respect to the sub machine base in the direction perpendicular to the opening/closing direction of the mold.

US Pat. No. 10,300,608

ROBOT OPERATING APPARATUS PROVIDED WITH HANDLES FOR OPERATING ROBOT

FANUC CORPORATION, Yaman...

1. A robot operating apparatus comprising:a sensor mounted on the distal end part and of an arm unit of an industrial robot that is controlled by a control apparatus and configured to detect a force or moment; and
a handle supporting unit mounted on the distal end part of the arm unit via the sensor, and wherein the robot operating apparatus is configured to send the force or the moment detected by the sensor to the control apparatus in a form of an electric signal to move the distal end part of the arm unit in accordance with a direction and a magnitude of the force or the moment detected by the sensor, wherein
the handle supporting unit supports two handles disposed so as to form a substantially right angle with respect to each other, and a handle structure including the two handles includes two force points where forces are applied, and
the two force points are positioned respectively at positions symmetrical with respect to an imaginary extension line of a force input axis of the sensor,
wherein the sensor is adapted to detect a resultant force of forces applied to the two force points.

US Pat. No. 10,298,167

MOTOR CONTROLLER HAVING FUNCTION OF DETERMINING POWER FAILURE DETECTION CONDITION

FANUC CORPORATION, Yaman...

1. A motor controller comprising:a rectifier for converting alternating-current (AC) power supplied from an AC power supply into direct-current (DC) power and outputting the DC power;
an AC voltage detector for detecting an AC voltage value of the AC power supply and outputting the AC voltage value as a detection value;
a power failure detector for determining that a power failure is occurring, when a state in which the outputted detection value is equal to or lower than a regulation voltage has continued for a regulation time or more;
a power failure detection condition determiner for determining or modifying the regulation time; and
an inverter for converting the DC power outputted from the rectifier into desired AC power,
wherein upon detecting the power failure, the power failure detector inputs a protection operation start command to the inverter, the protection operation start command is a command to start a protection operation for a machine using the motor controller,
wherein the regulation time T0 is determined by an upper limit T1 of the regulation time (upper limit regulation time) represented by the following equation:
0 where
T1=T3?T2,
T2: a certain time required between a start of the protection operation and a stop of the machine,
T3: a time between the detection by the power failure detector of the voltage drop state in which the detection value of the power supply voltage is lower than the regulation voltage and the stop of the machine, and
wherein the power failure detection condition determiner determines the regulation time depending on the power failure tolerance which is an amount of energy required for continuing the normal operations of the motor controller and peripheral devices thereof.

US Pat. No. 10,256,706

MOTOR PROVIDED WITH NONCIRCULAR STATOR CORE, APPARATUS FOR PRODUCTION OF MOTOR, AND METHOD FOR PRODUCTION OF MOTOR

FANUC CORPORATION, Yaman...

1. A motor comprising a stator core formed by stacking a plurality of noncircular core sheets, each of which is made from a rolled magnetic steel sheet, whereinthe stator core includes:
a first core sheet having a non-regular polygonal outside edge shape; and
a second core sheet having an outside edge shape the same as the first core sheet, the second core sheet being stacked with respect to the first core sheet so that a rolling direction of the second core sheet becomes a direction rotated from a rolling direction of the first core sheet about a center axis of the stator core by an angle of an odd multiple of 360°/(number of poles of the motor×2), wherein
the outside edge of the first core sheet is defined by:
a first group of sides; and
a second group of sides connected to the first group of sides, each of the second group of sides having a circumferential length less than the first group of sides, wherein
the second group of sides includes a first and second sides at both ends in a direction perpendicular to the rolling direction of the first core sheet, the first and second sides being parallel to the rolling direction of the first core sheet, wherein
the outside edge of the second core sheet is defined by:
a third group of sides; and
a fourth group of sides connected to the third group of sides, each of the fourth group of sides having a circumferential length less than the third group of sides, wherein the fourth group of sides includes a third and fourth sides at both ends in a direction perpendicular to the rolling direction of the second core sheet, the third and fourth sides being parallel to the rolling direction of the second core sheet, wherein
a dimension in the direction perpendicular to the rolling direction of the first core sheet between the first side and the second side, and a dimension in the direction perpendicular to the rolling direction of the second core sheet between the third side and the fourth side are the same.

US Pat. No. 10,252,415

HUMAN COLLABORATIVE ROBOT SYSTEM HAVING SAFETY ASSURANCE OPERATION FUNCTION FOR ROBOT

FANUC CORPORATION, Yaman...

1. A human-collaborative robot system in which a robot and a human work collaboratively in a shared workspace, the system comprising:a first force detection section configured to detect external force acting on the robot;
a second force detection section configured to detect only an operating force acting on the robot when the human manually operates the robot; and
a safety assurance operation command section configured to compare the external force detected by the first force detection section with a predetermined threshold value, and in the case where the external force exceeds the predetermined threshold value, command a safety assurance operation of causing the robot to move in a direction that reduces the external force or causing the robot to stop,
wherein when the human is manually operating the robot while the robot is in a stopped state, instead of comparing the external force detected by the first force detection section with the predetermined threshold value the safety assurance operation command section is configured to compare a value obtained by subtracting the operating force detected by the second force detection section from the external force detected by the first force detection section with the predetermined threshold value, and in the case where the value obtained by subtracting the operating force detected by the second force detection section from the external force detected by the first force detection section exceeds the predetermined threshold value, command the safety assurance operation of causing the robot to move in the direction that reduces the value obtained by subtracting the operating force detected by the second force detection section from the external force or causing the robot to stop.

US Pat. No. 10,289,074

CONTROLLER INCLUDING MEANS FOR CONFIRMATION IN PREPARATION OF SYNCHRONOUS OPERATION TEACHING DATA

FANUC CORPORATION, Yaman...

1. A controller which teaches a teaching point of one or more slave axes corresponding to a master axis so as to perform a synchronous operation, the controller comprising:a master axis moving speed pattern selection unit that selects a moving speed pattern of the master axis that is preliminarily registered;
a slave axis allowable speed setting unit that preliminarily sets an allowable speed in an operation of the slave axis;
a teaching point range calculation unit that calculates a teaching range of a following teaching point in which teaching can be performed; and
a teaching point range information display unit that displays, on a display device, the teaching range calculated by the teaching point range calculation unit wherein the teaching point range calculation unit is configured to calculate the teaching range based on
(1) the moving speed pattern of the master axis that is selected by the master axis moving speed pattern selection unit,
(2) the allowable speed in an operation of the slave axis that is set by the slave axis allowable speed setting unit, andpositions of past teaching points of the master axis and the slave axis,wherein, when the master axis moves at a constant speed, the teaching point range calculation unit is configured to
refer to the moving speed pattern of the master axis,
acquire a speed of the master axis from a position of a past teaching point to a position of a following teaching point, and
calculate moving time Tm of the master axis based on the acquired speed, by using Formula (1)
Tm=(2 ×Xm)/Fm  (1)where Xm is a moving amount of the master axis, and Fm is the speed of the master axis.

US Pat. No. 10,286,551

ROBOT SYSTEM THAT CONTROLS ROBOT INCLUDING MULTIPLE MECHANICAL UNITS, THE MECHANICAL UNITS, AND ROBOT CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A robot system comprising:a robot including a combination of mechanical units serving as multiple modules;
a robot control device that controls the robot; and
a memory provided in each of the mechanical units,
wherein a shape model and a parameter for estimating a coasting distance are stored beforehand in the memory, the shape model indicating a shape of the mechanical unit, the coasting distance being determined according to a motion speed of the robot, and
the shape model and the parameter for estimating a coasting distance in the memory of the mechanical unit are read by the robot control device.

US Pat. No. 10,280,976

BELLOWS SUPPORT STRUCTURE AND SLIDE TABLE DEVICE

FANUC CORPORATION, Yaman...

1. A device having a slide table and a support structure for a bellows, wherein the bellows is capable of expanding and contracting in a movement direction of the slide table, comprising:a support member adapted to support the bellows;
a shaft disposed substantially in parallel with the movement direction of the slide table;
a bush adapted to support the support member in a manner that the support member is capable of moving in the movement direction of the slide table with respect to the shaft,
wherein a fluid bearing is formed by supplying a fluid between the bush and the shaft; an oil bearing is formed by supplying hydraulic oil between the slide table and a guide adapted to guide the slide table; and the fluid bearing is formed by supplying between the shaft and the bush the same hydraulic oil as the hydraulic oil that is supplied between the slide table and the guide.

US Pat. No. 10,280,993

ELECTROMAGNETIC BRAKE

Fanuc Corporation, Yaman...

1. An electromagnetic brake comprising:an annular coil bobbin around which an excitation coil is wound;
a brake core having an annular recess that accommodates the coil bobbin;
an armature driven by an electromagnetic force generated by the excitation coil;
wherein an inner surface of a center hole in the coil bobbin is provided with inner protrusions that protrude radially inward from a plurality of locations at intervals in a circumferential direction and that are pressed onto an outer peripheral surface of a columnar central projection included in the recess when the coil bobbin is press-fitted to the recess of the brake core, the inner protrusions being disposed substantially along the entire length of the coil bobbin in an axial direction thereof; and
wherein each inner protrusion has a protrusion-side inclined surface that is provided at a leading end of the inner protrusion in a press-fitting direction toward the recess and that gradually extends radially inward toward a trailing end of the inner protrusion.

US Pat. No. 10,261,483

DIGITALLY CONTROLLED POWER SOURCE HAVING DC-DC CONVERTERS IN SUBSEQUENT STAGE

FANUC CORPORATION, Yaman...

1. A digitally controlled power source, comprising:A/D converters that convert voltages into numerical values;
an arithmetic processing unit that carries out digital computation for the numerical values converted by the A/D converters;
a PWM generator unit that generates PWM signals based on command values from the arithmetic processing unit; and
a switching power circuit that outputs a voltage value based on the PWM signals outputted from the PWM generator unit,
the digitally controlled power source having an output terminal to which DC-DC converters are connected, wherein
the digitally controlled power source further includes
a voltage monitor unit that monitors output voltages from the DC-DC converters with use of the arithmetic processing unit, and
a changing unit that sets a setting value of an output voltage of the digitally controlled power source at an upper limit within a predetermined range of the output voltage in advance and that changes the command values from the arithmetic processing unit so as to change the setting value of the output voltage to a specified value of the output voltage when the voltage monitor unit detects that the values of the output voltages from the DC-DC converters exceed preset thresholds.

US Pat. No. 10,245,691

CONTROLLER FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A controller for a machine tool,the machine tool including:
a coolant unit for storing a coolant;
an oil mist unit for generating an oil mist;
a main shaft;
a tool attachable to and detachable from the main shaft; and
piping for supplying both the coolant and the oil mist to the main shaft, where the coolant and the oil mist are dischargeable from a through hole provided in the tool when said tool is attached to the main shaft,
said controller configured to
execute a processing program to instruct the discharge of either the coolant or the oil mist,
confirm existence of a tool replacing instruction in said processing program,
confirm existence of an oil mist discharge instruction between said tool replacing instruction and a next tool replacing instruction, and
when the oil mist discharge instruction is confirmed, cause the tool to be maintained in a state where said tool is detached from said main shaft during a predetermined period of time at the time of replacing the tool, and at the same time cause the oil mist to discharge from said oil mist unit into the piping to remove the coolant from said piping during the predetermined period of time.

US Pat. No. 10,250,106

STATOR AND MOTOR PROVIDED WITH OUTER CYLINDER

FANUC CORPORATION, Yaman...

1. A stator of a motor, comprising:a stator core including a cylindrical back yoke and a tooth projecting radially inside from the back yoke;
a coil wound around the tooth, the coil having a coil end;
an outer cylinder which surrounds the back yoke;
a heat conducting ring located at an axially front side of the coil end, the heat conducting ring having a heat conducting part and a connecting part, the
heat conducting part has an end face that directly contacts an inner circumferential surface of the outer cylinder and directly contacts the coil end of the coil; and
the connecting part extends in the circumferential direction of the outer cylinder so as to be integrally connected to the heat conducting part, the connecting part having an outer circumferential surface directly contacting the inner circumferential surface of the outer cylinder, the connecting part having a radial direction width smaller than that of the heat conducting part.

US Pat. No. 10,248,106

WAVEFORM DISPLAY DEVICE FOR DISPLAYING LENGTH BY CONVERTING FREQUENCY INTO LENGTH ON MACHINED SURFACE

FANUC CORPORATION, Yaman...

1. A waveform display device, comprising:a processor configured to execute a program to
acquire position information of a drive shaft of a machine tool in a time series manner;
acquiring acquire physical data that represents an operation status of the drive shaft in a time series manner;
designate a time section that is a display target in a time series of the physical data or the position information;
calculate an average tangent direction speed of a tool tip end point of the machine tool in the time section based on the position information and configuration information of the machine tool;
perform a frequency analysis of the physical data or the position information in the time section to output a frequency spectrum; and
convert a frequency of the frequency spectrum into a distance between two points on a machined surface of the machine tool that corresponds to the frequency using the average tangent direction speed; and
a display configured to display the distance between the two points.

US Pat. No. 10,240,996

MOTOR VIBRATION CAUSE DETERMINATION SYSTEM

FANUC CORPORATION, Yaman...

