US Pat. No. 10,870,547

AIR-BLOWING METHOD AND MACHINING SYSTEM

FANUC CORPORATION, Yaman...

7. A machining system comprising:a machine tool that machines and blows air onto a workpiece;
a pick-up advance notice signal issuing unit that issues a workpiece pick-up advance notice signal for notifying beforehand of pick-up of the workpiece by a robot or a worker
to the machine tool or another device, on a basis of a task state of the robot or an operation of the worker; and
an additional time calculation unit provided in the machine tool or the another device and that calculates an additional time for air blow on a basis of a time required by the robot or the worker to arrive at a workpiece pick-up position in front of the machine tool after the workpiece pick-up advance notice signal is issued, wherein
the machine tool extends air blow by just the additional time.

US Pat. No. 10,866,577

NUMERICAL CONTROLLER

FANUC CORPORATION, Yaman...

1. A numerical controller for a machine tool, the numerical controller being configured to execute multi-path control for collectively controlling a plurality of paths requiring conveyance operations between the processes when each of workpieces receives a plurality of processes, the numerical controller comprising:a memory configured to store a program; and
a processor configured to execute the program and control the numerical controller to:
execute a plurality of machining programs generated for each of the workpieces so as to correspond to each of the paths, the plurality of machining programs including execution commands of the processes and conveyance commands between the processes,
arbitrate timings of the conveyance commands between the processes described in the machining programs, among the paths,
receive each of the conveyance commands together with a conveyance priority serving as a priority of each of the conveyance commands, and
calculate each of the conveyance priorities on a basis of an order of the conveyance commands in each of the machining programs corresponding to each of the paths, wherein
the timings of the conveyance commands are arbitrated on a basis of the conveyance priorities calculated.

US Pat. No. 10,866,717

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller for controlling a machine tool comprising:a processor configured to:
assign at least one attribute selected by a user to a plurality of screen components selected by the user, the plurality of screen components being included in one or more existing screens;
display a custom screen such that the plurality of screen components to which a common attribute in the at least one attribute is assigned are aggregated and displayed; and
control the machine tool to perform machining and allow the user to confirm a machining status with the custom screen.

US Pat. No. 10,809,161

DIAGNOSTIC SERVICE SYSTEM AND DIAGNOSTIC METHOD USING NETWORK

FANUC CORPORATION, Yaman...

1. A factory machine diagnostic service system comprising:at least one factory monitoring system configured to perform monitoring of at least one machine for failure, and send a failure indication including a machine identification information and a fault description;
a customer service server;
a manual server database configured to accumulate manuals related to a plurality of machines of different types;
a service center management device that is connected with the factory monitoring system via a network and configured to receive the failure indication from the factory monitoring system and send the failure indication to the customer service server, wherein the customer service server is configured to store in a memory the failure indication in a fault history of the machine having the machine identification information;
one or plurality of service centers that are connected with the service center management device; and
a plurality of service terminals connected with the one service center or each of the plurality of service centers via a service control,
wherein, in a case of receiving the failure indication, the service center management device is configured to select one of the service terminals via the service center management device and the one service center or the plurality of service centers, and to allow the selected service terminal access via the customer service server to the fault history of the machine having the machine identification information included in the failure indication, and
wherein, in a case of receiving a search request for a manual of the machine, the service center management device identifies a machine information and selects the manual from the manuals which were accumulated in the manual server database, on the basis of the machine information.

US Pat. No. 10,809,695

INFORMATION PROCESSING APPARATUS, MACHINE LEARNING DEVICE AND SYSTEM

Fanuc Corporation, Yaman...

1. An information processing apparatus for identifying a cause of occurrence of a data transfer error in data communication with a device, the information processing apparatus comprising:an error detection unit that detects occurrence of the data transfer error;
a recording unit that records the number of detections of the data transfer error per a unit time; and
an identification unit that identifies, on the basis of a trend in the number of detections of the data transfer error per the unit time, whether the cause of occurrence of the data transfer error is influence of noise or a hardware fault.

US Pat. No. 10,809,700

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller for performing control for changing a first tool mounted on a spindle to a second tool stored in a tool magazine based on a machining program, the numerical controller comprising:a processor configured to:
analyze a command of a block of the machining program;
when the analyzed command of the block is a tool selection command, prefetch, from the machining program, a block between the tool selection command and a tool change command executed after the tool selection command;
predict a time required for machining the prefetched block; and
select a tool which can be changed before the tool change command during tool selection, as a second tool, based on the predicted time required for machining.

US Pat. No. 10,807,208

MOTOR AND SPINDLE PROTECTION STRUCTURE

FANUC CORPORATION, Yaman...

1. A motor for turning a spindle, the motor comprising:a motor housing;
a rotary shaft having a hollow shape and penetrating through the motor housing in an axial direction of the spindle;
a flinger integrally attached to the rotary shaft outside the motor housing;
a peripheral wall provided on the motor housing and projecting in the axial direction of the spindle so as to surround a periphery of the flinger; and
a rotary joint cylindrical-shaped housing configured to support a rotary joint, wherein the rotary joint housing includes as least one chamber;
wherein a plurality of cutouts are formed in the peripheral wall so as to establish communication between an interior and an exterior of the peripheral wall, the peripheral wall includes a distal the rotary joint housing includes a bottom wall, the bottom wall faces the flinger and includes a through hole, and the rotary shaft penetrates the through hole,
the distal end of the peripheral wall and the bottom wall of the rotary joint housing are detachably attached to each other.

US Pat. No. 10,809,773

EXTERNAL DEVICE HAVING PAIRING FUNCTIONALITY WITH OPERATION TERMINAL

Fanuc Corporation, Yaman...

1. An external device comprising:an arranger configured to arrange an operation terminal relative to the external device, wherein at least a part of a display area of a touch panel of the operation terminal is covered by the external device;
an arrangement detector configured to detect that an operation terminal is arranged on the arranger;
an external communicator configured to transmit, to the operation terminal, a pairing request signal that requests pairing for wireless communication; and
a pairing command input unit provided in an area covering a display area of a touch panel and configured to receive input of a command that instructs execution of pairing with the operation terminal and a machine, wherein
the external communicator is triggered to transmit the pairing request signal when the arrangement detector detects that the operation terminal is arranged on the arranger, and
pairing with the operation terminal is executed when the command to execute pairing is input to the pairing command input unit and an input operation is detected at a predetermined area of a touch panel provided at a position corresponding to the pairing command input unit.

US Pat. No. 10,807,240

ROBOT CONTROL DEVICE FOR SETTING JOG COORDINATE SYSTEM

FANUC CORPORATION, Yaman...

1. A robot control device comprising:a display unit for displaying a three-dimensional image including a jog coordinate system for performing a jog operation and a robot;
an input unit including a robot operation part corresponding to coordinate axis of the jog coordinate system;
a display control unit for controlling the image displayed on the display unit; and
a manual control unit for detecting an operation of the robot operation part so as to change position and orientation of the robot in accordance with the operation of the robot operation part, wherein
the robot is an articulated robot including a plurality of drive axes,
an original point of the jog coordinate system is fixed at a predetermined position in a wrist of the robot to which an operation tool is attached or in the operation tool attached to the robot,
the input unit has an image operation part by which an operator operates the image on the display unit,
the display control unit changes the image so that a direction of one of the jog coordinate system and the robot is fixed while a direction of the other changes continuously in accordance with an operation of the operator in the image operation part, and
when the operator operates the robot operation part, the manual control unit changes the position and orientation of the robot based on a direction of the coordinate axis of the jog coordinate system with respect to the robot in the image.

US Pat. No. 10,807,243

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system, comprising:a transport device that transports an article in one direction;
an article accumulating part that is disposed at an intermediate position of the transport device in a transport direction and that can block the article without stopping an operation of the transport device;
a robot that performs a task on the article transported by the transport device in a working area defined on a downstream side of the article accumulating part in the transport direction;
a control unit that controls the robot;
an article-decelerating unit that can reduce a speed of the article in the working area;
a traveling-distance detecting unit that successively detects a traveling distance of the article transported by the transport device;
an article sensing unit that detects, on an upstream side of the working area, a position of the article; and
a production management unit that monitors the task performed by the robot and causes the article accumulating part to block the article and also causes the article-decelerating unit to reduce the speed of the article when the production management unit determines that the task will not be completed within the working area,
wherein the control unit calculates a current position of the article on a basis of the position of the article detected by the article sensing unit and the traveling distance of the article detected by the traveling-distance detecting unit and causes the robot to follow the calculated current position and to complete the task on the article.

US Pat. No. 10,807,249

ROBOT

FANUC CORPORATION, Ymana...

1. A robot comprising:an arm;
a force sensor attached to a distal end portion of the arm;
a support member attached to the force sensor and supporting a tool;
a plurality of protruding portions for detecting posture, which protrude from a distal end portion of the support member in a predetermined direction; and
a controller configured to control the arm,
wherein the tool is a tool for measurement, a tool for processing, or a tool for assembly,
the tool is supported by the support member so as to move in the predetermined direction,
the distal end portion has a through-hole formed therein, the through-hole penetrates the distal end portion in the predetermined direction and a part of the tool is inserted into the through-hole, and
the controller determines a situation where all of the protruding portions are in contact with a work object, on which the tool inserted into the through-hole performs predetermined work, based on detected values of the force sensor.

US Pat. No. 10,807,251

ROBOT WRIST STRUCTURE

FANUC CORPORATION, Yaman...

1. A robot wrist structure comprising:a first wrist element that is supported at a tip of an arm of a robot in a rotatable manner about a first axis;
a second wrist element that is supported at a tip of the first wrist element in a rotatable manner about a second axis that intersects the first axis;
a third wrist element that is supported at a tip of the second wrist element in a rotatable manner about a third axis that intersects the second axis;
wherein the first wrist element is provided with a casing having a hollow structure, two driving motors that are accommodated in an internal space of the casing and that drive the second wrist element and the third wrist element, and a conduit member that allows, in the internal space, wiring to pass therethrough from an arm side to a second-wrist-element side in a direction along the first axis;
a first opening and a second opening through which the internal space reaches the exterior are provided in a first side wall and a second side wall that are positioned on either side of a plane including the first axis and the second axis of the casing;
the first opening is large enough to allow the driving motors to pass therethrough,
centers of rotation shafts of the two driving motors are disposed between the first side wall and the plane; and
the conduit member is disposed between the second side wall and the driving motor, and disposes the wiring in a curved route that bypasses the driving motors.

US Pat. No. 10,807,252

ROTATION AXIS MODULE AND ARTICULATED ROBOT

FANUC CORPORATION, Yaman...

1. A rotation axis module, comprising:an actuator configured as a speed reducer and a drive motor, or configured as a direct drive motor;
an umbilical member which penetrates and extends through the interior of the actuator along only a central axis of the actuator;
a first relay portion which is positioned on one end side of the actuator and to which one end of the umbilical member is connected;
a second relay portion which is positioned on the other end side of the actuator and to which the other end of the umbilical member is connected; and
a first fixing portion and a second fixing portion which secure the umbilical member to the actuator between the first relay portion and the second relay portion.

US Pat. No. 10,811,917

ROTOR OF ELECTRIC MOTOR

Fanuc Corporation, Yaman...

1. A rotor of an electric motor, comprising:a shaft extending in an axial direction;
a plurality of rotor segments fixed radially outside of the shaft and aligning in the axial direction, each rotor segment including:
a core having a pair of axial end faces and a through-hole extending between the axial end faces; and
a conductor disposed in the through-hole, and including a first end in one direction of the axial direction and a second end in the other direction of the axial direction; and
a connecting structure configured to connect a first conductor of a first rotor segment with a second conductor of a second rotor segment adjacent to the first rotor segment in the other direction of the axial direction so as to be conductive with each other, the second conductor being separate from the first conductor,
wherein a first axial end face of the core of the first rotor segment and a first axial end face of the core of the second rotor segment are in contact with each other, and
wherein the connecting structure mechanically connects the first rotor segment and the second rotor segment with each other such that the first conductor and the second conductor are aligned in the axial direction and that the second end of the first conductor contacts the first end of the second conductor.

US Pat. No. 10,803,404

CIRCUIT CONFIGURATION OPTIMIZATION APPARATUS AND MACHINE LEARNING DEVICE FOR LEARNING A CONFIGURATION OF A FIELD PROGRAMMABLE GATE ARRAY (FPGA) DEVICE

FANUC CORPORATION, Yaman...

1. A circuit configuration optimization apparatus that optimizes a circuit configuration and arrangement of a field programmable gate array (FPGA) device included in a machine, the circuit configuration optimization apparatus comprising:a state data acquisition section that acquires the current position of the FPGA device and the current time as state data representing whether the machine faces the sun or not; and
a circuit configuration determination section that determines a circuit configuration of the FPGA device based on the state data acquired by the state data acquisition section, and outputs a command value for reconfiguring the determined circuit configuration on the FPGA device.

US Pat. No. 10,802,474

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

FANUC CORPORATION, Yaman...

1. A parameter determination support device for motor driving, comprising:an acquisition means for acquiring specification information of a motor drive device and output specification information of a synchronous motor;
an initial parameter determination means for determining an initial parameter for test running, based on the specification information and the output specification information;
a program creation means for creating a test-run program to be used in test running for acquiring data that is required for adjustment of a parameter that determines output of the synchronous motor, based on the output specification information, the test run causing the synchronous motor to drive in order for confirmation of drive current value, drive voltage value, revolution speed of the synchronous motor, and operating information including the DC link voltage and Q-phase voltage command of the motor drive device when rotating the synchronous motor at a substantially constant revolution speed, and accelerating and decelerating;
an automatic measurement means for automatically measuring a revolution speed of the synchronous motor, as well as DC link voltage and Q-phase voltage command of the motor drive device, as operating information upon driving the synchronous motor at a substantially constant speed based on a base speed, according to the test-run program, by applying the initial parameter;
an estimation means for estimating a reverse voltage constant and a torque constant, as circuit constants of the synchronous motor, based on the operating information; and
a calculation means for performing calculation of an optimum parameter tailored to the output specification of the synchronous motor, based on the circuit constants,
wherein said initial parameters include at least one among the maximum current value for driving the synchronous motor, D-phase current value, highest revolution speed of the synchronous motor, and coefficient converting the feedback of current value introduced from the motor drive device into an actual physical quantity,
said output specification information includes at least one among the rated output and base revolution speed of the synchronous motor, and
said circuit constant includes a reverse voltage constant and torque constant.

US Pat. No. 10,803,500

AMPLIFIER SELECTION DEVICE COMPRISING ACCESSORY SELECTING FUNCTION

FANUC CORPORATION, Yaman...

1. An amplifier selection device, for selecting a motor, an amplifier, and an accessory for the amplifier, the amplifier selection device comprising:a display device; and
a control device configured to
store (i) information relating to motor identification information and motor specifications and (ii) information relating to amplifier identification information and amplifier specifications to drive the motor,
display on the display device a motor selection command input section for selecting a motor and a motor list comprising the motor identification information and motor specifications,
select a motor in accordance with a selection command input to the motor selection command input section,
select an amplifier that satisfies motor specifications-of the selected motor on a basis of amplifier specifications,
store identification information of an accessory, motor identification information or amplifier identification information of an amplifier compatible with the accessory, and supplementary information,
select an accessory compatible with the selected amplifier,
display on the display device an accessory list of the selected accessory, and
display on the display device a wiring diagram including the selected accessory, the amplifier compatible with the selected accessory, and the selected motor connected together,
wherein the control device is configured to display on the display device the accessory list including at least the identification information of the accessory, the motor identification information of the selected motor or the amplifier identification information of the amplifier compatible with the accessory, and the supplementary information,
information relating to the accessory includes information indicating whether the accessory is a required accessory or a function-adding accessory, and
the control device is configured to
display on the display device, on a basis of the information relating to the accessory, the accessory list split into a required accessory list of required accessories and a function-adding accessory list of function-adding accessories,
display on the display device an order selection command input section configured to accept an order selection command for selecting whether to place an order,
select, as a target order, an accessory for which an order selection command is input at the order selection command input section, and
in response to not selecting a required accessory as the target order, display on the display device a wiring diagram including the required accessory and the selected motor or the selected amplifier compatible with the required accessory connected together and display a warning message requesting for a substitute for the required accessory to be used.

US Pat. No. 10,786,857

WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

6. A wire electric discharge machine, comprising:a wire electric discharge machine body configured to machine a workpiece;
a work tank containing a working fluid;
a table which is provided in the work tank and on which the workpiece is to be mounted;
an upper guide and a lower guide supporting a wire electrode;
an optical measurement device detachable from or movable relative to an upper guide part having the upper guide, the optical measurement device including a camera and configured for measuring the workpiece by recognizing an image of a measuring part to detect an edge part;
an adjustment mechanism includes at least a water level sensor, a valve, a valve switch, and a pump; and
a controller including a processor, a memory, an interface connected to the wire electric discharge machine body, and a servo amplifier connected to a servo motor and configured to drive the servo motor, the controller configured to
control the wire electric discharge machine body to perform machining of the workpiece immersed in the working fluid, and
after said machining, measure dimensions of the machined workpiece by the optical measurement device, wherein
the controller is configured to
acquire, from the memory, a preset value of a plate thickness of the workpiece between an upper surface of the workpiece and a lower surface of the workpiece,
control the water level sensor to detect a level of the working fluid in the work tank,
while measuring the dimensions of the machined workpiece immersed in the working fluid by the optical measurement device after said machining, control the adjustment mechanism to adjust the level of the working fluid by controlling working fluid supply to the work tank and working fluid discharge from the work tank, so that the level of the working fluid in the work tank detected by the water level sensor is not lower than a preset height of an upper surface of the table on which the workpiece is placed, and not higher than a height of the upper surface of the workpiece, the preset height of the upper surface of the table stored in the memory, and
after said machining, measure the dimensions of the machined workpiece while
(1) the machined workpiece is kept being mounted on the table,
(2) the workpiece is immersed in the working fluid with the level being adjusted, and
(3) a body of the measurement device is positioned above the level of the working fluid.

US Pat. No. 10,786,899

DEVICE FOR CALCULATING STOWAGE PATTERN AND ROBOT CONTROLLER

FANUC CORPORATION, Yaman...

1. A calculation device configured to calculate a stowage pattern of a plurality of articles, the calculation device comprising:a model generating section configured to generate first physical models of the articles of the stowage pattern based on dimensions of respective types of the articles, and generate a second physical model of a containing region in which the articles are stacked, based on a dimension of the containing region;
a locating section configured to locate the first physical models of the stowage pattern in the second physical model, in descending order of priority, the priority being previously determined with respect to the types of the articles; and
a physical calculating section configured to add vibration or a shock to an entirety of the second physical model so that a position and/or orientation of the first physical model in the second physical model is changed, each time when at least one of the first physical models is located in the second physical model, and calculate a change in the position and/or orientation of the first physical model in the second physical model due to the vibration or the shock, wherein
the calculation device is configured to automatically output the calculated stowage pattern to a robot controller to cause a robot to stack the plurality of articles in the containing region using the calculated stowage pattern.

US Pat. No. 10,780,540

WORKPIECE CLAMP APPARATUS

Fanuc Corporation, Yaman...

1. A workpiece clamp apparatus comprising:a robot arm having claws for holding a workpiece at a distal-end portion of the robot arm;
a hydraulic-fluid supply coupler provided at the distal-end portion of the robot arm;
a compressor which supplies hydraulic fluid to the hydraulic-fluid supply coupler;
a clamping device having a plurality of clamping members that grip the workpiece for machining with a machine tool;
a cylinder that is provided on the clamping device, that has a hydraulic-fluid supply port to which the hydraulic-fluid supply coupler can be connected, and that drives at least one of the plurality of clamping members in a direction as a result of the hydraulic fluid being supplied via the hydraulic-fluid supply port;
wherein the robot arm is configured to move the distal-end portion of the robot arm in a predetermined direction to reduce a distance between the distal-end portion of the robot arm and the clamping device in order to locate the workpiece held by the claws at a position where the workpiece can be gripped by the plurality of clamping members;
wherein the hydraulic-fluid supply coupler of the robot arm is configured to connect with the hydraulic-fluid supply port when the robot arm locates the workpiece at the position where the workpiece can be gripped by the plurality of clamping members;
the hydraulic-fluid supply port is configured such that the hydraulic fluid does not flow out of the cylinder in a state where the hydraulic-fluid supply coupler is not connected;
the hydraulic-fluid supply port is further configured such that the hydraulic fluid in the cylinder is discharged in a state in which the hydraulic-fluid supply coupler is connected to the hydraulic-fluid supply port and the compressor does not supply the hydraulic fluid to the hydraulic-fluid supply coupler; and
the workpiece clamp apparatus further comprises a linear guide which extends in a perpendicular direction perpendicular to the predetermined direction and is capable of changing a position of the hydraulic-fluid supply coupler relative to the distal-end portion of the robot arm in the perpendicular direction.

US Pat. No. 10,780,542

MOTOR AND SPINDLE PROTECTION STRUCTURE

FANUC CORPORATION, Yaman...

1. A motor for turning a spindle, comprising:a motor housing;
a rotary shaft that is hollow and penetrates through the motor housing in an axial direction of the spindle;
a flinger that is integrally attached to the rotary shaft outside the motor housing;
a peripheral wall that is provided in the motor housing and projects in an axial direction of the rotary shaft so as to surround a periphery of the flinger; and
a rotary joint housing that supports a rotary joint,
wherein the peripheral wall is configured to have a plurality of cutouts formed in a side surface thereof so as to establish communication between the interior and exterior of the peripheral wall, to thereby form a plurality of protrusions projecting in the axial direction of the rotary shaft and an annular top plate portion that is provided on a distal end of the protrusions, the rotary joint housing includes a bottom wall that directly faces the flinger and includes a through hole wherein the rotary shaft penetrates through the through hole,
the top plate portion of the peripheral wall and the bottom wall of the rotary joint housing are detachably connected with each other.

US Pat. No. 10,766,062

SERVOMOTOR CONTROL DEVICE IN PROCESSING MACHINE

Fanuc Corporation, Yaman...

1. A servomotor control device in a processing machine configured to process an object to be processed on a press support driven by a second servomotor by applying pressure by means of a press driven by a first servomotor, comprising:a first position sensor configured to detect an actual position of the first servomotor;
a pressure sensor configured to detect an actual pressure applied by the press to the object to be processed; and
a processor configured to:
generate a position command for controlling the first servomotor;
generate a speed command for controlling the first servomotor, based on the position command generated and the actual position detected;
generate a pressure command to control a pressure applied by the press to the object to be processed;
generate a speed command for controlling the second servomotor, based on the pressure command generated and the actual pressure detected; and
limit the speed command generated for controlling the second servomotor using a predetermined value.

US Pat. No. 10,770,946

STATOR HAVING SEAL MEMBER, AND MOTOR

FANUC CORPORATION, Yaman...

