US Pat. No. 10,992,220

POWER SUPPLY CIRCUIT FOR FIBER LASER OSCILLATOR USE

FANUC CORPORATION, Yaman...

1. A power supply circuit for fiber laser oscillator use, comprising:a power supply unit physically containing a plurality of power supply circuits that are connected to a plurality of laser cavities of a laser diode module, the laser diode module being configured to provide a plurality of laser lights to a beam combiner that combines the plurality of laser lights into combined laser light and provides the combined laser light to a laser machining head; and
a rectifier circuit unit, separate and distinct from the power supply unit, water cooled, and physically containing rectifier circuitry configured to receive an input voltage having a particular value and provide an output voltage to the power supply unit based on the input voltage, such that the power supply unit is configured to power the laser diode module via the power supply circuits, based on the output voltage received from the rectifier circuit unit, to cause the laser diode module to generate the laser lights.

US Pat. No. 10,984,949

RESIN MOLDED SUBSTRATE AND MOUNTING STRUCTURE FOR CAPACITOR

FANUC CORPORATION, Yaman...

1. A resin molded substrate for allowing a cylindrical capacitor to be mounted in an upright state with a solder, the capacitor having a pair of lead terminals at a bottom portion, the resin molded substrate comprising:at least a pair of terminal through holes for allowing the lead terminals of the capacitor to be inserted through, respectively; and
at least one protrusion for spacing the capacitor from a front surface of the substrate, the at least one protrusion contacting a bottom portion of the capacitor, the lead terminals of the capacitor being inserted through the terminal through holes, wherein
the at least one protrusion is disposed so as to overlap at least one of the pair of terminal through holes, and
a terminal through hole, among the at least a pair of terminal through holes, that is overlapped by the protrusion penetrates through the protrusion.

US Pat. No. 10,984,523

SEAM INSPECTION APPARATUS

FANUC CORPORATION, Yaman...

1. A seam inspection apparatus for determining quality of a seam of a sewn product, the apparatus comprising:an imaging device configured to acquire image data of the seam of the sewn product; and
a processor configured to
extract a feature quantity from a partial image which is a part of an entire image in the image data acquired by said imaging device, the entire image including a series of seams, and the partial image including a number of seams less than all of the seams in the entire image of the series of seams, and
perform quality determination of the seam based on the feature quantity of the seam.

US Pat. No. 10,983,502

REMOTE MANAGEMENT DEVICE AND REMOTE MANAGEMENT METHOD

FANUC CORPORATION, Yaman...

1. A remote management device communicably connected to at least one controller, the controller allowing only direct connection to another device via a predetermined connector, the controller exchanging data with a fixed input and a fixed output destination and the controller not having a setting function of setting a data output destination and a data input destination, the remote management device comprising:a control unit; and
a communication unit configured to communicate with a mobile terminal via a network,
the control unit including:
an input and an output control unit configured to control, in a case where data held in the controller is to be outputted from the controller to the remote management device, a setting in which at least the controller is set as an input destination and the remote management device is brought into an input waiting state such that the data from the controller is inputted into the remote management device, and to control, in a case where data stored in the remote management device is to be outputted from the remote management device to the controller, a setting in which the controller is set as an output destination and an output start instruction is issued such that the data of the remote management device is outputted to the controller; and
a setting screen providing unit configured to provide the mobile terminal with a setting screen allowing a user to make the setting in which the data from the controller is inputted in the case where the data is to be outputted from the controller to the remote management device, and a setting screen allowing the user to make the setting in which the data is outputted to the controller in the case where the data is to be outputted from the remote management device to the controller.

US Pat. No. 10,974,333

WIRE ELECTRICAL DISCHARGE MACHINE AND METHOD OF CONTROLLING WIRE ELECTRICAL DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine comprising:a machine main body for performing electrical discharge machining on a workpiece with a wire electrode in accordance with a machining program;
a camera configured to take an image of the workpiece and fixed so as to move relative to the workpiece; and
a control device configured to:
control the machine main body so as to move the wire electrode to a wire feeding position on the workpiece defined by the machining program and feed the wire electrode;
control the machine main body so as to perform electrical discharge machining on the workpiece with the wire electrode while moving the wire electrode along a machining path defined by the machining program; and
obtain a position of a wire feeding hole that allows for insertion and feeding of the wire electrode, from the image of the workpiece taken by the camera, wherein:
when the position of the wire feeding hole is deviated from the wire feeding position defined by the machining program, the control device is configured to:
control the machine main body to move the wire electrode to the position of the wire feeding hole and feed the wire electrode there, and
control the machine main body to perform electrical discharge machining on the workpiece with the wire electrode while moving the wire electrode on a path segment between a position where the wire electrode has been fed and the wire feeding position defined by the machining program, and wherein the control device is further configured to, before start of machining the workpiece, control the machine main body to move the camera relative to the workpiece along the machining path defined by the machining program to obtain the position of the wire feeding hole.

US Pat. No. 10,977,958

GUIDANCE DISPLAY METHOD

FANUC CORPORATION, Yaman...

1. A guidance display method of causing a display unit operatively coupled to a turret provided with a plurality of grips, each grip capable of holding a tool to display instructions for an angular position adjustment method for adjusting a predetermined angular position of the turret so that the predetermined angular position becomes an origin, comprising:providing a processor programmed to cause the display unit to display the following steps:
displaying a first step on the display unit to instruct an operator to move a spindle up and down near a position at which the tool is transferred between a predetermined grip of the plurality of grips and the spindle and to observe runout of a tool tip, and
when the operator confirms that runout of the tool tip is observed by operating a button on the display unit,
automatically displaying a second step on the display unit to instruct the operator to raise the spindle up to a turret rotatable position where the turret rotates while the tool attached to the turret does not interfere with the spindle; and
displaying a third step on the display unit, after the operator has raised the spindle up according to the second step, to instruct the operator to turn the turret so as to reduce the runout of the tool tip.

US Pat. No. 10,975,910

LINEAR MOTION MECHANISM, BALANCER DEVICE AND MACHINE TOOL

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,976,717

INTERFERENCE MONITORING DEVICE

FANUC CORPORATION, Yaman...

1. An interference monitoring device that makes a check on interference between a tool and a workpiece in a machine for performing predetermined machining on the workpiece while moving the tool and the workpiece relative to each other based on a program, the interference monitoring device comprising:a processor configured to:
calculate an advanced position of the tool or the workpiece ahead by a predetermined period of time based on the program;
draw an estimated shape of a machined part of the workpiece based on the advanced position, and make the interference check based on the estimated shape of the machined part of the workpiece; and
calculate an error between the estimated shape of the machined part of the workpiece and a stored shape of the machined part of the workpiece as an uncut region in the estimated shape of the machined part of the workpiece, wherein
the interference check is not made in the uncut region,
the estimated shape of the machined part of the workpiece is drawn while the machining is being performed, and
the stored shape of the machined part of the workpiece is stored prior to the machining being performed.

US Pat. No. 10,976,719

PARAMETER SETTING SUPPORT DEVICE

FANUC CORPORATION, Yaman...

1. A parameter setting support device for a numerical controller configured to control a machine tool, the parameter setting support device comprising:a display; and
a processor configured to
cause the display to display an input screen for setting a parameter of a function of the numerical controller,
accept, via the input screen, a value of the parameter of the function,
identify a related function of the numerical controller, wherein the related function is related to the parameter of the function, and wherein a value of the identified related function is set based on a relationship between the parameter of the function and the related function of the numerical controller, and
identify a setting range of a parameter of the identified related function by calculating a predetermined conditional expression for the setting range of the parameter of the identified related function,
wherein the processor is configured to cause the display to display the setting range of the parameter of the identified related function, and
the numerical controller is configured to use the setting range of the parameter of the identified related function to control the machine tool.