1. A motor vibration cause determination system that determines the cause of vibration occurring in a connection state in which a motor is directly or indirectly connected to a main shaft, comprising:a vibration sensor unit capable of detecting vibration of the motor in a driving state, the vibration sensor unit detecting a first vibration which is vibration of the motor in a stand-alone state before shipping, a second vibration which is vibration of the motor in a stand-alone state and in a non-connection state in which the motor is not connected to the main shaft after shipping, and a third vibration which is vibration of the motor in the connection state;
a vibration information storage unit that stores information on the vibration of the motor detected by the vibration sensor unit, the information including information on the first vibration, information on the second vibration, and information on the third vibration; and
a vibration cause determination unit that:
determines whether a cause of vibration, occurring in the connection state, originated in the connection state or the non-connection state, on the basis of the first vibration information, the second vibration information, and the third vibration information stored in the vibration information storage unit; and
determines the cause of the vibration occurring in the connection state on the basis of whether the cause of vibration originated in the connection state or the non-connection state.

US Pat. No. 10,239,215

TRANSFER TOOL

Fanuc Corporation, Yaman...

1. A transfer tool comprising:a substantially strip-shaped frame;
a wrist-side slider to be attached to a wrist of a robot, provided on one side of the frame in a thickness direction in a manner capable of moving along a longitudinal direction of the frame;
a workpiece-side slider provided on another side of the frame in the thickness direction in a manner capable of moving along the longitudinal direction of the frame;
an actuator attached to the workpiece-side slider, the actuator comprising a motor;
a shaft attached to the workpiece-side slider so as to extend in a width direction of the frame, the shaft being rotated by rotation of the motor;
wherein the motor is disposed non-coaxially with an axis line of the shaft; and
a strut extending in the width direction of the frame, the strut being fixed on each of both ends of the shaft and used for gripping a workpiece.

US Pat. No. 10,234,842

NUMERICAL CONTROLLER FOR CORNER PATH OPTIMIZATION

Fanuc Corporation, Yaman...

1. A numerical controller controlling a machine tool processing a workpiece based on a program including a plurality of blocks, the numerical controller comprisinga path conversion unit for obtaining a curved correction path passing through three points corresponding to a start point of a third block, an end point of the third block, and a shift point obtained by shifting an intermediate point of a command path based on the third block in an inward direction of a corner path within a limit of a preset allowable error amount when the corner path is formed by a series of blocks included in the program and a tangential direction of the corner path is continuous, and generating a path obtained by replacing the command path of the third block included in the corner path by the correction path, the third block commanding curvilinear movement at a larger curvature than a first curvature and a second curvature being interposed between the first block commanding rectilinear movement or curvilinear movement at the first curvature corresponding to a small curvature and the second block commanding rectilinear movement or curvilinear movement at the second curvature corresponding to a small curvature in the series of blocks.

US Pat. No. 10,234,849

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller that determine a movement path of a tool from a start point to a cutting start position or restart position, the numerical controller comprising:a shortest-path creation unit that creates a shortest path, optimized so as not to interfere with an interfering object and to shorten a movement distance from the start point to the cutting start position or restart position;
an alternative-path creation unit that creates one or more alternative paths having a smaller number of break points than the shortest path; and
a movement time prediction unit that calculates movement times along the shortest path and the alternative path, respectively,
wherein the alternative-path creation unit further determines the alternative path having the shorter movement time than the shortest path as the movement path.

US Pat. No. 10,220,458

MACHINING POWER SUPPLY DEVICE FOR ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A machining power supply device for an electric discharge machine configured to machine a workpiece by applying a voltage to a machining gap between an electrode and the workpiece to cause an electric discharge across the gap, the machining power supply device comprising:a DC power supply;
a capacitor directly or indirectly connected in parallel with the machining gap;
a first semiconductor switching element arranged in a first circuit loop including the DC power supply and the capacitor;
a second semiconductor switching element arranged in parallel with the capacitor;
a rectifier element inserted in a second circuit loop including the capacitor and the second semiconductor switching element;
a third semiconductor switching element arranged in a third circuit loop including the machining gap and the capacitor; and
a controller programed to control the first, second and third semiconductor switching elements, wherein
the controller is programmed to
during a first time period, turn on the first semiconductor switching element to fully charge the capacitor in a first direction,
during a second time period after the first time period, turn off the first semiconductor switching element and turn on the third semiconductor switching element to discharge the fully charged capacitor and to charge the capacitor to a residual voltage in a second direction opposite to the first direction, and
during a third time period after the second time period, turn off the third semiconductor switching element and turn on the second semiconductor switching element while the first semiconductor switching element is off to reverse the residual voltage of the capacitor.

US Pat. No. 10,222,206

STOWAGE PATTERN CALCULATION DEVICE WHICH SETS POSITIONS AT WHICH ARTICLES ARE STACKED

FANUC CORPORATION, Yaman...

1. A stowage pattern calculation device in which positions of articles irregularly conveyed are calculated when a plurality of articles are disposed by a robot in a storage area determined in advance, wherein the plurality of articles have a box shape and include articles having dimensions different from each other, the device comprising:a storage part which stores number and dimensions with respect to each of types of the articles stacked in the storage area;
a combination calculation part which calculates a combination of the articles constituting a layer formed in the storage area and selects the layer of the articles which can be formed in the storage area based on the types of a conveyed article, a height of the layer, and an area of the layer; and
a position determination part which calculates a first probability of completion of the layer with respect to the layer selected by the combination calculation part and determines positions at which the article is stacked based on a positional relationship between the robot and the storage area and the first probability,
wherein the device is configured to control the robot to dispose the article at the determined positions.

US Pat. No. 10,208,522

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:a movable door;
a drive motor configured to drive the movable door;
a power transferring mechanism configured to transfer power of the drive motor to the movable door;
a disturbance torque estimation unit configured to estimate a disturbance torque applied to the drive motor in an opening or closing operation of the movable door;
a torque comparison unit configured to compare the disturbance torque estimated by the disturbance torque estimation unit to a predetermined upper limit and a predetermined lower limit; and
a motor stop unit configured to stop the opening or closing operation of the movable door when the torque comparison unit determines that the disturbance torque is smaller than the lower limit.

US Pat. No. 10,189,101

WIRE ELECTRIC DISCHARGE MACHINE WITH AUTOMATIC WIRE CONNECTING FUNCTION

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine with an automatic wire connecting function, in which the wire electric discharge machine comprises an upper nozzle and a lower nozzle which support a wire electrode and in which an upper die guide and a lower die guide are included, respectively, and the wire electrode and a workpiece are moved relative to each other to machine the workpiece and, if the wire electrode is broken during machining, then the wire electrode is guided for automatic wire connection by a jet stream injected through a nozzle hole of the upper nozzle, the wire electric discharge machine comprising:deviation acquisition unit that acquires, as a deviation, a distance from a position on a top surface of the workpiece where the wire electrode is hung from the upper die guide to a top end position of a machined groove formed by the machining, and
automatic wire connection execution unit that moves the upper nozzle by a distance equivalent to the acquired deviation, thereby performing the automatic wire connection,
wherein the deviation acquisition unit causes the upper nozzle to move on a projection, on the top surface of the workpiece, of an imaginary line which connects an upper die guide fulcrum position of the upper die guide and a lower die guide fulcrum position of the lower die guide, while intermittently moving the wire electrode up and down, and a distance between a position where a delivery length of the wire electrode is changed and a position corresponding to the upper die guide fulcrum position on the projection on the top surface of the workpiece is acquired as the deviation.

US Pat. No. 10,179,380

TEMPORARY PLACEMENT DEVICE ABLE TO ADJUST ORIENTATION OF WORKPIECE

FANUC CORPORATION, Yaman...

1. A workpiece feed system, comprising:a first robot conveying a workpiece;
a second robot conveying the workpiece;
a temporary placement device adjusting an orientation of the workpiece;
a control apparatus controlling the first robot, the second robot, and the temporary placement device;
wherein the temporary placement device includes:
a carrying member having a carrying surface on which a workpiece is placed; and
a drive device arranged below the carrying surface and driving the carrying member,
wherein
the carrying member is formed to be able to be deformed,
the drive device includes a moving part being connected to a center location of the carrying surface below the carrying surface and moving in an up-down direction and moves the moving part between a top end position where the center location of the carrying surface is pushed to a flat state and a bottom end position where the center location of the carrying surface is positioned to a recessed state, and
the control apparatus performs a control in which the first robot releases the workpiece so as to place the workpiece on the carrying member when the moving part is in the bottom end portion, and a control in which the second robot picks up the workpiece arranged on the carrying member when the moving part is in the top end position after moving from the bottom end position to the top end position.

US Pat. No. 10,179,409

ROBOT SYSTEM HAVING COOPERATIVE OPERATING REGION

FANUC CORPORATION, Yaman...

1. A robot system having a cooperative operating region where a worker and a robot can enter simultaneously, the system comprising:a control device, the control device controlling the robot,
the control device including:
a stopping section configured to stop the robot in the case where an external force on the robot has exceeded a predetermined limit value;
a position recording section configured to record a stopping position of the robot or a stopping position and an orientation of the robot when the robot has been stopped by the stopping section;
a position distribution generation section configured to generate a distribution of the stopping positions of the robot recorded by the position recording section; and
a speed changing section configured to change an operating speed of the robot in accordance with the distribution of the stopping positions of the robot generated by the position distribution generation section.

US Pat. No. 10,105,776

WIRE ELECTRIC DISCHARGE MACHINE HAVING FUNCTION TO CORRECT DETECTED VALUE OF TENSILE FORCE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine, comprising:a wire electrode;
at least one motor and at least one motor controller configured to control the at least one motor for giving a tensile force to the wire electrode;
a tensile force detector configured to detect a tensile force of the wire electrode, wherein a detected tensile force detected by the tensile force detector is fed back to perform feedback control of the tensile force of the wire electrode such that the tensile force becomes equal to a set tensile force; and
at least one processor configured to
carry out calibration for obtaining a detected deviation amount of the tensile force detector based on the set tensile force and a tensile force detected by the tensile force detector when the set tensile force is applied,
correct output of the tensile force detector by the detected deviation amount which is obtained by the calibration, and
correct a detected value of a tensile force for carrying out feedback control of the tensile force of the wire electrode based on a corrected detected tensile force which is obtained by correcting the detected tensile force of the tensile force detector.

US Pat. No. 10,110,157

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool equipped with a drive unit configured to drive a tool configured to machine a workpiece, and a control unit configured to control the drive unit, the machine tool comprising:a power failure detection unit configured to detect a power failure by monitoring an input power source configured to supply electrical power to the control unit;
an auxiliary power source configured to supply electrical power to the control unit at a time of the power failure;
a recording unit in which operation information indicative of operation of the drive unit is recorded; and
an abnormality determining unit configured to determine whether or not it is possible for machining by the machine tool to be continued, based on an abnormal load acting on the drive unit or the tool, the abnormality determining unit determining whether the abnormal load is acting on the drive unit or the tool based on the operation information that is recorded in the recording unit;
wherein, in an event that the power failure is detected, the power failure detection unit switches a power source of the control unit from the input power source to the auxiliary power source, whereas in an event that it is detected that supply of electrical power from the input power source has been recovered after the power failure, the power failure detection unit switches the power source of the control unit from the auxiliary power source to the input power source; and
the control unit stops operation of the drive unit immediately after the power failure is detected by the power failure detection unit, and thereafter, in an event that the power failure detection unit detects that supply of electrical power from the input power source has been recovered, and the abnormality determining unit determines that it is possible for machining by the machine tool to be continued, the control unit drives the drive unit to thereby automatically resume machining.

US Pat. No. 10,019,674

MACHINE LEARNING APPARATUS AND COIL PRODUCING APPARATUS

FANUC CORPORATION, Yaman...

1. A control apparatus for controlling a winding machine for forming a coil, the control apparatus a machine learning apparatus communicable with the winding machine and configured to learn an operation for forming the coil by the winding machine, the machine learning apparatus comprising:a state observing unit for observing a state variable comprised of at least one of an actual dimension value, a resistance actual value, and a wire rod used amount of the coil formed by the winding machine, and a program execution time actual value, and at least one of a dimension command value, a resistance command value, a turn number command value, a winding speed command value, and a tension command value for the coil, which are instructed by a program for the winding machine, and an execution time command value for the program; and
a learning unit for learning by linking at least one of the actual dimension value, the resistance actual value, and the wire rod used amount of the coil observed by the state observing unit, and the program execution time actual value to at least one of the dimension command value, the resistance command value, the turn number command value, the winding speed command value, and the tension command value for the coil observed by the state observing unit, and the execution time command value for the program, wherein the learning unit comprises:
a reward computing unit for computing a reward based on at least one of the actual dimension value, the resistance actual value, and the wire rod used amount of the coil observed by the state observing unit, and the program execution time actual value; and
a function updating unit for updating a function for deciding, from the state variable at present, based on the reward computed by the reward computing unit, at least one of the dimension command value, the resistance command value, the turn number command value, the winding speed command value, and the tension command value for the coil, and the execution time command value for the program,
wherein the learning unit is configured to compute the state variable observed by the state observing unit in a multilayer structure, to update the function on a real-time basis, and
a decision-making unit for deciding, in accordance with the updated function, an optimal value of at least one of the dimension command value, the resistance command value, the turn number command value, the winding speed command value, and the tension command value for the coil, and the execution time command value for the program,
wherein the control apparatus is configured to control the winding machine in accordance with the program having the optimal value decided by the decision-making unit.

US Pat. No. 10,012,973

NUMERICAL CONTROLLER

FANUC CORPORATION, Yaman...