1. A stator comprising:a first stator part;
a second stator part incorporated in the first stator part; and
an annular seal member sandwiched between the first stator part and the second stator part, wherein
the annular seal member is provided with a plurality of protrusions extending radially outward, and
a groove part and a plurality of recessed parts formed in at least one of the first stator part and the second stator part, the groove part corresponding to the annular seal member, and the plurality of recessed parts correspond to the plurality of protrusions of the annular seal member, and are connected to the groove part at a radially outward side of one of the first stator part and the second stator part, the groove part and the plurality of recessed parts each has a depth measured in a direction perpendicular to a radial direction wherein the depth of the groove part is uniform and the depth of each of the plurality of recessed parts is greater than the depth of the groove part,
each of the plurality of protrusions of the annular seal has a radially outward extending portion, which extends radially outward of the one of the first stator part and the second stator part, and a depth direction extending portion, which extends in the depth direction of each of the plurality of recessed parts only on the one side of the radially outward extending portion.

US Pat. No. 10,770,216

REACTOR

Fanuc Corporation, Yaman...

1. A reactor comprising:an outer peripheral iron core;
at least three core coils contacting or connected to an inner surface of the outer peripheral iron core;
each of the core coils including a core and a coil wound onto the core; and
an attachment unit disposed on one end surface of the outer peripheral iron core, for attaching the outer peripheral iron core in a predetermined position, the attachment unit including an end plate and a plurality of extension portions cantilevered to the end plate, each of the plurality of extension portions having a respective base abutting the end plate, the plurality of extension portions each extending in a perpendicular direction from the base to a respective distal end, each respective distal end of the plurality of extension portions abutting the end surface of the outer peripheral iron core at separate respective locations, the plurality of extension portions spaced apart from each other on the end plate to form ventilation ports between the end surface of the outer peripheral iron core and the end plate,
wherein the outer peripheral iron core has a plurality of holes extending in an axial direction, and each of the plurality of extension portions has a respective hole extending in the axial direction from each respective distal end of the plurality of extension portions, and
wherein the holes of the outer peripheral iron core and the holes of the extension portions are aligned, such that the attachment unit and the outer peripheral iron core are connected with screws extending through the holes of the outer peripheral iron core and the holes of the extension portions.

US Pat. No. 10,766,135

TEACH PENDANT AND ROBOT CONTROL SYSTEM

Fanuc Corporation, Yaman...

1. A teach pendant for teaching a robot comprising:an operation unit disposed on a first surface of the teach pendant, to perform an input operation;
a camera disposed on a second surface opposite the first surface of the teach pendant;
a display unit disposed on the first surface, the display unit displaying an image captured by the camera; and
an image processing unit configured to identify a position of a part of a workpiece, captured by the camera as a captured image, in a shape model of the workpiece, based on information about processing points of the robot on the workpiece and information about the shape model of the workpiece, and to display, on the captured image, information about an uncorrected processing point that is nearest to a processing point included in the captured image and that is outside a frame of the captured image.

US Pat. No. 10,768,237

MOTOR DRIVING DEVICE AND MEASURING METHOD

FANUC CORPORATION, Yaman...

1. A motor driving device for driving a plurality of motors, comprising:a rectifier circuit configured to rectify an AC voltage supplied from an AC power supply via a first switch to thereby obtain a DC voltage;
a capacitor configured to smooth the DC voltage obtained by the rectifier circuit;
a plurality of inverter units each including upper arm semiconductor switching elements configured to connect a positive-side terminal of the capacitor with motor coils of a corresponding one of the motors, and lower arm semiconductor switching elements configured to connect a negative-side terminal of the capacitor with the motor coils, the inverter units being configured to drive the motors by converting a capacitor voltage across the capacitor into an AC voltage by switching operation of the upper arm semiconductor switching elements and the lower arm semiconductor switching elements;
a second switch configured to connect one terminal of the positive-side terminal and the negative-side terminal of the capacitor to ground;
a first detector configured to detect a ground-referenced current flowing between the one terminal of the capacitor and the ground, or a ground-referenced voltage between the one terminal of the capacitor and the ground;
a second detector configured to detect the capacitor voltage across the capacitor;
a switch control unit configured to establish a measurement state for enabling measurement of an insulation resistance of a measurement target motor of the motors by turning off the upper arm semiconductor switching elements and the lower arm semiconductor switching elements of all the inverter units to thereby stop operation of every motor while turning off the first switch and turning on the second switch, then turning on a semiconductor switching element that is connected to another terminal of the capacitor, among the upper arm and lower arm semiconductor switching elements to which the motor coils of the measurement target motor are connected, and turning on a semiconductor switching element that is connected to the one terminal of the capacitor, among the upper arm and lower arm semiconductor switching elements to which the motor coils of each of the motors other than the measurement target motor are connected;
a convergence value estimator configured to estimate a convergence value of the ground-referenced current or the ground-referenced voltage, based on multiple measurements of the ground-referenced current or the ground-referenced voltage, detected by the first detector at different detection times from one another in the measurement state; and
an insulation resistance calculator configured to calculate the insulation resistance of the measurement target motor, based on the convergence value and the capacitor voltage,
wherein:
after estimating the convergence value, the convergence value estimator again estimates the convergence value, based on multiple measurements of the ground-referenced current or the ground-referenced voltage, detected by the first detector at multiple detection times, at least one of which is different from the multiple detection times for the previous estimation, continues to estimate the convergence value if a difference between the previous convergence value and the current convergence value is equal to or greater than a reference value, and terminates estimation of the convergence value if the difference is smaller than the reference value; and
the insulation resistance calculator calculates the insulation resistance after termination of estimating of the convergence value.

US Pat. No. 10,759,100

INJECTION MOLDING MACHINE AND CONTROL METHOD FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. An injection molding machine comprising:a screw including a spline shaft formed with a spline on an outer circumferential surface;
a bush including a spline hole formed with a spline on an inner circumferential surface;
a linear motion motor configured to move the bush in an axial direction of the screw;
a rotational motion motor configured to rotate the bush about an axis of the screw;
an output torque acquisition unit configured to acquire an output torque of the linear motion motor; and
a motor control unit configured to control the linear motion motor and the rotational motion motor,
wherein in a case of fitting the spline shaft in the spline hole, the motor control unit is configured to control the linear motion motor to advance the bush in a direction approaching the screw in a state that the bush and the screw are separated, and to control the rotational motion motor to rotate the bush when the acquired output torque becomes equal to or larger than a first predetermined torque.

US Pat. No. 10,761,037

LASER PROCESSING DEVICE FOR DETERMINING THE PRESENCE OF CONTAMINATION ON A PROTECTIVE WINDOW

Fanuc Corporation, Yaman...

1. A laser processing device for determining the presence of contamination on a protective window during laser processing, the laser processing device comprising:a laser oscillator;
an external optical system including a focusing lens configured to focus a light output from the laser oscillator and a protective window disposed downstream of the focusing lens;
a beam splitter disposed between the focusing lens and the protective window;
a plurality of sensor elements arranged two-dimensionally or arranged concentrically and configured to measure intensity distribution pattern of a return light reflected from a workpiece and returning to the external optical system via the beam splitter;
a memory configured to store at least one of normal pattern data representing the intensity distribution pattern of the return light from the workpiece when the protective window is in normal condition and abnormal pattern data representing the intensity distribution pattern of the return light from the workpiece when the protective window is contaminated;
a processor configured to:
perform a process of detecting contamination on the protective window by pattern recognition based on at least one of the normal pattern and the abnormal pattern and the intensity distribution pattern measured during laser processing, and
output a warning when the contamination on the protective window is detected; and
a drive controller configured to move the protective window in a direction orthogonal to an optical axis of an output light,
wherein the processor is further configured to calculate an amount of position adjustment for adjusting a position of the protective window when contamination on the protective window is detected and issue a command for the drive controller to move the protective window based on the amount of position adjustment.

US Pat. No. 10,754,312

CLEANING PROCESS OPTIMIZATION DEVICE AND MACHINE LEARNING DEVICE

FANUC CORPORATION, Yaman...

1. A cleaning process optimization device for optimizing a cleaning condition for a cleaning device to clean a workpiece machined by a machine tool, the cleaning process optimization device comprising:a processor configured to:
observe, as a state variable representing a current state of environment,
cleaning condition data indicating the cleaning condition for cleaning the workpiece by the cleaning device, and
contamination state data indicating a contamination state of the workpiece caused by chips generated in machining the workpiece, the contamination state data measured before cleaning the workpiece,
acquire determination data indicating an adequacy determination result on a contamination state of the workpiece after cleaning, and
perform machine learning, on the basis of the state variable and the determination data, to learn, in association with the contamination state data, the cleaning condition for cleaning the workpiece by the cleaning device to prevent the chips from scratching a surface of the workpiece during the cleaning.

US Pat. No. 10,755,850

THREE-PHASE AC REACTOR HAVING COILS DIRECTLY CONNECTED TO EXTERNAL DEVICE AND MANUFACTURING METHOD THEREOF

Fanuc Corporation, Yaman...

1. A three-phase AC reactor comprising:a peripheral iron core forming an outer periphery; and
at least three iron core coils being in contact with or connected to inner surfaces of the peripheral iron core, each of the iron core coils including an iron core and a coil wound around the iron core;
wherein:
the at least three iron core coils form gaps between the iron core coils adjoining each other so as to be magnetically connectable through the gaps,
the coils each have coil extension members extending from coil ends to connection points to an external device,
the three-phase AC reactor is secured by a coil holder for holding the coil extension members,
openings are formed on a top surface of the coil holder in positions corresponding to each of the coil extension members,
protruding lengths of each of the coil extension members protrude and extend from the openings of the coil holder to respective distal ends, the protruding lengths of each of the coil extension members are altered in shape by bending to extend from the openings to the respective distal ends in an orientation that is substantially parallel with the top surface of the coil holder, and
the coil extension members are formed so as to be integral with windings of the coils.

US Pat. No. 10,754,327

NUMERICAL CONTROLLER, NUMERICAL CONTROL METHOD AND NUMERICAL CONTROL PROGRAM

FANUC CORPORATION, Yaman...

1. A numerical controller, the numerical controller comprising:a storage unit for storing a plurality of cutting condition identifiers, each cutting condition identifier of the plurality of cutting condition identifiers being associated with a plurality of sections of a laser cutting range and also being associated with division conditions and laser output conditions for the associated plurality of respective sections, the division conditions and laser output conditions also being stored in the storage unit; and
a command unit for specifying a cutting condition identifier of the plurality of cutting condition identifiers as a command value along with an axial movement command in a cutting program, thereby sequentially applying the laser output conditions associated with the specified cutting condition identifier to the plurality of respective sections associated with the specified cutting condition identifier to perform cutting in the plurality of respective sections with individual laser outputs.

US Pat. No. 10,751,820

WIRE ELECTRICAL DISCHARGE MACHINE WITH DETERIORATION DETECTION FUNCTION FOR FEEDER

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine which performs removal machining of a workpiece by applying a voltage to a machining gap between a wire electrode and the workpiece through a feeder to generate electrical discharge, the wire electrical discharge machine comprising:a feeder deterioration detection unit configured to detect deterioration of the feeder, wherein
the feeder deterioration detection unit configured to detect deterioration of the feeder comprises:
a storage unit in which a data table loaded with a current value for each electrical discharge is stored;
a machining current detector configured to detect a machining current value during the machining; and
a discharge frequency detector configured to detect the number of electrical discharges during the machining, wherein
the deterioration of the feeder is detected based on the result of comparison between the machining current value detected by the machining current detector and the product of the number of electrical discharges detected by the discharge frequency detector and the current value for each electrical discharge loaded in the data table.

US Pat. No. 10,748,703

THREE-PHASE REACTOR COMPRISING IRON-CORE UNITS AND COILS

FANUC CORPORATION, Yaman...

1. A three-phase reactor comprising:an outer peripheral iron core; and
at least three iron-core coils that come in contact with an inner surface of the outer peripheral iron core or are joined to the inner surface,
wherein the at least three iron-core coils comprise corresponding iron cores and corresponding coils wound around the iron cores; and
gaps that can magnetically connect one iron-core coil of the at least three iron-core coils and an iron-core coil adjacent to the one iron-core coil to each other are formed between the one iron-core coil of the at least three iron-core coils and the iron-core coil adjacent to the one iron-core coil;
each of the iron cores extends only in a radial direction of the outer peripheral iron core; and
radially inner ends of two iron cores adjacent to each other are magnetically connected via the one gap,
wherein a magnetic flux density in a radially outer vicinity of the iron-core coils is greater than or equal to 0.001 T and is at or about 0.001 T.

US Pat. No. 10,747,193

MACHINE LEARNING APPARATUS, SERVO CONTROL APPARATUS, SERVO CONTROL SYSTEM, AND MACHINE LEARNING METHOD

FANUC CORPORATION, Yaman...

1. A machine learning apparatus for performing reinforcement learning to a servo control apparatus using a backlash compensation parameter and a backlash acceleration compensation parameter, the servo control apparatus creating a backlash compensation value compensating a position command or a position deviation, the servo control apparatus creating a backlash acceleration compensation value compensating a speed command, the machine learning apparatus comprising:a processor; and
a non-transitory memory having stored thereon executable instructions, which when executed, cause the processor to perform:
outputting, to the servo control apparatus, action information including adjustment information on the backlash compensation parameter and the backlash acceleration compensation parameter;
acquiring, from the servo control apparatus, state information including position deviation and the backlash compensation parameter and the backlash acceleration compensation parameter, the position deviation being obtained from the position command and a fed-back position, at a time of making the servo control apparatus execute a predetermined machining program on the basis of the action information;
outputting a reward value in the reinforcement learning on the basis of the position deviation included in the state information; and
updating an action-value function on the basis of the reward value, the state information, and the action information,
wherein the reinforcement learning is performed for the backlash compensation parameter, and then the reinforcement learning is performed for the backlash acceleration compensation parameter.

US Pat. No. 10,744,654

GRIPPER CONTROL DEVICE, GRIPPER CONTROL METHOD, AND GRIPPER SIMULATION DEVICE

FANUC CORPORATION, Yaman...

1. A gripper control device for controlling a gripper that grasps an object with a plurality of fingers, the gripper control device comprising:a controller; and
a memory storing a program, based on the program, the controller is configured to conduct:
a grasp quality evaluation process to obtain a grasp quality contribution degree for each of a plurality of contact positions at which multiple fingers that support the object are in contact with the object, the grasp quality contribution degree indicating contribution degree to the grasp stability of the object;
a finger-to-be-moved determination process to determine, as a finger-to-be-moved, at least one of the fingers corresponding to at least one of the contact positions at which the grasp quality contribution degree is low; and
a finger movement control process to send a control command to a finger driving apparatus, the control command being one for moving the determined finger-to-be-moved with respect to the object, wherein
the grasp quality contribution degree for each contact position is defined using at least one of following elements: relative locations of the plurality of contact positions related to the object; and friction coefficients between the object and the fingers respectively at the plurality of contact positions.

US Pat. No. 10,737,340

DIELECTRIC WORKING FLUID PROCESSOR AND CONTROL METHOD OF DIELECTRIC WORKING FLUID PROCESSOR

FANUC CORPORATION, Yaman...

1. A dielectric working fluid processor for processing dielectric working fluid used in a wire electrical discharge machine, comprising:a first liquid tank configured to store dielectric working fluid containing machining swarf;
a filter configured to remove the machining swarf from the dielectric working fluid in the first liquid tank;
a second liquid tank configured to store the dielectric working fluid from which the machining swarf has been removed by the filter;
a pump configured to supply the dielectric working fluid from the first liquid tank to the filter;
an inverter configured to control electric power to be supplied to the pump;
a liquid level obtainer configured to obtain a liquid level of the dielectric working fluid in the second liquid tank;
a pump controller configured to control a rotation speed of the pump by varying frequency of the electric power supplied from the inverter to the pump so as to adjust the liquid level of the dielectric working fluid in the second liquid tank to a predetermined liquid level; and
a control unit configured to determine, using the frequency of the electric power supplied to the pump and without receiving a direct pressure measurement from a pressure sensor, a feed pressure of the dielectric working fluid supplied from the pump to the filter.

US Pat. No. 10,737,360

ROTARY TABLE SYSTEM

FANUC CORPORATION, Yaman...

1. A rotary table system including a member for loading a workpiece on which a workpiece is loaded;a first rotary table coupled to one end side of the member for loading a workpiece;
a second rotary table coupled to an other end side of the member for loading a workpiece;
a single motor provided so as to rotatably drive both the first rotary table and the second rotary table and configured to rotatably drive the member for loading a workpiece;
a first clamping mechanism provided in the first rotary table and configured to hold the first rotary table at a first stopped position;
a second clamping mechanism provided in the second rotary table and configured to hold the second rotary table at a second stopped position; and
and a clamp torque measuring device that causes the motor to generate rotary torque under a state in which the first rotary table or the second rotary table is held in the first stopped position or the second stopped position, respectively, to thereby measure clamp torque on the basis of a change in state of a rotational axis of the motor at that time and torque information on the motor, the rotary table system comprising:
a first operating passage that sends an instruction for a respective clamping operation to the first clamping mechanism; and
a second operating passage that sends an instruction for a respective clamping operation to the second clamping mechanism,
wherein the clamp torque measuring device measures the clamp torque individually for each of the first clamping mechanism and the second clamping mechanism by individually selecting the first operating passage and the second operating passage to cause the first clamping mechanism and the second clamping mechanism to individually perform a clamping operation.

US Pat. No. 10,737,384

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a light source;
an image capture device that captures an image of light from the light source;
a robot mechanism unit having a target site of position control located at a position where either (i) the light source is disposed or iii) the image capture device is disposed; and
a robot controller that controls the position of the robot mechanism unit based on a position command for the robot mechanism unit for making the robot mechanism unit perform a predetermined operation, a position feedback from the robot mechanism unit, and a position compensation value for control over the position of the robot mechanism unit,
wherein the robot controller comprises:
a path acquisition unit that makes the image capture device capture an image of light from the light source continuously during the predetermined operation to acquire a path of the light source from the image capture device;
a positional error estimation unit that estimates positional error of the path of the light source from the position command or the position feedback based on the path of the light source acquired by the path acquisition unit and the position command or the position feedback; and
a compensation value generation unit that generates the position compensation value based on the positional error estimated by the positional error estimation unit.

US Pat. No. 10,737,385

MACHINE LEARNING DEVICE, ROBOT SYSTEM, AND MACHINE LEARNING METHOD

FANUC CORPORATION, Yaman...

1. A machine learning device comprising:state observation means for acquiring at least a portion of image data obtained by imaging a transfer target as input data;
label acquisition means for acquiring information for identifying grasping means that has succeeded in transferring the transfer target as a label, the grasping means being attached to a robot for transferring the transfer target; and
learning means for performing supervised learning using a set of the input data acquired by the state observation means and the label acquired by the label acquisition means as teacher data to construct a learning model that outputs information for identifying the grasping means appropriate for the transferring,
wherein the learning model is a learning model that uses at least a portion of image data obtained by imaging any transfer target as input data, and the information for identifying the grasping means appropriate for transferring the transfer target as output data.

US Pat. No. 10,742,006

CABLE FIXATION STRUCTURE

FANUC CORPORATION, Yaman...

1. A cable fixation structure comprising: a fixation member configured to be fixed to a structural body; and a fixing member configured to fix a cable covered by a tube to the fixation member, wherein an end of the tube is provided with a cut-out for exposing an outer periphery surface of the cable at a portion middle of the cable in its longitudinal direction, and the cable and the tube are fastened and fixed to the fixation member by fastening the fixing member disposed within the cutout in a state in which a part of the tube at a position corresponding to the cut-out is sandwiched between the cable and the fixation member, wherein the fixation member includes: a through hole through which the tube and the cable are inserted; a tubular elastic member disposed between an inner wall of the through hole and an outer periphery surface of the tube, the tubular elastic member sealing a gap between the tube and the through hole by radial expansion of the tubular elastic member by being compressed in an axial direction of the tubular member; a compression member configured to compress the tubular elastic member in the axial direction; and a fastening portion configured to fasten the fixing member.

US Pat. No. 10,737,421

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system, comprising:a molded part transport apparatus configured to transport a molded part after molding operation;
a controller configured to control the molded part transport apparatus; and
molded part sorting means for sorting the molded part,
wherein
the molded part transport apparatus and a worker share an area to perform cooperative work,
the molded part transport apparatus includes a plurality of force sensors,
in response to a value detected by any sensor of the plurality of force sensors exceeding a predetermined value, the controller is configured to control action of the molded part transport apparatus to decrease the value detected by said force sensor,
the injection molding system has a molded part check mode in which the molded part is inspected,
when the molded part check mode is valid,
conforming product identification inspection of the molded part is performed in a molded part inspection position, and
the molded part sorting means is configured to sort the molded part on the basis of a result of the conforming product identification inspection, and
in response to the result of the conforming product identification inspection, the controller is configured to control the molded part transport apparatus to be driven in an automated manner or in a semi-automated manner,
the injection molding system further comprising an injection molding machine, wherein
(1) in response to results of the conforming product identification inspection showing that molded parts are conforming products, the controller is configured to control the injection molding machine and the molded part sorting means to be driven in an automated manner for a predetermined period,
(2) in response to results of the conforming product identification inspection indicating that defective products are produced at a number not greater than a threshold, the controller is configured to control the injection molding machine to be driven in a semi-automated manner in which
the injection molding machine and the molded part sorting means are driven in an automated manner only for one cycle after the conforming product identification inspection, and
the molded part sorting means is driven not in the automated manner after the one cycle, and
(3) in response to results of the conforming product identification inspection indicating that defective products are produced at a number greater than the threshold, the controller is configured to control the injection molding machine and the molded part sorting means to be not driven in any of the automated and semi-automated manners.

US Pat. No. 10,739,760

CONTROL SYSTEM

Fanuc Corporation, Yaman...

1. A control system constructed so that at least one machine tool and a high-order server configured to manage the machine tool are connected through a communication line, the control system comprising:a control process management unit configured to manage an execution condition for the execution of a control process available in machining performed in the machine tool;
a machining management unit configured to manage machining information on the machining in the machine tool, wherein the machining information includes information on a factor related to an execution environment to be considered in arranging the control process; and
a control process arrangement unit configured to determine the arrangement of the control process in the respective execution environments of the machine tool and the high-order server, wherein the arrangement is based on the execution condition managed by the control process management unit and the factor related to the execution environment included in the machining information managed by the machining management unit, wherein
the factor related to the execution environment includes at least one of communication traffic, size of a communication buffer, and latency of communication, and
the execution condition includes a rule considering at least one of memory amount, processing capacity and execution load installed in the high-order server or the machine tool.

US Pat. No. 10,741,319

THREE-PHASE REACTOR

FANUC CORPORATION, Yaman...

1. A three-phase reactor comprising:a first plate iron core and a second plate iron core disposed oppositely to each other;
a plurality of cylindrical iron cores disposed between the first plate iron core and the second plate iron core orthogonally to the first plate iron core and the second plate iron core, the iron cores being disposed rotationally symmetrically with respect to an axis equidistant from central axes of the iron cores, as a rotation axis;
a plurality of coils each wound on each of the iron cores; and
a cover provided on outer peripheries of the first plate iron core and the second plate iron core, wherein
a second gap is formed between at least one of the first plate iron core and the second plate iron core and at least one of the iron cores,
a gap regulation mechanism is provided to regulate a length of the second gap, and
the gap regulation mechanism includes a screw provided in the first plate iron core, and a distal end surface of the screw contacts the cover.