US Pat. No. 10,975,953

OIL CIRCULATION DEVICE AND OIL CIRCULATION SYSTEM FOR AGITATING OIL IN OIL BATH

FANUC CORPORATION, Yaman...

1. An oil circulation device for agitating oil, comprising:an oil bath having a first oil supply/discharge port and a second oil supply/discharge port;
a circulation pump for circulating the oil;
a pair of pipes for connecting the oil bath and the circulation pump;
an oil supply/discharge direction switching valve which is attached to the pipes so as to switch the oil supply/discharge direction for the first oil supply/discharge port and the second oil supply/discharge port;
a filter mechanism which is located upstream of the circulation pump so as to filter impurities in the oil; and
a control unit for controlling at least the circulation pump and the oil supply/discharge direction switching valve, wherein
the control unit has:
an agitation mode in which a command is executed for the oil supply/discharge direction switching valve so that the oil supply/discharge direction is switched so as to supply oil to the first oil supply/discharge port located at a low position in the oil bath and discharge oil from the second oil supply/discharge port located at a high position in the oil bath, whereby oil in the oil bath is agitated via the circulation pump from the low position to the high position in the oil bath; and
a filter mode in which, after the agitation mode is executed so as to suspend impurities in the oil bath, a command is executed for the oil supply/discharge direction switching valve so that the oil supply/discharge direction is switched so as to discharge oil from the first oil supply/discharge port located at the low position in the oil bath and supply oil to the second oil supply/discharge port located at the high position in the oil bath, whereby impurities in the oil sent to the filter mechanism by the circulation pump are filtered.

US Pat. No. 10,974,331

WIRE ELECTRICAL DISCHARGE MACHINE AND AUTO WIRE FEEDING METHOD OF WIRE ELECTRICAL DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine, comprising:a feed roller configured to feed a wire electrode toward a workpiece;
a collecting roller configured to collect the wire electrode having passed through the workpiece;
a guide member arranged on a path for feeding the wire electrode from the feed roller toward the workpiece and having therein a passage hole through which the wire electrode is passed;
an airflow generator configured to generate a flow of compressed air in the passage hole and to switch a flow direction of the compressed air flowing through the passage hole between a forward direction which corresponds to a feeding direction of the wire electrode and a reverse direction opposite to the feeding direction of the wire electrode;
a deflection detector configured to detect a deflection of the wire electrode; and
a control device configured to control the airflow generator so as to generate a flow of the compressed air in the forward direction in the passage hole during auto wire feeding and so as to, when the deflection detector detects the deflection, change the flow direction of the compressed air flowing through the passage hole to the reverse direction and thereafter switch the flow direction of the compressed air from the reverse direction to the forward direction,
wherein the airflow generator is configured to inject the compressed air into the passage hole from an outlet side for the wire electrode in the passage hole to direct the flow of the compressed air through the passage hole in the reverse direction,
the airflow generator includes a turbulence generating member configured to disturb the flow of the compressed air, the turbulence generating member being arranged on a flow path of the compressed air between the outlet side for the wire electrode in the passage hole and a position at which the compressed air is injected, wherein a tip of the wire electrode is moved irregularly at different positions by the disturbed flow of the compressed air.

US Pat. No. 10,972,035

MOTOR DRIVE APPARATUS FOR ESTIMATING STRAY CAPACITANCE

FANUC CORPORATION, Yaman...

1. A motor drive apparatus, comprising:an inverter configured to convert an input DC voltage into an AC voltage for driving a motor, by ON/OFF driving of an internal power element, and output the AC voltage; and
a processor configured to
detect a high-frequency current from a current flowing through a motor power line upon application of the AC voltage to the motor via the motor power line, and
estimate a stray capacitance occurring in the motor power line and the motor, based on the high-frequency current,
wherein the processor is further configured to perform processing for estimating the stray capacitance, in a stray capacitance estimation mode executed at a timing different from a timing of a normal operation mode in which the motor is driven by the AC voltage output from the inverter, and
wherein the processor is further configured to
obtain a difference between the current flowing through the motor power line and a current obtained by eliminating a current containing a frequency component higher than a cutoff frequency from the current flowing through the motor power line using a low-pass filter, and
output the difference obtained as the high-frequency current.

US Pat. No. 10,967,470

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:a tool holder which includes a tool and a key groove;
a spindle drive unit which includes a spindle key that can be fitted into the key groove of the tool holder and a spindle and which removably holds the tool holder;
a tool exchanger which includes a grip key that can be fitted into the key groove of the tool holder and a grip that holds the tool holder at a fixed position with respect to the spindle;
a numerical controller which controls the tool exchanger so as to fit and remove the tool holder with respect to the spindle; and
a load threshold value storage unit which stores a threshold value for a load applied to the spindle,
wherein the numerical controller controls the spindle drive unit such that when the tool holder held by the grip is fitted to the spindle, in a state where at least the key groove of the tool holder is inserted in the spindle key, the spindle is rotated to press the spindle key to the key groove of the tool holder so as to determine a phase of the tool holder with respect to the spindle, and
wherein when the phase of the tool holder is determined, the numerical controller determines, based on the load applied to the spindle and the threshold value for the load stored in the load threshold value storage unit, whether or not the determination of the phase of the tool holder is completed.

US Pat. No. 10,967,474

SERVO CONTROLLER FOR DETERMINING AN ESTIMATED POSITION DEVIATION AND COMPENSATING A POSITION DEVIATION WITH THE ESTIMATED POSITION DEVIATION

FANUC CORPORATION, Yaman...

1. A servo controller which controls a machine tool that turns a workpiece by cooperative operation of a plurality of axes, the servo controller comprising:an oscillation command generating unit that generates an oscillation command for causing the workpiece and the tool to relatively oscillate;
a position deviation estimating unit that estimates an estimated position deviation from a moving command for causing the workpiece and the tool to relatively move;
a first subtractor that determines a position deviation based on the moving command;
an adder that applies the oscillation command to the position deviation;
a second subtractor that deducts the estimated position deviation from a position deviation to which the oscillation command is applied; and
a learning control unit that calculates a compensation amount from a position deviation based on the moving command after deducting the estimated position deviation.

US Pat. No. 10,970,326

RETRIEVING DEVICE, RETRIEVING METHOD, AND RETRIEVING PROGRAM

FANUC CORPORATION, Yaman...

1. A retrieving device comprising:at least one memory configured to store a program; and
at least one processor configured to execute the program and control the retrieving device to:
classify document data pieces, each made up of a plurality of items, based on a determination of matching of a first item among the plurality of items, the first item having a combination of one or more symbol strings and being described in a database in which the document data is stored, the matching being determined between a plurality of first items in the document data pieces to classify certain first items into a classification group of document data pieces;
extract a group of keywords as related words included in a second item among the plurality of items from pieces of second item document data in a same classification group of document data pieces as the certain first items,
receive a retrieval request based on a first keyword; and
retrieve document data using the first keyword and retrieve document data using a second keyword included in a same classification group of keywords as the first keyword so that the first keyword and the second keyword are related words,
wherein the document data is a failure report of an apparatus, and
wherein the first item is a repair part, and the second item is a failure phenomenon.

US Pat. No. 10,967,528

MAINTENANCE JIG FOR BALANCER OF ROBOT

FANUC CORPORATION, Yaman...