1. A numerical controller to set time, an axis position, or a spindle position as a reference value, to use a plurality of table format data specifying positions of control axes, and to control the positions of the plurality of control axes in synchronization with the reference value, the numerical controller comprising:readout units that sequentially read out the table format data in synchronization with the reference value;
distribution processing units that generate travels of the control axes based on command blocks read out by the readout units;
a travel holding unit that temporarily stores the travels of the control axes generated by the distribution processing units; and
an overlap control unit that reads out the travels of the control axes from the travel holding unit, finds an overlap quantity as an amount in the reference value of overlapping of the travels of the control axes, and writes post-correction travels resulting from the overlapping of the travels of the control axes by the overlap quantity into the travel holding unit,
wherein the control axes are controlled based on the post-correction travels.

US Pat. No. 10,002,514

MACHINE TOOL HAVING FUNCTION OF MONITORING SEALING OF CONTROL PANEL

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:a control panel;
a temperature sensor and a humidity sensor that measure temperature and humidity inside the control panel, respectively;
a vapor amount calculation unit that calculates a vapor amount based on the temperature and the humidity;
a vapor amount storage unit that stores the vapor amount;
a vapor amount change ratio calculation unit that calculates a vapor amount change ratio based on the vapor amount calculated by the vapor amount calculation unit and the vapor amount stored in the vapor amount storage unit;
a vapor amount change ratio threshold setting unit that retains a threshold that is set in advance;
a vapor amount change ratio comparison unit that determines whether or not the vapor amount change ratio is greater than or equal to the threshold; and
an alert announcement unit that announces an alert when the vapor amount change ratio is greater than or equal to the threshold,
wherein
the vapor amount change ratio calculation unit calculates the vapor amount change ratio using an average of the vapor amounts per prescribed time instead of the vapor amounts.

US Pat. No. 9,908,242

ROBOT CONTROL DEVICE PROVIDED WITH FUNCTION OF REFLECTING POINTS OF DIFFERENCE OF SETTING DATA COMPARED WITH

FANUC CORPORATION, Yaman...

1. A robot control device, comprising:
a display device;
a control device configured to control a robot and having first setting data set in a file at said control device;
at least one of
a data communication device configured to communicate with another robot control device, said another robot control device
configured to control another robot and having second setting data set in a file at said another robot control device, and

a data read/write device configured to read and write third setting data in a storage medium of said robot control device,
wherein each of said first through third setting data comprises a plurality of items;
a comparison device configured to compare
each item of said plurality of items of the first setting data with
a corresponding item of said plurality of items of at least one of the second and third setting data; and
a display circuit configured to display, on said display device, said plurality of items in which a comparison by said comparison
device reveals both similarities and differences between

said first setting data and
said at least one of said second and third setting data,
at least one selectable check mark having a checkmark marking area adjacent to the item of said first setting data and said
at least one of said second and third setting data whose data differ from the first setting data, and

two copy direction marks configured to designate a source of item and a destination of item, each of the two copy direction
marks indicating one of two copy directions of the setting data, including

a copy direction from said first setting data to said at least one of said second and third setting data, and
a copy direction from said at least one of said second and third setting data to said first setting data,
a selection device configured to select, from among the items revealing the differences between said first setting data and
said at least one of said second and third setting data, at least one item whose checkmark marking area is filled with a checkmark
for copying setting data, and

a copy device configured to copy and overwrite said first setting data with said at least one of said second and third setting
data, or to copy and overwrite said at least one of said second and third setting data with said first setting data based
on the copy direction indicated by a selected one of said copy direction marks,

wherein only the setting data of the at least one item whose checkmark marking area is filled with a checkmark will be overwritten
based on said selected copy direction mark.

US Pat. No. 9,895,769

LASER PROCESSING DEVICE HAVING FUNCTION FOR AVOIDING INTERFERENCE AT THE TIME OF NOZZLE APPROACH

FANUC CORPORATION, Yaman...

1. A laser processing device comprising:
a processing nozzle configured to be moved toward or away from an object to be processed and configured to irradiate a laser
beam;

a gap sensor which detects a distance between the processing nozzle and the object;
a position detector which detects a position of the processing nozzle relative to a fixed predetermined start position; and
a controller configured to execute a processing program for carrying out laser processing of the object by controlling a motion
of the processing nozzle, while executing gap control for controlling the distance between the processing nozzle and the object
based on a detection value of the gap sensor,

wherein the controller receives a gap signal from the gap sensor and a position signal from the position detector, and executes
the processing program to stop an approach motion of the processing nozzle toward the object, in response to:

1) the controller determining from the received gap signal that the gap sensor detects that the distance between the processing
nozzle and the object is equal to a setting value in which the gap control can be started, and

2) the controller determining from the received position signal that the position detector detects that the processing nozzle
is positioned at a position higher than the fixed predetermined start position.

US Pat. No. 9,895,785

MOTOR DRIVING DEVICE OF MACHINE TOOL COMPRISING PLURALITY OF SWITCHING ELEMENTS

FANUC CORPORATION, Yaman...

1. A motor driving device for driving a spindle motor and a feed axis motor of a machine tool, the motor driving device comprising:
a switching element for a spindle configured to drive the spindle motor;
a switching element for a feed axis configured to drive the feed axis motor;
a housing configured to cover components installed in a substrate;
a first heat sink arranged outside the housing;
a second heat sink arranged inside the housing; and
a heat conduction plate configured to thermally connect the first heat sink and the second heat sink; wherein
the switching element for the spindle is mounted on the first heat sink, and the switching element for the feed axis is mounted
on the second heat sink.

US Pat. No. 9,859,673

LASER DEVICE PROVIDED WITH FUNCTION TO DETERMINE FEASABILITY OF OPENING DOOR

FANUC CORPORATION, Yaman...

1. A laser device comprising:
a cooler;
a portion cooled by the cooler, the portion including a laser source generating heat; and
a housing which has an airtight structure and houses at least the cooler and the portion cooled by the cooler, wherein a wall
of the housing is openable by a door or a wall panel,

wherein the laser device includes:
a first temperature sensor provided in the housing to detect a temperature of the portion cooled by the cooler;
a second temperature sensor and a humidity sensor provided outside the housing to respectively detect a temperature and humidity
of air outside the housing; and

a judgment unit which calculates a dew point of the air outside the housing based on the temperature of the air outside the
housing detected by the second temperature sensor and the humidity of the air outside the housing detected by the humidity
sensor, and judges a possibility of whether or not condensation will form on the portion cooled by the cooler due to the air
outside the housing, by comparing the temperature of the portion cooled by the cooler detected by the first temperature sensor
with the calculated dew point.

US Pat. No. 9,857,411

ELECTRONIC DEVICE HAVING FUNCTION OF DETECTING DEGRADATION OF PRINTED CIRCUIT BOARD

FANUC Corporation, Minam...

1. An electronic device including a printed circuit board and having a function of detecting degradation of the printed circuit
board, the electronic device comprising:
a degradation detection circuit configured to detect the degradation of the printed circuit board at a plurality of different
degradation levels and to output a degradation signal according to the plurality of different degradation levels; and

a warning output unit configured to output a warning in accordance with the degradation level detected by the degradation
detection circuit,

wherein the printed circuit board includes a plurality of monitor units connected in parallel, each monitor unit of the plurality
of monitor units includes a resistor and a monitor electrode connected in series;

wherein the degradation detection circuit has a resistance value measurement unit configured to measure a combined resistance
of the plurality of monitor units, and

wherein the degradation detection circuit is configured to output at least one of the resistance value measured by the resistance
value measurement unit and the degradation signal according to a plurality of preset thresholds.

US Pat. No. 9,833,853

WIRE ELECTRIC DISCHARGE MACHINE INCLUDING AVERAGE DISCHARGE DELAY TIME CALCULATING UNIT

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine for applying, 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
for machining the workpiece, the wire electric discharge machine comprising:
a measurement circuit configured to measure, as a discharge delay time, a no-load time from voltage 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 a 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 the voltage
application calculated by the counting circuit,

wherein the controller is further configured to
set, as a machining gap voltage residual time, time from a start of the voltage application until the voltage application
is discontinued when electric discharge does not occur, or time from the start of the voltage application until a next voltage
application is started,

calculate a rate of the average discharge delay time to the machining gap voltage residual time from the average discharge
delay time in every predetermined measurement period, and

calculate a machining gap voltage value based on the average discharge delay time by multiplying the calculated rate by a
predetermined reference voltage.

US Pat. No. 9,830,559

MACHINE LEARNING UNIT, SPINDLE REPLACEMENT JUDGING DEVICE, CONTROLLER, MACHINE TOOL, PRODUCTION SYSTEM, AND MACHINE LEARNING METHOD, WHICH ARE ABLE TO JUDGE NECESSITY OF SPINDLE REPLACEMENT

FANUC CORPORATION, Yaman...

1. A machine learning unit configured to learn a condition associated with replacement of a spindle of a machine tool, the
machine learning unit comprising:
a state observing section configured to observe a state variable representing a current state of a spindle, during a continuous
operation of a machine tool, the state variable comprising processing volume data showing a total number of processed workpieces
which are processed using the spindle, processing accuracy data showing a difference between an actual dimension of a processed
workpiece and a dimension target value, interruption time data showing a time period of interruption of operation of the machine
tool, and replacement determination data showing a judgment result of a necessity of spindle replacement; and

a learning section provided with profit-and-loss data, the profit-and-loss data comprising a profit per unit time or a loss
per unit time, which may be generated by a production of the processed workpiece, and a loss per unit time which may be generated
due to the spindle replacement, the learning section configured to use the profit-and-loss data and the state variable and
learn a condition associated with the spindle replacement.

US Pat. No. 9,829,875

SAFETY COMMUNICATION SYSTEM USING IO UNITS COMMUNICATING WITH A PLURALITY OF CPUS

FANUC CORPORATION, Yaman...

1. A communication system, comprising:
a numerical controller; and
a plurality of input/output (IO) units connected to the numerical controller,
wherein each of the plurality of IO units includes
a communication controller to transmit and receive communication data between the numerical controller and the communication
controllers of the plurality of IO units, and

a plurality of receiver/driver pairs to receive/transmit external input/output signals from/to an external device different
from the numerical controller and from other IO units among the plurality of IO units,

wherein the communication controller comprises:
a plurality of ID setting units configured to set IDs of said communication controller; and
an external input/output signal allocation correspondence setting unit configured to specify, from among the plurality of
receiver/driver pairs and by using the IDs set to the plurality of ID setting units, a receiver/driver pair to which the communication
data corresponds, and

wherein, when an ID contained in the communication data received from the numerical controller matches any one of the IDs
set to the plurality of ID setting units, the communication controller is configured to

return a counter value to the numerical controller, and
input/output the external input/output signals from/to the external device via the receiver/driver pair specified by the external
input/output signal allocation correspondence setting unit as corresponding to the ID contained in the communication data.

US Pat. No. 9,829,877

SERVO CONTROL APPARATUS HAVING FUNCTION OF DISPLAYING ADJUSTMENT STATE IN ONLINE AUTOMATIC ADJUSTMENT TO CONTROL SYSTEM

FANUC CORPORATION, Yaman...

1. A servo 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 speed control loop gain setting unit for setting a speed control loop gain that is a control gain for the speed control
loop;

at least one filter for filtering a specific band of the torque command value;
a sinusoidal disturbance input unit for performing a sinusoidal sweep on the speed control loop;
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;

a resonance frequency detector for detecting a resonance frequency from frequency characteristics;
a filter adjuster for adjusting the filter in accordance with the resonance frequency;
a gain adjuster for adjusting and verifying the speed control loop gain;
a sequence controller for online and automatically performing the detection of the resonance frequency using the resonance
frequency detector, the adjustment of the speed control loop gain using the gain adjuster, and the adjustment of the filter
using the filter adjuster; and

an adjustment state display unit for displaying a stage in an adjustment sequence, wherein
the adjustment state display unit displays the adjustment stage and progress in each of the resonance detection, the adjustment
and verification of the speed control loop gain, or the adjustment of the filter performed by the sequence controller.

US Pat. No. 9,831,751

ARMATURE WITH WINDINGS AND METHOD OF CONNECTING WINDING ENDS OF ARMATURE TO TERMINAL

FANUC CORPORATION, Yaman...

1. An armature comprising:
windings which have ends to be inserted into a tubular terminal, and
visually identifiable marks which are made on said windings and used for confirming if said ends have been inserted into said
terminal to a suitable depth,

wherein
said marks are made on portions of said windings and are configured to be always positioned at the outside of said terminal
even when said ends are positioned at the inside of said terminal, and

positions of said marks on said windings satisfy a relationship of
D=I0+h1+x0,
where
D is a length of a lead of each of the windings from the mark on said winding to the end of said winding,
I0 is the suitable depth at which the ends of the windings are inserted into the terminal,
h1 is a height of a tubular guide member which is detachably connected to a top surface of the tubular terminal and through
which the ends of the windings are to be inserted into the terminal, and

x0 is a predetermined distance value of a distance x from a top end of the guide member to the mark on each of the windings.

US Pat. No. 9,715,225

NUMERICAL CONTROLLER FOR SMOOTHING TOOL PATH IN OPERATION BASED ON TABLE FORMAT DATA

FANUC Corporation, Minam...