US Pat. No. 10,730,148

LASER PROCESSING DEVICE CAPABLE OF REDUCING INTENSITY OF REFLECTED LASER BEAM

FANUC CORPORATION, Yaman...

1. A laser processing device for carrying out laser processing of an object to be processed by irradiating a laser beam onto the object, the laser processing device comprising:a laser processing commanding part configured to output a laser processing command including at least one of laser piercing, laser cutting, laser marking and laser welding;
a detector configured to monitor an intensity of a reflected laser beam from the object;
a memory configured to store the intensity of the reflected laser beam monitored by the detector, and a laser output condition including a laser power command value, a pulse irradiation time and a pulse interval;
a pre-processing commanding part configured to, prior to the laser processing command, command a pre-processing including another laser output condition different from the laser processing command;
a comparing part configured to compare the intensity of the reflected laser beam stored in the memory to a first intensity threshold value and/or a second intensity threshold value lower than the first intensity threshold value;
an output condition changing part configured to repeatedly:
adjust the laser output command of the pre-processing command to increase at least one of a laser power, a pulse irradiation time and a pulse duty, in response to a comparison result by the comparing part indicating that the intensity of the reflected laser beam is less than the first intensity threshold value and greater than the second intensity threshold value, and
adjust the laser output command of the pre-processing command to decrease the at least one of the laser power, the pulse irradiation time and the pulse duty, in response to the comparison result by the comparing part indicating that the intensity of the reflected laser beam is greater than the first intensity threshold value; and
a pre-processing terminating part configured to terminate the pre-processing by the pre-processing command, based on a predetermined condition.

US Pat. No. 10,730,183

LEARNING DEVICE, CONTROLLER, AND CONTROL SYSTEM

FANUC CORPORATION, Yaman...

1. A controller which machines a workpiece by controlling a pressing force of a tool mounted on the tip of an arm of a robot, the controller comprising:a processor configured to:
acquire a present state of the robot as a state variable;
acquire, as a label, a detected value of a force sensor attached to the arm and configured to detect necessary data for control of the pressing force; and
generate a learning model indicative of the correlation between the state variable acquired in a no-load state and the label acquired under the state variable acquired in the no-load state and to estimate the detected value of the force sensor corresponding to the present state of the robot, based on the learning model,
wherein
the processor is further configured to control the pressing force by using the detected value of the force sensor acquired in the present state of the robot acquired in a loaded state and the estimated detected value of the force sensor based on the present state of the robot acquired in the loaded state,
the tool is configured to machine the workpiece by vibration, and
the present state of the robot includes at least a vibrational frequency of the tool.

US Pat. No. 10,730,706

HAND FOR CONNECTOR CONNECTION AND HAND SYSTEM

Fanuc Corporation, Yaman...

1. A hand for connector connection, which grips a component including a main body component, a flexible board extending from the main body component, and a first connector disposed on the flexible board and connects the first connector to a second connector of a mount substrate, the hand for connector connection comprising:a first gripping section that grips the main body component, the first gripping section comprising two claw sections operable to clamp the main body component in a width direction; and
a second gripping section that grips the first connector, wherein the second gripping section includes:
a close contact surface brought into close contact with a back surface of the first connector; and
a suction pad that starts suction of the back surface of the first connector in a position further projecting than the close contact surface and is contracted to a position where the suction pad is disposed flush with the close contact surface in a sucked state.

US Pat. No. 10,730,217

INJECTION MOLDING SYSTEM AND INJECTION MOLDING METHOD

FANUC CORPORATION, Yaman...

1. An injection molding system comprising:an injection molding machine having a function of producing a molded product for each of respective molding cycles by injection molding, and having a sensor that measures a physical quantity to be managed;
a robot capable of carrying out at least one main task involved in operation of the injection molding machine during the molding cycles; and
a controller that comprises a processing device programmed to instruct the robot to carry out a determination in relation to success or failure of the main task executed by the robot, and to retry, when a determination result is a failure, the main task until the determination result becomes successful;
wherein the processing device is further programmed to determine that a sorting task is needed that distinguishes a molded product produced from a time when the determination result with respect to the main task that the robot has been instructed to retry became successful until the physical quantity lies within a management range, or from said time until a predetermined stand-by time elapses, from molded products produced before the occurrence of the retrying operation,
wherein the processing device is further programmed to instruct the robot to execute any one of a task of releasing, at a different sorting location compared to the molded products produced before the occurrence of the retrying operation, the molded product for which it is determined that the sorting task is needed, a task of marking, or a task of discarding.

US Pat. No. 10,733,577

PREVENTIVE MAINTENANCE MANAGEMENT SYSTEM AND METHOD FOR GENERATING MAINTENANCE SCHEDULE OF MACHINE, AND CELL CONTROLLER

FANUC CORPORATION, Yaman...

1. A preventive maintenance management system, comprising:at least one machine;
at least one machine controller which controls the machine;
a cell controller communicably connected to the machine controller; and
a supervisory computer communicably connected to the cell controller,
wherein the cell controller has:
an analyzing part which monitors preventive maintenance data of the machine received from the machine controller at predetermined time intervals, detects a deterioration of a component of the machine associated with the preventive maintenance data, based on the monitored preventive maintenance data, and calculates a residual period of time until the component comes to an end of its life when the deterioration is detected, based on the preventive maintenance data; and
an informing part which informs the supervisory computer of the residual period of time calculated by the analyzing part, along with an alarm which represents that the deterioration is detected,
wherein the supervisory computer has a maintenance scheduling part which generates or updates a maintenance schedule including a replacement operation for the component based on the residual period of time,
wherein the component includes a motor of the machine,
wherein the analyzing part continues to monitor the preventive maintenance data after the deterioration is detected, and recalculates the residual period of time based on the monitored preventive maintenance data,
wherein the informing part informs the supervisory computer of the residual period of time recalculated by the analyzing part,
wherein the maintenance scheduling part updates the maintenance schedule based on the recalculated residual period of time, and
wherein the analyzing part decreases the predetermined time interval at which the preventive maintenance data is monitored after the deterioration is detected, as a rate of change in the preventive maintenance data is increased.

US Pat. No. 10,722,988

WORKPIECE SUPPORT DEVICE INCLUDING ROTATABLE WORK TABLE

FANUC CORPORATION, Yaman...

1. A workpiece support device comprising:a base;
a conductive work table rotatably supported by the base, and having a first end face that supports a workpiece and a second end face opposite the first end face;
a removable current-collecting brush fixed relative to the base, and slidably contacting the second end face to supply electric power to the work table; and
a cover removably attached to the base and including a plurality of cover segments configured to be assembled and disassembled from one another, the plurality of cover segments including:
a group of cover segments having an arc-shape and arranged so as to partially surround a current-collecting ring along a rotational axis of the work table such that a gap is formed between the group of cover segments, the current-collecting brush positioned in the gap to contact the current-collecting ring, and
a brush cover segment arranged so as to cover the current-collecting brush positioned in the gap.

US Pat. No. 10,705,502

NUMERICAL CONTROLLER PERFORMING OSCILLATION CUTTING CORRECTING SPINDLE TRACKING ERROR

Fanuc Corporation, Yaman...

1. A numerical controller configured to perform oscillation cutting by superimposing an oscillation instruction on a position instruction, the oscillation instruction including specifying an oscillation frequency and an oscillation amplitude, the numerical controller comprising:a position instruction generating unit configured to generate the position instruction;
an oscillation instruction generating unit configured to generate the oscillation instruction;
a position speed control unit configured to add the position instruction and the oscillation instruction to generate a synthesized instruction; and
a current control unit configured to control movement of a tool or rotation of a spindle,
wherein the oscillation instruction generating unit includes:
a tracking error calculating unit configured to obtain and calculate an actual angle and an ideal angle of the spindle, and
a frequency recalculating unit configured to recalculate the oscillation frequency as a multiple of a ratio of the ideal angle divided by the actual angle,
the oscillation instruction generating unit regenerates an oscillation instruction based on the recalculated oscillation frequency,
the position speed control unit adds the position instruction and the regenerated oscillation instruction to regenerate a synthesized instruction, and
the current control unit controls the movement of the tool or the rotation of the spindle according to the regenerated synthesized instruction.

US Pat. No. 10,705,000

TOOL-LIFE DETERMINATION DEVICE

FANUC CORPORATION, Yaman...

1. A tool-life determination device comprising:a test-workpiece supporter that can support a test workpiece;
a load sensor that is disposed between the test-workpiece supporter and a base of a working machine and that can detect a load acting on the test workpiece when the test workpiece is processed using a cutting tool of the working machine;
a storage unit that stores a load pattern acting on the test workpiece and detected by the load sensor when the test workpiece is processed using a new cutting tool; and
a determination unit that determines an abrasion status of the cutting tool or a possibility that the cutting tool may break by obtaining a reference abrasion value and a reference breakage value based on the load pattern stored in the storage unit, and comparing the reference abrasion value and the reference breakage value with the load acting on the test workpiece and detected by the load sensor at an appropriate timing during an actual process performed on a workpiece; wherein
the determination unit outputs a determination result indicating an excessive abrasion status of the cutting tool if the load acting on the test workpiece is higher than the reference abrasion value and lower than the reference breakage value, and outputs a processing operation end command if the load acting on the test workpiece is higher than the reference breakage value.

US Pat. No. 10,702,985

ROBOT

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,705,149

VOLTAGE DROP DETECTION THROUGH DATA CORRUPTION DETECTION

FANUC CORPORATION, Yaman...

1. A voltage drop detection system which detects a drop in a voltage of a battery that supplies power to a first volatile memory when a main power supply is off, the voltage drop detection system comprising:a second volatile memory which is connected for the battery in parallel with the first volatile memory;
a step-down circuit which steps down a voltage of power supplied from the battery to the second volatile memory;
a first switch circuit which switches a supply source of power supplied to the first volatile memory between the battery and the main power supply, the first switch circuit provided between the battery and the first volatile memory;
a second switch circuit which switches a supply source of power supplied to the second volatile memory between the battery and the main power supply, the second switch circuit provided between the step-down circuit and the second volatile memory;
a data writing unit which writes data in the second volatile memory when the main power supply is on;
a data corruption detection unit which supplies, when the main power supply is off, power from the battery to the first volatile memory and the second volatile memory and which thereafter detects corruption of the data written in the second volatile memory when the main power supply is on; and
a voltage drop detection unit which detects the drop in the voltage of the battery based on the detection of the corruption of the data when the main power supply is on.

US Pat. No. 10,695,968

CONTROLLER FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A controller for an injection molding machine including a fixed mold and a movable mold movable between a first position separated from the fixed mold and a second position at which mold closing is completed, the injection molding machine filling a molding material in a cavity formed by closing the movable mold and the fixed mold to mold a molded product, the controller comprising:a device that acquires inspection information from at least one of the movable mold or the fixed mold only when the movable mold moves to the first position;
a mold movement control unit that controls to move the movable mold between the first position and the second position, and, when the inspection information is acquired by the device while the movable mold is stopped at the first position, starts to move the movable mold from the first position toward the second position;
a determining unit that determines, when the inspection information is acquired by the device while the movable mold is stopped at the first position, the presence of abnormalities in at least one of the movable mold and the fixed mold on the basis of the inspection information and outputs a confirmation signal related to the presence of abnormalities; and
a mold stopping unit that stops movement of the movable mold on the basis of whether the confirmation signal output from the determining unit is acquired while a safety confirmation condition is satisfied after the mold movement control unit starts moving the movable mold from the first position toward the second position.

US Pat. No. 10,698,381

NUMERICAL CONTROL DEVICE AND NUMERICAL CONTROL METHOD

FANUC CORPORATION, Yaman...

1. A numerical control device for controlling a machine tool configured to machine a workpiece with a tool attached to a spindle by moving the tool and the workpiece relatively to each other, in accordance with machining conditions, comprising:a machining control unit configured to at least control a spindle motor of the machine tool so as to perform machining in accordance with the machining conditions;
a vibration acquisition unit configured to acquire vibration occurring in the tool;
a machining stopping unit configured to stop the machining on the workpiece performed by the machining control unit when vibration of a predetermined amplitude or greater occurs in the tool;
a state acquisition unit configured to acquire state data indicating a state of the spindle motor configured to rotate the spindle;
a compensation plan calculating unit configured to calculate, based on the state data, multiple compensation plans for compensating the state of the spindle motor in order to suppress vibration occurring in the tool when vibration of the predetermined amplitude or greater occurs in the tool; and
a display control unit configured to cause a display unit to display the state of the spindle motor at a time of occurrence of vibration having the predetermined amplitude or greater in the tool, together with the calculated multiple compensation plans, when vibration of the predetermined amplitude or greater has occurred in the tool.

US Pat. No. 10,692,018

MACHINE LEARNING DEVICE AND MACHINE LEARNING METHOD FOR LEARNING OPTIMAL OBJECT GRASP ROUTE

FANUC CORPORATION, Yaman...

1. A machine learning device for learning an operation condition of a robot that stores a plurality of objects disposed on a carrier device in a container using a hand for grasping the plurality of objects, the machine learning device comprising:a hardware processor configured to
observe positions and postures of the plurality of objects and a state variable including cycle time to store the plurality of objects in the container and torque and vibration occurring when the robot grasps the plurality of objects, during operation of the robot,
obtain determination data for determining a margin of each of the cycle time, the torque, and the vibration against a respective allowance value,
learn the operation condition of the robot in accordance with a training data set constituted of a combination of the state variable and the determination data, and
in response to the cycle time, the torque, and the vibration being equal to or less than the allowance values, cause the hand to grasp the plurality of objects in a grasp order to minimize the cycle time.

US Pat. No. 10,685,770

REACTOR HAVING OUTER PERIPHERAL IRON CORE DIVIDED INTO MULTIPLE PORTIONS AND PRODUCTION METHOD THEREFOR

FANUC CORPORATION, Yaman...

1. A reactor, comprising:a core body, the core body comprising: an outer peripheral iron core composed of a plurality of outer peripheral iron core portions, at least three iron cores each integrally formed with a corresponding one of the plurality of outer peripheral iron core portions, and coils wound around the at least three iron cores, the respective radially inner ends of the at least three iron cores being located in the vicinity of a center of the outer peripheral iron core and converging toward the center of the outer peripheral iron core, and the radially inner ends of the at least three iron cores being spaced from each other via gaps, which can be magnetically coupled; the reactor further comprising: an annular end plate fastened to at least one end of the core body; wherein the end plate has a shape corresponding to a shape of the outer peripheral iron core, and includes a plurality of fasteners for fastening the plurality of outer peripheral iron core portions to each other, wherein the plurality of fasteners include a plurality of protrusions which are inserted into regions between the coils and the plurality of outer peripheral iron core portions.

US Pat. No. 10,685,774

REACTOR HAVING IRON CORES AND COILS

FANUC CORPORATION, Yaman...

1. A reactor comprising a core body, the core body comprising:an outer peripheral iron core, at least three iron cores arranged in contact with or coupled to an inner surface of the outer peripheral iron core, and at least three coils wound onto the at least three iron cores, wherein
gaps, which can be magnetically coupled, are formed between one of the at least three iron cores and another iron core adjacent thereto,
the at least three coils comprise projection portions which project from both end surfaces of the core body,
the reactor further comprises:
a protection part which at least partially protects each of the projection portions for all of the projection portions on at least one end surface of the core body, and
the protection part comprises at least three protection members which protect the respective projection portions on at least one end surface of the core body.

US Pat. No. 10,685,777

THREE-PHASE AC REACTOR EASILY CONNECTABLE TO INPUT AND OUTPUT TERMINAL BLOCK AND MANUFACTURING METHOD THEREOF

FANUC CORPORATION, Yaman...

1. A three-phase AC reactor comprising:an input and output terminal block;
a peripheral iron core disposed under the input and output terminal block;
at least three iron-core coils each constituted of an iron core and a coil wound around the iron core, so as to contact an inner surface of the peripheral iron core or so as to be coupled to the inner surface,
the at least three iron-core coils forming gaps that can be magnetically coupled between two of the iron-core coils adjoining each other; and
a phase-based coil extending member unit that extends the coils from coil end portions of the coils as base points to connection points of the input and output terminal block, wherein the coil extending member unit is arranged in a region corresponding to an end surface of the peripheral iron core, wherein
terminal portions of three input coil extending members are arranged in a first straight line,
terminal portions of three output coil extending members are arranged in a second straight line, and
the first straight line and the second straight line are in parallel, wherein the coil end portions of the coil that is in parallel with the first straight line and the second straight line are disposed in a central area of the three-phase AC reactor and in a third straight line.

US Pat. No. 10,678,211

CONTROLLER

Fanuc Corporation, Yaman...

1. A controller equipped with a detector for detecting a speed or position feedback value and having a function of detecting abnormality of a motor, the controller comprising:a motor control unit configured to control the motor;
an operation mode switching unit configured to switch operation modes of the motor; and
a motor control system changing unit configured to change a motor control system used when the motor control unit controls the motor for each of operation modes of the motor,
wherein the operation modes include at least a normal operation mode as a regular operation mode and a diagnostic operation mode in which abnormality of the motor is detected, and
the motor control system changing unit changes a motor control system used when the motor control unit in the diagnostic operation mode controls the motor to a motor control system to increase an effect of a disturbance on the speed or position feedback value.

US Pat. No. 10,678,212

NUMERICAL CONTROL SYSTEM

FANUC CORPORATION, Yaman...

1. A numerical control system that controls a machine that performs predetermined processing on a work, comprising:an image processing device that performs image processing on images of a tool or the work, the images of the tool or the work being captured by an imaging device; and
a numerical controller that controls the machine and controls the image processing device on a basis of a program,
wherein the numerical controller or the image processing device controls the imaging device,
wherein the numerical controller includes:
a program analysis unit that analyzes the program; and
an operation control information storage unit that stores operation control information necessary when controlling operations of the machine, the imaging device, and the image processing device in a format that can be read and written by the program analysis unit, and
wherein the numerical control system includes: an image processing input/output item-to-operation control information conversion unit that converts commands that the program analysis unit reads from the program or the operation control information stored in the operation control information storage unit to image processing input items which are setting values of a format that can be recognized by the imaging device and the image processing device and converts image processing output items which are results of image processing from the image processing device to operation control information of a format that can be recognized by the program analysis unit.

US Pat. No. 10,678,231

PRODUCTION CONTROLLER EQUIPPED WITH FUNCTION OF IDENTIFYING CAUSE UPON OPERATION STOP OF PRODUCTION FACILITY INCLUDING MANUFACTURING FACILITIES

FANUC CORPORATION, Yaman...

1. A production controller which produces an article by controlling manufacturing machines forming a production facility, in accordance with production planning made by a production management system,each of the manufacturing machines storing at least a task program comprising a command for a task operation mutually related between the manufacturing machines and storing setting information of a signal exchanged between the manufacturing machines as input and output in the task operation, and
the production controller comprising:
a first communication unit which is configured to exchange arbitrary information with each of the manufacturing machines via a first communication network and receives the task program and the setting information of the signal stored in each of the manufacturing machines from each of the manufacturing machines;
a stop detection unit which refers to the task program and the setting information of the signal received from each of the manufacturing machines to detect whether the production facility has stopped operation; and
a stop cause identification unit which analyzes the task program and the setting information of the signal received from each of the manufacturing machines to identify the manufacturing machine that has caused an operation stop of the production facility, and the cause, wherein
the stop detection unit is configured to execute a stop detection algorithm for referring to the task program and the setting information of the signal for at least one manufacturing machine of the manufacturing machines when the at least one manufacturing machine has been stopped for not less than a predetermined time, to determine whether the at least one manufacturing machine has been stopped to wait for a signal from another manufacturing machine of the manufacturing machines, and determining that the production facility has stopped operation when it is determined that the at least one manufacturing machine has been stopped for not less than the predetermined time to wait for the signal.

US Pat. No. 10,668,618

MACHINE TOOL SYSTEM AND MOVING METHOD

FANUC CORPORATION, Yaman...

1. A machine tool system comprising:a machine tool that machines a workpiece by using a tool attached to a spindle, wherein the machine tool comprises a table configured to move along a plane orthogonal to an axial direction of the spindle; and
a plurality of robots installed on the table inside a machining space of the machine tool, wherein each of the plurality of robots is able to work independently of one another wherein each of the plurality of robots is adapted to either grip and move the workpiece or not grip and move the workpiece in response to a machining operation to be performed by the machine tool,
wherein the plurality of robots is adapted to work in conjunction with one another to both grip and move the workpiece in response to the machining operation to be performed by the machine tool while the tool machines the workpiece.

US Pat. No. 10,668,619

CONTROLLER AND MACHINE LEARNING DEVICE

Fanuc Corporation, Yaman...

1. A controller that determines a compensation amount of a teaching position in control of a robot according to the teaching position included in teaching data, the controller comprising:a machine learning device that learns a compensation amount of the teaching position in the control of the robot according to the teaching position, wherein
the machine learning device has
a state observation section that observes, as state variables expressing a current state of an environment, teaching position compensation amount data indicating the compensation amount of the teaching position in the control of the robot according to the teaching position, motor disturbance value data indicating a disturbance value of each of motors of the robot in the control of the robot, and teaching position data including the teaching position of the teaching data,
a determination data acquisition section that acquires determination data indicating an appropriateness determination result of the disturbance value of each of the motors of the robot in the control of the robot, and
a learning section that learns the compensation amount of the teaching position of the robot in association with the motor disturbance value data and the teaching position by using the state variables and the determination data.

US Pat. No. 10,670,487

WATER LEAKAGE DETECTION SYSTEM FOR LASER DEVICE

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,673,314

MOTOR CONFIGURATION SELECTION DEVICE, MOTOR CONFIGURATION SELECTION METHOD, AND NON-TRANSITORY COMPUTER-READABLE MEDIUM STORING PROGRAM

FANUC CORPORATION, Yaman...

1. A motor configuration selection device comprising a characteristic calculation unit that calculates at least one of force and magnetic attraction to be achieved by a component as a candidate for selection in a linear motor based on a gap between a field magnet and an armature in the linear motor to be selected,wherein the characteristic calculation unit has an option between a first approximate expression and a second approximate expression, the first approximate expression being held in association with a representative value about force or magnetic attraction corresponding to the gap between the field magnet and the armature in the linear motor to be selected, the second approximate expression being an approximate expression for approximating force or magnetic attraction corresponding to the gap between the field magnet and the armature in the linear motor to be selected and being generated based on a representative value about the force or the magnetic attraction, the characteristic calculation unit selecting one of the first approximate expression and the second approximate expression based on approximation accuracy, a factor as calculation load, and a weight given in advance to the factor, and calculating the force or the magnetic attraction.

US Pat. No. 10,671,053

NUMERICAL CONTROLLER AND MACHINE TOOL SYSTEM

FANUC CORPORATION, Yaman...