1. A maintenance jig for a balancer of a robot, the balancer including a casing that has a cylindrical shape and that is closed at both ends by two end plates, each having a through hole that passes through in a thickness direction, a movable member disposed in the casing so as to be movable in an axial direction of the casing, a rod that has one end, which is fixed to the movable member, and that has another end, which is disposed outside the casing through the through hole of one of the end plates, and a force generating member that is accommodated in the casing and that generates a pulling force that pulls the rod into the casing in accordance with an amount of movement of the movable member, said maintenance jig comprising:a first member that is detachably fixed to the other end plate and that includes a screw hole disposed at a position corresponding to the through hole of the other end plate; and
a second member that is elongated, that includes a male screw portion to be fastened to the screw hole, and that has a distal end that abuts against the movable member by being passed through the through hole of the other end plate; and
a friction reducing portion disposed at the distal end of the second member,
wherein the second member includes a rotational force input unit through which a rotational force about a longitudinal axis is input, and
wherein the friction reducing portion reduces a sliding friction with respect to the movable member.

US Pat. No. 10,971,978

ADAPTER FOR MOTOR REPLACEMENT AND MOTOR REPLACEMENT METHOD

FANUC CORPORATION, Yaman...

1. An adapter for motor replacement, the adapter being used for a drive mechanism including a motor, a housing that fixes the motor, and a pulley that is fixed to the motor with a threaded fastener and transmits a rotary drive force via a belt, and the adapter comprising:a pulley fixing portion; and
a housing fixing portion offset from the pulley fixing portion and coupled to the pulley fixing portion,
wherein the adapter is configured to be placed so as to be bridged between the housing and the pulley and to avoid a space for removing the motor from the housing,
the housing fixing portion is fixed to the housing,
the pulley fixing portion is fixed to the pulley, and the pulley fixing portion includes an opening disposed such that, in a state where the pulley fixing portion is fixed to the pulley, and the housing fixing portion is fixed to the housing, the opening is superimposed over the threaded fastener and the threaded fastener is withdrawable through the opening;
the adapter further comprising a housing cover as the pulley fixing portion and a sleeve as the housing fixing portion, the housing cover comprising the opening and the sleeve comprising a first abutting surface and a second abutting surface, wherein
the housing cover is configured to be placed so as to be fixed to the housing so as to avoid a space for removing the motor from the housing,
the first abutting surface is inserted into a third through hole provided in the housing cover to abut on a surface of the pulley, and the second abutting surface abuts on a surface of the housing cover, so that the sleeve is fixed to the housing cover and the pulley, and
in a state where the housing cover is fixed to the housing, and the sleeve is fixed to the housing cover and the pulley, the opening is superimposed over the threaded fastener and the threaded fastener is withdrawable through the opening.

US Pat. No. 10,965,151

MOTOR DRIVE SYSTEM INCLUDING POWER STORAGE DEVICE

Fanuc Corporation, Yaman...

1. A motor drive system comprising:a converter configured to convert power between AC power in a power source and DC power in a DC link;
an inverter for drive configured to convert power between the DC power in the DC link and AC power serving as drive power or regenerative power for a servomotor for drive;
a motor control unit for drive configured to control the servomotor for drive connected to the inverter for drive;
a power storage device configured to store the DC power from the DC link or to supply the DC power to the DC link;
a power storage device control unit configured to control the power storage device to store DC power from the DC link such that a holding energy of the power storage device restores to a base holding energy, the base holding energy is a constant target energy level for the power storage device to obtain when the motor control unit does not control the servomotor for drive; and
a base holding energy change unit configured to:
increase the base holding energy in response to the holding energy of the power storage device previously decreasing below a threshold for energy shortage determination, by adding a first value, which is equal to or greater than a first amount that the holding energy of the power storage device previously decreased below the threshold for energy shortage determination, and
decrease the base holding energy in response to the holding energy of the power storage device previously increasing above a threshold for energy excess determination by subtracting a second value, which is equal to or greater than a second amount that the holding energy of the power storage device previously increased above the threshold for energy shortage determination,
wherein the threshold for energy shortage determination and the threshold for energy excess determination do not change in response to the increase or the decrease in the base holding energy.

US Pat. No. 10,960,549

VIBRATION ANALYZER AND VIBRATION ANALYSIS METHOD

FANUC CORPORATION, Yaman...

1. A vibration analyzer comprising:a sensor configured to measure an effector vibration of an end effector supported by a distal end of a robot;
at least one memory configured to store a vibration calculation model of the robot; and
at least one processor configured to:
calculate a robot vibration of the distal end of the robot to which the end effector is not attached on the basis of operation of the robot when the vibration of the end effector is measured by the sensor and the vibration calculation model of the robot; and
calculate a vibration state of the end effector based on the calculated robot vibration of the distal end of the robot and the effector vibration of the end effector measured by the sensor.

US Pat. No. 10,960,590

STATE DETERMINATION DEVICE

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,965,222

POWER SUPPLY

FANUC CORPORATION, Yaman...

1. A power supply comprising:a rectifier circuit which has a plurality of rectifier switching elements, and separately extracts a positive voltage and a negative voltage for every phase from a primary power source of three-phase alternating current, respectively;
a smoothing circuit which has a pair of smoothing capacitors connected in series to each other to be charged by the rectifier circuit, and a plurality of smoothing inductors respectively arranged between the rectifier circuit and the smoothing capacitors;
an inverter circuit which has a plurality of inverter switching elements and inverts output of the smoothing circuit into alternating current; and
a control circuit which controls switching of the plurality of rectifier switching elements so that output voltage of the smoothing circuit becomes a desired voltage, and electrical current flowing to each phase of the rectifier circuit becomes a desired electrical current.

US Pat. No. 10,962,960

CHIP REMOVAL APPARATUS AND INFORMATION PROCESSING APPARATUS

Fanuc Corporation, Yaman...

1. An information processing apparatus which determines a discharge condition indicating values of air or fluid discharged by a chip removal apparatus in order to remove chips, the information processing apparatus comprising:a processor configured to:
observe data indicating a removal efficiency of the chips, obtained when performing prescribed chip removal operation under a prescribed discharge condition indicating prescribed values of the air or the fluid discharged by the chip removal apparatus, as a state variable representing a current state of an environment;
acquire determination data indicating a propriety determination result of the removal efficiency of the chips; and
learn a correlation between the adjustment of the discharge condition and the removal efficiency of the chips using the state variable and the determination data, by:
obtaining a reward related to the propriety determination result; and
updating, using the reward, a function representing a value of the discharge condition with respect to the removal efficiency of the chips,
wherein the processor learns the value of an action of adjustment of the discharge condition that is made when the removal efficiency of chips is observed so as to learn a correlation between the adjustment of the discharge condition and the removal efficiency of chips.

US Pat. No. 10,949,740

MACHINE LEARNING DEVICE, NUMERICAL CONTROLLER, MACHINE TOOL SYSTEM, MANUFACTURING SYSTEM, AND MACHINE LEARNING METHOD FOR LEARNING DISPLAY OF OPERATION MENU

FANUC CORPORATION, Yaman...

1. A machine learning device configured to detect an operator, communicate with a database registering information concerning the operator, and learn display of an operation menu based on the information concerning the operator, the device comprising:a processor configured to:
observe an operation history of the operation menu, and
learn the display of the operation menu on the basis of the observed operation history of the operation menu, wherein
the information concerning the operator comprises information concerning one of a role and an authority level of the operator, and
the operation menu based on the information concerning the operator changes on the basis of the information concerning the one of the role and the authority level of the operator.

US Pat. No. 10,949,023

TOUCH PANEL DEVICE, TOUCH PANEL DEVICE CONTROL METHOD, PROGRAM, AND STORAGE MEDIUM STORING THE PROGRAM

FANUC CORPORATION, Yaman...