1. A numerical controller for smoothing tool path in operations based on table format data, configured to
use time, an axis position, or a spindle position as a reference value,
store positions of a plurality of axes synchronized with the reference value as command data in table format in a memory or
a storage device connected by a network so as to correspond to the reference value,

read the table format data sequentially, and
control the positions of an axis synchronized with the reference value in a synchronized manner, the numerical controller
comprising:

a table format data prefetching unit configured to prefetch the table format data of the plurality of axes to be synchronized
in parallel;

a tool path calculating unit configured to calculate a tool path using the prefetched table format data;
a velocity changing point detecting unit configured to detect velocity changing points in the tool path;
a correction range designating unit configured to designate a correction range at the velocity changing point, by a distance
from the velocity changing point;

a boundary position calculating unit configured to calculate two boundary positions before and after the velocity changing
point on the tool path, the positions being located inside and outside the correction range;

a tool path correcting unit configured to connect the calculated two boundary positions before and after the velocity changing
point by a smooth tool path; and

a table format data correcting unit configured to correct the table format data based on the corrected tool path.

US Pat. No. 9,707,685

CONTAINER-CARRYING DEVICE USING ROBOT HAND

FANUC CORPORATION, Yaman...

1. A container-carrying device carrying a top-open box container, comprising:
a robot;
a base plate attached to an arm tip of the robot;
a first slide base unit extending in the vertical direction which is attached to one side unit, which is perpendicular to
the base plate;

a first slide unit slidable along the first slide base unit;
a holding unit which is attached to the first slide unit and which holds the upper end of one side of the container;
a second slide base unit which is attached to another side unit, which is in parallel to the bottom surface of the container,
and which extends perpendicular to the first slide base unit, the other side unit is perpendicular to the one side unit and
is in parallel to the base plate;

a second slide unit slidable along the second slide base unit; and
a receiving unit which is attached to the second slide unit and which receives the bottom surface of the container, wherein
the robot is operated to position the holding unit at the upper end of one side of the container so that the holding unit
holds the upper end,

the first slide unit is made to slide upward along the first slide base unit to raise the container, and
the second slide unit is made to slide along the second slide base unit to insert the receiving unit below the bottom of the
container, thereby taking out the container.

US Pat. No. 9,696,712

NUMERICAL CONTROL DEVICE HAVING FUNCTION OF SIMULTANEOUSLY EXECUTING PLURALITY OF COMMANDS USING DATA IN TABLE FORMAT

FANUC Corporation, Minam...

1. A numerical control device for operation based on data in table format, configured to:
set time or a position of an axis or a spindle as a reference,
store, in a memory or a storage device connected via a network thereto, the data in table format in which the time or the
position of the axis or the spindle as the reference is associated with a position of a different axis or spindle from the
axis or the spindle as the reference or an auxiliary function,

and the device includes a command read out unit configured to sequentially read out the time or the position of the axis or
the spindle as the reference and the position of the different axis or spindle from the axis or the spindle as the reference
or the auxiliary function,

and the device is further configured to control the position of the different axis or spindle or the auxiliary function in
synchronization with the time or the position of the axis or the spindle as the reference, the device comprising:

a plurality of processing units each of which configured to determine whether a command reaches a reference value described
in the data in table format and execute the command;

a definition unit configured to define at least one command to be executed by each of the plurality of processing units; and
a selection unit configured to select one processing unit configured to process the command which is read out on the basis
of the definition unit.

US Pat. No. 9,696,231

MACHINE TOOL HAVING NUMERIC CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A machine tool having a numeric control device comprising the numeric control device and a machine tool controlled by the
numeric control device and including a fixed unit and a movable unit,
wherein a load can be placed on the movable unit of the machine tool, and
the numeric control device includes:
a storage unit storing a weight and a position of a center of gravity of the fixed unit and the movable unit; and
a gravity center position calculation unit configured to calculate a position of a center of gravity of an entire set including
the machine tool and the load,

any one of the machine tool and the numeric control device is provided with a gravity center position display unit configured
to display the position of the center of gravity calculated by the gravity center position calculation unit, and

the gravity center position calculation unit is configured to calculate the position of the center of gravity of the entire
set including the machine tool and the load, on the basis of the position of the center of gravity and the weight of the fixed
unit and the position of the center of gravity and the weight of the movable unit stored in the storage unit, and a relative
position of the movable unit with respect to the fixed unit, and the position of the center of gravity and the weight of the
load,

wherein the numeric control device includes a load weight estimation unit configured to estimate the weight of the load placed
on the movable unit from a value of a parameter group related to acceleration or deceleration performance of the movable unit,
and transmit the weight to the gravity center position calculation unit.

US Pat. No. 9,583,984

ROTATOR MEMBER TO BE FIXED TO ROTARY SHAFT OF ROTARY ELECTRIC MACHINE, ROTATOR INCLUDING ROTATOR MEMBER, AND METHOD FOR MANUFACTURING ROTARY ELECTRIC MACHINE AND ROTATOR

Fanuc Corporation, Yaman...

1. A rotator member to be fixedly press fitted to a rotary shaft of a rotary electric machine, the rotator member comprising:
a tubular sleeve having a first end at an axially first side and a second end at an axially second side;
a plurality of magnet segments arranged in the circumferential direction at radially outside of the sleeve; and
a tubular member adapted to cover the magnet segments from a radially outer side to hold the magnet segments between the tubular
member and the sleeve,

wherein the sleeve has an inner circumference surface that includes a tapered surface, the tapered surface continuously expanding
radially outward as it extends in a direction from the first end toward the second end,

wherein the inner circumference surface of the sleeve does not include a portion where the radius of the inner circumference
surface reduces in the direction from the first end toward the second end wherein the outer circumference surface of the sleeve
is cylindrical,

wherein the inner circumference surface of each of the magnet segments is a circular arc and has a radius of curvature that
is larger than a radius of curvature of the outer circumference surface of the sleeve.

US Pat. No. 10,987,758

TEACHING DEVICE FOR LASER MACHINING

FANUC CORPORATION, Yaman...

1. A teaching device for a laser machining system configured to perform laser machining on a workpiece while moving an irradiation position of laser light using a robot, the teaching device comprising:a graphical user interface processing unit configured to display
machining periods, in each of which machining is performed by irradiating a corresponding one of a plurality of machining points set for the workpiece with the laser light while the robot moves along a machining path, and non-machining periods between the machining periods of the plurality of machining points, arranged in time series in a band-like region in a distinguishable manner,
a slider image having ends corresponding to a start time point and an end time point of a total movement time of the robot for completing machining of all of the plurality of machining points, and
a slide position of the slider image being set so as to be movable in a longitudinal direction of the band-like region.

US Pat. No. 10,990,074

CONTROLLER FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A controller for a machine tool used for machining by cutting of a work as a cutting target by means of coordinated motion of multiple axes including at least a spindle axis, comprising:a movement command generation unit that outputs a movement command for cutting the work by moving a cutting tool and the work relative to each other in a machining direction such that an entirety of the cutting tool is spaced from the spindle axis in a direction perpendicular to the spindle axis;
a stop determination unit that outputs a stop instruction for intermittently stopping the relative movement in the machining direction to the movement command generation unit; and
a sensor that detects a rotation angle of the spindle axis, wherein
the movement command generation unit outputs a movement command for stopping the relative movement between the cutting tool and the work in the machining direction based on the stop instruction, and
the stop determination unit outputs the stop instruction for a period when the spindle axis rotates 360 degrees or more, based on the rotation angle detected by the sensor.

US Pat. No. 10,987,802

CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A control device comprising:a casing;
a communication board configured in a plate shape;
a control board configured in a plate shape and having one side attached to the communication board;
an amplifier board configured in a plate shape and having one side attached to the communication board and provided with a power module for driving an actuator of an appliance; and
a brake power supply unit disposed opposite the communication board across the amplifier board and configured to drive an electromagnetic brake of the actuator.

US Pat. No. 10,987,806

PRODUCTION METHOD AND PRODUCTION SYSTEM THAT USE ROBOT

FANUC CORPORATION, Yaman...

1. A production method comprising:grasping a workpiece with a hand attached to an end of a robot equipped with a force sensor; and
pressing a subject flat surface of the grasped workpiece against a target flat surface at an even pressure distribution,
wherein:
the hand includes two grasping pieces that grasp the workpiece by sandwiching the workpiece in a width direction between two surfaces orthogonal to the subject flat surface, and pressing surfaces that abut against a to-be-pressed surface of the workpiece opposite to the subject flat surface;
when grasping the workpiece with the hand,
abutting the pressing surfaces against the to-be-pressed surface at a vicinity of a grasping position,
operating the robot on a basis of forces detected by the force sensor so that the robot assumes an orientation with which moments about axes that lie within the pressing surfaces are balanced, and
grasping the workpiece with the two grasping pieces of the hand at a position where the moments are balanced; and
operating the robot to assume an orientation with which the subject flat surface aligns with the target flat surface.

US Pat. No. 10,981,315

STATE DETERMINATION DEVICE

FANUC CORPORATION, Yaman...

1. A state determination device for determining a state of a manufacturing device based on internal and external state variables acquired from an operation of the manufacturing device, the state determination device comprising:a processor configured to implement:
a primary determination learning model that has learned an outline of the state of the manufacturing device based on the internal and external state variables acquired from the operation of the manufacturing device for manufacturing a product,
a secondary determination learning model that has learned a state of the manufacturing device based on the internal and external state variables acquired from the operation of the manufacturing device in a predetermined operation pattern set in advance and information on maintenance of the manufacturing device, and
a determination result output unit configured to carry out
a primary determination on the outline of the state of the manufacturing device using the primary determination learning model based on the internal and external state variables acquired from the operation of the manufacturing device for manufacturing the product, and
a secondary determination on the state of the manufacturing device using the secondary determination learning model based on the internal and external state variables acquired from the operation of the manufacturing device in the predetermined operation pattern set in advance executed at a predetermined opportunity,
wherein the processor is configured to control the operation of the manufacturing device based on results of the primary determination and the secondary determination, and
the internal and external state variables for the secondary determination include a detection value of a sensor, the detection value being not included in the internal and external state variables for the primary determination.

US Pat. No. 10,983,635

CONTROL PARAMETER ADJUSTMENT DEVICE

FANUC CORPORATION, Yaman...

1. A control parameter adjustment device configured to set a control parameter of a capacitance type touch panel device, the control parameter adjustment device comprising:a data acquisitor configured to acquire at least
data related to a control parameter including a control parameter set for the capacitance type touch panel device, and
data related to external noise detected when the capacitance type touch panel device is not touched, the external noise being a disturbance noise to the capacitance type touch panel device and including at least one of an electromagnetic wave, radiation noise, or induced noise;
a pre-processor configured to, based on the data acquired by the data acquisitor, generate learning data used in machine learning; and
a machine learning device configured to, based on the learning data, perform a machine learning process related to adjustment of the control parameter of the capacitance type touch panel device in an environment in which the data related to the external noise is acquired.

US Pat. No. 10,985,522

LASER APPARATUS

Fanuc Corporation, Yaman...

1. A laser apparatus, comprising:at least one laser oscillator;
a power supply unit for supplying a driving current to the laser oscillator;
a laser optical system that includes a machining head for irradiating a workpiece serving as a laser machining subject with laser light emitted from the laser oscillator through an optical fiber;
at least one light detecting unit capable of detecting the laser light emitted from the laser oscillator and reflection light propagating in a substantially opposite direction to the laser light; and
a control unit that outputs an optical output command and a current output command corresponding to the optical output command to the power supply unit,
the laser apparatus further comprising:
a temperature calculation unit that is provided either inside the laser apparatus or outside the laser apparatus and uses a detection result acquired by the light detecting unit to calculate the temperature of at least one of respective temperature increase portions of the laser apparatus, which increase in temperature in response to the reflection light; and
an emergency command determination unit that refers to the calculated temperature of the temperature increase portion, calculated by the temperature calculation unit, and to ensure that the temperature of the temperature increase portion does not exceed a first predetermined temperature, which is an allowable upper limit temperature of the temperature increase portion and is set at a lower temperature than an upper limit heat resistance temperature of the temperature increase portion using the upper limit heat resistance temperature as a reference, determines and outputs, as required, an emergency optical output command with the aim of controlling the temperature of the temperature increase portion either to a second predetermined temperature, which is a control target temperature of the temperature increase portion and is set at a lower temperature than the first predetermined temperature, or to a lower temperature than the second predetermined temperature,
wherein, when the emergency optical output command is output, the control unit switches the optical output command output thereby to the emergency optical output command and outputs the emergency optical output command.

US Pat. No. 10,974,357

SPINDLE DEVICE

FANUC CORPORATION, Yaman...

1. A spindle device, comprising:a spindle housing having a housing body;
a spindle shaft having, formed therein, a suction passage configured to flow air suctioned from outside, the spindle shaft being configured to be rotatably supported by a bearing provided inside the spindle housing; and
a rotating member having, formed therein, a communication passage configured to establish communication between the suction passage and the outside, the rotating member being provided at one end of the spindle shaft so as to be rotatable in linkage with rotation of the spindle shaft,
wherein the rotating member includes: a base portion fixed to and protruding into the one end of the spindle shaft, a sealed gap formed between the base portion and a front surface of the housing body; an attaching portion detachably attached to a side of the base portion that is located on an opposite side of the base portion from the one end of the spindle shaft; and an accommodation space arranged on the communication passage so as to accommodate a filter.

US Pat. No. 10,976,927

PUSH BUTTON SHEET AND TOUCH PANEL

FANUC CORPORATION, Yaman...