1. A numerical controller comprising:a program input unit that inputs a program that describes operations of a machine tool;
a program analysis unit that analyzes the input program and outputs an analysis result; and
a program execution unit that controls the machine tool on the basis of the analysis result obtained by the program analysis unit,
the program analysis unit including:
a block analysis unit that analyzes blocks of commands in the program to obtain an analysis result and stores the analysis result in a block information storing unit;
the block information storing unit that stores the analysis result;
a block information checking unit that checks the analysis result obtained by the block analysis unit and instructs a block information modifying unit to modify the analysis result for the command block when a predetermined condition is satisfied; and
the block information modifying unit that modifies the analysis result stored in the block information storing unit on the basis of the instruction of the block information checking unit, wherein
when it is determined that one or more feed axis positioning commands are present before a tool replacement command found in the analysis result,
the block information checking unit instructs the block information modifying unit to modify the analysis result stored in the block information storing unit so that a rotating tool axis orientation operation in the found tool replacement command is executed during execution of the feed axis positioning command in any one of the one or more feed axis positioning command blocks, in both situations of an execution time of the rotating tool axis orientation operation in the found tool replacement command being longer and being shorter than an execution time of the one or more feed axis positioning commands.

US Pat. No. 10,663,943

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

FANUC CORPORATION, Yaman...

1. A parameter determination support device for motor driving, comprising:an acquisition means for acquiring specification information of a motor drive device and output specification information of a synchronous motor;
an initial parameter determination means for determining an initial parameter for test running, based on the specification information and the output specification information;
a program creation means for creating a test-run program to be used in test running for acquiring data that is required for adjustment of a parameter that determines output of the synchronous motor, based on the output specification information;
an automatic measurement means for automatically measuring a D-phase current, DC link voltage and Q-phase voltage command of the motor drive device, as operating information upon driving the synchronous motor at a substantially constant speed under each condition of a first condition based on a base speed, and a second condition in which the D-phase current of the motor drive device was changed from the first condition, according to the test-run program, by applying the initial parameter;
an estimation means for estimating a short circuit current and a D-phase inductance, as circuit constants of the synchronous motor, based on the operating information; and
a calculation means for performing calculation of an optimum parameter tailored to the output specification of the synchronous motor, based on the circuit constants.

US Pat. No. 10,663,990

COOLING MECHANISM FOR MACHINE

Fanuc Corporation, Yaman...

1. A cooling mechanism including at least one cooler cooling inside of a control board of a machine that comprises a machine controller controlling a drive unit based on a command contained in an application, said mechanism comprising:a pre-fetcher pre-fetching the command contained in the application, the command indicating a movement operation of a motor axis of the machine;
a heat value predictor predicting a heat value to be generated inside the control board, by prior to executing the movement operation of the motor axis of the machine based on the command pre-fetched by the pre-fetcher:
1) calculating a motor output required to perform the movement operation of the motor axis of the machine,
2) calculating an electrical current to be consumed by the control board to achieve the motor output, and
3) predicting the heat value to be generated by the control board based on the electrical current to be consumed by the control board; and
a cooling controller controlling an operation of the at least one cooler based on the heat value inside the control board predicted by the heat value predictor.

US Pat. No. 10,650,960

REACTOR HAVING END PLATE AND PEDESTAL

FANUC CORPORATION, Yaman...

1. A reactor comprising a core body including at least three iron cores composed of a plurality of stacked magnetic plates, whereinthe core body includes an outer peripheral iron core composed of a plurality of outer peripheral iron core portions,
the at least three iron cores are connected to the plurality of outer peripheral iron core portions,
coils are wound around the at least three iron cores, and
gaps are formed between one of the at least three iron cores and another iron core adjacent thereto, through which gaps the iron cores are magnetically connectable, the reactor further comprising:
an end plate and a pedestal which are coupled to the core body so as to interpose the core body therebetween, and
an unevenness absorbing member arranged in at least one of a region between the end plate and the at least three iron cores of the core body and a region between the at least three iron cores of the core body and the pedestal, for absorbing unevenness in heights of the at least three iron cores in an axial direction of the core body.

US Pat. No. 10,642,250

SERVO CONTROL SYSTEM EQUIPPED WITH LEARNING CONTROL APPARATUS HAVING FUNCTION OF OPTIMIZING LEARNING MEMORY ALLOCATION

FANUC CORPORATION, Yaman...

1. A servo control system for controlling a plurality of axes of a machine tool, comprising:a plurality of servo control units for controlling the plurality of axes, respectively;
a plurality of learning control units each being provided in one of the plurality of servo control units, and each being configured to control a cyclic operation highly precisely;
a common learning memory for storing correction data generated by at least a portion of the plurality of learning control units; and
a processor configured to
allocate at least a portion of a memory area in the learning memory to the axis that the learning control unit that generated the correction data controls, and
notify as to an amount of memory that each of the plurality of learning control units of the respective axes requires,
wherein each of the plurality of learning control units comprises a variable sampling unit which is configured to:
adjust an amount of the correction data stored in the common learning memory when executing learning control, based on the amount of memory, and
vary a sampling frequency.

US Pat. No. 10,618,126

ELECTRICAL DISCHARGE MACHINE HAVING CONCENTRATION DETECTION FUNCTION FOR RUST INHIBITOR CONTAINING ORGANIC COMPOUND

FANUC CORPORATION, Yaman...

1. An electrical discharge machine, comprising:a machining tank configured to contain a working fluid doped with a rust inhibitor;
a controller configured to control machining of a workpiece by electrical discharge between a wire electrode and the workpiece, which is immersed in the working fluid doped with the rust inhibitor in the machining tank;
a clean working fluid tank configured to contain the working fluid to be supplied to the machining tank;
a color reagent container configured to contain a color reagent;
a sampling cell configured to store a predetermined amount of the working fluid from the clean working fluid tank and the color reagent from the color reagent container; and
a detector configured to receive incident light transmitted through the working fluid stored in the sampling cell, to detect a characteristic value of the working fluid attributable to a metal complex produced through the reaction of an organic compound contained in the rust inhibitor with a transition metal ion contained in the color reagent,
wherein the controller is further configured to determine a concentration of the rust inhibitor in the working fluid, based on the characteristic value detected by the detector.

US Pat. No. 10,618,161

ROBOT

FANUC CORPORATION, Yaman...

1. A robot comprising:a turning part that rotates about a first axis;
a first arm part that is connected to the turning part in a rotatable manner about a second axis extending in a direction perpendicular to the first axis and that extends straight along a longitudinal direction thereof;
a second arm part that is connected to the first arm part in a rotatable manner about a third axis parallel to the second axis and that extends straight along a longitudinal direction thereof;
a distal-end swing part that is connected to the second arm part in a rotatable manner about a fourth axis parallel to the third axis and that supports a wrist part at a distal end thereof;
a first actuator that rotates the first arm part with respect to the turning part;
a second actuator that rotates the second arm part with respect to the first arm part;
a third actuator that rotates the distal-end swing part with respect to the second arm part; and
a cable that supplies power and signals to the first to third actuators; and supporting members that support a main line of the cable with respect to the turning part, the first arm part, and the second arm part, wherein the cable comprises: the main line that is wired along side surfaces on one side of the turning part and the second arm part; and branch lines that are branched from the main line at a middle position in a longitudinal direction of the main line; and the branch lines pass through a through-hole formed, at a middle position in the longitudinal direction of the first arm part, in a direction along the second axis and are wired to the first actuator and the second actuator
wherein the turning part, the first arm part, the second arm part, and the distal-end swing part are arranged in an alternating manner at the one side or at another side in the direction along the second axis, from the turning part toward the distal-end swing part;
the side surfaces on the one side of the turning part and the second arm part are disposed proximate to each other in the same plane;
the first arm part and the distal-end swing part are disposed along side surfaces on the other side of the turning part and the second arm part;
the cable is disposed along the side surfaces on the one side of the turning part and the second arm part along the side surfaces;
the first to third actuators are disposed proximate to the side surfaces at the other side; and
the supporting member that is fixed to the first arm part passes between the turning part and the second arm part in the direction along the second axis and extends so as to protrude toward the side surfaces on the one side thereof, thus supporting the main line.

US Pat. No. 10,618,173

PROCESSING SYSTEM AND METHOD FOR CONTROLLING PROCESSING MACHINE

FANUC CORPORATION, Yaman...

6. A method for controlling a processing machine having a workpiece holding part and a processing tool configured to be moved relative to each other, the processing machine being configured to process a workpiece held by the workpiece holding part by using the processing tool based on a predetermined processing program, the method comprises the steps of:measuring a change in a relative position between the workpiece holding part and the processing tool during a robot performs a predetermined motion associated with the processing machine;
operating at least one of the workpiece holding part and the processing tool, and calculating an amount of motion correction for reducing the measured change in the relative position;
storing the calculated amount motion correction; and
executing, during the robot performs the predetermined motion, the processing program while executing vibration suppressing motion based on the stored amount of motion correction.

US Pat. No. 10,622,854

ROTOR

FANUC CORPORATION, Yaman...

1. A rotor comprising:a rotary member;
a plurality of permanent magnets that are arranged on an outer circumferential side of the rotary member; and
a cover tube that is provided on a side of an outer circumferential surface of the plurality of the permanent magnets and that is formed with a fiber bundle in which a plurality of fiber reinforced plastic filaments are arranged along a longitudinal direction, wherein
the fiber bundle of the cover tube is spirally stacked in layers along a circumferential direction of the rotary member, and wherein
in each layer of the spirally stacked fiber bundle, fiber reinforced plastic filaments are spirally wound along the circumferential direction in a state where the fiber reinforced plastic filaments are not impregnated with a resin, such that in each of the fiber reinforced plastic filaments, a first portion of the fiber reinforced plastic filament, in a width direction, is slackened as compared to a second portion of the fiber reinforced plastic filament in the width direction.

US Pat. No. 10,578,517

MOTOR FAILURE DIAGNOSIS SYSTEM

FANUC CORPORATION, Yaman...

1. A motor failure diagnosis system comprising:a motor having a rotating shaft and a bearing that receives the rotating shaft;
a vibration sensor capable of detecting a vibration of the motor when the rotating shaft is in a rotation state;
a date information output unit capable of outputting date information;
a vibration information storage unit that stores vibration information detected by the vibration sensor and date information output by the date information output unit in correlation; and
a failure date identifying unit that identifies a date on which a failure occurred in the bearing of the motor on the basis of the vibration information and the date information stored in the vibration information storage unit, wherein the motor failure diagnosis system comprises:
a motor information storage unit that stores motor information including model information of the motor, specifications information of the bearing and rotation number information of the motor; and
an abnormal vibration detecting unit capable of detecting abnormal vibration on the basis of the motor information stored in the motor information storage unit and the vibration information from the vibration sensor and outputting abnormal vibration information on the abnormal vibration to the vibration information storage unit, and wherein
the vibration information storage unit stores the abnormal vibration information output by the abnormal vibration detecting unit in correlation with the date information as vibration information.

US Pat. No. 10,580,320

PART MOUNTING POSITION GUIDANCE DEVICE, PART MOUNTING POSITION GUIDANCE SYSTEM, AND PART MOUNTING POSITION GUIDANCE METHOD

FANUC CORPORATION, Yaman...

1. A part mounting position guidance device comprising a control unit,the control unit comprising:
a position order data acquisition unit that acquires position order data in which one or more pieces of position information of from a predetermined position of a machine to a mounting position of the part are ordered for each part composing the machine; and
a guidance display control unit that causes a display device to display in order, images indicating the one or more pieces of position information from an image indicating the predetermined position of the machine to an image indicating the mounting position of the part, on the basis of the position order data acquired by the position order data acquisition unit wherein the position order data further includes a correspondence relationship between each piece of position information composing the position order data, with image data of an outline drawing of the machine and/or an internal configuration diagram of the machine, and
the guidance display control unit causes the display device to display in order, images indicating the one or more pieces of position information of from the image indicating the predetermined position of the machine to the image indicating the mounting position of the part on the basis of the correspondence relationship.

US Pat. No. 10,576,583

LASER MACHINING DEVICE

FANUC CORPORATION, Yaman...

1. A laser machining device comprising:a scanner head configured to scan a laser beam;
a robot which moves the scanner head at a predetermined speed;
a scanner head control device which controls the scanner head; and
a movement control device which controls the speed of the robot,
wherein the scanner head control device controls, based on a machining parameter on a path motion, the scanner head such that the laser beam is scanned in a first direction in which the robot moves the scanner head, and also scanned in a second direction perpendicular to the first direction,
the scanner head control device includes a distance calculation portion which acquires information of a focal length and an angle ? formed by a normal direction to an item to be machined from the scanner head and a direction of application of the laser beam, and calculates, based on the acquired information, a difference between a desired machining distance and an actual machining distance, and
based on the difference calculated by the distance calculation portion:
the movement control device performs control so as to correct the speed of the robot; or
the scanner head control device performs control so as to correct the machining parameter,
such that the desired machining distance and the actual machining distance are made equal to each other.

US Pat. No. 10,576,595

MANUAL PULSE GENERATING DEVICE

FANUC CORPORATION, Yaman...

1. A manual pulse generating device, comprising:a rotatable dial movable along a pressing direction in a first direction, wherein the rotatable dial is biased so as to be located in an initial position located in a second direction opposite the first direction;
a pulse generating unit configured to generate drive pulses for commanding axial movement of a machine tool in accordance with an amount of rotation of the dial; and
a casing having the dial disposed on a surface of the casing, and configured to accommodate the pulse generating unit in an interior of the casing, the casing has an accommodating recess formed on the surface of the casing configured to accommodate the dial therein when the dial is moved in the first direction; and
wherein, when the dial is pressed in the first direction toward the casing, the dial is accommodated in the accommodating recess and the pulse generating unit enables the axial movement in accordance with the drive pulses, wherein:
the dial is disposed so as to be movable along a pressing direction of the dial, and is biased so as to be located in an initial position in relation to a pressing direction of the dial;
the dial and a rotary shaft connected to the pulse generating unit are fitted together and become capable of rotating when the dial is pressed down from the initial position; and
when the dial is pressed down from the initial position, the pulse generating unit generates the drive pulses in accordance with the amount of rotation of the dial, and thereby enables the axial movement in accordance with the drive pulses.

US Pat. No. 10,571,886

MACHINE TOOL CONTROL DEVICE HAVING FUNCTION OF DIAGNOSING MALFUNCTION IN SENSOR FOR DETECTING ONE-ROTATION SIGNAL

FANUC CORPORATION, Yaman...

1. A machine tool control device for driving a feed axis or a main axis by a motor, comprising:a feedback counter for obtaining A-phase and B-phase signals of rectangular waves or sine waves and a one-rotation signal generated whenever the motor or the main axis rotates one turn, the A-phase and B-phase signals and the one-rotation signal being outputted from a sensor for detecting the position or speed of the driven axis or the motor, to calculate a feedback count value that is a count value of the number of feedback pulses generated from the A-phase and B-phase signals;
a feedback count value storage unit for storing an inter-one-rotation-signal feedback count value that is the feedback count value counted between the two sequential one-rotation signals;
a reference value storage unit for storing an anomaly determination reference value for determining the presence or absence of an anomaly in accordance with the inter-one-rotation-signal feedback count value; and
an anomaly cause determination unit for determining the cause of the anomaly by comparison between the inter-one-rotation-signal feedback count value and the anomaly determination reference value, wherein
when the inter-one-rotation-signal feedback count value is higher than the anomaly determination reference value, and when a first error corresponds to an integer multiple of a second error, the anomaly cause determination unit determines that noise disturbs the A-phase and B-phase signals, and
when the inter-one-rotation-signal feedback count value is higher than the anomaly determination reference value, and the first error does not correspond to an integer multiple of the second error, the anomaly cause determination unit determines that there is an anomaly in the one-rotation signal,
wherein the first error is an error between the inter-one-rotation-signal feedback count value and a standard count value which is an inter-one-rotation-signal feedback count value when the sensor operates normally, and
wherein the second error is an error that is calculated from the number of pulses or waves of the A-phase and B-phase signals per rotation as an error being likely to occur whenever noise disturbs the A-phase and B-phase signals.

US Pat. No. 10,551,823

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller configured to assign resources to a plurality of function modules, the numerical controller comprising:a machine configuration input unit configured to generate the machine configuration table in which the function modules to be enabled are set based on an option or a parameter selected by a user;
a memory management unit configured to generate a memory management table for managing a memory usage;
a performance management unit configured to generate a performance management table for managing a CPU use rate;
a module selection unit configured to determine selected numbers of the function modules, based on the machine configuration table, the memory management table, and the performance management table, and generate a module selection table; and
a module attaching/detaching part configured to attach and detach the function modules according to the selected numbers of the function modules.

US Pat. No. 10,539,931

TIME-SERIES DATA ANALYSIS DEVICE

FANUC CORPORATION, Yaman...

1. A time-series data analysis device configured to analyze time-series data output from a machine tool, the time-series data analysis device comprising:time-series data acquisition unit configured to acquire a plurality of time-series data including operation conditions and operation results of the machine tool;
classification unit configured to classify the plurality of time-series data according to respective operation conditions;
display control unit configured to perform control for displaying the plurality of time-series data in the form of list according to the respective operation conditions into which data was classified; and
calculation unit configured to calculate differences in the operation results for a plurality of time-series data selected from the plurality of time-series data included in one operation condition into which data was classified, wherein
the display control unit performs control for displaying the calculated differences.

US Pat. No. 10,525,585

ROBOT FIXING SYSTEM AND ROBOT

FANUC CORPORATION, Yaman...

1. A robot fixing system comprising:a base member having a front surface in which an insertion hole is formed;
a power transmission member configured to supply a rotational driving force to a movable part, which is supported on the base member in a rotatable manner about a first axis of rotation, by rotating about a second axis of rotation while opposing the front surface, a through hole being formed in the power transmission member to extend parallel to the second axis of rotation in a penetrating manner at a position separated from the second axis of rotation by a distance equal to a distance from the second axis of rotation to the insertion hole; and
a fixing pin configured to be simultaneously inserted into the through hole and the insertion hole.

US Pat. No. 10,525,592

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a conveyor for conveying a workpiece;
a conveyor speed detection unit for detecting a movement speed of the conveyor;
a robot, disposed near the conveyor, for performing a task on the workpiece being conveyed by the conveyor;
a worker state input unit for inputting a collaboration state of a worker; and
a control unit for controlling the robot based on the movement speed of the conveyor detected by the conveyor speed detection unit and the collaboration state of the worker input by the worker state input unit, wherein
the control unit includes
a tracking speed calculation unit for calculating a first speed in a conveying direction, at which the robot is caused to follow the conveyor, based on the movement speed of the conveyor detected by the conveyor speed detection unit,
a relative movement speed calculation unit for calculating a second speed, of a distal end of an arm of the robot, in a direction intersecting a direction of the first speed,
a movement command generation unit for commanding the robot to move the distal end of the arm at a speed combining the first speed and the second speed, and
a speed limit switching unit for limiting the second speed calculated by the relative movement speed calculation unit, when an input is performed by the worker state input unit to an effect that the worker is in the collaboration state.

US Pat. No. 10,528,041

MACHINING TIME ESTIMATION DEVICE

FANUC CORPORATION, Yaman...

1. A machining time estimation device, comprising:a storage for storing machining program and machining setting,
machining information acquiring unit for acquiring machining information on an operating condition of a machine tool adapted to be controlled on the basis of the machining program and the machining setting,
varied element extraction unit for extracting an element varied between a plurality of said machining settings,
effected block extraction unit for extracting an effected block the machining time of which is varied on the effect of the varied element,
estimated reduction in time calculating unit for calculating on each effected block difference caused by the varied element and calculating estimated difference in time throughout the machining program, and
machining time display unit for outputting the estimated difference in time, wherein
the estimated reduction in time calculating unit is configured to calculate a reduction in time only for each effected block the machining time of which is varied due to the varied element.

US Pat. No. 10,527,798

FIBER SELECTOR AND LASER APPARATUS

FANUC CORPORATION, Yaman...

1. A fiber selector comprising:a collimating optical system that converts a laser beam emitted from an input optical fiber into parallel light;
a plurality of focusing optical systems that focuses the laser beam on an output optical fiber;
a plurality of first reflecting members provided to correspond to the plurality of the focusing optical systems, and including a reflecting surface that can reflect the laser beam from the collimating optical system towards the focusing optical system; and
a rotary motor provided to correspond to a plurality of the first reflecting members, and causing the first reflecting member to rotationally move between a first position at which the laser beam reflects by the reflecting surface towards the focusing optical system, and a second position not blocking the laser beam,
wherein the fiber selector selectively switches a propagating direction of the laser beam incident from the collimating optical system to a direction incident on any of the plurality of the focusing optical systems, by causing each of the plurality of the first reflecting members to rotationally move between the first position and the second position by way of the rotary motor, and
wherein the reflecting surface of the first reflecting member is a plane perpendicular to the rotation axis of a shaft to which the first reflecting member is fixed, and is arranged to face a direction of the rotary motor which causes the shaft to which the first reflecting member is fixed to rotate.

US Pat. No. 10,527,844

CAMERA COVER DEVICE, MONITOR CAMERA SYSTEM, AND ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A camera cover device comprising:a casing for a camera that acquires an image or a video and having an opening in front of a lens of the camera;
a cover configured to open and close the opening of the casing;
a cover driving mechanism that drives the cover in opening and closing directions; and
a purge mechanism that supplies air at least to a closed space formed between the lens of the camera and the cover when the cover is closed so as to set the pressure in the closed space higher than the pressure outside the casing,
wherein the cover driving mechanism includes an air cylinder driven in an expanding-contracting manner by air supplied from an external source via a cylinder duct, and
wherein the purge mechanism includes a purge duct branching off from the cylinder duct and supplying a portion of air flowing through the cylinder duct to the closed space.

US Pat. No. 10,519,968

MOTOR FOR SUPPRESSING ENTRY OF FOREIGN MATTER

Fanuc Corporation, Yaman...

1. A motor comprising:a rotor including a rotary shaft;
a housing supporting the rotary shaft;
a facing member that is fixed to the housing and includes a part facing the rotary shaft;
a first bearing that is formed so as to support an end part of the rotary shaft and is supported by the housing;
a second bearing that is supported by the housing and is arranged coaxially with the first bearing;
a seal member that has elasticity and is formed in an annular shape; and
an annular member supporting the seal member, wherein
the seal member has an inner end part and an outer end part, wherein the inner end part in a radial direction comes in contact with the rotary shaft and the outer end part in the radial direction comes in contact with the facing member,
the annular member is formed so as to rotate about the same rotation axis as the rotary shaft,
the annular member is fixed to an inner ring of the second bearing,
the inner ring of the second bearing, the annular member, and the seal member are integrally rotated,
first magnetism generating members that generate magnetism are arranged on an outer circumferential surface of the rotary shaft,
second magnetism generating members that generate magnetism are arranged on an inner circumferential surface of the annular member so as to face the first magnetism generating members,
the first magnetism generating members and the second magnetism generating members are formed such that the annular member is rotated by magnetic force in the same direction as the rotary shaft when the rotary shaft rotates, and
the seal member rotates with the annular member at a rotation speed that is lower than a rotation speed of the rotary shaft.