1. A touch panel device configured to allow a user to perform a multi-touch operation, comprising:a touch panel configured to output signals corresponding to positions touched by operating members;
an operation position obtaining unit configured to obtain, as operation positions of the operating members, positions on the touch panel that are touched by the operating members, the positions on the touch panel being determined based on the signals outputted from the touch panel;
an intersection determination unit configured to, when input is given by the multi-touch operation, determine whether a first path and a second path intersect each other, the first path being a path of the operation position of one operating member of the operating members, the second path being a path of the operation position of another operating member of the operating members; and
a correction unit configured to, when a determination that the first path and the second path intersect each other is made, substitute the operation position of the one operating member obtained by the operation position obtaining unit for the operation position of the other operating member, and substitute the operation position of the other operating member obtained by the operation position obtaining unit for the operation position of the one operating member.

US Pat. No. 10,946,472

SPOT WELDING SYSTEM INCLUDING TIP DRESSER FOR POLISHING ELECTRODE

Fanuc Corporation, Yaman...

1. A spot welding system comprising:a spot welding gun that includes a pair of electrodes arranged so as a tip of each electrode of the pair of electrodes faces each other;
a robot configured to change a position and an orientation of the spot welding gun;
a tip dresser configured to polish a face of said tip of said electrode of the pair of electrodes; and
a control device configured to control the spot welding gun and the tip dresser; wherein
the spot welding gun includes an electrode driving motor configured to drive said electrode,
wherein the tip dresser includes a blade configured to cut the face of said tip of said electrode and a blade driving motor configured to rotate the blade, a torque of the blade driving motor increases when the blade driving motor is started, and then decreases so as to be a torque value at the time when the blade driving motor drives in an idling state at a predetermined reference speed, and
wherein while the pair of electrodes of the spot welding gun start to be pressed against the blade, the control device is configured to:
a) detect, by a torque detector of the control device, the torque of the blade driving motor,
b) compare, by a processor of the control device, the torque of the blade driving motor to a predetermined torque upper limit value of the blade driving motor, the predetermined torque upper limit value corresponding to an occurrence of damage or reduction in lifespan due to excessive load applied to a constituent component of the tip dresser,
c) when the torque of the blade driving motor is greater than the predetermined torque upper limit value, adjust, by the processor, a current supplied to the blade driving motor so as to reduce a rotation speed of the blade driving motor, and repeat (a) and (b),
d) when the torque of the blade driving motor is less than the predetermined torque upper limit value:
d2) detect, by a rotation speed detector of the control device, the rotation speed of the blade driving motor, and
d1) compare, by the processor, the rotation speed of the blade driving motor to the predetermined reference speed,
e) when the rotation speed of the blade driving motor is less than the predetermined reference speed, adjust, by the processor, the current supplied to the blade driving motor so as to increase the rotation speed of the blade driving motor, detect, by the torque detector, the torque of the blade driving motor, and repeat (d1) and (d2), and
f) when the rotation speed of the blade driving motor is not less than the predetermined reference speed, repeat, by the processor and the torque detector, (a) and (b).

US Pat. No. 10,946,484

LASER MACHINING METHOD ADJUSTING FOCUS SHIFT DEPENDING ON TYPE AND LEVEL OF CONTAMINATION OF EXTERNAL OPTICAL SYSTEM BEFORE LASER MACHINING

Fanuc Corporation, Yaman...

1. A laser machining method executed by a laser machining device configured to perform laser machining to a workpiece after measuring an amount of focus movement due to contamination of an optical system to compensate a focus position, the laser machining method comprising, before laser machining:(a) issuing a command to emit a laser beam with a high power to the extent used for laser machining, toward a laser beam elimination part capable of eliminating the laser beam in order to warm up an external optical system configured to guide a laser beam from a laser oscillator to concentrate the laser beam on a surface of a workpiece;
(b) after the external optical system is warmed up, issuing a command to adjust a focus position on a surface of a plate disposed in a position different from a position of the laser beam elimination part and having a small-diameter hole and a command to align an optical axis of the laser beam with a center of the small-diameter hole;
(c) in a state where the external optical system is warmed up, issuing a command to emit a laser beam with a low power to the extent that the plate is not melted or deformed;
(d) in a state where the external optical system is warmed up, measuring an amount of energy of the laser beam passing through the small-diameter hole as a first measurement value;
(e) calculating an amount of focus movement on a basis of the first measurement value measured in a state where the external optical system is warmed up and a first reference value predetermined depending on a type of contamination of the external optical system in relation to the first measurement value; and
(f) compensating a focus position in laser machining on a basis of the calculated amount of focus movement.

US Pat. No. 10,948,123

SUPPORTING STRUCTURE AND MACHINE TOOL SYSTEM

FANUC CORPORATION, Yaman...

1. A supporting structure for supporting a device, comprising:a base portion configured to support the device; and
a plurality of leg portions configured to support the base portion,
wherein at least one of the plurality of leg portions includes a height adjusting mechanism whose length is adjustable in a height direction of the base portion, and a ground contact member configured to make contact with a ground, the ground contact member is fixed to the base portion with the height adjusting mechanism sandwiched between the ground contact member and the base portion so as to fix the height adjusting mechanism, and the ground contact member has a ground contact surface formed as a convex-shaped curved surface,
the height adjusting mechanism includes a wedge-shaped member, an upper member, and a lower member, the upper member and the lower member sandwiching the wedge-shaped member from above and below, the base portion and the ground contact member sandwiching the height adjusting mechanism from above and below, whereby the height adjusting mechanism is fixed.

US Pat. No. 10,948,126

HAND-HELD DEVICE

FANUC CORPORATION, Yaman...

1. A portable hand-held device configured to be attached to and detached from a metal board, comprising:a casing including:
a front attachment surface adapted to be attached to the metal board; and
an operation panel for a machining tool, the operation panel being located on a side of the casing opposite to a side of the casing where the front attachment surface is;
a magnet disposed inside the casing, the magnet being disposed between and spaced from both the front attachment surface and the operation panel of the casing when the metal board is detached from the casing, the magnet being attracted to the metal board via the front attachment surface of the casing;
an urging element configured to urge the magnet so that the magnet moves in a direction away from the front attachment surface when the casing is detached from the metal board; and
a guide portion provided inside the casing and configured to surround a movement path of the magnet,
wherein the urging element is a spring arranged inside the guide portion.

US Pat. No. 10,948,901

DATA COLLECTION SYSTEM, DATA COLLECTION METHOD, AND CONTROLLER

FANUC CORPORATION, Yaman...

1. A data collection system comprising a controller that controls a machine and a server that receives measured data about the machine from the controller,the controller comprising:
a data acquisition unit that acquires the measured data in chronological order;
a timing control unit that buffers the measured data and controls timing of transmitting the measured data to the server based on a transmission condition;
a data transmission unit, in response to an instruction by the timing control unit, that transmits the measured data to the server having been buffered until the instruction is given; and
a transmission condition acquisition unit that receives the transmission condition from the server, and
the server comprising:
a state determination unit that determines a degree of state abnormality occurring during control of the machine based on the received measured data;
a transmission condition decision unit that decides the transmission condition based on a result of the determination by the state determination unit; and
a transmission condition notification unit that notifies the controller of the transmission condition.

US Pat. No. 10,949,943

CONTROLLER

FANUC CORPORATION, Yaman...

1. A controller which is detachably attached to a back face of a display device, comprising:a housing;
a control unit housed in the housing and configured to control the display device;
a connecting part configured to electrically connect the control unit to the display device;
a fan configured to cool the control unit;
a fan attaching structure provided on the housing and configured to detachably attach the fan to the housing; and
a support member configured to support the housing, wherein:
the housing is provided with a support member attachment structure attaching the support member to the housing;
the support member is used when the controller is not attached to the back face of the display device;
a slot is formed in a side face of the housing, the side face is adjacent to a bottom face of the housing, the bottom face opposed against the back face of the display device, and the control unit is inserted in the housing through the slot; and
the fan attaching structure and the support member attachment structure are provided on a face of the housing, different from the bottom face of the housing, and the side face of the housing where the slot is formed.