1. A push button sheet, comprising:a convex reaction area configured to be bent in a predetermined press direction;
a first electrode arranged on a convex surface of the convex reaction area;
a second electrode arranged in the convex reaction area below the first electrode with respect to the press direction, and electrically connected to the first electrode;
a third electrode arranged on a portion of the push button sheet other than the convex reaction area; and
a fourth electrode arranged between the first electrode and the second electrode,
wherein the second electrode and the third electrode are configured to be electrically communicated with each other through the fourth electrode when the convex reaction area is bent in the press direction, and
the first electrode and the fourth electrode are electrically isolated from each other when the convex reaction area is not bent.

US Pat. No. 10,960,534

ROBOT AND PARALLEL LINK ROBOT

FANUC CORPORATION, Yaman...

1. A robot comprising:a first link directly coupled with a second link by a joint,
wherein the first link comprises:
a first link member;
a second link member; and
a fixation member,
wherein the fixation member is directly attached to the first link member and directly attached to the second link member,
wherein at least one of the first and second link members includes a combination of an inner layer made of carbon fiber reinforced plastic, and an outer layer made of elastic material and covering an outer peripheral surface of at least part of the inner layer in a longitudinal direction over an entire circumference, and
wherein the inner layer and outer layer are integrally stacked,
wherein the outer layer covers only a predetermined portion of the inner layer, and the fixation member is attached to an entire circumference of the outer layer on the predetermined portion, and
wherein the first and second link members, other than the predetermined portion, are made of carbon fiber reinforced plastic.

US Pat. No. 10,960,550

IDENTIFICATION CODE READING APPARATUS AND MACHINE LEARNING DEVICE

Fanuc Corporation, Yaman...

1. An identification code reading apparatus for reading an identification code assigned to a surface of a product using a visual sensor, the identification code reading apparatus comprising:a machine learning device for learning estimation of an ideal image of the identification code with respect to an image of the identification code read by the visual sensor,
wherein the machine learning device includes a processor configured to:
control positioning of the visual sensor relative to the identification code, or position the identification code relative to the visual sensor, and control the visual sensor to read the identification code,
observe read image data related to the image of the identification code read by the visual sensor as a state variable representing a current state of an environment,
acquire ideal image data related to the ideal image of the identification code as label data,
learn the read image data and the ideal image data in association with each other using the state variable and the label data, and estimate and output the ideal image of the identification code from the read image data.

US Pat. No. 10,962,952

SERVO CONTROL APPARATUS THAT PERFORMS LEARNING CONTROL BY CHANGING REFERENCE AXIS

FANUC CORPORATION, Yaman...

1. A servo control apparatus for a machine that performs machining by driving and controlling a servomotor on the basis of a position command and by causing a plurality of synchronizing axes to operate cooperatively in synchronized relationship with a plurality of reference axes, the servo control apparatus comprising:a processor to perform the following steps:
calculating a position error between the position command and a detected position of the servomotor;
acquiring positions of a plurality of reference axes;
selecting one reference axis on the basis of a machining condition of a driven body from among the plurality of reference axes whose positions have been acquired, a machine condition is acquired by using a workpiece changing signal; and
a plurality of learning control processors for performing learning control using an angle synchronization method, on the basis of the position error and the position of the selected reference axis,
wherein the plurality of learning control processors performs the following steps:
sampling the position error at a predetermined sampling frequency;
converting the position error from time reference to position reference;
filtering the converted position error;
storing the filtered position error in a delay memory;
converting the position error stored in the delay memory from position reference to time reference; and
outputting the position error as correction value,
wherein the plurality of learning control processors is changed in synchronized fashion when the reference axis is changed by selecting a different one of the plurality of reference axes from the reference axis previously selected, and
wherein the plurality of learning control processors correspond to the plurality of reference axes.

US Pat. No. 10,962,953

ADJUSTMENT OF A DEVIATION OF AN AXIS POSITION OF DRIVING UNIT OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. An adjustment necessity determination device that makes a determination, after a workpiece is machined, about a necessity to make an adjustment of a deviation of an axis position of each axis of a machine tool that has performed the machining, the adjustment necessity determination device comprising:a data acquisition unit configured to
receive at least one of first data relating to a drive unit of the machine tool from the machine tool or second data from a sensor in the machine tool, and
based on the received at least one of the first data or the second data, acquire a parameter relating to a cause of a deviation of the axis position of each axis of the machine tool,
the parameter being acquired at a time of the machining;
a time-series data storage unit configured to receive and store the parameter as time-series data; and
an adjustment necessity judgement unit configured to make a judgment about a necessity to make an adjustment of a deviation of the axis position of each axis of the machine tool based on the time-series data of the parameter stored in the time-series data storage unit.

US Pat. No. 10,962,957

COLLISION POSITION ESTIMATION DEVICE AND MACHINE LEARNING DEVICE

FANUC CORPORATION, Yaman...

1. A collision position estimation device for estimating a position of an axis of a machine tool during collision of a cushion member included in a telescopic cover, the collision position estimation device comprising:a machine learning device including a processor configured to learn the position of the axis during collision of the cushion member,
wherein the processor is configured to
observe axis movement data indicating information related to movement of the axis and motor torque data indicating data related to a torque of a motor driving the axis as a state variable representing a current state of an environment,
acquire collision position data indicating the position of the axis during collision of the cushion member as label data, and
associate and learn the information related to movement of the axis and the data related to the torque of the motor driving the axis with the position of the axis during collision of the cushion member using the state variable and the label data, and
wherein the learned information related to movement of the axis is used to estimate a state, normal or abnormal, of the cushion member.

US Pat. No. 10,960,477

MONITORING DEVICE AND METHOD OF MONITORING

FANUC CORPORATION, Yaman...

1. A monitoring device for monitoring an operation condition of a machine tool operatively connected to the monitoring device, the monitoring device comprising a processor configured to:communicate with the machine tool to acquire event information generated by operation of the machine tool and state information of the machine tool from the machine tool;
after generation of the event information, and in response to the occurrence of there has occurred a predetermined change of state of the machine tool corresponding to content indicated by the event information, judge whether or not the content indicated by the event information has been resolved, based on the event information and the state information; and
in response to judging that the content indicated by the event information has not been resolved after the occurrence of the predetermined change of state of the machine tool corresponding to the content indicated by the event information re-notify of the generated event information,
wherein the predetermined change of state of the machine tool is that a power source of the machine tool has been switched from OFF to ON.

US Pat. No. 10,960,478

ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. An electric discharge machine configured to perform electric discharge machining on a workpiece in a working fluid stored in a work-pan, comprising:a measurement pipe coupled to the work-pan and having an air space inside;
a pressure sensor configured to detect a pressure at the air space; and
a working fluid supply portion configured to supply the working fluid to the measurement pipe,
wherein the working fluid supply portion is a pipe that branches off from a supply pipe configured to supply to the work-pan working fluid from which sludge has been removed by a filter, the pipe being connected to the measurement pipe.

US Pat. No. 10,953,490

LASER MACHINING APPARATUS

FANUC CORPORATION, Yaman...

1. A laser machining apparatus comprising:a first light source configured to output a first laser beam for machining;
a second light source configured to output a second laser beam for focus confirmation having a wavelength which is different from a wavelength of the first laser beam for machining;
a focus lens configured to condense the first laser beam output by the first light source or the second laser beam output by the second light source toward an object respectively and coaxially;
a mirror mechanism configured to reflect the first laser beam or the second laser beam passed through the focus lens toward the object; and
a lens driving mechanism configured to move the focus lens in an optical axis direction of the first laser beam or the second laser beam,
so as to irradiate the object with the first laser beam output by the first light source or the second laser beam output by the second light source via the focus lens and the mirror mechanism,
the laser machining apparatus further comprising:
a machining correlation data management unit configured to manage machining correlation data which associates a position of the focus lens in the optical axis direction in which the first laser beam for machining is focused on the object with a focus position for machining in the optical axis direction when the first laser beam for machining is condensed by the focus lens so as to be focused on the object;
a focus confirmation correlation data management unit configured to manage or create focus confirmation correlation data which associates the position of the focus lens in the optical axis direction in which the first laser beam for machining is focused on the object with a focus position for focus confirmation in the optical axis direction when the second laser beam for focus confirmation is condensed by the focus lens so as to be focused on the object; and
a lens driving mechanism control unit configured to move, in a first mode, the focus lens in the optical axis direction based on the position of the focus lens in the optical axis direction corresponding to the targeted focus position for machining in the machining correlation data, and to move, in a second mode, the focus lens in the optical axis direction based on the position of the focus lens in the optical axis direction corresponding to the targeted focus position for focus confirmation in the focus confirmation correlation data.

US Pat. No. 10,955,813

CONTROL APPARATUS FOR TAPPING

Fanuc Corporation, Yaman...

1. A control apparatus configured to control synchronized operation of a spindle axis and a feed axis of a machine tool, the control apparatus comprising:a rotation detector configured to detect a rotation position of the spindle axis; and
at least one processor configured to:
to create a spindle axis command and a feed axis command according to a tapping program;
control rotational operation of the spindle axis according to the spindle axis command;
control feeding operation of the feed axis according to the feed axis command on a basis of the rotation position,
wherein the at least one processor includes, in the spindle axis command, a speed command value during return that does not depend on maximum rotation speed during machining of the spindle axis and that is higher than the maximum rotation speed during machining, as a command of return operation for returning to a machining start position from a target screw depth, and
wherein the at least one processor is further configured to:
determine whether the tapping program specifies a designated maximum rotation speed during return of the spindle axis, and
when the tapping program does not specify the designated maximum rotation speed during return of the spindle axis, control the spindle to rotate at a predetermined maximum rotation speed during return of the spindle axis,
when the tapping program specifies the designated maximum rotation speed during return of the spindle axis:
control the spindle to rotate at the designated maximum rotation speed during return of the spindle axis when the predetermined maximum rotation speed is greater than the designated maximum rotation speed, and
control the spindle to rotate at the predetermined maximum rotation speed during return of the spindle axis when the predetermined maximum rotation speed is not greater than the designated maximum rotation speed.

US Pat. No. 10,955,817

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller controlling punching, the numerical controller comprising:a punching executor performing the punching according to a machining program;
a punching error detector detecting a phenomenon that the punching is not normally completed;
a re-punching information storage collecting and storing information required for re-execution of a block that the phenomenon is generated; and
a re-punching executor restoring a machining state at the time of occurrence of the phenomenon and re-executing the punching by using the information,
wherein the numerical controller is configured to:
increment, by the punching error detector, a counter value from a predetermined value at a start of a block where punching is commanded in the machining program,
decrement, by the punching error detector, the counter value back to the predetermined value when the punching is performed normally in the block, check, by the punching error detector, the counter value before the start of the block, and
when the checked counter value is not the predetermined value, determine that an error has occurred in a previous block, and store, in the re-punching information storage, the information required for re-execution of the previous block.

US Pat. No. 10,955,827

CONTROLLER AND MACHINE LEARNING DEVICE FOR CONTROLLING A CONVEYING MACHINE TO OPTIMIZE CONVEYANCE OF AN ARTICLE

Fanuc Corporation, Yaman...

1. A controller for controlling a conveying machine that conveys a conveyance article, the controller comprising:a processor that learns how to control a conveyance operation of the conveying machine relative to a state of the conveyance article, wherein the processor is configured to:
control the conveying machine to convey the conveyance article;
observe when the conveying machine conveys the conveyance article, as state variables representing a current state of an environment,
conveyance operation data indicating a state of the conveyance operation of the conveying machine, and conveyance article state data indicating the state of the conveyance article including at least one of position of the conveyance article, or position of liquid within the conveyance article;
acquire, as determination data, conveyance speed determination data indicating an appropriateness determination result of a conveyance speed of the conveyance article, and conveyance article state determination data indicating an appropriateness determination result of a variation in the state of the conveyance article, the variation including at least one of movement of the position of the conveyance article with respect to the machine as a result of the conveyance, or movement of the position of the liquid within the conveyance article as a result of the conveyance;
learn an association between the conveyance operation data and the conveyance article state data by using the state variables and the determination data in order to optimize conveyance speed while maintaining an allowable variation in the state of the conveyance article; and
control the conveying machine based on the optimized conveyance speed.

US Pat. No. 10,953,540

ROBOT CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A robot control device comprising:a storage that stores position accuracy information at a plurality of division points defined when an operating area space of a multi joint robot is divided into a plurality of areas in a grid shape;
a position-accuracy calculator, connected to the storage, that calculates, based on the position accuracy information and a current end-effector position of the multi-joint robot, position accuracy at the current end-effector position; and
an output, connected to the position-accuracy calculator and to a display, that outputs the calculated position accuracy to the display and also outputs to the display, as a map, a distribution of the position accuracy information stored in the storage, showing regions of at least good accuracy and poor accuracy.

US Pat. No. 10,953,543

OPERATION PROGRAM SETTING APPARATUS FOR ROBOT, ROBOT, AND METHOD OF CONTROLLING ROBOT

FANUC CORPORATION, Yaman...

1. An operation program setting apparatus for a robot, whereinthe robot is configured to move, based on an operation program, a tool attached to a distal end portion of an arm of the robot along a predetermined processing trajectory along a work object,
the operation program is for making posture of the tool change at at least a position along the predetermined processing trajectory, the position is a posture changing position, and
the operation program setting apparatus comprises:
a controller configured to add a command to the operation program, the command makes the tool start to incline when the tool approaches the posture changing position within a range of an acceptable inclination angle, and the range is an angle range within which the tool is allowed to be inclined with respect to a surface of the work object and
a storage unit that stores acceptable angle setting data that provides correspondence between at least a material and a plate thickness of the work object and the range of the acceptable inclination angle, wherein
the tool is a laser cutting tool, and
the controller adds a command to the operation program, the command is to incline the tool when or immediately before the tool reaches the posture changing position within the range of the acceptable inclination angle obtained using the acceptable angle setting data.