US Pat. No. 10,518,452

INJECTION MOLDING MACHINE MANAGEMENT SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding machine management system comprising:a server terminal; and
a plurality of injection molding machines which are communicably connected with the server terminal,
wherein the injection molding machine includes a control unit and an input unit,
wherein the control unit of the injections molding machine includes an injection molding machine operating information upload part that sends injection molding machine operating information of the injection molding machine to the terminal server, and an operator ID information registration processing part that transmits, to the server terminal, operator ID information of an operator who operates the injection molding machine inputted via the input unit, and injection molding machine ID information of the injection molding machine,
wherein the server terminal includes a storage unit and a control unit,
wherein the storage unit stores positional information of each of the injection molding machines within a molding factory,
wherein the control unit of the server terminal has:
an operator positional information acquisition part that acquires operator positional information within the molding factory of an operator operating each of the injection molding machines;
an injection molding machine operating information acquisition part that acquires the injection molding machine operating information of each of the injection molding machines from each of the injection molding machines; and
an injection molding machine operating state display screen generation part that generates a display screen for simultaneously displaying arrangement positions of each of the injection molding machines and a work position of each operator within the molding factory, based on operator positional information within the molding factory of the operators acquired by the operator positional information acquisition part, and positional information of the injection molding machines stored in the storage unit,
wherein the operator positional information acquisition part acquires an arrangement position of the injection molding machine as the operator positional information of the operator, based on the operator ID information and the injection molding machine ID information transmitted from the operator ID information registration processing part, and
wherein the injection molding machine operating state display screen generation part further generates a display screen for displaying the operating information of each of the injection molding machines within the molding factory simultaneously with the arrangement positions of the injection molding machines and work positions of each operator, based on operating information of each of the injection molding machines acquired by the injection molding machine operating information acquisition part.

US Pat. No. 10,518,976

CHAIN UNIT

FANUC CORPORATION, Yaman...

1. A chain unit, comprising:a chain endlessly extending in a serial direction;
a plurality of side rollers arranged outward of and on both sides of the chain at intervals along the serial direction of the chain; and
a pair of revolving members provided on both sides of a sprocket that transmits power to the chain, the pair of revolving members being configured to rotate in conjunction with travel of the chain,
wherein each of the revolving members comprises a revolving base located on an interior side of the chain, and a plurality of projections arranged in spaces between the neighboring side rollers in the serial direction of the chain so as to protrude from the revolving base.

US Pat. No. 10,521,066

RESISTIVE TOUCH PANEL

FANUC CORPORATION, Yaman...

1. A resistive touch panel, comprising:two resistive layers;
a plurality of spacer dots disposed between the two resistive layers, the spacer dots spacing the two resistive layers apart from each other, the two resistive layers facing each other; and
a glass panel bonded to an underside of one of the resistive layers to provide support, the one of the resistive layers positioned opposite from a touch surface,
wherein
one side of the glass panel has at least one region including a material having a modulus of elasticity different from a modulus of elasticity of the glass panel, the one side of the glass panel being adjacent to the one of the resistive layers,
both the two resistive layers are configured to deform in response to a pressure applied to the touch surface facing one of the resistive layers,
in response to a first pressure applied to the touch surface, both the two resistive layers deform while keeping a space between the two resistive layers defined by the plurality of spacer dots,
in response to a second pressure, which is greater than the first pressure, applied to the touch surface, both the two resistive layers deform and the two resistive layers are brought into contact with each other, and
both the two resistive layers are configured to deform in a same direction at the at least one region.

US Pat. No. 10,521,687

SHAPE RECOGNITION DEVICE, SHAPE RECOGNITION METHOD, AND PROGRAM

FANUC CORPORATION, Yaman...

1. A shape recognition device that recognizes a shape of an object having an indefinite shape and flexibility, and assembled by a robot, the shape recognition device comprising:an imaging unit that images the object;
an image processing unit that recognize the shape of the object on the basis of an image of the object imaged by the imaging unit; and
a simulation processing unit that simulates the shape of the object on the basis of the image of the object imaged by the imaging unit,
wherein the simulation processing unit interpolates a recognition result of the shape of the object by the image processing unit on the basis of a simulation result of the shape of the object.

US Pat. No. 10,514,674

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller for controlling, based on a program, a machine tool that performs punch press machining on a workpiece using a tool attached to a punch head, the numerical controller comprising:a command analysis unit that generates movement command data by reading and analyzing a command block from the program, and outputs the generated movement command data;
an interpolation unit that performs an interpolation process based on the movement command data to generate interpolation data and outputs the generated interpolation data; and
an overlap time calculation unit that calculates, in a case in which press operation in the punch press machining is started from a position different from a position of a rising edge set in advance, an overlap time according to the position of the punch head at the time when the press operation is started,
wherein the interpolation unit controls an output timing of interpolation data related to an axis controlling the press operation based on an overlap time calculated by the overlap time calculation unit.

US Pat. No. 10,516,249

LASER OSCILLATOR

FANUC CORPORATION, Yaman...

1. A laser oscillator comprising a laser diode (LD) module having one or a plurality of LD light source(s), wherein the LD module is placed on a thermally conductive insulating member, the thermally conductive insulating member is directly placed on a surface of a cooling plate at a location directly between the LD module and the surface of the cooling plate such that the LD module is positioned a spaced distance from the cooling plate by the thermally conductive insulating member, and the LD module and thermally conductive insulating member are fixed to the cooling plate via a single u-shaped elastic insulating member piece which extends from a side of the LD module that is opposite from the cooling plate to a same side of the LD module placed on the thermally conductive insulating member and the single u-shaped elastic insulating member is directly fixed to and in direct contact with the same surface of the cooling plate on which the thermally conductive insulating member is placed.

US Pat. No. 10,513,036

CALIBRATION SYSTEM AND CALIBRATION METHOD

FANUC CORPORATION, Yaman...

7. A calibration system comprising:a step of acquiring images of the mark by using a camera for a robot including a first member and a second member that are connected to each other so as to allow relative movement via a joint shaft driven by a motor and also including a rotation-angle sensor that outputs a signal corresponding to a rotation angle of the motor, the mark being fixed to the second member; and
a step of detecting the difference between signals output from the rotation-angle sensor at individual timings of acquisition of images in which the positions of the mark are caused to substantially match each other without changing the position of the camera, the images being acquired by the camera before and after reinstallation or replacement of a part that affects a correspondence relationship between the amount of relative movement of the second member in relation to the first member and the signal output from the rotation-angle sensor.

US Pat. No. 10,514,320

TEMPERATURE ESTIMATION DEVICE AND TEMPERATURE ESTIMATION METHOD

FANUC CORPORATION, Yaman...

4. A temperature estimation method for calculating a temperature of a bearing configured to support a spindle of a machine tool in a rotatable manner, comprising:a rotational speed acquisition step of acquiring a rotational speed of the spindle; and
a bearing temperature calculation step of, by using a temperature rise table in which the rotational speed of the spindle and a temperature rise of the bearing due to rotation of the spindle in a predetermined fixed time are stored in an associated manner, and also by using a temperature fall table in which the temperature of the bearing and a temperature fall of the bearing due to heat dissipation in the fixed time are stored in an associated manner, calculating the temperature of the bearing from the rotational speed of the spindle every time the fixed time elapses.

US Pat. No. 10,513,071

PRESSURE CONTROLLER FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A pressure controller configured to control an injection molding machine, the pressure controller comprising:an injection screw drive unit configured to drive an injection screw;
an injection pressure detection unit configured to detect an injection pressure;
a screw movement amount detection unit configured to detect an amount of movement of the injection screw;
a screw speed control unit configured to control a movement speed of the injection screw in an injection step; and
a processor programed to
switch from the injection step to a dwell step,
perform injection pressure control to control the injection pressure in the dwell step, after switching from the injection step to the dwell step,
estimate an in-mold pressure in a mold based on
the injection pressure detected by the injection pressure detection unit, and
the amount of movement of the screw detected by the screw movement amount detection unit, and
perform in-mold pressure control such that the estimated in-mold pressure becomes a set in-mold pressure,
wherein, in the dwell step, the processor is programed to
perform the injection pressure control such that the injection pressure detected by the injection pressure detection unit becomes a set injection pressure, and then
in response to the injection pressure in the injection pressure control reaching a switching pressure, switch from the injection pressure control to the in-mold pressure control and perform the in-mold pressure control such that the estimated in-mold pressure becomes the set in-mold pressure, and
wherein the processor is further programmed to,
before the detected injection pressure reaches a predetermined value,
estimate the in-mold pressure based on the injection pressure, and
when the detected injection pressure reaches the predetermined value and a correlation between the injection pressure and the in-mold pressure is eliminated,
estimate the in-mold pressure based on the detected amount of movement of the screw.

US Pat. No. 10,500,776

BRAKE CONTROL DEVICE FOR INJECTION MOLDING MACHINE AND BRAKE CONTROL METHOD FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

7. A brake control method for an injection molding machine that includes a mold opening/closing mechanism configured to open and close a mold and generate mold clamping force, an actuator configured to drive the mold opening/closing mechanism, a power supply unit configured to supply power to the actuator, and a brake mechanism configured to apply braking force to the mold opening/closing mechanism, the method comprising:a mold clamping force obtaining step of obtaining mold clamping force information indicating the mold clamping force of the mold opening/closing mechanism;
a mold clamping force deciding step of determining whether or not the mold clamping force of the mold opening/closing mechanism exceeds a predetermined value, based on the mold clamping force information; and
a brake controlling step of actuating the brake mechanism when the mold clamping force deciding step determines that the mold clamping force of the mold opening/closing mechanism does not exceed the predetermined value and when the power supply unit cuts off the supply of power to the actuator, and not actuating the brake mechanism when the mold clamping force deciding step determines that the mold clamping force of the mold opening/closing mechanism exceeds the predetermined value.

US Pat. No. 10,496,077

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller configured to assign resources to a plurality of function modules, the numerical controller comprising:a machine configuration input unit configured to generate the machine configuration table in which the function modules to be enabled are set based on an option or a parameter selected by a user;
a memory management unit configured to generate a memory management table for managing a memory usage;
a performance management unit configured to generate a performance management table for managing a CPU use rate;
a module selection unit configured to determine selected numbers of the function modules, based on the machine configuration table, the memory management table, and the performance management table, and generate a module selection table; and
a module attaching/detaching part configured to attach and detach the function modules according to the selected numbers of the function modules.

US Pat. No. 10,493,637

SUCTION PAD AND METHOD OF SUCTION RELEASE OF SUCTION PAD

FANUC CORPORATION, Yaman...

1. A suction pad comprising:a pad main body which is hollow;
an intake hole provided in the pad main body, the intake hole being for supplying a gas to an inside of the pad main body;
a negative pressure generating hole provided in a bottom wall section on a side facing a suction object in the pad main body, the negative pressure generating hole being for generating a negative pressure between the bottom wall section and the suction object by jetting the gas flowing in from the intake hole;
a negative pressure breaking hole provided in the bottom wall section, the negative pressure breaking hole being for breaking the negative pressure;
a lid section that blocks the negative pressure breaking hole; and
a drive section that, when suction of the suction object is released, moves the lid section in such a manner that the negative pressure breaking hole opens, wherein the lid section and the drive section are disposed within the pad main body.

US Pat. No. 10,481,046

MANAGEMENT SYSTEM, MANAGEMENT DEVICE, SPINDLE FAILURE DETECTION METHOD USING MANAGEMENT DEVICE, AND NON-TRANSITORY COMPUTER READABLE MEDIUM ENCODED WITH COMPUTER PROGRAM

FANUC CORPORATION, Yaman...

1. A management system comprising a network, a plurality of manufacturing cells connected to the network, and a management device that is connected to the network and manages the plurality of manufacturing cells,wherein each of the manufacturing cell includes:
a machine tool of a same type as a machine tool in another of the manufacturing cells; and
a control device that controls the machine tool, analyzes a vibration state of a spindle positioning shaft of the machine tool, and sends an analysis result via the network,
wherein the control device, in a case of the machine tool being in a non-processing state, sends via the network as the analysis result only frequency spectral intensities having an intensity of at least a predetermined value, among frequency spectral intensities obtained by conducting Fourier transformation on a feedback signal of a servomotor for driving the spindle positioning shaft when rotating the spindle of the machine tool at the same revolution speed as a machine tool in another of the manufacturing cells, and
wherein the management device includes:
a communication unit that receives the analysis result sent by the control device; and
a detection unit that compares the analysis results thus received, and compares vibration states among each of the machine tools of the plurality of manufacturing cells, so as to detect spindle failure of a machine tool having a frequency spectral intensity differing from another of the machine tools, and
wherein the communication unit, in a case of the detection unit detecting the spindle failure, sends a failure signal via the network.

US Pat. No. 10,481,566

MACHINE LEARNING DEVICE, SERVO CONTROL DEVICE, SERVO CONTROL SYSTEM AND MACHINE LEARNING METHOD

FANUC CORPORATION, Yaman...

1. A servo control system comprising:a machine learning device including:
a label acquisition unit for acquiring, as a label, a current command that drives a control target of a servo control device in a state in which disturbance is suppressed,
an input data acquisition unit for acquiring, as input data, a velocity of the control target driven based on the current command in the state in which disturbance is suppressed,
a learning unit for constructing a learning model for estimating a current to drive the control target from the velocity of the control target, by way of performing supervised learning with a group of the label and the input data as training data, and
a function output unit for generating a function for estimating a current to drive the control target from the velocity of the control target, based on the learning model constructed by the learning unit, and for outputting the function to the servo control device; and
the servo control device for outputting the current command and the velocity of the control target to the machine learning device,
wherein the servo control device includes: an estimated current generation unit for estimating a current to drive the control target from the velocity of the control target, based on the function outputted from the function output unit a subtraction unit for obtaining a difference between the current command and an estimated current that was estimated by the estimated current generation unit and a disturbance compensating unit for generating a compensated current for compensating disturbance based on the difference,
wherein the servo control device includes a current control unit that constitutes a current feedback loop, and an amplifier, wherein the current command to drive the control target is applied to the control target via the current control unit and the amplifier, and
wherein output of the amplifier is the current command acquired by the label acquisition unit.

US Pat. No. 10,482,341

OBJECT RECOGNITION DEVICE AND OBJECT RECOGNITION METHOD

FANUC CORPORATION, Yaman...

1. An object recognition device comprising:an imaging unit that captures images of a predetermined monitoring area to acquire a three-dimensional image and a two-dimensional image; and
a controller which has positional-relation-correspondence information between pixels of the three dimensional image and pixels of the two dimensional image, wherein the controller is configured to conduct:
an object extraction process that extracts, in the three dimensional image whose pixels respectively have their height information, an area having pixels whose pixel values are within a predetermined height range, and that determines a search area in the two-dimensional image so as to correspond to the extracted area based on the positional-relation-correspondence information;
an image searching process that searches the two-dimensional image, acquired by the imaging unit, for a reference image registered in advance according to a type of an object; and
a determination process that determines the type of the object depending on whether or not the reference image searched for in the image searching process exists in the search area determined in the two dimensional image; and
a control unit that controls a robot based on the determination process.

US Pat. No. 10,465,768

ROTARY AXIS MODULE AND ARTICULATED ROBOT

FANUC CORPORATION, Yaman...

1. A rotary axis module comprising:an input shaft connected to a drive motor;
an output shaft;
an output shaft flange connected to the output shaft;
a parallel gear coupled to the output shaft flange;
a reduction-drive outer case rotatably supported by the output shaft flange;
a double gear train including at least two double gears disposed in the reduction-drive outer case; and
a transfer gear that transmits power of the drive motor to the double gear train,
wherein the parallel gear is engaged with a pinion of one of the at least two double gears while a gear wheel of the other double gear of the at least two double gears is engaged with the transfer gear,
the at least two double gears and the transfer gear are disposed in a space between an inner surface of the reduction-drive outer case and the output shaft so as to surround the output shaft, and
the rotary axis module further comprises bearings which are disposed in a space between the reduction-drive outer case and the output shaft flange, wherein inner surface sides of the bearings are coupled to the output shaft flange and outer surface sides of the bearings are coupled to the reduction-drive outer case, and the bearings receive a force externally acting on the output shaft and a force from the pinion of the one of the at least two double gears.

US Pat. No. 10,464,152

WIRE ELECTRICAL DISCHARGE MACHINE AND WIRE ELECTRICAL DISCHARGE MACHINING METHOD

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine that performs electrical discharge machining on a workpiece along a machining path by generating electric discharge between a wire electrode and the workpiece while moving the wire electrode and the workpiece relatively to each other, and has a core fixing function of fixing a core created by the electrical discharge machining to a base material of the workpiece by adhering and depositing a component of the wire electrode arising from the electric discharge machining, comprising:a machining condition setter configured to set up a machining condition related to the electrical discharge machining for each of multiple sections on the machining path; and
an electrical discharge machining controller configured to perform control of the electrical discharge machining in accordance with the machining condition set for each section by the machining condition setter,
wherein as the machining conditions, the machining condition setter is configured to set up:
a first machining condition for enabling the core fixing function in a first section on an upstream side, and
a second machining condition for enabling formation of a slot in the workpiece in a second section on a downstream side, and
the machining condition setter performs electric discharge machining according to a medial machining condition that is different from the first machining condition and the second machining condition in a medial section located between the first section and the second section.

US Pat. No. 10,469,823

IMAGE APPARATUS FOR DETECTING ABNORMALITY OF DISTANCE IMAGE

FANUC CORPORATION, Yaman...

1. An image apparatus comprising:a first imaging unit that captures an image;
a second imaging unit that is disposed at a predetermined position relative to the first imaging unit and that captures an image;
a first light source that emits light to an area in which the first imaging unit captures an image;
a second light source that emits light to an area in which the second imaging unit captures an image; and
an image processing unit that processes an output signal of the first imaging unit and an output signal of the second imaging unit;
wherein the image processing unit includes:
a first distance image generation unit that generates a first distance image including distance information from the output signal of the first imaging unit based on a flight time of light;
a second distance image generation unit that generates a second distance image including distance information from the output signal of the second imaging unit based on a flight time of light;
a first two-dimensional image generation unit that generates a first two-dimensional image from the output signal of the first imaging unit;
a second two-dimensional image generation unit that generates a second two-dimensional image from the output signal of the second imaging unit;
a stereo image generation unit that generates a stereo image including distance information based on the first two-dimensional image and the second two-dimensional image; and
an image comparison unit that compares the stereo image and at least one of the first distance image and the second distance image and detects an abnormality of at least one of the first distance image and the second distance image.

US Pat. No. 10,456,864

LASER PROCESSING SYSTEM HAVING FUNCTION OF CLEANING LASER OPTICAL PATH

FANUC CORPORATION, Yaman...

1. A laser processing system comprising:a laser oscillator configured to oscillate a laser beam;
a laser optical path comprising at least one of a pipe or bellows connecting the laser oscillator to a laser processing head, the at least one of the pipe or the bellows of the laser optical path guides the laser beam from the laser oscillator through a laser gas medium contained in the at least one of the pipe or the bellows of the optical path to the laser processing head for emission-towards an object to be processed;
an impure gas absorbent integrated into the at least one of the pipe or the bellows of the laser optical path, the impure gas absorbent including material for absorbing an impure gas present in the at least one of the pipe or the bellows of the laser optical path, the impure gas influences propagation of the laser beam in the at least one of the pipe or the bellows of the laser optical path; and
a shutter that is configured to expose the impure gas absorbent in the at least one of the pipe or the bellows of the laser optical path to absorb the impure gas in the at least one of the pipe or the bellows of the laser optical path
a numerical value calculator configured to control the shutter to open and close.

US Pat. No. 10,454,401

MOTOR CONTROLLER

Fanuc Corporation, Yaman...

1. A motor controller comprising:a timer;
a rotation control unit configured to control a rotation of a motor and receive feedback of a rotation state of the motor;
an inspection control unit configured to output a command to control an operation of a brake for holding a rotor with respect to a stator of the motor; and
a determination unit configured to determine whether or not a brake operation delay abnormality is present, wherein
the inspection control unit causes the timer to measure, in a released state where an operation of the brake is released, a time from outputting the command to change over a state of the brake to a locked state to receiving, by the rotation control unit, the feedback indicating a predetermined change in the rotation state of the motor, and
the determination unit determines that the brake operation delay abnormality is present when the time, measured by the timer, is equal to or more than a predetermined threshold.

US Pat. No. 10,438,733

REACTOR HAVING FUNCTION OF PREVENTING ELECTRICAL SHOCK

FANUC CORPORATION, Yaman...

1. A reactor comprising:a core body including an outer peripheral iron core, at least three iron cores disposed so as to contact or be coupled to an internal surface of the outer peripheral iron core, and coils wound on the iron cores;
a gap formed between one of the iron cores and another of the iron cores adjacent to the one of the iron cores, so as to be magnetically connectable through the gap;
a terminal base including a terminal connected to the coil, the terminal being configured to be connected to a cable through a current-carrying portion; and
an electrical shock protection cover disposed so as to cover the terminal base,
wherein the electrical shock protection cover includes a main portion for covering the current-carrying portion, and
a cable covering portion extending from the main portion to a cable drawing direction, the cable covering portion being configured to cover a part of the cable connected to the terminal, wherein the cable covering portion includes recessed grooves along the cable drawing direction, and
wherein the terminal base has a terminal base main portion for supporting the current-carrying portion, and a cable receiving portion extending from the terminal base main portion to the cable drawing direction, the cable receiving portion forming a passage to pass the cable between the cable receiving portion and the cable covering portion.

US Pat. No. 10,416,613

MACHINING TIME ESTIMATING APPARATUS

FANUC CORPORATION, Yaman...

1. A machining time estimating apparatus configured to collectively calculate machining times required for machining performed in a plurality of numerically-controlled machine tools in accordance with respective NC machining programs, the machining time estimating apparatus comprising:a mechanical configuration-time data storage unit configured to store mechanical configuration-time data, which are control parameters relating to respective machining times of the plurality of numerically-controlled machine tools;
a machining time estimation unit configured to estimate the machining time required for the machining performed in accordance with the respective NC machining program in a first numerically-controlled machine tool among the plurality of numerically-controlled machine tools, and based on NC commands of the respective NC machining program and the mechanical configuration-time data of the first numerically-controlled machine tool stored in the mechanical configuration-time data storage unit, wherein the first numerically-controlled machine tool is designated as a standard numerically-controlled machine tool used as a reference to calculate machining time for the other numerically-controlled machine tools among the plurality of numerically-controlled machine tools;
an NC command data counting unit configured to obtain NC command data based on the NC commands decoded from the respective NC machining program which affect machining time in relation to a mechanical configuration; anda mechanical configuration difference time calculation unit configured to calculate machining time required for machining performed in accordance with the respective NC machining program in each of the other numerically-controlled machine tools based on the machining time required for the machining performed in accordance with the respective NC commands in the first numerically-controlled machine tool as estimated by the machining time estimation unit and an inner product of (i) a first vector representing the NC command data obtained by the NC command data counting unit, and (ii) a second vector representing a difference in the mechanical configuration-time data between the first numerically-controlled machine tool and said each of the other numerically-controlled machine tools.

US Pat. No. 10,416,649

NUMERICAL CONTROLLER THAT PREVENTS A TOOL COMPENSATION VALUE SETTING ERROR

Fanuc Corporation, Yaman...

1. A numerical controller correcting a tool compensation value for a machine tool provided with a tool for machining a workpiece based on a numerical controller (NC) machining program, the numerical controller comprising:a tool compensation value setting screen for accepting an input value for correction of the tool compensation value;
a tool compensation value input unit accepting an instruction for a correction direction of a cutting edge of the tool as seen from the workpiece, wherein the correction direction provides for a direction to place the cutting edge of the tool with respect to the workpiece; and
a tool compensation value input control unit correcting the tool compensation value with the input value for correction, accepted on the tool compensation value setting screen, based on the correction direction of the cutting edge of the tool as seen from the workpiece, the correction direction being accepted by the tool compensation value input unit.