US Pat. No. 10,928,984

DISPLAY DEVICE AND DISPLAY SYSTEM OF INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A display device of an injection molding machine, capable of displaying two or more windows, comprising:a display having at least a main display and a sub-display;
an input device that receives an input related to selection of a window to be displayed on the display;
a processor that,
stores a selection order that indicates an order in which windows have been selected for displaying on the main display, and
selectively controls the window to be displayed on the display based on the input to the input device; and
a counting unit that counts a number of selection times of a window selected to be displayed on the main display subsequently to a window being displayed on the main display, wherein
the processor switches the window to be displayed by,
determining a first window that is displayed on the main display,
determining, based on the selection order, a second window for which the number of selection times of displaying the second window on the main display subsequently to displaying the first window on the main display is the largest among the windows, and
displaying the second window on the sub-display.

US Pat. No. 10,928,999

ABNORMALITY DETECTION PARAMETER ADJUSTMENT DISPLAY DEVICE

FANUC CORPORATION, Yaman...

1. An abnormality detection parameter adjustment display device configured to visually support a user's adjustment of at least one parameter for determination for detecting operation abnormality of a mechanical facility based on operation information on the mechanical facility, the abnormality detection parameter adjustment display device comprising:a display; and
a processor configured to:
adjust the at least one parameter,
collect the operation information on the mechanical facility,
create at least one dataset based on the operation information,
perform a normality determination to determine, based on the at least one parameter,
whether the dataset indicates a normal operating state or an abnormal operating state, and
create display data in which the dataset is displayed in a graph,
wherein
the processor is further configured to
cause the display to display the adjustment of the at least one parameter in such a position that a relationship between the data of the graph and the at least one parameter is visually ascertainable, the adjustment being made by user's direct manipulation of the graph of the dataset, and
in response to the adjustment of the at least one parameter made by the user's direct manipulation of the graph of the dataset, perform the normality determination and cause the display to display a result of the normality determination in the graph of the dataset,
the processor is configured to use a k-nearest neighbor algorithm in the normality determination, and
the at least one parameter includes data window width ?, abnormality threshold ?, or number ? of data for abnormality calculation in the normality determination using the k-nearest neighbor algorithm.

US Pat. No. 10,930,037

IMAGE PROCESSING DEVICE FOR DISPLAYING OBJECT DETECTED FROM INPUT PICTURE IMAGE

Fanuc Corporation, Yaman...

1. An image processing device comprising:a processor for selecting a model pattern of an object, and using the selected model pattern to detect one or more images of a plurality of objects from an input picture image in which the plurality of objects have been captured by a camera; and
a display controlled by the processor for graphically superimposing and displaying a detection result on each image thus detected,
wherein the display includes:
a first frame for displaying the entire input picture image in which the plurality of objects have been captured by the camera; and
a second frame for listing and displaying a plurality of partial picture images each including a single respective one of the plurality of objects separately cropped from the input picture image, such that each of the plurality of objects are displayed separately in the second frame, and wherein:
in the input picture image displayed in the first frame, a detection result determined based on a degree of match between the detected images and the model pattern is superimposed and displayed on all the detected images, in each of the plurality of partial picture images listed and displayed in the second frame, a respective detection result determined based on a degree of match between the each of the plurality of partial picture images and the model pattern is superimposed and displayed on an image corresponding to each of the plurality of partial picture images, and the first frame and the second frame are displayed simultaneously, wherein the display further superimposes and displays, on the partial picture image displayed in the second frame, first label information stored in association with an image corresponding to each partial picture image, the first label information indicates:
a match decision made by the processor when the degree of match between the detected images and the model pattern is larger than or equal to a threshold value, and
a non-match decision made by the processor when the degree of match between the detected images and the model pattern is less than the threshold, and
wherein the display allows an operator to:
perform a confirmation of the match decision and the non-match decision made by the processor by maintaining the first label information, and perform an override of the match decision and the non-match decision made by the processor by manually changing the first label information, and wherein when the operator performs the override, then the processor is configured to perform a learning process to update the model pattern based on the override of the match decision, the override of the non-match decision, the confirmation of the match decision, and the confirmation of the non-match decision as learning data.

US Pat. No. 10,928,615

LASER PROCESSING DEVICE HAVING APPROACH FUNCTION OF PROCESSING HEAD

Fanuc Corporation, Yaman...

1. A laser processing device configured to transmit a laser beam toward a processing head, condense the laser beam by a light condense optical system, and carry out laser processing by vertically irradiating the condensed laser beam to an article to be processed, the laser processing device comprising:a processor configured to:
prior to the laser starting irradiation, set a light condensing point distance between a light condensing point of the laser beam and a surface of the article, so that the light condensing point of the laser beam is separated from the surface of the article when the laser beam starts irradiation, and
after starting irradiation and processing of the surface of the article at the set light condensing point separated from the surface of the article, move the light condensing point from the point separated from a surface of the article to the surface of the article, while irradiating the laser beam and the processing the surface of the article,
wherein the light condensing point distance is computed, prior to the laser starting irradiation, so that an amount of the laser beam reflected by the surface of the article and returned to a laser light source through the light condense optical system is not more than an allowable value when the laser beam starts the irradiation and the processing of the surface of the article;
a movement velocity limiting part configured to limit a movement velocity of the processing head to a predetermined velocity, after the processing head reaches the position corresponding to the light condensing point distance; and
wherein the processor is further configured to move, at a predetermined velocity, the light condensing point from the point separated from a surface of the article to the surface of the article while irradiating the laser beam, the predetermined velocity is set to ensure that the surface of the article is irradiated for a time period required to melt the surface of the workpiece.

US Pat. No. 10,915,086

NUMERICAL CONTROLLER CAPABLE OF PROPERLY PERFORMING PROGRAM RESTART EVEN IF MACHINING CONDITIONS OF A MACHINING CYCLE ARE CHANGED

Fanuc Corporation, Yaman...

1. A numerical controller which performs program restart after machining is stopped in the middle of a machining cycle and machining conditions of the machining cycle are changed, the numerical controller comprising:a processor configured to:
acquire a restart position located in a machining area defined by the machining cycle,
create a new machining area by dividing the defined machining area with respect to the restart position, the defined machining area is divided by a line that is perpendicular to a cutting direction of the machining cycle and intersects the restart position,
create a block group of commands of the machining cycle corresponding to a new tool path for the new machining area, and based on the changed machining conditions, and
restart the machining along the new tool path for the new machining area by executing the created block group of the machining cycle.

US Pat. No. 10,915,087

NUMERICAL CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A numerical control device comprising:a memory that stores a program; and
a processor configured to execute the program to:
make, on a basis of image data acquired when a visual sensor photographs a cutting fluid jetted from an injection nozzle toward a cutting point, a determination of whether or not the cutting fluid is applied to the cutting point; and
issue an instruction to a nozzle control device configured to control a position and an attitude of the injection nozzle on a basis of a result of the determination, wherein
the processor makes the determination on a basis of a shape of a path of the cutting fluid extracted from the image data by detecting the edge portions of the path by pattern matching.

US Pat. No. 10,915,093

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller configured to reciprocate a parent axis and a child axis according to a predetermined synchronization ratio by multi-axis synchronization control, the numerical controller comprising:a command decoding unit configured to decode a command including a plurality of command blocks;
a distribution processing unit configured to generate a distribution movement amount, which is an amount of movement for each control period of a motor, based on the command blocks;
an end-point correction unit configured to perform first correction processing for correcting the distribution movement amount so that a feedback position of the child axis reaches an end point, which is a turning point of the reciprocating motion, and second correction processing for recovering synchronization destroyed by the first correction processing; and
a motor control unit configured to drivingly control the motor based on the corrected distribution movement amount.