US Pat. No. 10,953,553

GRIPPING HAND

FANUC CORPORATION, Yaman...

1. A gripping hand comprising:a base member; and
a plurality of fingers arranged about an axis line that passes through or penetrates the base member,
wherein each of the fingers has a flexible finger part having flexibility and a finger base member for supporting a basal end side of the flexible finger part, wherein the basal end side further comprises a hollow portion to which a fluid or air can be supplied,
wherein the gripping hand further comprises a plurality of link mechanisms that are supported by the base member or by a member mounted on the base member and that respectively support the plurality of finger base members, and
wherein each of the link mechanisms allows the corresponding finger base member supported thereby to move relative to the base member.

US Pat. No. 10,949,033

TOUCH PANEL DEVICE, TOUCH PANEL DEVICE CONTROL METHOD, AND NON-TRANSITORY TANGIBLE COMPUTER-READABLE STORAGE MEDIUM HAVING THE PROGRAM STORED THEREIN

FANUC CORPORATION, Yaman...

1. A touch panel device including a capacitive touch panel, comprising:a driving unit configured to send a drive pulse signal to the touch panel;
a receiving unit configured to receive sense signals based on an operated position on the touch panel, the sense signals being outputted from the touch panel;
a driving control unit configured to control the driving unit so that the driving unit sends a given number of pulses of the drive pulse signal at a given frequency;
a signal strength obtaining unit configured to obtain strengths of the sense signals received by the receiving unit;
a signal strength adjusting unit, wherein, among the strengths of the sense signals corresponding to respective pulses of the drive pulse signal, the signal strength adjusting unit is configured to adjust strength of a sense signal that is equal to or greater than a threshold, to a first adjustment value, and adjust strength of a sense signal that is less than the threshold, to a second adjustment value smaller than the first adjustment value; and
an operated position obtaining unit configured to obtain the operated position based on sense signals, of the sense signals, in which an average of the adjusted strengths of the sense signals corresponding to the respective pulses of the drive pulse signal is equal to or greater than a given average.

US Pat. No. 10,948,899

MOTOR CONTROLLER THAT USES AN ACCELERATION/DECELERATION TIME CONSTANT OF THE MOTOR

FANUC CORPORATION, Yaman...

1. A controller of a motor that drives a driven body, the controller comprising:an acceleration/deceleration time constant storing unit that stores an acceleration/deceleration time constant that designates an acceleration or deceleration of the motor;
a position command creating unit that creates a position command value based on the acceleration/deceleration time constant;
a position detection unit that detects a rotation position of the motor;
a speed command creating unit that creates a speed command for the motor based on the position command value and a position detection value detected by the position detection unit;
an ideal response computing unit that computes an ideal response from the position command value by utilizing a low-pass filter to add a delay of the controller to the position command value; and
a response comparing unit that compares the ideal response with an actual response detected by the position detection unit, wherein the response comparing unit estimates an inertia and changes the acceleration/deceleration time constant stored in the acceleration/deceleration time constant storing unit when it is determined that the ideal response does not match the actual response.

US Pat. No. 10,940,585

VIBRATION SUPPRESSION DEVICE

FANUC CORPORATION, Yaman...

1. A vibration suppression device for suppressing vibration generated during an acceleration/deceleration operation of a robot to be controlled such that the vibration corresponds to a predetermined threshold value or less, the vibration suppression device comprising:a processor configured to
acquire a teaching position,
compute a speed plan based on the teaching position and a first acceleration/deceleration parameter,
compute data related to deflection occurring due to the acceleration/deceleration operation of the robot based on the teaching position and the speed plan,
acquire data related to a posture at the teaching position based on the teaching position, and
estimate a second acceleration/deceleration parameter with respect to the data related to the deflection and the data related to the posture, using the data related to the deflection and the data related to the posture as input data.

US Pat. No. 10,919,099

HAND-HELD DEVICE

FANUC CORPORATION, Yaman...

1. A portable hand-held device configured to be attached to and detached from a metal board, comprising:a casing;
a magnet coupled to the casing; and
a bellow member that is made of a nonmetallic material, is provided on an attachment face side of the casing, the attachment face being attached to the metal board, incorporates the magnet disposed on the attachment face side, and is compressed toward or extends away from the attachment face, wherein the bellow member is compressed while the magnet attracts the metal board and the casing is attached to the metal board whereas the bellow member extends while the attraction of the magnet with respect to the metal board is released.

US Pat. No. 10,922,182

MOTOR DRIVING DEVICE AND DETERMINATION METHOD

FANUC CORPORATION, Yaman...

1. A motor driving device for driving a motor, comprising:a rectifier circuit configured to rectify an AC input voltage supplied from an AC power supply to a DC voltage;
a smoothing capacitor configured to smooth the DC voltage rectified by the rectifier circuit;
an inverter configured to convert a capacitor voltage across the smoothing capacitor into an AC voltage to drive the motor;
a relay configured to be turned on and output a contact signal when the input voltage is input to the rectifier circuit from the AC power supply;
a controller programmed to perform the following steps:
an input voltage detecting step of detecting the input voltage;
a capacitor voltage detecting step of detecting the capacitor voltage; and
a backup start determining step of determining whether or not to start a backup operation of transferring the information stored in a first storage to a second storage, based on at least one of the contact signal output from the relay, the input voltage, and the capacitor voltage,
wherein the backup start determining step determines whether the rectifier circuit is being driven,
when the rectifier circuit is being driven,
the backup start determining step determines to start the backup operation when both the input voltage and the capacitor voltage have lowered,
when the rectifier circuit is not being driven,
the backup start determining step determines to start the backup operation when the input voltage has lowered.

US Pat. No. 10,919,143

DEVICE AND METHOD FOR DETECTING ABNORMALITY OF JOINT OF ROBOT

FANUC CORPORATION, Yaman...

1. An abnormality detecting method for detecting an abnormal clearance between a pair of joints a robot, the abnormal clearance exceeding a predetermined clearance between the pair of joints of the robot at a normal state, the robot having:a drive link driven by a motor;
a plurality of passive links including a pair of passive links and driven by a motion of the drive link; and
a plurality of pairs of joints including the pair of joints connected to the pair of passive links,the abnormality detecting method comprising:executing a simulation in which the robot is moved along each of a plurality of predetermined motion paths;
determining, among the plurality of predetermined motion paths, a motion path in which only the pair of joints collide with each other;
generating a robot motion for moving the robot along the motion path determined by the simulation;
measuring a drive torque or a current value of the motor when the robot is moved in accordance with the generated robot motion;
calculating an index value based on a magnitude of variation of a value relating to the measured drive torque or the measured current value; and
judging as to whether or not the abnormal clearance exists between the pair of joints, based on a comparison between a magnitude of the index value and a predetermined value.

US Pat. No. 10,921,978

SHAFT FEEDER

FANUC CORPORATION, Yaman...

1. A shaft feeder used for moving a shaft in an industrial device, the shaft feeder comprising:a display device including a touch panel;
an operation detector that detects a left/right swipe operation on the touch panel;
a display control unit that displays coordinate values relating to the shaft on the display device and changes the displayed coordinate values on the basis of the swipe operation detected by the operation detector; and
a shaft movement unit that moves the shaft to a position indicated by the coordinate values on the basis of the displayed coordinate values,
wherein, when the operation detector detects a rightward swipe operation on the touch panel after one digit of the numerical value displayed as the coordinate value is touched, the display control unit rounds off lower numerical values, not including a digit at which touch is detected.

US Pat. No. 10,921,774

MACHINE LEARNING DEVICES AND METHODS FOR OPTIMIZING THE SPEED AND ACCURACY OF THREAD MILL, INNER DIAMETER, OUTER SHAPE, AND SURFACE MACHINE TOOLS

FANUC CORPORATION, Yaman...

1. A machine learning device configured to perform machine learning with respect to a numerical control device that operates a machine tool on the basis of a machining program,the machine learning device comprising:
at least one processor configured to:
acquire state information including a setting value, a cycle time of cutting a workpiece, and a machining accuracy of the workpiece, the setting value including a spindle speed, a feed rate, a number of cuts, a cutting amount per one time, and a tool compensation amount;
select action information including modification information of a setting value of at least the number of cuts, the cutting amount per one time, and the tool compensation amount included in the state information based on a measure of selecting an action with which the cutting amount per one time is increased and/or the number of cuts are decreased, and output the action information thus selected to the numerical control device;
output a reward value in reinforcement learning on the basis of the cycle time and the machining accuracy included in the state information; and
update an action value function on the basis of the reward value that has been output, the state information, and the action information, wherein
the spindle speed, the feed rate, the number of cuts, the cutting amount per one time, and the tool compensation amount are set in a predetermined machining program,
the numerical control device causes the machine tool to perform cutting by executing the machining program, and
the cycle time and the machining accuracy are acquired by the numerical control device performing the machining program.

US Pat. No. 10,921,789

FINISH-MACHINING AMOUNT PREDICTION APPARATUS AND MACHINE LEARNING DEVICE

FANUC CORPORATION, Yaman...

1. A finish-machining amount prediction apparatus for predicting, when performing finish machining on respective parts of a component to be attached to a machine, finish-machining amounts of the respective parts of the component, the finish-machining amount prediction apparatus comprising:a machine learning device for learning the finish-machining amounts of the respective parts of the component in the finish machining, wherein
the machine learning device has a processor configured to:
observe, as state variables expressing a current state of an environment, (a) finish-machining amount data indicating the finish-machining amounts of the respective parts of the component in the finish machining and (b) accuracy data indicating accuracy of respective parts of the machine, to which the component measured before a start of the finish machining is attached, wherein
the finish machining includes grinding and scraping,
the finish-machining amount data include at least one of grinding frequencies, grinding amounts, and scraping frequencies of the respective parts of the component,
acquire determination data indicating propriety determination results of the accuracy of the respective parts of the machine, to which the component after being subjected to the finish machining is attached,
learn the finish-machining amounts of the respective parts of the component in the finish machining in association with the accuracy data by using the state variables and the determination data,
calculate an error between (i) a correlation model that derives the finish-machining amounts of the respective parts of the component in the finish machining from the state variables and the determination data and (ii) a correlation feature identified from teacher data prepared in advance, and
update the correlation model to reduce the error, and
the teacher data is configured by experimental values accumulated when a worker records determined finish-machining amounts of the respective parts of the component in past finish machining for the component.

US Pat. No. 10,924,039

MOTOR CONTROL DEVICE AND CONTROL METHOD FOR MOTOR CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A motor control device for controlling a servomotor so as to axially move a movement target object, comprising:a speed detector configured to detect a movement speed of the movement target object;
an abnormality detector configured to detect an abnormality of the speed detector;
a motor controller configured to perform deceleration control on the servomotor to decelerate the movement target object, upon detection of the abnormality;
a reference speed generator configured to generate a reference speed that decreases with passage of time, based on the movement speed when the movement target object decelerates and a predetermined deceleration;
a speed monitor configured to monitor the movement speed and determine whether or not the movement speed is equal to or greater than the reference speed, wherein the speed monitor is configured to make a determination by using an absolute value of the movement speed; and
a brake controller configured to actuate a brake for braking axial movement of the movement target object, when the movement speed is determined to be equal to or greater than the reference speed, wherein:
the speed monitor is further configured to determine whether or not an absolute value of a value obtained by subtracting the movement speed from the reference speed is equal to or greater than a threshold; and
the brake controller is configured to actuate the brake in a case where the absolute value of the value obtained by subtracting the movement speed from the reference speed is equal to or greater than the threshold even if it is determined that the movement speed is lower than the reference speed, wherein the motor controller is configured to stop the deceleration control of the servomotor when the movement speed is determined to be equal to or greater than the reference speed.

US Pat. No. 10,924,055

MOTOR DRIVE APPARATUS HAVING INPUT POWER SUPPLY VOLTAGE ADJUSTMENT FUNCTION

FANUC CORPORATION, Yaman...

1. A motor drive apparatus, comprising:an AC stabilized power supply configured to convert AC voltage of a commercial AC power source into input power supply voltage and output the input power supply voltage;
a converter configured to convert the input power supply voltage into DC voltage and output the DC voltage to a DC link;
an inverter configured to convert the DC voltage at the DC link into AC voltage for driving a motor and output the AC voltage; and
an input power supply voltage control unit configured to control the input power supply voltage that is output by the AC stabilized power supply according to heat generated by at least one of the converter, the inverter or the motor.

US Pat. No. 10,908,572

PROGRAMMABLE CONTROLLER AND MACHINE LEARNING DEVICE

FANUC CORPORATION, Yaman...

4. A programmable controller which executes a plurality of sequence programs for controlling at least one machine included in a machining system and which changes execution time allocation to the sequence programs for each operation cycle in each operation stage of the machining system, the programmable controller comprising:a time allocation setting section for setting the execution time allocation;
a stage analysis section for analyzing the operation stage of the machining system based on data regarding an operation state of the machine; and
a machine learning device which has learned changing of the execution time allocation to the sequence programs for each operation cycle, wherein
the machine learning device includes
a state observation section for observing, as a state variable representing a current environmental state, execution time allocation data representing execution time allocation set at time of execution of the operation stage of the machining system, operation stage data representing the operation stage, and machine operation pattern data, the machine operation pattern data being data regarding the operation state of the machine in the operation stage,
a learning section which has learned the changing of the execution time allocation to the sequence programs for each operation cycle in relation to the operation stage of the machining system and an operation pattern of the machine, and
a decision-making section for making a decision regarding the changing of the execution time allocation to the sequence programs for each operation cycle, based on the state variable observed by the state observation section and a learning result of the learning section.