US Pat. No. 10,416,652

NUMERICAL CONTROLLER AND METHOD FOR DETERMINING LOOK-AHEAD VARIABLE

FANUC CORPORATION, Yaman...

1. A numerical controller configured to perform an automatic operation by executing a machining program for controlling a machine tool after performing a look-ahead and analysis of the machining program while concurrently carrying out a predetermined process, separate from the automatic operation, by executing a predetermined program in parallel with the automatic operation, wherein the machining program and the predetermined program are executed by a processor and contain one or more variables, and wherein at least one of the variables contained in the machining program is the same as the variables contained in the predetermined program, comprising:a first access unit configured to access the variables included within the machining program at a time of analyzing the machining program;
a second access unit configured to access the variables included within the predetermined program at a time of executing the predetermined program;
a specific variable determining unit which, in an event that the first access unit and the second access unit have accessed the same variable within a predetermined time period, is configured to determine that the specific variable is the same variable accessed during the predetermined time period; and
an output unit configured to output at least one of a number corresponding to the specific variable determined by the specific variable determining unit, and times at which the first access unit and the second access unit have accessed the specific variable to a user.

US Pat. No. 10,416,658

OPERATION MANAGEMENT SYSTEM

FANUC CORPORATION, Yaman...

1. An operation management system, comprising:at least one manufacture facility, which includes one of a machine tool, a robot and an industrial machine, the manufacture facility comprising a controller;
a management device including a display and a first processor, the first processor being configured to arrange and cause the display to display operation information of the at least one manufacture facility on an arrangement map indicating an outline of a plant where the manufacture facility is installed; and
a first memory configured to store manufacture facility information in which identification information uniquely specifying the manufacture facility is associated with position information specifying a position of the manufacture facility,
wherein the first processor of the management device is further configured to:
acquire the manufacture facility information from the first memory,
automatically set coordinate information of the manufacture facility on the arrangement map based on the position information included in the manufacture facility information, and set communication setting information required for communication with the controller based on the identification information included in the manufacture facility information,
acquire the operation information of the manufacture facility by making communication with the controller by use of the set communication setting information, and
cause the display to display the acquired operation information of the manufacture facility on the arrangement map based on the coordinate information, so as to intensively manage an operation situation of the manufacture facility,
the first memory is provided in the controller, and
the controller is further configured to:
store the identification information uniquely specifying the manufacture facility,
acquire position information of the controller, and
associate the identification information with the position information of the controller, and
store the associated identification information and position information of the controller in the first memory.

US Pat. No. 10,413,994

LASER PROCESSING ROBOT SYSTEM FOR PERFORMING LASER PROCESSING USING ROBOT

FANUC CORPORATION, Yaman...

1. A laser processing robot system using a robot having an arm to which a laser irradiation device for emitting a laser beam for processing is attached, the laser processing robot system comprising:a robot control device controlling the robot to move the laser irradiation device to a position for processing a workpiece prior to outputting the laser beam;
an imaging device capturing an actual image including the robot while the laser irradiation device is in the position for processing the workpiece prior to outputting of the laser beam;
a display device for displaying, in real time, the actual image; and
an image processing device which is connected to the robot control device and which has an augmented reality image processing unit for performing augmented reality image processing of the actual image, wherein
prior to outputting the laser beam, the augmented reality image processing unit determines and superimposes a virtual image representing at least one of a virtual laser beam emitted from the laser irradiation device to the workpiece, and an irradiation position of the virtual laser beam onto the actual image and displays the superimposed image on the display device, the virtual image being determined based on at least the position of the laser irradiation port relative to the workpiece prior to outputting the laser beam.

US Pat. No. 10,411,548

WATERPROOF STRUCTURE FOR ELECTRIC MOTOR

FANUC CORPORATION, Yaman...

1. A waterproof structure for an electric motor comprising:a stator that includes a wiring substrate for performing wiring of a winding; and
a power connector that is separate from the wiring substrate, wherein:
a sealing member for sealing between the power connector and the stator, in a state of the power connector being installed to the stator, is provided to the power connector,
the wiring substrate includes a connector connecting part that is electrically connected with the power connector,
the stator includes a first earth connecting part,
the power connector includes a substrate connecting part that is electrically connected with the connector connecting part of the wiring substrate, and a second earth connecting part that is electrically connected with the first earth connecting part of the stator,
the substrate connecting part of the power connector and the connector connecting part of the wiring substrate are electrically connected, the second earth connecting part of the power connector and the first earth connecting part of the stator are electrically connected, and between the power connector and the stator are sealed by way of the sealing member, in a state of the power connector being installed to the stator,
the second earth connecting part of the power connector directly contacts the first earth connecting part of the stator on a supporting face of the stator where the power connector abuts the stator, and
the second earth connecting part of the power connector is disposed at a part which is sealed by an abutting face of the power connector, the supporting face of the stator and the sealing member.

US Pat. No. 10,399,263

INJECTION MOLDING CELL AND INJECTION MOLDING CELL MANAGEMENT SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding cell management system, comprising:a plurality of injection molding cells, each comprising
an injection molding machine,
a peripheral device of the injection molding machine, and
a computer configured to manage the injection molding machine and the peripheral device of the injection molding machine; and
a host computer configured to perform centralized management of the plurality of injection molding cells, the host computer being connected to the computer through a wired or wireless communication,
wherein the computer comprises
a worker identification information input unit configured to
accept input of worker identification information for identifying a worker who performs input and operation of the injection molding machine and the peripheral device of the injection molding machine, and
transmit the worker identification information to the host computer,
wherein the host computer comprises
a processor configured to
receive the worker identification information from the computer,
receive prohibition-state release authorization information, and
release a prohibition state of the input and the operation of both the injection molding machine and the peripheral device of the injection molding machine in the injection molding cell corresponding to injection molding cell identification information, which is obtained from the computer of each of the plurality of injection molding cells, for identifying the injection molding cell having transmitted the worker identification information, based on
(1) the worker identification information,
(2) the injection molding cell identification information, and
(3) the received prohibition-state release authorization information,
wherein the processor is configured to collectively determine release authorization of the prohibition state for both of (1) the injection molding machine and (2) the peripheral device of the injection molding machine, based on the worker identification information, the prohibition-state release authorization information, and the injection molding cell identification information.

US Pat. No. 10,401,829

MACHINE LEARNING DEVICE FOR MACHINE TOOL AND THERMAL DISPLACEMENT COMPENSATION DEVICE

FANUC CORPORATION, Yaman...

1. A machine learning device that optimizes a coefficient of an equation established in advance for estimating a thermal displacement amount of a machine element that thermally expands by way of machine learning, based on operating state data representing an operating state of the machine element of a machine tool having the machine element, wherein the equation is not an equation based on weighting by a neural network, but is an equation which defines time and operating state data of the machine element as variables, and includes integration by a predetermined coefficient or an exponent, the machine learning device comprising:a computer including processor and a non-transitory memory having stored thereon executable instructions, which when executed, causes the computer to function as:
a data acquisition unit for acquiring the operating state data of the machine element;
a thermal displacement amount acquisition unit for acquiring measured values for a thermal displacement amount of the machine element;
a storage unit for storing the operating state data of the machine element acquired by the data acquisition unit and the measured values for the thermal displacement amount of the machine element acquired by the thermal displacement amount acquisition unit as training data associated with each other as a label;
an equation setting unit for setting a coefficient of the equation for calculating the thermal displacement amount of the machine element, by performing machine learning of the coefficient related to the equation without using a neural network, based on the operating state data of the machine element and the measured values for the thermal displacement amount of the machine element;
a thermal displacement amount calculation unit for calculating an estimated value for the thermal displacement amount of the machine element, by substituting operating state data of the machine element within a predetermined time period stored as training data in the storage unit, into the equation set by the equation setting unit; and
a determination unit for determining whether a difference between the estimated value for the thermal displacement amount of the machine element within the predetermined time period calculated by the thermal displacement amount calculation unit and the measured value for the thermal displacement amount of the machine element within the predetermined time period stored as training data in the storage unit is no more than a predetermined threshold,
wherein the equation setting unit sets again the coefficient of the equation in a case of being determined that the difference is not no more than a predetermined threshold by way of the determination unit, and sets said coefficient of the equation as an optimal equation in a case of being determined that the difference is no more than a predetermined threshold by way of the determination unit.

US Pat. No. 10,384,880

WORKPIECE SUPPLY SYSTEM

FANUC CORPORATION, Yaman...

1. A workpiece supply system comprising:a robot that supplies a workpiece to each of a plurality of workspaces where a worker performs a predetermined task on the workpiece;
a detection unit that detects a degree of fatigue of the worker in each of the workspaces;
a determination unit that determines whether or not the worker is in a fatigued state, based on the degree of fatigue of the worker detected by the detection unit; and
an adjustment control unit that adjusts, among the plurality of workspaces, a pace of supply of the workpiece to each of the workspaces by the robot, in a case where the worker is determined by the determination unit to be in the fatigued state.

US Pat. No. 10,387,610

MOTOR CONFIGURATION SELECTION DEVICE, MOTOR CONFIGURATION SELECTION METHOD, AND RECORDING MEDIUM

FANUC CORPORATION, Yaman...

1. A motor configuration selection device, comprising:a specification information acquisition unit that acquires information on specifications of components of a linear motor;
a compatibility condition setting unit that sets a compatibility condition for an intended device configuration of the linear motor;
an evaluation result acquisition unit that acquires an evaluation result for each device configuration of the linear motor that is compatible with the compatibility conditions on the basis of preset criteria; and
a candidate presentation unit that presents, on the basis of the evaluation result, information on a candidate device configuration for selecting the device configuration of the linear motor.

US Pat. No. 10,376,988

LASER PROCESSING ROBOT SYSTEM AND LASER PROCESSING METHOD

FANUC CORPORATION, Yaman...

1. A robot system for carrying out laser processing of an object to be processed by irradiating a laser beam onto a predetermined position of the object, the robot system comprising:a robot having a movable section;
a laser irradiation device having a variable mechanism configured to change a laser irradiation position with respect to at least one direction;
a first robot motion executing section configured to execute a first robot motion in which the laser irradiation device is moved to a predetermined command position;
a device position measuring section configured to measure an actual position of the laser irradiation device in a three-dimensional space in the first robot motion;
a deviation storing section configured to calculate a deviation between the command position and the actual position in the three-dimensional space of the laser irradiation device measured by the device position measuring section in the first robot motion, and store the calculated deviation as a time series of deviation data;
a laser irradiation position correcting section configured to correct the laser irradiation position so as to coincide with a desired position, based on the deviation data stored in the deviation storing section; and
a second robot motion executing section configured to execute a second robot motion while the laser irradiation position is corrected by the laser irradiation position correcting section.

US Pat. No. 10,369,716

LASER MACHINING APPARATUS INCLUDING GUIDE LASER

FANUC CORPORATION, Yaman...

1. A laser machining apparatus comprising:a cutting head that irradiates a machining laser light to a machining target;
a guide laser that irradiates a visible guide light to the machining target;
a power supply that supplies electric power to the guide laser; and
a controller that performs control so that, before the machining laser light is irradiated from the cutting head to the machining target and laser cutting starts, electric power is supplied from the power supply to the guide laser, and the guide light is irradiated from the guide laser to the machining target according to an output position of the machining laser light output from the cutting head so that the output position of the machining laser light is ascertained, wherein
the controller has a laser output setting unit capable of adjusting an output of the guide light of the guide laser within a range where the visibility of the guide light is secured when the guide light is output from the guide laser, and
a gap sensor that measures a distance between the cutting head and the machining target, wherein
the laser output setting unit adjusts an output of the guide light of the guide laser according to the distance based on an output signal from the gap sensor.

US Pat. No. 10,361,610

ENCODER CAPABLE OF ERASING MEMORY INFORMATION AND MOTOR SYSTEM INCLUDING THE SAME

FANUC CORPORATION, Yaman...

1. An encoder which detects information on one of a position and a speed of a motor, the encoder comprising:memory which stores motor-specific information on the motor to be attached to the encoder;
a mount determination unit which determines whether the encoder has been removed from the motor; and
a memory information erasure unit which erases the motor-specific information stored in the memory when the mount determination unit determines that the encoder has been removed from the motor.

US Pat. No. 10,350,752

ROBOT SYSTEM, MEASUREMENT DATA PROCESSING DEVICE AND MEASUREMENT DATA PROCESSING METHOD FOR PICKING OUT WORKPIECE USING MEASUREMENT DATA CORRECTED BY MEANS OF MACHINE LEARNING

FANUC CORPORATION, Yaman...

1. A robot system comprising:a robot including a hand configured to hold a workpiece;
a sensor configured to measure a work area in which the workpiece exists to obtain a three-dimensional shape in the work area as measurement data;
a measurement data processing device including a model data storage unit configured to store a three-dimensional shape of the workpiece as model data, a measurement data correction unit configured to correct the measurement data by means of machine learning, a position and orientation calculation unit configured to collate the measurement data with the model data to calculate a position and an orientation of the workpiece in the work area; and
a robot control unit configured to control the robot based on an output from the position and orientation calculation unit, wherein
the measurement data correction unit
in a learning stage, creates teacher data by arranging the model data in the position and the orientation calculated by the position and orientation calculation unit and adjusts a parameter for correcting the measurement data based on the measurement data and the teacher data, and
in a picking stage, outputs corrected measurement data obtained by correcting the measurement data using the adjusted parameter.

US Pat. No. 10,353,351

MACHINE LEARNING SYSTEM AND MOTOR CONTROL SYSTEM HAVING FUNCTION OF AUTOMATICALLY ADJUSTING PARAMETER

FANUC CORPORATION, Yaman...

1. A machine learning system comprising:a state observer for observing the rotation number, torque, current, and voltage values of a motor detected by a motor controller for driving the motor;
a motor output calculator for calculating a motor output from the rotation number, torque, current, and voltage values of the motor observed by the state observer;
a reward calculator for calculating a reward based on the motor output; and
a learning unit for updating an action value table based on the rotation number, torque, current, and voltage values of the motor;
wherein the learning unit is configured to update the action value table to maximize a total reward to be obtained in the future.

US Pat. No. 10,353,374

SERVO CONTROLLER, CONTROL METHOD, AND COMPUTER-READABLE RECORDING MEDIUM FOR MACHINE TOOL USED FOR OSCILLATING CUTTING

FANUC CORPORATION, Yaman...

1. A controller that controls a machine tool comprising multiple control axes and used for machining by cutting of a work as a machining target by means of coordinated motion of the control axes, the controller comprising:a position command acquiring unit that acquires a position command directed to a servo motor for driving a cutting tool or a position command directed to a servo motor for driving the work;
a position acquiring unit that acquires the position of the cutting tool or that of the work as a position feedback value;
a positional deviation calculating unit that calculates positional deviation using the acquired position command and the acquired position feedback value;
a spindle axis angle acquiring unit that acquires a spindle axis angle corresponding to an angle of rotation of a spindle axis of the rotated work or that of a spindle axis of the rotated cutting tool;
an oscillation command calculating unit that calculates an oscillation command for causing the servo motor to perform an oscillating motion using the acquired position command and the acquired spindle axis angle, or using the acquired position feedback value and the acquired spindle axis angle;
an oscillation offset calculating unit that calculates an offset using the calculated positional deviation, the calculated oscillation command, and the spindle axis angle, the offset being added to the oscillation command to generate an adjusted oscillation command for causing the servo motor to perform the oscillating motion; and
a driving unit that determines a drive signal to be used for driving the servo motor including causing the servo motor to perform the oscillating motion based on the positional deviation and the adjusted oscillation command, and outputs the drive signal.

US Pat. No. 10,340,757

ROTOR MEMBER, ROTOR AND ELECTRIC MOTOR

FANUC CORPORATION, Yaman...

1. A rotor member that is fixed by press-fitting to a rotary shaft part of a rotating electrical machine, comprising:a cylindrical sleeve part having a first end at an axial-direction first side thereof, and a second end at an axial-direction second side thereof;
a plurality of magnet segments that are arranged to align in a circumferential direction at an outer side in the radial direction of the sleeve part; and
a cylindrical member that covers the plurality of the magnet segments from an outer side in the radial direction, and sandwiches the plurality of the magnet segments with the sleeve part, wherein
an inner circumferential face of the sleeve part has a tapered face that continuously expands towards the outer side in the radial direction as approaching the second end from the first end, and wherein
a thrust member that thrusts the cylindrical member to the outer side in the radial direction against the sleeve part is present between the plurality of the magnet segments which are adjacent in the circumferential direction, wherein
the thrust member thrusts the cylindrical member to the outer side in the radial direction such that a gap is formed between an inner circumferential face of the cylindrical member and a radially outer corner of each magnet segment that is directly adjacent to the thrust member in the circumferential direction, the radially outer corner of each magnet segment being the radially outer corner directly adjacent to the thrust member in the circumferential direction.

US Pat. No. 10,324,425

HUMAN COLLABORATIVE ROBOT SYSTEM HAVING IMPROVED EXTERNAL FORCE DETECTION ACCURACY BY MACHINE LEARNING

FANUC CORPORATION, Yaman...

1. A human collaborative robot system having a function of detecting a force, the human collaborative robot system comprising:a human collaborative robot that performs operation in collaboration with a human; and
a learning unit which
receives
sensing data for calculating the force,
internal data of control software for controlling the human collaborative robot, and
data of the calculated force obtained based on at least one of the sensing data and the internal data,
performs learning using supervised data in which inputs and correct labels obtained in advance of said learning are collected in pairs, wherein the correct labels of the supervised data are obtained in advance by
exerting a force on the human collaborative robot from outside,
operating the human collaborative robot over a plurality of paths, and
applying noise to the human collaborative robot, and
based on a result of said learning, extracts from the data of the calculated force
a first force component applied to the human collaborative robot from outside,
a second force component occurring in the operation of the human collaborative robot, and
a third force component categorized as noise,
wherein the operation of the human collaborative robot is controlled based on the extracted first force component output from the learning unit.

US Pat. No. 10,324,444

NUMERICAL CONTROLLER INCLUDING TOOL RETRACTING FUNCTION FOR AVOIDANCE OF INTERFERENCE

Fanuc Corporation, Yaman...

1. A numerical controller controlling a machine tool, the numerical controller comprising:a retraction block determination condition setting unit configured to set a condition for selecting as a retraction block a block in a machining program that moves a tool in an opposite direction along a command movement path when machining is suspended during machining operation and the tool is retracted;
a determination unit configured to determine, when the machining is executed to perform the machining program, whether or not a decoded block in the machining program is the retraction block that satisfies the condition set by the retraction block determination condition setting unit;
an executable format data reading unit configured to read executable format data resulting from decoding of the block determined to be the retraction block by the determination unit;
an end point coordinate position reading unit configured to read an end point coordinate position indicated in the block determined to be the retraction block by the determination unit;
a memory unit configured to store the read executable format data and the end point coordinate position; and
a tool retracting unit configured to move, when a tool retraction command is input, the tool from a current tool position to the end point coordinate position of the retraction block stored in the memory unit, then to reverse a moving direction for the executable format data of the retraction block stored in the memory, and to execute the executable format data in order to retract the tool.

US Pat. No. 10,326,255

LASER DEVICE

FANUC CORPORATION, Yaman...

1. A laser device comprising:a light-emitting unit that generates a laser beam;
an amplification unit that amplifies the laser beam generated by the light-emitting unit;
a power supply unit that supplies power for generating the laser beam to the light-emitting unit;
a plate-like cooling unit including a first cooling surface and a second cooling surface positioned opposite to the first cooling surface; and
a housing in which the light-emitting unit, the amplification unit, the power supply unit, and the cooling unit are housed,
wherein the power supply unit and the light-emitting unit are arranged adjacent to the first cooling surface of the cooling unit,
the power supply unit includes a printed board, a first part group being an assembly including parts not required to be cooled, and a second part group being an assembly including parts required to be cooled,
the amplification unit is arranged adjacent to the second cooling surface of the cooling unit, and
the first part group is arranged on a first surface of the printed board so as not to contact the first cooling surface of the cooling unit, and the second part group is arranged on a second surface being opposite to the first surface of the printed board so as to contact the first cooling surface of the cooling unit.

US Pat. No. 10,322,536

INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. An injection molding machine comprising:a base mounted on a mounting surface with a support interposed therebetween with a space to the mounting surface;
a plurality of measurement units attached to the base so as to measure distances respectively to the mounting surface; and
a horizontal degree calculation unit for calculating a horizontal degree of the base on a basis of the distances measured by the plurality of measurement units.

US Pat. No. 10,315,262

WIRE ELECTRODE STORAGE DEVICE FOR WIRE ELECTRICAL DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electrode storage device for a wire electrical discharge machine, the wire electrode storage device comprising:a used wire electrode storage box configured to recover a used wire electrode, wherein the used wire electrode storage box has an outlet through which a dielectric fluid accumulated therein is discharged to an outside;
a dielectric fluid tank configured to store the dielectric fluid;
a pump attached to the dielectric fluid tank; and
a dielectric fluid suction unit, wherein
when a flow of the dielectric fluid is drawn from the dielectric fluid tank by the pump into the dielectric fluid suction unit, the dielectric fluid suction unit is configured to produce a negative pressure based on a Venturi effect to cause the dielectric fluid in the used wire electrode storage box to be drawn under the produced negative pressure into the dielectric fluid suction unit through the outlet of the used wire electrode storage box.

US Pat. No. 10,293,536

CONTROLLER AND MANAGEMENT SYSTEM FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A controller for an injection molding machine for controlling mold clamping of a fixed mold and a movable mold, comprising:a motor drive control unit configured to control driving current of a motor and limit increase in the driving current during driving of the motor, based on an upper limit of the driving current, the motor being configured to move the movable mold and generate a clamping force;
a moving state acquisition unit configured to acquire information on movement including a position of the movable mold;
a clamping force acquisition unit configured to acquire information on the clamping force from a clamping force detector configured to detect information on the clamping force with which the fixed mold and the movable mold are clamped;
a mold clamping adjusting unit configured to adjust an end-of-clamping position of the movable mold by operating a mold clamping adjustment mechanism based on the information on the clamping force; and
an abnormality determination processing unit configured to determine that the clamping force detector is abnormal when recognizing the position of the movable mold and stoppage of movement of the movable mold during mold clamping, based on the information from the moving state acquisition unit.

US Pat. No. 10,252,416

ARTICLE CONVEYING DEVICE HAVING TEMPORARY PLACEMENT SECTION

FANUC CORPORATION, Yaman...