US Pat. No. 10,913,147

HORIZONTAL ARTICULATED ROBOT AND REVERSE INSTALLATION METHOD THEREOF

FANUC CORPORATION, Yaman...

1. A horizontal articulated robot comprising:a base;
one or more arms attached to the base so as to be capable of rotating horizontally;
a ball screw spline shaft that is disposed so as to be capable of rotating about a longitudinal axis extending in a vertical direction at an end of the one or more arms and capable of linearly moving along the longitudinal axis that supports a workpiece at one end of the ball screw spline shaft;
a ball screw nut through which the ball screw spline shaft passes, the ball screw nut being driven in a direction along the longitudinal axis with respect to the one or more arms; and
two ball spline nuts configured to support the ball screw spline shaft so as to be capable of rotating about the longitudinal axis, the ball screw spline shaft passing through the ball spline nuts, respectively, on both sides of the ball screw nut interposed therebetween in a longitudinal axis direction,
wherein the ball screw spline shaft passing through at least one of the ball spline nuts is driven about the longitudinal axis with respect to the one or more arms,
wherein at least one pulley is fixed to the ball screw nut and a main ball spline nut of the two ball spline nuts so that the ball screw spline shaft is moved about the longitudinal axis via the ball screw nut and the main ball spline nut,
wherein the at least one pulley includes a first pulley and a second pulley, the first pulley is fixed to the ball screw nut, the second pulley is fixed to the main ball spline nut, and the first pulley and the second pulley are located between the ball screw nut and the main ball spline nut.

US Pat. No. 10,906,194

STRUCTURE OF JOINT OF ROBOT INCLUDING DRIVE MOTOR AND REDUCTION GEAR

FANUC CORPORATION, Yaman...

1. A structure of a joint of a robot in which a first member and a second member are jointed through intermediation of a joint and in which the first member and the second member turn relatively to each other, the structure of the joint comprising:a drive motor configured to drive the second member with respect to the first member;
a reduction gear including an input shaft configured to receive rotational force of the drive motor, a gear configured to transmit rotational force of the input shaft, a gear support member configured to support the gear, and a reduction gear case to which rotational force of the gear is transmitted; and
an interposition member interposed between the drive motor and the first member, wherein
the drive motor is fixed to the interposition member with a plurality of motor fixing bolts arranged in a circumferential direction,
the interposition member is fixed to the first member,
the gear support member is fixed to the first member with a plurality of support member fixing bolts arranged in the circumferential direction,
the reduction gear case is fixed to the second member,
the motor fixing bolts and the support member fixing bolts are arranged at positions such that a diameter of the positions where the motor fixing bolts are arranged and a diameter of the positions where the support member fixing bolts are arranged are smaller than an outer diameter of the reduction gear case, wherein the outer diameter of the reduction gear case excludes any flange portion, and
the interposition member has a shape for fixing the motor fixing bolts at positions away from the support member fixing bolts.

US Pat. No. 10,911,077

ENCODER AND DATA TRANSMISSION METHOD

FANUC CORPORATION, Yaman...

1. An encoder configured to receive, from a control device, a request signal for requesting position data and transmit a response signal including the position data to the control device by serial communication, at a predetermined communication cycle, comprising:a response signal generating unit configured to generate a response signal including the position data and associated data associated with the position data; and
a transmitting unit configured to transmit the generated response signal,
wherein the transmitting unit is configured to transmit, of the position data and the associated data transmitted within one and the same communication cycle, the associated data prior to the position data when transmitting the response signal,
wherein the response signal generating unit continues to generate the position data while transmitting the associated data to the control device,
wherein the associated data includes at least one of data that the encoder acquires other than the position data, and data that is obtained in a process of generating the position data.

US Pat. No. 10,906,222

INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. An injection molding machine for molding a molded article, comprising:an electronic device; and
a support mechanism configured to support the electronic device on a molding machine body, wherein the support mechanism includes:
a first bracket attached to the electronic device;
a second bracket attached to the molding machine body; and
a slider provided between the first bracket and the second bracket and configured to support the first bracket so as to be movable relative to the second bracket in a mold opening and closing direction, the slider includes a stopper configured to restrict a moving range of the first bracket, the slider comprises an upper slider and a lower slider that are provided apart from each other in a direction of gravity;
the upper slider on an upper side includes:
a cylindrical shaft provided on the second bracket; and
a carriage provided on the first bracket so as to be movable relative to the shaft in an axial direction of the shaft and so as to be relatively rotatable about an axis of the shaft; and
the lower slider on a lower side includes a fastener member configured to fix the electronic device to the second bracket at an arbitrary position where the electronic device together with the first bracket is rotated about the axis of the cylindrical shaft.

US Pat. No. 10,906,223

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

FANUC CORPORATION, Yaman...

1. A control device for an injection molding machine, the control device being configured to control a core setting operation for setting a core in a mold in conjunction with a mold closing operation of the mold in the injection molding machine and a core pull operation for removing the core from the mold in conjunction with a mold opening operation of the mold, the control device comprising a processor configured to:set an operation condition for one of the core setting operation and the core pull operation, wherein the operation condition for the core setting operation comprises a mode for the core setting operation, and wherein the operation condition for the core pull operation comprises a mode for the core pull operation;
store, in pairs in a conversion table, an operation condition for the core setting operation with an operation condition for the core pull operation corresponding to the operation condition for the core setting operation;
set, by reference to the conversion table, an operation condition for another of the core pull operation and the core setting operation in correspondence to the operation condition, previously set, for the one of the core setting operation and the core pull operation; and
generate a driving command configured to drive the injection molding machine to perform the core setting operation and the core pull operation in accordance with the operation conditions previously set.

US Pat. No. 10,899,010

CABLE DAMAGE DETECTION ASSISTANCE APPARATUS AND CABLE DAMAGE DETECTION ASSISTANCE METHOD IN ROBOT MECHANISM

FANUC CORPORATION, Yaman...

1. A cable damage detection assistance apparatus in a robot mechanism comprising:a program executor configured to execute a program that includes multiple program steps and operates a robot by driving motors of the robot having axes, a plurality of times, wherein velocity for driving the motors is changed each time the program is executed;
a motor controller configured to control the motors based on a command from the program executor;
a state quantity detector configured to detect a state quantity indicating an operation state of the robot during execution of the program;
an alarm generator configured to compare the state quantity with a threshold value set in advance, and, when the state quantity exceeds the threshold value, generate an alarm, and output information about a line number of the program step in which the alarm has occurred;
an alarm database configured to
count the number of occurrence of alarms on each line number of the program step in which the alarm has occurred when the program step is executed to drive a motor of the robot at a velocity among a plurality of velocities, and
store the counted number of occurrence of alarms on each line number for each velocity among the plurality of velocities; and
an analysis display configured to display, for each line number of the program step, the relationship between (a) the counted number of occurrence of alarms and (b) the velocity at which the alarm occurred.

US Pat. No. 10,900,809

MAGNETIC SENSOR HAVING SENSOR GEAR, ELECTRIC MOTOR HAVING THE MAGNETIC SENSOR, AND METHOD OF MANUFACTURING MACHINE HAVING THE MAGNETIC SENSOR

Fanuc Corporation, Yaman...