US Pat. No. 10,909,597

APPLICATION SALES MANAGEMENT SERVER SYSTEM 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 user terminals of each user including an intermediary dealer that relays purchases of applications and an end user who uses the edge device and the edge server via a network,
wherein authorization of users who can purchase an application is managed by the processor,
wherein when an application purchase request is transmitted from the user terminal of a user who can purchase the application, the processor transmits distribution authorization information to the user terminal of the user,
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 a user different from the user who has transmitted the application purchase request, 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. 10,908,585

EQUIPMENT INSPECTION SYSTEM AND EQUIPMENT INSPECTION METHOD WITH A PORTABLE TERMINAL

FANUC CORPORATION, Yaman...

1. An equipment inspection system, comprising:a host computer configured to accumulate information on inspection for an industrial machine;
at least one information medium, attached to the industrial machine, storing information corresponding to an inspection item of the industrial machine;
a reading device configured to read the information from the at least one information medium; and
at least one portable terminal including:
a display configured to
display a menu for an operator to select an inspection target,
in response to a determination that the selected inspection target is different from the inspection item corresponding to the information read by the reading device, display the inspection item corresponding to the information read by the reading device and not display the selected inspection target;
an input section configured to allow the operator to input an inspection result of the inspection item displayed on the display; and
a communication section configured to communicate the inspection result with the host computer.

US Pat. No. 10,908,586

PROGRAM CREATION APPARATUS AND PROGRAM CREATION METHOD IN PROGRAM CREATION APPARATUS

FANUC CORPORATION, Yaman...

1. A program creation apparatus for creating a program that controls a wire electrical discharge machine, comprising:a display unit configured to display a machining shape of a workpiece that is input by a user through an input unit;
a core fixing portion setter sets as a midpoint, a point that is specified by the user on the display unit on which the machining shape of the workpiece is displayed through use of the input unit, the midpoint is located on a machining line between the workpiece and a first core to be formed by machining the workpiece, and the core fixing portion setter sets a core fixing portion that fixes the first core to the workpiece so that the midpoint specified by the user forms a middle point of the core fixing portion; and
a program creator creating a program that causes the wire electrical discharge machine to fix the core to the workpiece in the set core fixing portion while machining the workpiece according to the input machining shape thereof;
wherein in a case where the machining shape includes a second core having a same shape as the first core but of a different size than the first core, the core fixing portion setter sets a portion on a machining line between the workpiece and the second core, corresponding to the core fixing portion set on the machining line between the workpiece and the first core, as a core fixing portion of the second core.

US Pat. No. 10,908,591

MACHINE LEARNING DEVICE AND MACHINING TIME PREDICTION DEVICE

FANUC CORPORATION, Yaman...

1. A machine learning device for learning a delay time due to servo control and due to machine movement, which are caused when performing machining on a workpiece based on a machining program in a numerical controller for controlling a machine having at least one axis based on the machining program, the machine learning device comprising:a processor configured to
when the machining is performed, acquire information relating to the machining from the numerical controller at learning timings at which a command of a plurality of commands of the machining program is executed and at which a subsequent command of the plurality of commands is executed upon completion of execution of the command of the plurality of commands,
acquire an actual delay time due to servo control and due to machine movement, which are caused in the machining when the machining is performed,
perform supervised learning using the acquired information relating to the machining as input data, and using the acquired actual delay time due to servo control and due to machine movement as supervised data, wherein the processor is configured to omit, among the learning timings, a learning timing not causing the actual delay time from the supervised learning,
construct a learning model based on the supervised learning, and
store the learning model.

US Pat. No. 10,908,594

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller for controlling a machine tool for processing a workpiece by a tool attached to a spindle based on a processing program, and performing proportional-integral-derivative (PID) control of a feed speed such that a spindle load becomes constant, the numerical controller comprising:a processor configured to:
specify an amplitude of a vibration component generated by a blade of the tool being brought into contact with the workpiece at a predetermined cycle, due to rotation of the spindle out of the spindle load;
calculate a gain of the PID control such that an output of the feed speed is uninfluenced by the amplitude, based on the amplitude of the vibration component specified;
output the feed speed of the spindle controlled by the PID control, by using the calculated gain;
specify a frequency of the vibration component; and
specify an amplitude of the vibration component in consideration of a reduction in feedback of the amplitude of the vibration component, based on the frequency specified.

US Pat. No. 10,908,599

TESTING DEVICE AND MACHINE LEARNING DEVICE

FANUC CORPORATION, Yaman...

1. A testing device for testing a manufacturing machine at a development stage of the manufacturing machine to search for a test item that causes the manufacturing machine to become unstable, the testing device being configured to determine the test item with respect to an operation state of the manufacturing machine and specifications of the manufacturing machine, using at least one processor, the testing device comprising:a machine learning device that learns determination of the test item with respect to the manufacturing machine, wherein
the machine learning device includes:
a state observation unit that observes test item data representing the test item, manufacturing machine operation state data representing the operation state of the manufacturing machine, and manufacturing machine specification data representing specifications of the manufacturing machine, as a state variable representing a current state of an environment;
a determination data acquisition unit that acquires determination data representing a suitability determination result of the operation state of the manufacturing machine, the suitability determination result being obtained when the test item is executed;
a learning unit that performs learning by using the state variable and the determination data of one or more previous cycles, such that the manufacturing machine operation state data and the manufacturing machine specification data are used to determine the test item to be performed at a next cycle; and
an inference result output unit that outputs an operation command of a test based on the test item, based on the state variable observed by the state observation unit and a learning result obtained by the learning unit.

US Pat. No. 10,910,146

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, a center gap which is formed at a center of the three-phase reactor, and at least three side gaps, which can be magnetically coupled, are each formed between adjacent ones of the at least three iron cores; and
a vibration suppressing structure part disposed in the center gap, in the stacking direction of the iron cores, wherein the vibration suppressing structure part includes:
at least three extensions that radially extend from the center gap towards the outer peripheral iron core, and contact the at least three iron core coils,
at least three legs that radially extend from the center gap through the at least three side gaps towards the outer peripheral iron core.

US Pat. No. 10,910,785

CONNECTOR-CONNECTING JIG

FANUC CORPORATION, Yaman...

1. A connector-connecting jig used to connect a first connector disposed at one end of a strip-shaped flexible cable, which has another end fixed to a bottom surface of a housing-shaped electronic device body, to a second connector on a substrate to be housed in the electronic device body,wherein the first connector is disposed on a surface of the flexible cable opposite to said bottom surface when the flexible cable is in a housed state in which the flexible cable extends along said bottom surface,
the connector-connecting jig comprising:
a base having a placement surface on which the electronic device body is placed;
a body fixing unit that fixes the electronic device body onto the placement surface so that the electronic device body is in a positioned state; and
a connector supporting member that extends over the electronic device body with a space therebetween and contacts a surface of the flexible cable on a rear surface side of the first connector when the flexible cable is lifted upward from said bottom surface of the electronic device body fixed onto the placement surface.

US Pat. No. 10,906,176

TEACHING APPARATUS FOR PERFORMING TEACHING OPERATION FOR ROBOT

Fanuc Corporation, Yaman...

1. A teaching apparatus configured to include a display device and perform a teaching operation for a robot, comprising:a template storage section configured to store a plurality of templates corresponding to a plurality of programs of the robot;
a program explanatory content storage section configured to store plural pieces of explanatory content for explaining the respective plurality of programs;
a template display section configured to display the plurality of templates stored in the template storage section on the display device;
a template selection section configured to select one template from the plurality of templates displayed on the template display section; and
a program explanatory content display section configured to read out explanatory content of the program corresponding to the one template selected by the template selection section from the program explanatory content storage section and configured to display the explanatory content on the display device, wherein
the explanatory content includes an explanatory sentence and at least one of a moving image and voice corresponding to the explanatory sentence,
the teaching apparatus further comprises:
a teaching position explanatory content storage section configured to store explanatory content for explaining each of a plurality of teaching positions in the program, and
a teaching position explanatory content display section configured to display the explanatory content stored in the teaching position explanatory content storage section on the display device,
the teaching position explanatory content display section displays the explanatory content corresponding to each of the plurality of teaching positions according to a predetermined order for the plurality of teaching positions included in the program corresponding to the one template selected by the template selection section, and
position information of each of the plurality of teaching positions taught by the teaching apparatus is stored in the program.

US Pat. No. 10,910,832

CONVERTER APPARATUS HAVING FUNCTION OF DETECTING SHORT CIRCUIT FAILURE, AND METHOD FOR DETECTING SHORT CIRCUIT FAILURE OF CONVERTER APPARATUS

Fanuc Corporation, Yaman...

1. A converter apparatus comprising:a converter configured to convert an AC voltage supplied from a power supply into a DC voltage, and output the DC voltage;
a DC link capacitor connected to an output side of the converter;
a voltage detection unit configured to detect a voltage of the DC link capacitor;
a switching unit configured to connect and disconnect each input side between the power supply and the converter;
a switching operation unit configured to monitor an abnormality in a motor drive device including the converter apparatus and an inverter connected to the converter apparatus, and issue a command to the switching unit;
a power supply monitoring unit configured to detect a voltage inputted to the converter to monitor a connection state between the power supply and the converter;
a threshold value setting unit configured to set a threshold value to determine the presence or absence of a short circuit failure; and
a short circuit failure detection unit configured to determine that a short circuit failure has occurred based only on the voltage of the DC link capacitor, immediately after the switching unit disconnects the power supply from the converter, being equal to or less than the threshold value,
wherein:
the voltage detector unit is a voltage detector,
the switching unit is a switch,
the switching operation unit is a switching operation monitor,
the power supply monitoring unit is a power supply monitor,
the threshold value setting unit is a threshold value setter, and
the short circuit failure detection unit is a short circuit failure detector.

US Pat. No. 10,909,063

COMMUNICATION SYSTEM AND TRANSMITTING DEVICE

FANUC CORPORATION, Yaman...

1. A communication system configured to perform serial communication between a transmitting device and a receiving device, wherein:the transmitting device is configured to transmit, to the receiving device, a first data signal including at least information on a transmission clock in one frame, and transmit, to the receiving device, a second data signal including at least information on the transmission clock in one frame, during a time period from transmission of the first data signal until transmission of the first data signal in a next transmission cycle; and
the receiving device is configured to receive the first data signal and the second data signal transmitted from the transmitting device, and synchronize a reception clock thereof with the transmission clock based on the information on the transmission clock of the first data signal and the information on the transmission clock of the second data signal, wherein the transmitting device transmits the second data signal to the receiving device if a period with which the first data signal is transmitted is equal to or longer than a predetermined time length, whereas the transmitting device does not transmit the second data signal to the receiving device if the period with which the first data signal is transmitted is shorter than the predetermined time length.

US Pat. No. 10,894,328

ROBOT WIRING ADDITIONAL ROUTING METHOD AND ROBOT

FANUC CORPORATION, Yaman...

1. A robot wiring additional routing method in which additional wiring is additionally routed for a robot that is provided with: a plurality of housing members that are coupled so as to be relatively movable; a cover member that is detachably attached to at least one of the housing members by fasteners; and existing wiring that is routed via a communication space communicating with internal spaces of the housing members, the method is performed in a following order:(a) detaching some of the fasteners to detach the cover member from a-first housing member that is one of the housing members, thus forming a gap between the detached cover member and the first housing member;
(b) disposing the additional wiring at such a position as to be routed across an inside and an outside of the first housing member, via the formed gap;
(c) disposing a spacer that maintains the gap sandwiched between the cover member and the first housing member, and disposing an elastic member that surrounds an outer circumference of the additional wiring at the position of the gap; and
(d) attaching the detached cover member to the first housing member by the detached fasteners or other fasteners, in a state in which the additional wiring is fixed at the position of the gap by sandwiching and elastically deforming the elastic member between the cover member and the first housing member.

US Pat. No. 10,890,892

ABNORMALITY DETERMINATION APPARATUS, NON-TRANSITORY COMPUTER READABLE MEDIUM ENCODED WITH A PROGRAM, ABNORMALITY DETERMINATION SYSTEM AND ABNORMALITY DETERMINATION METHOD

FANUC CORPORATION, Yaman...

1. An abnormality determination apparatus which determines abnormality of a temperature sensor in a machine tool, the abnormality determination apparatus comprising:a temperature pattern storage unit which stores at least one normal pattern indicating temperature change relative to machining time since a machining start time for every machining classification of the machine tool;
a temperature data acquisition unit which acquires temperature data since the machining start time outputted by the temperature sensor provided to the machine tool;
a machining classification determination unit which determines a machining classification of the machine tool in accordance with a predetermined determination criterion set in advance;
a comparison data acquisition unit which extracts the at least one normal pattern relative to a machining classification determined by the machining classification determination unit from the temperature pattern storage unit;
a comparison unit which compares the at least one normal pattern extracted by the comparison data acquisition unit, and an acquired pattern indicating temperature change relative to machining time according to the temperature data acquired by the temperature data acquisition unit; and
an abnormality determination unit which determines abnormality of a temperature sensor based on a comparison result by the comparison unit.