6. An article conveying device comprising:a supplying section configured to convey a plurality of articles;
a discharging section configured to convey a plurality of containers each having a plurality of cells for containing the plurality of articles;
a temporary placement section having a temporary placement space on which at least one of the articles can be temporarily placed;
a first detecting section configured to detect a position and posture of the article on the supplying section at a first time point, and detect an amount of movement of the supplying section;
a second detecting section configured to detect a position and posture of the container on the discharging section at a second time point, and detect an amount of movement of the discharging section;
a working machine configured to:
take out the article by following the movement of the article on the supplying section, based on the position and posture of the article at the first time point and the amount of movement of the supplying section;
place the taken out article on the temporary placement section; take out the article placed on the temporary placement section; and
locate the article into the container by following the movement of the container on the discharging section, based on the position and posture of the container at the second time point and the amount of movement of the discharging section; and
a controlling section configured to:
compare a predicted arrival time indicating when the article conveyed by the supplying section reaches a motion range of the working machine to a time threshold, or compare a predicted distance indicating when the article conveyed by the supplying section reaches the motion range of the working machine to a distance threshold, and
command the working machine to place the article from the supplying section to the temporary placement section, and, when the container is positioned within a container existence judgment region defined on the discharging section and when a predicted arrival time is larger than the time threshold or the predicted distance is larger than the distance threshold, command the working machine to locate the article from the temporary placement section into the container positioned on the discharging section.

US Pat. No. 10,254,738

NUMERICAL CONTROLLER AND SIMULATOR THEREOF

Fanuc Corporation, Yaman...

1. A numerical controller for controlling a machine having two or more paths based on a machining program for a single path in which a workpiece is attached to a main axis to be rotated and in which two or more tools are moved in a radial direction of the workpiece and a direction parallel to the axis of rotation to perform cutting, the numerical controller comprising:a processor configured to:
divide the machining program into cutting motion groups by using rapid motions as delimiters,
assign the cutting motion groups to two or more respective paths corresponding to the two or more tools,
generate path assignment information in which the assigned cutting motion groups are overlapped between a cutting motion group located earlier on the machining program and a cutting motion group located later on the machining program such that a cutting position of the two or more tools assigned to the cutting motion group located later on the machining program does not overtake a cutting position of two or more tools assigned to the cutting motion group located earlier on the machining program, and
control the two or more tools to move along the two or more respective paths to perform cutting of the workpiece based on the path assignment information.

US Pat. No. 10,254,741

ROBOT APPARATUS HAVING LEARNING FUNCTION

FANUC CORPORATION, Yaman...

1. A robot apparatus comprising:a robot mechanism;
a sensor provided in a portion, the position of which is to be controlled, of the robot mechanism, for detecting a physical quantity to directly or indirectly obtain positional information of the portion; and
a robot controller having an operation control unit for controlling the operation of the robot mechanism, wherein
the robot controller includes:
a learning control unit for calculating a learning correction value to improve a specific operation of the robot mechanism based on the physical quantity detected, while the operation control unit makes the robot mechanism perform the specific operation, with the sensor; and
a learning extension unit for obtaining the relationship between the learning correction value calculated by the learning control unit and information about the learned specific operation, and calculates another learning correction value to improve a new operation that is different from the specific operation of the robot mechanism, by applying the obtained relationship to information about the new operation without sensor, and
wherein the learning extension unit obtains a transfer function between the learning correction value and the operation information from spectrograms of the learning correction value calculated by the learning control unit and the information about the specific operation of the robot mechanism, and calculates the learning correction value for the new operation based on the transfer function by input of the information about the new operation.

US Pat. No. 10,274,931

CELL CONTROL APPARATUS WHICH PREDICTS FAILURE OF MANUFACTURING MACHINES AND PRODUCTION SYSTEM

FANUC CORPORATION, Yaman...

1. A cell control apparatus which controls a manufacturing cell including a plurality of manufacturing machines, the cell control apparatus comprising:an operation information acquisition unit which acquires respective operation information of each of the manufacturing machines;
a failure prediction unit which predicts a failure time of a component of at least one of the manufacturing machines based on the respective operation information of the at least one of the manufacturing machines and transmits information on the component predicted to fail to a component management apparatus which performs management of a component of the at least one of the manufacturing machines;
a replacement time acquisition unit which acquires a replacement time which is a time at which the component can be replaced from the component management apparatus; and
a work adjustment unit which judges whether or not the failure time is earlier than the replacement time, and performs a control for reducing and continuing an operation in the at least one of the manufacturing machines on which a failure of the component is predicted so that the failure time is later than the replacement time and a control for performing the operation as reduced in at least one other of the manufacturing machines when the failure time is earlier than the replacement time.

US Pat. No. 10,272,564

ARTICULATED INDUSTRIAL ROBOT WITH DOWNSIZED JOINT UNIT

FANUC CORPORATION, Yaman...

1. An articulated industrial robot comprising:a motor which is provided with a gear or a pulley at an end of a motor shaft, and which generates a force for driving a joint;
a speed reduction mechanism which reduces the speed of rotation of the gear or pulley rotating integrally with the motor shaft; and
a supporting member which supports the motor and the speed reduction mechanism, and which defines an interior space for accommodating the motor,
wherein the supporting member has an opposing face opposing the motor in the interior space,
wherein the opposing face spreads in a plane perpendicular to a central axis of the motor shaft,
wherein the opposing face includes a groove-like recessed portion recessed in a protruding direction of the motor shaft and extending in a direction perpendicular to the central axis of the motor shaft,
wherein the recessed portion has a width larger than a diameter of the gear or pulley,
wherein the recessed portion has a depth such that a dimension between the recessed portion and a component of the articulated robot located at the shortest distance from the recessed portion as measured in a direction parallel to the central axis of the motor shaft becomes larger than an overall length of the motor including the gear or pulley and the motor shaft,
wherein the recessed portion has a through-hole through which the motor shaft and the gear or pulley can be inserted, and
wherein the motor can be removed for replacement by sliding the motor in a direction of the central axis to position the gear or pulley in the recessed portion and then sliding the motor in a direction perpendicular to the central axis in the recessed portion.

US Pat. No. 10,268,187

MANUFACTURING CELL MACHINE MANAGEMENT SYSTEM BASED ON COMPONENT DEGREE OF CONSUMPTION

FANUC CORPORATION, Yaman...

1. A manufacturing management system for managing a manufacturing cell including a plurality of manufacturing machines, based on production schedule information from a production scheduling device, the manufacturing management system comprising:a manufacturing machine information receiving part configured to receive manufacturing machine information regarding an operational history of each of components constituting each of the plurality of manufacturing machines;
a component degree of consumption calculating part configured to calculate a weighted degree of consumption of each component, based on the manufacturing machine information and a predetermined weight regarding easiness of maintenance of each component, wherein the easiness of maintenance is based on at least one of a size, a weight or a location of said component in the corresponding manufacturing machine;
a manufacturing machine degree of consumption calculating part configured to calculate a degree of consumption of each of the plurality of manufacturing machines, based on the weighted degree of consumption of each component calculated by the component degree of consumption calculating part; and
a manufacturing machine selecting part comprising a processor,
wherein
at least two of the plurality of manufacturing machines are configured to perform a common manufacturing operation,
the processor of the manufacturing machine selecting part is configured to select a manufacturing machine, among said at least two manufacturing machines, to perform the common manufacturing operation, based on the degree of consumption of each manufacturing machine calculated by the manufacturing machine degree of consumption calculating part,
the manufacturing machine selected by the processor of the manufacturing machine selecting part is caused to carry out the common manufacturing operation, and
the processor of the manufacturing machine selecting part is configured to, among the plurality of manufacturing machines, exclude a manufacturing machine including a component having the weighted degree of consumption higher than a predetermined threshold or including a component having the highest weighted degree of consumption, from being a candidate manufacturing machine to perform the common manufacturing operation.

US Pat. No. 10,247,301

SERVO CONTROL SYSTEM WITH POSITION COMPENSATION FUNCTION FOR DRIVEN MEMBER

FANUC CORPORATION, Yaman...

1. A servo control system, comprising:a servo motor;
a table configured to be driven by the servo motor;
a coupling mechanism coupled with the servo motor and the table, the coupling mechanism configured to use the servo motor as a power source to generate a table drive torque acting on the table at a coupling part of the table and the coupling mechanism; and
a motor control part configured to control the servo motor, wherein
the motor control part comprises
a position command generating part configured to generate a position command value of the table,
a force estimating part configured to estimate the table drive torque acting on the table at the coupling part,
a compensating part configured to compensate the position command value generated by the position command generating part based on the table drive torque estimated by the force estimating part,
a control signal output part configured to output a control signal to the servo motor based on a position command value compensated by the compensating part,
a disturbance torque estimating part configured to estimate a total disturbance torque occurring due to a disturbance acting on the servo motor, the coupling mechanism, and the table,
an acceleration/deceleration torque calculating part configured to
calculate angular acceleration of the servo motor based on an angular position of the servo motor or a detected value of a rotational speed of the servo motor, and
calculate an acceleration/deceleration torque required for acceleration or deceleration of the table based on the calculated angular acceleration, and
a disturbance torque calculating part configured to calculate a disturbance torque occurring due to a disturbance acting on the servo motor and the coupling mechanism based on the detected value of the rotational speed of the servo motor,
wherein
the force estimating part is configured to estimate the table drive torque by subtracting the disturbance torque calculated by the disturbance torque calculating part from a sum of
the total disturbance torque estimated by the disturbance torque estimating part, and
the acceleration/deceleration torque calculated by the acceleration/deceleration torque calculating part.

US Pat. No. 10,230,286

ELECTRIC MOTOR

FANUC CORPORATION, Yaman...

1. An electric motor comprising:a stator;
a rotor provided rotatably about a predetermined rotational axis line relative to the stator;
a cooling fan configured to rotate an impeller through a fan motor fixed to the stator; and
a clutch unit configured to detachably couple the rotor and the impeller of the cooling fan,
wherein the clutch couples the rotor and the impeller while the fan motor is stopped, and decouples the rotor and the impeller after the fan motor starts.

US Pat. No. 10,222,786

NUMERICAL CONTROL SYSTEM HAVING SYNCHRONOUS CONTROL FUNCTION BETWEEN UNITS

Fanuc Corporation, Yaman...

1. A numerical control system comprising:a master unit controlling a master axis of a machine tool; and
a slave unit controlling a slave axis of the machine tool, the slave unit connected to the master unit by a communication path, wherein, for synchronizing movement of the machine tool on the master axis with movement of the machine tool on the slave axis, the master unit periodically transfers synchronization information including position of the machine tool on the master axis to the slave unit, and the slave unit performs the synchronous control based on the synchronization information transferred from the master unit,
wherein the slave unit is configured to:
acquire a reception time of the synchronization information received from the master unit, the reception time is a time interval between output of a timing signal generated in the slave unit at a predetermined period and reception of the synchronization information,
record a history of the reception time of the synchronization information, as reception time history data,
detect retransmission of transfer of the synchronization information,
correct the reception time of the synchronization information with a correction amount based on the reception time history data when the slave unit detects the retransmission of the transfer of the synchronization information, the correction amount corresponding to a delay due to the retransmission of the synchronization information, and
compute an estimated position of the machine tool on the master axis based on the synchronization information and the reception time corrected by the slave unit, and control a position of the machine tool on the slave axis based on the estimated position.

US Pat. No. 10,224,862

MOTOR DRIVING APPARATUS HAVING DISCHARGING FUNCTION

FANUC CORPORATION, Yaman...

1. A motor driving apparatus comprising:an alternating current (AC)-direct current (DC) conversion unit configured to convert AC power supplied from an AC power source side into DC power by performing on-off control on switching devices respectively provided on an upper arm and a lower arm or turning off all of the switching devices and rectifying the AC power by diodes;
a power storage unit provided in a DC link between a DC output side of the AC-DC conversion unit and a DC input side of a DC-AC conversion unit configured to convert DC power on the DC output side of the AC-DC conversion unit into AC power for driving a motor;
an initial charging unit provided in the DC link and comprising a switch unit configured to open and close an electrical path between the AC-DC conversion unit and the power storage unit and a charging resistor connected to the switch unit in parallel, wherein the initial charging unit is configured to initially charge the power storage unit by a direct current from the AC-DC conversion unit flowing through the charging resistor when the switch unit is opened before start of driving of the motor;
an electromagnetic contactor configured to open and close an electrical path between the AC power source and the AC-DC conversion unit; and
a control unit configured to control each of the switching devices, the switch unit, and the electromagnetic contactor,
wherein, after completion of driving of the motor, the control unit performs an opening operation on the electromagnetic contactor and the switch unit and performs a turn-on operation on each of the switching devices provided on the upper arm and the lower arm in the same phase, and thus forms a closed circuit constituted of the power storage unit and the charging resistor to discharge charge stored in the power storage unit by the charging resistor.

US Pat. No. 10,220,523

CONVEYING ROBOT

FANUC CORPORATION, Yaman...

1. A conveying robot comprising:a pedestal;
a rotating base provided in a rotatable manner about a first axis, which is substantially horizontal, relative to the pedestal;
a first arm provided on the rotating base in a swivelable manner about a second axis that is orthogonal to a line parallel to the first axis and spaced from the first axis; and
a second arm that is provided on the first arm in a movable manner along a longitudinal direction of the first arm and distal end of the second arm supports a wrist unit, which is capable of holding a workpiece to be conveyed,
wherein the proximal end portion of the first arm is supported by the rotating base.

US Pat. No. 10,220,557

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system including, outside a mold, a molding auxiliary member standby section on which a plurality of molding auxiliary members is placed on standby, the system configured to insert at least one of the plurality of molding auxiliary members into the mold to carry out molding, the injection molding system comprising:a shooting unit for shooting the plurality of molding auxiliary members;
a molding auxiliary member data storage unit for storing, for each of the plurality of molding auxiliary members, molding auxiliary member data including
a characteristic of the molding auxiliary member, and
a molding condition in which the molding auxiliary member is to be inserted into the mold and molded;
a transporting unit for transporting, among the plurality of molding auxiliary members, a molding auxiliary member to be inserted into the mold from the molding auxiliary member standby section to the mold;
a molding auxiliary member identification unit for identifying the molding auxiliary member inserted into the mold;
wherein the molding auxiliary member identification unit is configured to identify the molding auxiliary member, based on (i) the characteristic of the molding auxiliary member as captured by the shooting unit and (ii) the molding auxiliary member data stored by the molding auxiliary member data storage unit; and
a metering process starting unit for effecting a metering process after (a) the molding auxiliary member is transported to the mold by the transporting unit, (b) newly reading out the molding condition corresponding to the molding auxiliary member from the molding auxiliary member data storage unit and (c) setting the read molding condition as a condition for molding the molding auxiliary member,
wherein the metering process is effected by the metering process starting unit until reaching a metering process completion position of the molding condition corresponding to the molding auxiliary member.

US Pat. No. 10,224,766

STATOR WITH CORE INCLUDING DIVIDED CORES, AND ELECTRIC MOTOR

FANUC CORPORATION, Yaman...

1. A stator of an electric motor, comprising:a core including an annular back yoke, and a plurality of teeth aligned in a circumferential direction; and
a plurality of annular coils wound around each of the plurality of teeth, each annular coil being fitted to the tooth in a condition where a center hole of the annular coil is enlarged by the tooth around which the annular coil is wound, wherein the core includes a plurality of divided cores aligned in the circumferential direction,
the plurality of divided cores including a first divided core and a second divided core, the first divided core and the second divided core being adjacent to each other,
each of the plurality of divided cores includes:
the tooth extending radially inward, the tooth comprising a first side surface extending between a first radial inner edge and a first radial outer edge and a second side surface opposite to the first side surface extending between a second radial inner edge and a second radial outer edge,
the tooth having a circumferential width defined between the first side surface and the second side surface; and
a divided back yoke, comprising:
an outer circumferential surface terminating in a first circumferential edge on a first circumferential side and a second circumferential edge on a second circumferential side, the first side surface of the tooth being on the first circumferential side, the second circumferential side being opposite to the first circumferential side, the second circumferential edge being disposed away from the first side surface of the tooth; and
an inner circumferential surface terminating in a third circumferential edge on the first circumferential side and the first radial outer edge on the second circumferential side,
an end surface defined between the first circumferential edge and the third circumferential edge,
the divided yoke having a radial width defined between the outer circumferential surface and the inner circumferential surface, the radial width of the divided back yoke being smaller than or equal to the circumferential width of the tooth;
a connecting surface extending between the second circumferential edge and the second radial outer edge, the connecting surface being a plane or a convex surface, the end surface being of a shape complementary to the connecting surface,
the first circumferential edge of the first divided core contacting the second circumferential edge of the second divided core,
the first circumferential edge of the first divided core being away from the first side surface of the tooth of the second divided core on the first circumferential side.

US Pat. No. 10,218,096

SHORT BAR, SHORT BAR UNIT, AND MOTOR DRIVE DEVICE

Fanuc Corporation, Yaman...

1. A short bar for connecting terminal blocks of two motor driving units which drive a motor, the short bar comprising:a strip-plate-like fixed portion which has a through hole into which a screw for fixing is inserted and which is fixed to the terminal block of the motor driving unit with the screw;
a first connection portion which is provided on an end of the fixed portion;
a second connection portion which is provided on the other end of the fixed portion; and
wherein the first connection portion has a configuration that the first connection portion and the second connection portion of another short bar can be connected electrically and mechanically with each other through a relative movement in a thickness direction of the fixed portion.

US Pat. No. 10,191,472

NUMERICAL CONTROLLER PROVIDED WITH PROGRAM PRE-READING FUNCTION

FANUC Corporation, Minam...

1. A numerical controller which executes a plurality of numerical control (“NC”) programs at a same time in parallel by successively pre-reading blocks of the plurality of NC programs from a memory or from a storage device connected via a network so that the generation of an alarm or an immediate axes stop due to the pre-reading failing to be performed in time becomes less liable to occur, the numerical controller comprising:non-transitory computer readable memory;
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 controller to perform operations comprising:
storing execution times of the respective blocks in the plurality of NC programs;
reading out, when one block in an NC program among the plurality of NC programs is pre-read, the execution time of the pre-read block, and calculates a sum total of the execution time of the pre-read block and the execution times of other blocks in the NC program which have been pre-read;
extracting, from the plurality of NC programs, one NC program having the smallest sum total of the execution times calculated; and
subsequently performing pre-reading of one block of the NC program which is extracted and has the smallest sum total of the execution times among those of the plurality of NC programs.

US Pat. No. 10,185,292

MANUFACTURING MANAGEMENT APPARATUS WHICH REDUCES OPERATIONAL LOAD OF MANUFACTURING MACHINES

FANUC CORPORATION, Yaman...

1. A manufacturing management apparatus which controls a manufacturing cell including a plurality of manufacturing machines, the apparatus comprising:a load information acquisition part that acquires load information including at least one of a power consumption and information relating to a component lifetime of each manufacturing machine in a time-series manner;
a load calculation part which calculates an operational load including at least one of an average power consumption, a maximum power consumption, and a variable indicating a component lifetime of the manufacturing cell in a predetermined period based on the load information;
an operation adjustment part which performs first control for reducing at least one of a speed and an acceleration at which the manufacturing machine drives and second control for adjusting a ratio of time of successive operations in such a manner as to reduce the operational load in such an extent that the number of products manufactured in the predetermined period is not changed; and
a transmission part which transmits a command on the operation adjusted by the operation adjustment part to the manufacturing machines.

US Pat. No. 10,185,301

NUMERICAL CONTROLLER HAVING ACQUISITION FUNCTION OF COORDINATE VALUE NEEDING NEITHER SKIP SIGNAL NOR KEY OPERATION

FANUC Corporation, Minam...

1. A numerical controller that controls a machine tool to measure a coordinate value of an object to be measured based on a position of a movable axis controlled by a manual operation, the numerical controller comprising:a coordinate value acquisition unit that acquires and outputs position information of the machine tool as a coordinate value of the movable axis;
a clock unit that clocks an elapsed unit time from a predetermined reference time point;
a history storage unit that stores a plurality of pieces of history information formed by associating the coordinate value of the movable axis and the elapsed unit time when the coordinate value is acquired;
a history recording unit that generates history information based on the coordinate value of the movable axis acquired by the coordinate value acquisition unit and the elapsed unit time clocked by the clock unit and records the generated history information in the history storage unit;
a movement history analysis unit that analyzes timing when position adjustments of the movable axis are completed based on the history information recorded in the history storage unit; and
a coordinate value setting unit that sets the coordinate value of the movable axis at the time when the analysis of the movement history analysis unit is performed as a measured coordinate value of the object to be measured.

US Pat. No. 10,099,389

INDUSTRIAL ROBOT COMPRISING DRIVE SHAFT PROVIDED WITH BRAKE UNIT

FANUC CORPORATION, Yaman...

1. An industrial robot comprising a first drive shaft in which a power transmission unit is arranged between a servomotor and a power output unit, comprising:a first brake unit integrally incorporated in the servomotor, the first brake unit operatively coupled to the first drive shaft;
a first gear engaged to an output shaft of the servomotor;
a second gear engaged with the first gear and is arranged as a part of the power transmission unit;
a second brake unit not incorporated in the servomotor, the second brake unit connected to the power transmission unit to branch to a power transmission path of the power transmission unit by an additional gear engaged with the second gear at a position which is different from that of the first gear, and
a housing in which the first gear, the second gear, and the additional gear are positioned and the housing is filled with lubricating oil;
wherein the first drive shaft is braked by using either the first brake unit or the second brake unit and the first drive shaft of the industrial robot can be operated even if the second brake is removed.

US Pat. No. 10,092,989

TOOL TRANSFER APPARATUS INCLUDING GRIPPING FORCE MEASURING UNIT FOR TOOL HOLDING UNIT OF TOOL MAGAZINE, AND MACHINING SYSTEM

FANUC CORPORATION, Yaman...

1. A machining system comprising:a machine tool including a tool accommodation apparatus having one or more tool holding unit; and
a tool transfer apparatus which attaches and detaches a tool to and from the tool holding unit of the tool accommodation apparatus, wherein
the tool transfer apparatus includes:
a load measuring apparatus which measures a load applied to the tool transfer apparatus when the tool is attached to or detached from the tool holding unit;
a storage unit which stores a threshold of the load when the tool is attached or a threshold of the load when the tool is detached; and
a notifying unit which compares the load measured by the load measuring apparatus and the threshold and makes a notification when the measured load value falls below the threshold of the load, the notification indicating as such.

US Pat. No. 10,093,024

ROBOT LINEAR-OBJECT HANDLING STRUCTURE

FANUC CORPORATION, Yaman...

1. A robot deformable linear-object handling structure comprising:a base part; a rotational drum that is mounted on the base part in a rotatable manner about a first axis that is normal to an installation surface of the base part; a first arm that is mounted on the rotational drum in a rotatable manner about a second axis that is orthogonal to the first axis; a second arm that is mounted at a leading end of the first arm in a rotatable manner about a third axis that is parallel to the second axis; and a wrist that is mounted at a leading end of the second arm rotatably,
wherein
a deformable linear object for a motor that drives the second arm and the wrist and at least one deformable linear object for a work tool that is attached to the wrist pass from the base part to the inside of the rotational drum are guided upward to the outside through a through-hole provided in an upper part of the rotational drum,
one of the deformable linear object for the motor and the at least one deformable linear object for the work tool is wired clockwise along a lateral side of the rotational drum while being given a margin of length required for the motion of the rotational drum,
the other of the deformable linear object for the motor and the at least one deformable linear object for the work tool is wired counterclockwise along the lateral side of the rotational drum while being given a margin of length required for the motion of the rotational drum, and
the deformable linear object for the motor and the at least one deformable linear object for the work tool are guided from the lateral sides of the rotational drum to the second arm in the longitudinal direction of the first arm while each being given a margin of length required for the motions of the first arm and the second arm.