1. A method of manufacturing a machine including a rotating body, a sensor gear configured to be attached to the rotating body, a detecting part positioned opposed to an outer circumference part of the sensor gear and separated from the outer circumference part by a predetermined gap, the detecting part being configured to magnetically detect a plurality of teeth formed on the outer circumference part at predetermined intervals, and output a signal representing as to whether a tooth of the plurality of teeth exists or not at a predetermined position, a holding member configured to hold the detecting part, an attachment table to which the holding member is attached, a fixing member configured to fix the holding member to the attachment table, and a gap adjusting member configured to adjust the gap between the tooth and the detecting part, wherein the gap adjusting member is manufactured from a non-magnetic material, and is adhered to the tooth or the detecting part, and wherein the gap adjusting member is configured to be removed with a rotation of the sensor gear, the method comprising the steps of:attaching the sensor gear to the rotating body;
arranging the gap adjusting member between the tooth of the sensor gear and the detecting part;
positioning the holding member holding the detecting part at the attachment table;
fixing the holding member to the attachment table by using the fixing member;
adhering the gap adjusting member to the tooth or the detecting part by an adhesive having an adhesive force, the adhesive force being such that the gap adjusting member does not fall down due to its weight from the tooth or the detecting part,
wherein the arranging includes sandwiching the gap adjusting member between the tooth and the detecting part during a gap adjustment procedure, so that the gap adjusting member adjusts the gap by contacting both the tooth and the detecting part; and
removing the gap adjusting member from between the tooth and the detecting part due to the rotation of the sensor gear after the gap adjustment procedure, so that the predetermined gap between the tooth and the detecting part is exposed.

US Pat. No. 10,899,018

HUMAN-COLLABORATIVE ROBOT

FANUC CORPORATION, Yaman...

1. A robot, comprising:a sensor configured to detect an external force applied to the robot; and
a controller configured to
calculate, by using the external force, a force in a first direction and a moment about a second direction intersecting the first direction,
specify, by using the force in the first direction and the moment about the second direction, a portion of the robot to which the external force is applied,
judge as to whether or not the external force is applied to the robot based on a predetermined pattern, and as to whether or not the portion of the robot to which the external force is applied corresponds to a predetermined specified portion of the robot,
command the robot, when the external force is applied to the robot based on the predetermined pattern and when the portion to which the external force is applied corresponds to the predetermined specified portion, so that the robot performs a motion which is previously associated with the predetermined pattern, and
command the robot to stop when the external force applied to the robot exceeds a predetermined threshold,
wherein the predetermined pattern includes restarting the robot after the robot has been stopped or shutdown.

US Pat. No. 10,901,374

MACHINE LEARNING DEVICE, CONTROL DEVICE, AND MACHINE LEARNING METHOD

FANUC CORPORATION, Yaman...

1. A machine learning device configured to perform machine learning related to optimization of coefficients of a transfer function of an IIR filter with respect to a servo control device configured to control a servo motor configured to drive an axis of a machine tool, a robot, or an industrial machine using feedforward control by a feedforward calculation unit having the IIR filter, whereinthe machine learning device represents a zero-point at which the transfer function of the IIR filter is zero and a pole at which the transfer function diverges infinitely in polar coordinates using a radius r and an angle ?, respectively, and searches for and learns, within a predetermined search range, the radius r and the angle ? to thereby perform the optimization of the coefficients of the transfer function of the IIR filter, and
the machine learning device further comprises:
a state information acquisition unit configured to acquire, from the servo control device, state information including a servo state including at least a position error and the transfer function of the feedforward calculation unit by causing the servo control device to execute a predetermined machining program;
an action information output unit configured to output action information including adjustment information of the coefficients of the transfer function included in the state information to the servo control device;
a reward output unit configured to output a value of a reward of reinforcement learning based on the position error included in the state information; and
a value function updating unit configured to update an action value function on the basis of the value of the reward output by the reward output unit, the state information, and the action information.

US Pat. No. 10,901,390

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller configured to correct a machine position error based on a torque difference ?T between a master axis and a slave axis, the numerical controller comprising:a processor configured to:
move the master axis and the slave axis in response to a movement command;
acquire the torque difference ?T between the master axis and the slave axis after the movement; and
correct a machine position error by a correction amount based on a value obtained by excluding a torque difference Tm derived from a mechanical strain from the torque difference ?T between the master axis and the slave axis,
wherein the processor is further configured to add the correction amount based on the value obtained by excluding the torque difference Tm as feedback to the movement command in consideration for a next execution of the movement command.

US Pat. No. 10,901,395

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller that displays, on a display device, a three-dimensional model of a workpiece after machining based on CAD data in association with a machining program generated based on the CAD data, the numerical controller comprising:an optimum data amount calculation unit that calculates an optimum value of at least one of the number of vertices and the number of polygons of a workpiece after machining, the number of vertices or the number of polygons being extracted from the CAD data;
a three-dimensional data reduction unit that reduces the number of vertices or the number of polygons of the workpiece after machining extracted from the CAD data based on the optimum value of the number of vertices or the number of polygons of the workpiece after machining calculated by the optimum data amount calculation unit;
a three-dimensional model generation unit that generates a three-dimensional model of the workpiece after machining based on the vertices or the polygons reduced by the three-dimensional data reduction unit; and
a display unit that generates display data for displaying the three-dimensional model generated by the three-dimensional model generation unit and display the generated display data on the display device.

US Pat. No. 10,901,396

MACHINE LEARNING DEVICE, CONTROL DEVICE, AND MACHINE LEARNING METHOD

FANUC CORPORATION, Yaman...

1. A machine learning device configured to perform machine learning related to optimization of a compensation value of a compensation generation unit with respect to a servo control device that includes the compensation generation unit configured to generate a compensation value to be applied to a control command for controlling a servo motor configured to drive an axis of a machine tool, a robot, or an industrial machine and a limiting unit configured to limit the compensation value or the control command to which the compensation value is added so as to fall within a setting range, whereinduring a machine learning operation, when the compensation value or the control command to which the compensation value is added is outside the setting range and the limiting unit limits the compensation value or the control command to which the compensation value is added so as to fall within the setting range, the machine learning device is configured to apply the compensation value to the learning and continue with a new search to optimize the compensation value generated by the compensation generation unit.

US Pat. No. 10,903,703

ROTOR, ROTATING ELECTRICAL MACHINE AND PRODUCTION METHOD OF COVER TUBE

FANUC CORPORATION, Yaman...

1. A rotor, comprising:a rotary member;
a plurality of permanent magnets arranged on an outer circumferential side of the rotary member; and
a cover tube provided on an outer circumferential surface side of the plurality of the permanent magnets, and formed by a tape-like fiber bundle in which a plurality of thread-like fibers aligned in one direction is bundled smoothly by resin,
wherein the cover tube is formed so that the tape-like fiber bundle circles in a spiral pattern along a circumferential direction, and the tape-like fiber bundle arranges along an axial direction, and
wherein a circling-start end face and a circling-end end face of the tape-like fiber bundle are cut sections formed obliquely relative to a longitudinal direction of the tape-like fiber bundle, and face a rotary axis of the rotor.

US Pat. No. 10,903,826

GLITCH REMOVAL CIRCUIT AND ELECTRONIC DEVICE

FANUC CORPORATION, Yaman...

1. A glitch removal circuit which removes glitch noise contained in a Power-good signal and a Power-on Reset signal, the glitch removal circuit comprising:a first glitch removal unit which operates according to a first clock signal, and removes glitch noise from the Power-good signal; and
a second glitch removal unit which operates according to a second clock signal, and removes glitch noise from the Power-on Reset signal,
wherein the first glitch removal unit is configured so as to be initialized according to an output signal of the second glitch removal unit, and
wherein the second glitch removal unit is configured so as to be initialized according to an output signal of the first glitch removal unit.

US Pat. No. 10,891,520

MACHINE LEARNING DEVICE, INSPECTION DEVICE AND MACHINE LEARNING METHOD

FANUC CORPORATION, Yaman...