US Pat. No. 10,890,894

NUMERICAL CONTROLLER AND MISINPUT DETECTING METHOD

Fanuc Corporation, Yaman...

1. A numerical controller capable of handling at least two ofpieces of information including a machining method, a machining shape, and a use tool, the numerical controller comprising:
a machining program input unit configured to receive as an input (i) a machining program and (ii) information on at least two of the items including the machining method, the machining shape, and the use tool, corresponding to the machining program; and
a machining content verification unit configured to detect inconsistency of a combination of at least two of the items including the machining method, the machining shape, and the use tool, based on a predetermined criterion for determination.

US Pat. No. 10,884,389

SERVER AND SYSTEM CONNECTED TO A MACHINE TO PERFORM CUTTING MACHINING VIA A NETWORK

FANUC CORPORATION, Yaman...

1. A server connected to one or more machines that perform cutting machining via a network, whereina database shared by the respective machines is stored in the server, the database including at least machining result information used in steps included in a cutting machining process performed by the machine and information on a number of times the machining result information has been used which is a number of machining programs created on the basis of the machining result information,
a machining result information presentation request requesting to present machining result information that satisfies cutting conditions input by an operator of the machine is received from the machine,
when the machining result information presentation request is received, the machining result information that satisfies the cutting conditions is extracted from the database and is presented to the machine on the basis of the number of times the machining result information has been used, and
a machining program is created on the basis of machining result information selected by the operator among pieces of machining result information from the machine and is presented to the machine.

US Pat. No. 10,884,391

POSITIONAL INFORMATION DISPLAY SYSTEM

FANUC CORPORATION, Yaman...

1. A positional information display system comprising a control device of an industrial machine, a conversion information calculation device which calculates conversion information between different coordinate systems, and an image information control device which causes positional information to be displayed on a display device having a touch panel,wherein the control device includes:
a coordinate information notification portion which notifies of coordinate values of each axis of the industrial machine to the image information control device;
wherein the conversion information calculation device includes:
a conversion information calculation portion which calculates conversion information representing a position and/or posture of a first coordinate system in a second coordinate system, with coordinate values of each axis of the industrial machine as variables,
a conversion information notification portion which notifies the conversion information to the image information control device,
a graph generation portion which generates a graph constituted by nodes showing a machine configuration of the industrial machine,
a control point coordinate system insertion portion which inserts a control point and coordinate system into the graph, and
a node information notification portion which notifies of node information which can be selected as a coordinate system to the image information control device;
wherein the image information control device includes:
a coordinate information conversion portion which calculates a position and/or posture of the first coordinate system in the second coordinate system using the conversion information and the coordinate value of each axis,
a positional information calculation data setting portion which sets data for calculation of positional information for visually displaying on the touch panel a position and/or posture of the first coordinate system in a third coordinate system of the display device,
a positional information display data calculation portion which calculates data for display of the positional information on the display device using the data for calculation of the positional information,
a positional information display data notification portion which notifies of the data for display of the positional information to the display device,
a node selection portion which selects a node corresponding to the coordinate system displayed, and
a selected node notification portion which notifies of a selected node to the conversion information calculation portion of the conversion information calculation device; and
wherein the conversion information calculation portion calculates conversion information which represents the position and/or posture in a coordinate system corresponding to a selected node.

US Pat. No. 10,884,695

DISPLAY SYSTEM

FANUC CORPORATION, Yaman...

1. A display system comprising:a controller that has a display device and performs control on an industrial machine including at least a machine tool or a robot; and
an external terminal, wherein
the controller includes a first central processing unit that is configured to transmit display data including data identification information of all pieces of data displayed on the display device to the external terminal, and
the external terminal includes:
a description information storage unit that stores the data identification information and description information corresponding to the data identification information in correlation; and
a second central processing unit that is configured to acquire, from the description information storage unit, the description information based on the data identification information included in the display data received from the controller and output the description information to a display unit.

US Pat. No. 10,882,154

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool comprising a spindle with a tool attached to, and a table configured to support a machining object, the machine tool configured to perform machining to the machining object by the tool while relatively moving the spindle and the table, the machine tool comprising:a chip antiscatter mechanism configured to suppress scattering of chips generated from the machining object by the machining,
the chip antiscatter mechanism including:
a chip stirrer configured to stir the chips, by jetting a gas into a dry machining region above the table, the dry machining region including the machining object;
a fluid curtain forming nozzle configured to form a fluid curtain by jetting a fluid liquid or gas membranously from above to an outside of the dry machining region so as to surround the dry machining region, and to form a closed region by the membranous fluid curtain, the closed region including the dry machining region;
a discharger including a discharging path having a flow path opening, and configured such that the fluid jetted membranously by the fluid supply directly enters the flow path opening and passes through the discharging path so as to be discharged;
a cylindrical inner enclosure arranged to extend upward from an upper surface of the table so as to surround the machining object, an inside of the inner enclosure is the dry machining region; and
a cylindrical outer enclosure arranged to extend upward from the upper surface of the table, so as to surround the inner enclosure and to form a space, and the space between the inner enclosure and the outer enclosure is the discharging path configured to receive and discharge the fluid jetted membranously.

US Pat. No. 10,882,156

SPINDLE DEVICE

FANUC CORPORATION, Yaman...

1. A spindle device comprising:a spindle housing;
a spindle shaft configured to be rotatably supported inside the spindle housing;
a rotating member disposed at one end of the spindle shaft and configured to be rotatable in conjunction with rotation of the spindle shaft;
a spindle mount having an insertion cavity into which the spindle housing is inserted along an axial direction of the spindle shaft;
an annular flange portion projecting outward from an outer peripheral surface of the spindle housing and configured to be detachably fixed to an end of the spindle mount that is closer to one opening of the insertion cavity;
a cover member configured to cover a surface of the flange portion on one end side of the spindle shaft and an outer peripheral surface of the spindle housing that extends from the surface of the flange portion toward the one end side of the spindle shaft; and
a flow path formed in the cover member and configured to allow a coolant to flow therethrough,
wherein the flow path includes: a first conduit configured to allow outside of the cover member to communicate with the surface of the flange portion covered by the cover member; and a second conduit configured to allow the outside of the cover member to communicate with the outer peripheral surface of the spindle housing covered by the cover member; and
the coolant flowing from the outside of the cover member into one of the first and second conduits flows out into another one of the first and second conduits through a relay passage formed between the cover member and the spindle housing.

US Pat. No. 10,882,188

CONTROLLER AND CONTROL METHOD FOR COLLABORATIVE ROBOT

Fanuc Corporation, Yaman...

3. A robot control method of controlling a robot, the robot being configured to perform an operation for a workpiece conveyed by a convey section configured to move in a predetermined convey direction, and being located at a position different from the convey section, the robot control method comprising:outputting a robot stop command for stopping a motion of the robot when the convey section starts a stop motion,
wherein the robot stop command includes at least one of:
a first stop command by which, when a movable section of the robot is positioned anterior to the workpiece with respect to the convey direction, the movable section is moved at a higher velocity than the convey section with respect to the convey direction, and the movable section is stopped after the movable section travels a second coasting distance which is longer than a first coasting distance of the convey section with respect to the convey direction; and
a second stop command by which, when the movable section of the robot is positioned posterior to the workpiece with respect to the convey direction, the movable section is moved at a lower velocity than the convey section with respect to the convey direction, and the movable section is stopped after the movable section travels a third coasting distance which is shorter than the first coasting distance of the convey section with respect to the convey direction.

US Pat. No. 10,882,193

ROBOT STRUCTURE

FANUC CORPORATION, Yaman...

1. A robot structure comprising:a first member that has a cylindrical hollow portion in a vicinity of a horizontal axis, said circular hollow portion having a predetermined diameter and extending from a first side of the first member to an opposite side of the first member;
a second member, the second member comprising a part separate from the first member that is coupled to and supported on a side surface of the first member so as to be rotatable, via a coupling to the first member, about the horizontal axis and that has a second cylindrical hollow portion in the vicinity of the horizontal axis, said second cylindrical hollow portion having the predetermined diameter and extending from a first side of the second member to an opposite side of the second member, said second cylindrical hollow portion interfacing with the cylindrical hollow portion;
a drive motor that generates power for rotating the second member with respect to the first member; and
a speed reducer that reduces the speed of rotation of the drive motor and that transmits rotation to the second member,
wherein the speed reducer comprises an output hypoid gear formed of a ring gear that is disposed coaxially with the horizontal axis and that is fixed to the first member; an input hypoid gear that is engaged with the output hypoid gear; and a transmission mechanism that transmits rotation from the drive motor to the input hypoid gear while reducing the speed of the rotation; and
the drive motor, the input hypoid gear, and the transmission mechanism are supported in the second member in an accommodated state.

US Pat. No. 10,886,812

STATOR AND MOTOR

FANUC CORPORATION, Yaman...

1. A stator comprising: a stator core; a front housing which is arranged on a front end portion side of the stator core; and a back housing which is arranged on a back end portion side of the stator core,wherein the stator further comprises: a first sealant which is individually provided between the stator core and the front housing and between the stator core and the back housing; and
a second sealant which is provided so as to individually coat an outer side of the stator core in a radial direction with the first sealant and coat an entire outer circumferential surface of the stator core,
the first sealant and the second sealant are formed of a same curable resin integrally with each other, and
all three of the outer circumferential surface of the stator core, an outer circumferential surface of the front housing, and an outer circumferential surface of the back housing are aligned with each other when viewed in a direction parallel to a longitudinal axis of a rotor of the stator core.

US Pat. No. 10,885,340

SENSING SYSTEM, WORK SYSTEM, AUGMENTED-REALITY-IMAGE DISPLAYING METHOD, AUGMENTED-REALITY-IMAGE STORING METHOD, AND PROGRAM

FANUC CORPORATION, Yaman...

1. A sensing system comprising:a detecting device that is used to detect at least a position of a target that is being moved by a moving means for moving the target; and
a controller,
wherein the controller creates, for display on a display device or projection by a projection apparatus, an augmented-reality image that shows at least one type of the following information: at least one of a setting related to detection of the target performed by using the detecting device, a setting of the moving means, a setting of a work machine that performs work on the target, which are settings being recognized by the controller; a position of the target being recognized by the controller based one basis of the settings; a result of the detection of the target performed by using the detecting device; a work plan of the moving means; a work plan of the work machine; a determination result of the controller related to execution of the work performed by the work machine; and a parameter related to the target being recognized by the controller.

US Pat. No. 10,886,926

SYNCHRONIZATION METHOD AND CONTROLLER

FANUC CORPORATION, Yaman...

1. A synchronization method of synchronizing real-time communication between a controller and at least one external equipment, the controller including a basic timing signal generation circuit and a communication control circuit operating on the basis of clocks differing from each other, the method comprising:a basic timing signal generation step that the basic timing signal generation circuit generates a basic timing signal indicating basic unit time of the operation of the controller;
a first communication cycle timing signal generation step that the communication control circuit generates a first communication cycle timing signal indicating a cycle of communication with the external equipment;
an input difference step that the communication control circuit measures an input difference of a predetermined one of the first communication cycle timing signals from the basic timing signal;
a compensation timing averaging step that the communication control circuit divides a compensation value responsive to the input difference measured in the input difference step by the number of the first communication cycle timing signals generated in an interval of the basic timing signal, and adds up a value resulting from the division in each of the communication cycles, thereby compensating for timing of generation of the first communication cycle timing signal with timing of a value resulting from the adding up being equal to or greater than a predetermined value;
a transmission step that the communication control circuit transmits packet containing timing compensation data indicating compensation of timing of generation of the first communication cycle timing signal to the external equipment in each of the communication cycles;
a second communication cycle timing signal generation step that the external equipment generates a second communication cycle timing signal indicating a cycle of communication with the controller; and
a synchronization step that the external equipment compensates for generation of the second communication cycle timing signal on the basis of timing of receipt of the timing compensation data in the packet, and synchronizes with the first communication cycle timing signal.

US Pat. No. 10,870,168

LASER MACHINING ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A laser machining robot system comprising:a robot controller that controls a robot that performs remote laser machining; and
a scanner controller that controls a scanner, wherein the robot controller includes:
a first memory; and
a first processor, wherein the first processor executes a program stored in the first memory to perform operations comprising:
inputting machining information which includes parameters unique to a machining target shape when performing the remote laser machining;
generating a G-code program using the machining information; and
transmitting the G-code program to the scanner controller, and the scanner controller includes:
a second memory; and
a second processor, wherein the second processor executes a program stored in the second memory to perform scanner operations comprising:
applying the G-code program as a scanner operation program for operating the scanner.

US Pat. No. 10,871,761

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller detecting occurrence of an abnormality using a neighborhood method, the numerical controller comprising:a processor configured to:
collect sampling values indicative of a state of a machine or environment, wherein the sampling values are collected during a normal machining mode and during an operation mode;
generate a set of the sampling values collected during the normal machining mode; and
compute an abnormality degree on the basis of a two-dimensional distance between the sampling values collected during the operation mode and the set of the sampling values collected during the normal machining mode,
wherein during the computation of the abnormality degree the processor is configured to:
define an approximation area constituted by a small square enclosing each set of the sampling values generated during the normal machining mode,
enclose the sampling values collected during the operation mode in another small square, and
compute the abnormality degree on the basis of a length of a side of the another small square enclosing the sampling values during the operation mode and a side of the small square in contact with each other.