US Pat. No. 10,093,025

PART CONVEYOR SYSTEM AND ATTITUDE ADJUSTING JIG

FANUC CORPORATION, Yaman...

1. A part conveyor system comprising:an attitude adjusting jig which adjusts an attitude of a part having an axis part and a head part which overhangs outward from one end of said axis part and
a conveyor device which takes out and conveys said part from said attitude adjusting jig, wherein
said attitude adjusting jig comprising:
a recessed part which has an inside space which is sandwiched between a pair of upward slanted surfaces facing each other,
a groove part which is formed at a bottom of said recessed part for holding said axis part, and
a magnet which is arranged in said groove part.

US Pat. No. 10,082,771

MACHINE LEARNING METHOD AND MACHINE LEARNING APPARATUS LEARNING OPERATING COMMAND TO ELECTRIC MOTOR AND MACHINE TOOL INCLUDING MACHINE LEARNING APPARATUS

FANUC CORPORATION, Yaman...

1. A machine learning apparatus for learning an operating command to an electric motor in a machine tool,the machine learning apparatus comprising a processor configured to:
observe an amount of power fed to the electric motor, a temperature of the electric motor, a load of the electric motor, and a vibration of the electric motor as status variables, and
perform learning whether or not it is necessary to correct the operating command to the electric motor according to
the status variables, and
a result of judging whether an abnormality has occurred in the machine tool based on the status variables,
wherein, in said learning, the processor is further configured to
calculate a reward based on
a difference of the amount of power fed and a predetermined amount of power fed,
a difference of the temperature and a predetermined temperature,
a difference of the load and a predetermined load, and
a difference of the vibration and a predetermined vibration,
wherein the processor is configured to calculate the reward by
increasing the reward when said result of judging indicates that no abnormality has occurred in the machine tool based on the status variables, and
decreasing the reward when said result of judging indicates that an abnormality has occurred in the machine tool based on the status variables, and
update a function for determining the operating command based on the reward, and
wherein the electric motor is controlled by the operating command determined by the updated function.

US Pat. No. 10,010,975

NUMERICAL CONTROLLER OF LASER BEAM MACHINE

FANUC Corporation, Minam...

1. A numerical controller of a laser beam machine, comprising:a storage unit that stores a machining program, wherein
blocks constituting the machining program are sequentially read from the machining program stored in the storage unit, an operation of a nozzle of the laser beam machine is controlled based on a command specified by the read block, and retreat control of the nozzle from a workpiece surface or return control thereof to the workpiece surface is automatically carried out by a positioning command specified by the block during gap control of the nozzle, the numerical controller further comprising:
a look-ahead unit that looks ahead to a next block of the block currently being executed from the machining program during positioning operation control of the nozzle; and
a positioning movement controlling unit that controls the movement of the nozzle based on a type of the command specified by the next block looked ahead to by the look-ahead unit, wherein
the positioning movement controlling unit continues movement control of a contouring control axis while retaining the nozzle in retreat when the next block is the positioning command, and carries out the return control of the nozzle to the workpiece surface when the next block is other than the positioning command, and
the positioning movement controlling unit continues the movement control of the contouring control axis while retaining the nozzle in retreat when the next block is not the positioning command and the next block is not accompanied by laser beam machining.

US Pat. No. 9,899,893

ELECTRIC MOTOR INCLUDING TERMINAL FORMED BY ELECTRIC SWAGING AND ELECTRIC SWAGING METHOD

FANUC CORPORATION, Yaman...

1. An electric motor comprising a connector unit connected to a terminal attached to an end of a winding wire by electric
swaging, wherein
the terminal includes a tube portion and a connecting portion wherein only the connecting portion is inserted in the connector
unit, the tube portion being where the end of the winding wire is inserted and which is formed by electric swaging; the tube
portion has a shape in which a length in a first direction within a plane perpendicular to a direction in which the winding
wire is inserted is nearly equal to a length in a second direction perpendicular to the first direction, and the tube portion
has a square cross-sectional shape in the plane perpendicular to the direction in which the winding wire is inserted;

a plurality of the terminals are situated close to each other and are fixed in irregular directions in the connector unit;
and

the plurality of the terminals are spaced apart from each other by an insulation distance that is sufficient no matter how
the plurality of terminals are oriented with respect to each other.

US Pat. No. 9,895,806

CONTROL DEVICE FOR ROBOT THAT PERFORMS WORK BY PRESSING TOOL AGAINST WORKPIECE

FANUC CORPORATION, Yaman...

1. A robot control device for controlling a robot to perform work by pressing a tool attached to a tip of the robot against
a workpiece, the robot control device comprising a processor configured to:
calculate a correction amount for correcting a deviation of a tip position of the tool due to an external force applied to
the tool, and

generate a correction profile indicating a relationship between the calculated correction amount calculated by the correction
amount calculation unit and time,

wherein the correction amount is calculated so that the external force applied to the tool becomes smaller than a maximum
static friction force between the workpiece and the tool,

wherein the correction amount is added to an operation command of the robot on the basis of the correction profile generated
in advance, and

wherein an operation of the robot is controlled based on the operation command.

US Pat. No. 9,884,395

MACHINE TOOL PROVIDED WITH CLAMPING JIG FOR ROTATIONALLY-SYMMETRICAL BODY

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:
a jig configured to fix a workpiece to perform a cutting work on the workpiece;
an arm configured to press the workpiece against the jig;
a rotating table configured to rotate the workpiece; and
an air supply unit configured to supply air,
wherein
the arm includes holes at three or more points on a circumference in the vicinity of a point at which the arm comes into contact
with the workpiece when the workpiece is fixed to the jig,

the air supply unit is configured to supply the air through the holes,
wherein
the arm includes an arm protrusion configured to be inserted into a center hole of the workpiece wherein the arm protrusion
projects into only a part of the center hole of the workpiece,

the holes are provided in the arm protrusion,
the machine tool further comprises a pressure adjusting unit configured to control a pressure of the air which is discharged
from each of the holes and is blown toward the workpiece placed on the jig,

the holes are disposed at intervals which are not equal to each other, and
the pressure adjusting unit is configured to control the pressure of the air from the holes which are closer to each other
to be lower than the pressure of the air from the holes which are farther from each other.

US Pat. No. 9,887,645

MOTOR DRIVE APPARATUS HAVING FUNCTION OF SUPPRESSING TEMPORAL VARIATION OF REGENERATIVE CURRENT

FANUC CORPORATION, Yaman...

1. A motor drive apparatus comprising:
a converter configured to convert DC power into AC power and returns the AC power to an AC power supply;
a 120-degree conduction regenerative power control unit configured to control the converter using a 120-degree conduction
method so that the power recovered through the converter is returned to the AC power supply;

a PWM regenerative power control unit configured to control the converter using a PWM control method so that the power recovered
through the converter is returned to the AC power supply;

an input voltage detection unit configured to detect a supply voltage being supplied from the AC power supply to the converter;
a DC link voltage detection unit configured to detect a DC link voltage which is an output voltage of the converter; and
a regenerative method switching unit configured to, during power regeneration, perform switching between the 120-degree conduction
method and the PWM control method in accordance with a given criterion, based on a voltage value detected by the DC link voltage
detection unit.

US Pat. No. 9,874,463

OPTICAL ENCODER FOR PREVENTING CROSSTALK

FANUC CORPORATION, Yaman...

1. An optical encoder comprising:
a movable slit part that is movable integrally with a target object to be measured and has a plurality of slit arrays spaced
apart from one another;

a light emitting part configured to emit light toward the plurality of slit arrays; and,
a plurality of light receiving parts arranged so as to correspond to the plurality of slit arrays and to detect light which
is emitted from the light emitting part and passes through the plurality of slit arrays,

wherein at least one light receiving part of the plurality of light receiving parts has an inner edge located on an inner
side relative to an optical axis of the light emitted from the light emitting part and an outer edge located on an outer side
relative to the optical axis, at least one of the inner edge and the outer edge being disposed at a greater distance from
the optical axis than an edge of a slit array corresponding to the at least one light receiving part, wherein the distance
remains constant throughout operation of the optical encoder, and

wherein the at least one the light receiving part is disposed within a range defined between two lines that extend parallel
to the optical axis from the inner edge of a first light blocking part located on the inner side of the slit array and from
the outer edge of a second light blocking part located on the outer side of the slit array, respectively, the first and second
light blocking part being a pair of light blocking part that extend adjacent to opposite sides of the slit array corresponding
to the at least one light receiving part and that do not allow light to pass therethrough.

US Pat. No. 9,837,041

DISPLAY UNIT

FANUC CORPORATION, Minam...

1. A display unit comprising a display control printed circuit board with a circuit configured to generate a display signal
for display by a display panel and a fixing metal plate for securing the display control printed circuit board, wherein the
display control printed circuit board comprises an identification information reading unit for reading identification information
of the display panel, a memory stored with set values for generating display signals corresponding to sizes of a plurality
of display panels, and a display controller configured to generate the display signals; the fixing metal plate comprises one
or more members electrically connected to the display control printed circuit board and configured to transmit the identification
information of the display unit to the display control printed circuit board; and the identification information reading unit
reads set values for the display panel from the memory, based on the identification information of the display panel derived
from the one or more electrically connected members, and sets the set values in the display controller configured to generate
the display signals.

US Pat. No. 9,721,184

APPARATUS AND METHOD FOR PICKING UP ARTICLE RANDOMLY PILED USING ROBOT

FANUC CORPORATION, Yaman...

1. An article pickup apparatus comprising:
a robot including a hand capable of holding an article;
a three-dimensional measurement instrument measuring surface positions of a plurality of articles randomly piled on a three-dimensional
space to acquire position information of a plurality of three-dimensional points on surfaces of articles;

a connected set calculation unit determining a connected set made by connecting three-dimensional points present in the vicinity
of each other among the plurality of three-dimensional points acquired by the three-dimensional measurement instrument;

an article identification unit identifying a position and a posture of an article based on the position information of three-dimensional
points belonging to the connected set,

wherein the article identification unit calculates a main component direction of the connected set by applying main component
analysis to the three-dimensional points belonging to the connected set, and identifies the posture of the article based on
the main component direction;

a hand position posture calculation unit determining a hand position posture, the hand position posture being a position and
a posture of the hand capable of picking up the article identified by the article identification unit; and

a robot control unit controlling the robot so as to move the hand to the hand position posture determined by the hand position
posture calculation unit to pick up the article.

US Pat. No. 9,715,227

ROBOT CONTROLLER HAVING FUNCTION OF PREDICTING PROCESSING COMPLETION TIME OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A processing system comprising:
a machine tool controller for controlling a machine tool; and
a robot controller for controlling a robot, wherein,
the machine tool controller includes a signal output part configured to output a processing start signal at a processing start
time of a workpiece, the robot controller includes:

an operation command part configured to output an operation command of the robot so as to perform a first operation of conveying
the workpiece from an initial position to a first position adjacent to the machine tool and a second operation of conveying
the workpiece conveyed to the first position to a second position in a processing region of the machine tool;

a time prediction part configured to predict a processing completion time of the workpiece in the machine tool based on the
processing start signal output from the signal output part;

a time length prediction part configured to predict time length necessary for the first operation of the robot; and
a time determination part configured to determine start time of the first operation so that the first operation is completed
at the processing completion time based on the processing completion time predicted by the time prediction part and the time
length predicted by the time length prediction part,

the signal output part further outputs a processing completion signal at the processing completion time of the workpiece,
the robot controller further includes a processing time storage part configured to store processing start time and processing
completion time respectively corresponding to the processing start signal and the processing completion signal output from
the signal output part,

the processing time storage part stores processing start time and processing completion time for each machine tool,
the time prediction part predicts processing completion time of a currently processed workpiece based on processing start
time and processing completion time of a processed workpiece, which is stored in the processing time storage part for each
machine tool,

the robot controller further includes a conveying time storage part configured to store first operation time necessary for
the first operation each time the first operation is completed, and

the time length prediction part predicts current time length necessary for the first operation based on the past first operation
time stored in the conveying time storage part.

US Pat. No. 10,996,650

NUMERICAL CONTROL SYSTEM

Fanuc Corporation, Yaman...

1. A numerical control system that detects a state of wear or breakage of a tool of a machine tool that machines a workpiece, the numerical control system comprising:a condition designating unit that designates a condition of a machining operation of the machine tool;
a state amount detection unit that detects a state amount indicating a state of the machining operation of the machine tool;
an inference computing unit that infers an evaluation value of the state of machining operation, from the state amount;
an abnormality detection unit that detects the state of wear or breakage of the tool on the basis of the evaluation value;
a learning model generation unit that generates and updates a plurality of learning models by machine learning that uses the state amount; and
a learning model storage unit that stores the plurality of learning models generated by the learning model generation unit in correlation with a combination of conditions designated by the condition designating unit and a use condition including an inference process or a processing ability necessary for using the learning model, wherein the inference computing unit computes the evaluation value of the state of machining operation by selectively using one or more learning models among the learning models stored in the learning model storage unit on the basis of the condition of the machining operation designated by the condition designating unit and a processing ability and an inference process executable by the inference computing unit.

US Pat. No. 10,996,654

SERVO CONTROLLER

FANUC CORPORATION, Yaman...

1. A servo controller comprising: a servo control unit that controls a motor in a machine based on a position command; a position detection unit that detects the position of the motor; a positional error calculation unit that calculates a positional error between the position command and the position of the motor detected by the position detection unit; a position abnormality detection unit that detects a position abnormality in the motor when the positional error calculated by the positional error calculation unit is a first threshold or more; a load detection unit that detects a load torque on the motor; a load abnormality detection unit that detects a load abnormality in the motor when the load torque detected by the load detection unit is a second threshold or more; an abnormality detection unit that detects an abnormality in the machine when the position abnormality detection unit detects the position abnormality in the motor or when the load abnormality detection unit detects the load abnormality in the motor; and a threshold change unit that changes at least one of the first threshold and the second threshold in response to a load state of the motor, wherein when the position abnormality detection unit detects the position abnormality in the motor, the position abnormality detection unit outputs a position abnormality level responsive to the magnitude of the positional error, when the load abnormality detection unit detects the load abnormality in the motor, the load abnormality detection unit outputs a load abnormality level responsive to the magnitude of the load torque, and the abnormality detection unit detects the abnormality in the machine based on the position abnormality level output from the position abnormality detection unit and the load abnormality level output from the load abnormality detection unit, and issues a notification to stop the operation of the motor when abnormality is detected, wherein the threshold change unit controls the position abnormality detection unit or the load abnormality detection unit so as to invalidate one of output of the position abnormality level and output of the load abnormality level in response to the load state of the motor, wherein the threshold change unit controls the load abnormality detection unit so as to invalidate output of the load abnormality level when the load state of the motor is a heavy load state, and the threshold change unit controls the position abnormality detection unit so as to invalidate the position abnormality level when the load state of the motor is a no-load state or a light-load state.

US Pat. No. 10,996,655

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller capable of handling information on a tool, the numerical controller comprising:a processor configured to perform the following sequential steps:
begin machining to remove material from a workpiece with the tool based on a machining program, shape information of a use tool, and shape information of the workpiece;
in response to receiving a suspension command, stop machining the workpiece; calculate a machined shape of the workpiece at a time of the stoppage, the machined shape being calculated by determining the material removed from the workpiece based on the shape information of the tool, the shape information of the unmachined workpiece, and a tool trajectory of the tool during the machining prior to the stoppage; and
set, as a movable range of the tool, a range in which the tool never contacts the workpiece being machined, based on the machined shape of the workpiece, if manual operation is performed after the stoppage.

US Pat. No. 10,997,711

APPEARANCE INSPECTION DEVICE

FANUC CORPORATION, Yaman...

1. An appearance inspection device for performing inspection on a basis of data on appearance, the appearance inspection device comprising:a memory configured to store
a set of pieces of data, as a reference data set, which has been used for learning in the past and each of which is given a label indicating normality or abnormality, and
a set of pieces of data, as a learning data set, which is used for additional learning and each of which is given a label indicating normality or abnormality; and
a processor configured to
create, on a basis of the reference data set and the learning data set, a combination including
first data, which is normal data (i) included in at least one of the reference data set or the learning data set and (ii) given the label indicating the normality, wherein the normal data excludes data (a) included in at least one of the reference data set or the learning data set and (b) given the label indicating the abnormality, and
second data, which is data as an object to be compared with the first data, and
perform machine learning to learn classification of the second data as normal or abnormal for the combination of the first data and the second data, wherein, in the machine learning, the processor is configured to
observe the combination of the first data and the second data as a state variable representing a current state of an environment,
acquire a label given to the second data as label data, and
learn by associating the state variable with the label data, wherein
the processor is configured to create the combination such that at least one of the first data or the second data is a piece of data selected from the learning data set.

US Pat. No. 10,994,381

CONTROLLER, DATA GENERATION DEVICE, CONTROL METHOD, AND CONTROL PROGRAM

FANUC CORPORATION, Yaman...

1. A controller comprising:a storage unit that stores change designation data describing a command value for relative motion between a machine tool and a workpiece in association with respective identifiers indicating at least one block among multiple blocks constituting a machining program for the machine tool, the change designation data being a file that is different from the machining program;
a change unit that reads the multiple blocks in the machining program sequentially, and, in the course of executing the machining program, refers to stored change designation data and changes the block of the machining program being executed that is indicated by the identifier based on the command value described in the change designation data and associated with the identifier; and
an analysis unit that analyzes the block changed by the change unit, and generates execution data.

US Pat. No. 10,994,422

ROBOT SYSTEM FOR ADJUSTING OPERATION PARAMETERS

FANUC CORPORATION, Yaman...

1. A robot system that performs desired processing on a processing target object using a processing tool, comprising:a robot having an arm tip that holds the processing tool or the processing target object;
a position detector that detects a position of the arm tip; and
a robot controller that controls a relative position between the processing tool and the processing target object by controlling an operation of the robot based on a position command and a position feedback detected by the position detector, wherein
the robot controller includes:
a memory configured to store a program; and
a processor configured to execute the program and control the robot controller to:
during adjustment of operation parameters for controlling the operation of the robot, acquire an application of the robot and an operation area of the robot and automatically create an adjustment operation for adjusting the operation parameters, the adjustment operation corresponding to the acquired application and the operation area; and
automatically adjust the operation parameters during execution of the adjustment operation created so that a required performance which is required for the application is satisfied.

US Pat. No. 10,994,427

ROBOT WITH SAFETY FENCE AND ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot comprising:a base;
a movable part having a base end supported to the base so as to be rotatable about a first axis, and a tip end performing operation on an operation target;
a safety fence rotated about the first axis together with the movable part, wherein the safety fence is disposed in a position surrounding only a rear side of the robot with the safety fence without surrounding a top side of the robot, wherein the rear side is opposite a front side of the robot with the safety fence where the tip end of the movable part performs operation; and
wherein the safety fence is disposed in a position radially closer to the first axis than a farthest distance the tip end of the movable part travels from the first axis on the front side, and a position radially farther away from the first axis than the farthest distance a portion of the movable part travels from the first axis during operation, on the rear side.

US Pat. No. 10,993,344

CONNECTION STRUCTURE AND ASSEMBLY

FANUC CORPORATION, Yaman...

1. A connection structure configured to connect a printed board having formed therein a through hole with an installation object which is arranged at a distance from a first surface of the printed board, comprising:a support column member extending in one direction from one end to an opposite end, with the one end attached to the installation object and the opposite end having formed therein a screw hole, the support column member being configured to be non-insertable into the through hole;
a surrounding member provided on the first surface of the printed board and configured to surround an opening of the through hole and to allow the opposite end of the support column member to be inserted into the surrounding member; and
a fastener configured to fix the support column member to the printed board by being screw-engaged into the screw hole of the support column member inserted into the surrounding member, from a second surface side opposite to the first surface of the printed board.

US Pat. No. 10,987,756

LASER PROCESSING SYSTEM

FANUC CORPORATION, Yaman...

1. A laser processing system comprising:a laser oscillator;
a laser beam emitting tool which is connected to the laser oscillator through an optical fiber and supported by a first robot, the laser beam emitting tool comprises a lens which makes a laser beam supplied by the laser oscillator substantially parallel and emits the substantially parallel laser beam; and
a laser processing tool which is supported by a second robot and which receives the laser beam emitted by the laser beam emitting tool and emits the laser beam toward a processing position, the laser processing tool comprising:
a main body with a hollow portion formed therethrough;
a reflector positioned within the hollow portion; and
a focusing lens positioned within the hollow portion for focusing the laser beam from the reflector.

US Pat. No. 10,990,089

MACHINE LEARNING DEVICE LEARNING FAILURE OCCURRENCE MECHANISM OF LASER DEVICE

Fanuc Corporation, Yaman...

1. A machine learning device that is connected with at least one laser device to be mutually communicable with the laser device via a network, the laser device comprising:at least one laser oscillator;
a power source unit that supplies driving current to the laser oscillator;
at least one output light sensor that detects light output of laser light emitted from the laser oscillator; and
a control unit that outputs at least a current output command corresponding to a light output command to the power source unit and receives a detection signal from the output light sensor, wherein
the machine learning device comprises:
a state observation unit that observes a state variable of an inside and an outside of the laser device, the state variable including time-series data of light output which is detected by the output light sensor and the light output command, through the control unit of the laser unit;
a determination result acquisition unit that acquires a determination result on correctness with respect to a quantitative failure occurrence mechanism, the quantitative failure occurrence mechanism being outputted by the machine learning device for each failure in the laser device;
a learning unit that receives output from the state observation unit and output from the determination result acquisition unit and learns the quantitative failure occurrence mechanism corresponding to the each failure while associating the quantitative failure occurrence mechanism with the state variable of the laser device, the state variable being observed by the state observation unit, and the determination result on correctness with respect to the quantitative failure occurrence mechanism, the determination result being acquired by the determination result acquisition unit; and
a decision making unit that refers to a learning result of the learning unit when an occurrence of the each failure is detected through at least collation between the time-series data of the light output and the light output command and decides the quantitative failure occurrence mechanism which is to be outputted from the machine learning device.

US Pat. No. 10,987,810

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system, comprising:a robot;
a controller which sets an operation limitation area for limiting operations of the robot; and
a storage unit which stores information about a step on a floor surface as information about the floor surface,
wherein the floor surface is part of a work area, surrounding the robot, where an object person performs tasks,
wherein the controller resets the operation limitation area using the information about the floor surface, and
wherein the controller further resets the operation limitation area using the information about the step.

US Pat. No. 10,989,614

TORQUE SENSOR AND ROBOT

FANUC CORPORATION, Yaman...

1. A torque sensor comprising:a bearing that is provided with an inner ring and an outer ring that are supported so as to be relatively movable only in the direction of rotation about a predetermined axis;
a connecting member that is provided with fixing sections that are respectively fixed to the inner ring and the outer ring and a strain generation section that connects between the fixing sections, the connecting member being separated from the bearing; and
a strain sensor that is disposed on the connecting member so as to be capable of detecting a strain at least in the circumferential direction.