1. A machine learning device for creating training data to be used in machine learning, the machine learning device comprising:an image input unit that inputs an image which was obtained by capturing an inspection target on which a symbol indicating a defect may be marked; and
a creation unit that creates the training data based on the inputted image,
wherein the creation unit:
creates training data consisting of a training image which is the image as inputted, and a label that retains a value of OK which signifies not having a defect, in a case of there not being the symbol in the image inputted; and
creates training data consisting of a training image generated based on the image inputted, and a label that retains a value of NG signifying having a defect, in a case of there being the symbol in the image inputted.

US Pat. No. 10,877,594

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

FANUC CORPORATION, Yaman...

1. A touch panel device including a touch panel that outputs a signal corresponding to an operated position by an operating member, comprising:a computer having instructions stored therein, that when executed cause the touch panel device to:
obtain strength of the signal at each of nodes arranged in an up and down direction and a right and left direction on the touch panel;
wherein, set nodes among the nodes that are located in an uppermost portion of the touch panel as invalid nodes if, for a first given number or more of the nodes in the uppermost portion of the touch panel, the strength of the signal is maintained at a level equal to or greater than a threshold for a time that is equal to or longer than a first given time; and
obtain a position of a node other than the invalid nodes, among the nodes where the strength of the signal is equal to or greater than the threshold, as the operated position.

US Pat. No. 10,875,122

SCANNER CONTROLLER, ROBOT CONTROLLER, AND REMOTE LASER WELDING ROBOT SYSTEM

Fanuc Corporation, Yaman...

1. A scanner controller comprising:a processor configured to:
acquire a laser scanning route and an instructed speed for a scanner;
adjust the laser scanning route or speed for the scanner based upon received position or speed information of an associated robot;
perform an acceleration or deceleration control for the adjusted laser scanning speed to control a laser output power of the scanner;
determine a deceleration rate of the scanner; and
output the determined deceleration rate to a robot controller to adjust a deceleration rate of a speed of the associated robot to the deceleration rate of the scanner when the determined deceleration rate is less than or equal to a threshold value,
wherein the adjusted deceleration rate of speed of the associated robot is at a same rate as the deceleration rate of the scanner.

US Pat. No. 10,877,442

MACHINE LEARNING DEVICE, CONTROL DEVICE, AND MACHINE LEARNING METHOD

FANUC CORPORATION, Yaman...

1. A control device comprising:a servo control device configured to control a servo motor configured to drive an axis of a machine tool, a robot, or an industrial machine, the servo control device including (i) at least one feedback loop, (ii) a compensation generation unit configured to generate a compensation value, the compensation value to be applied to the feedback loop, and (iii) an abnormality detection unit configured to detect an abnormal operation of the servo motor; and
a machine learning device configured to perform machine learning related to optimization of the compensation value with respect to the servo control device, based on a command to the feedback loop and information in the feedback loop, wherein
during a machine learning operation, when the abnormality detection unit detects an abnormality, the application of the compensation value to the feedback loop from the compensation generation unit is stopped and the machine learning device continues the machine learning related to optimization of the compensation value generated by the compensation generation unit.

US Pat. No. 10,875,136

MACHINE TOOL SYSTEM AND CLAMPING METHOD

FANUC CORPORATION, Yaman...

6. A clamping method for clamping a workpiece on a table of a machine tool machining the workpiece with a tool attached to a spindle, comprising the steps of:installing on the table a robot that grips the workpiece;
performing a setting operation of setting the workpiece on the table with the robot; and
performing a clamping operation of clamping the workpiece with a hand of the robot.

US Pat. No. 10,876,931

MACHINE TOOL AND METHOD FOR THE MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A system including a plurality of machine tools and a factory monitoring system,the machine tool comprising:
a motor;
a ball screw configured to connect to the motor such that rotational motion of the motor is converted to linear motion of the ball screw;
a table connected to the ball screw that moves linearly based on the linear motion of the ball screw; and
a control device connected to the motor for detecting a rotational position of the motor and a use frequency within a stroke of the ball screw, the use frequency within the stroke of the ball screw being used for determining uneven wear of the ball screw,
wherein the factory monitoring system detects uneven wear of the ball screw by summing each distribution of the use frequency sent from the plurality of machine tools.

US Pat. No. 10,878,672

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller connectable to a plurality of devices, the numerical controller comprising:a connection information acquisition unit that acquires connection information on the devices, including information indicating a connection order and a kind of each of the devices by communicating with each of the devices;
a connecting data creation unit that creates connecting data using the connection information;
a connection processing execution unit that executes connection processing with each of the devices using the connecting data;
a detailed information acquisition unit that acquires detailed information from each of the devices subjected to the connection processing; and
a connection information comparison unit that compares the connection information with a connection setting parameter,
wherein the connecting data creation unit creates connecting data using the connection information when a comparison result acquired by the connection information comparison unit shows a problem between the connection information and the connection setting parameter.

US Pat. No. 10,875,198

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system with a camera for monitoring a robot, comprising:current position model generation means that generates a current position model for the robot based on current position data about the robot and robot model data about the robot;
simulation image generation means that generates a simulation image of the robot viewed from a direction of the camera based on set position data about the camera, set position data about the robot, and the current position model;
detection means that compares the simulation image and a monitoring image acquired from the camera to detect the robot in the monitoring image;
safety ensuring means that ensures a safety of the robot system when the detection means does not detect the robot in the monitoring image;
input means for input of a detection expected area in which the robot is to be detected in the monitoring image acquired from the camera; and
storage means that stores the detection expected area input through the input means, wherein
the safety ensuring means compares an area in which the robot is actually detected and the detection expected area, and when there is a difference exceeding a predetermined amount between the area in which the robot is actually detected and the detection expected area, the safety ensuring means ensures the safety of the robot system, and
wherein the current position model is data about a 3-dimensional model for the robot.

US Pat. No. 10,877,508

ROBOT INCLUDING STOPPER

FANUC CORPORATION, Yaman...

1. A robot, comprising:a first component;
a second component movably coupled to the first component;
a first stopper provided at one of the first component and the second component, and extending along a rotational axis parallel to a rotational movement direction of the second component relative to the first component, the first stopper being configured such that a length thereof in a direction of the axis from a first end of the first stopper in the direction of the axis to a second end of the first stopper opposite the first end is variable; and
a second stopper provided at the other of the first component and the second component, and configured to contact the first end or the second end of the first stopper so as to limit a movement range of the second component relative to the first component when the second component moves relative to the first component, wherein
the first stopper comprises:
a fixed member fixedly provided at the one of the first component and the second component, and defining the first end;
a movable member attached to the fixed member so as to be slidable in a rotational direction of the rotational axis, and defining the second end; and
a locking mechanism configured to lock the movable member to the fixed member so as to restrict movement of the movable member relative to the fixed member, the locking mechanism being configured to lock the movable member with respect to the fixed member at a plurality of positions such that the length of the first stopper is variable, wherein
the moveable member is configured to move to change the length of the first stopper.

US Pat. No. 10,879,748

STATOR OF ROTARY ELECTRIC MACHINE AND ROTARY ELECTRIC MACHINE

FANUC CORPORATION, Yaman...

1. A stator of a rotary electric machine comprising: a stator core including multiple slots extending in an axis direction and being separated in a peripheral direction;multiple coils formed using a winding wound in a distributed fashion so as to pass through the slots; and
multiple tube-shaped power lines connected to the coils, wherein
the coils have a coil end projecting outwardly in the axis direction from an end surface of the stator core,
the coils are adjacent to each other in the peripheral direction,
a connection between each of the coils and a corresponding one of the power lines is arranged adjacent to a base portion of the coil end on the outer periphery, and
each of the power lines starts from the connection to extend along the outer periphery of the coil end to be adjacent to the base portion of the coil end on the outer periphery, and extends in the axis direction away from the stator core from a space located between two of the coils that are adjacent to each other in the peripheral direction at an outermost position of the coil end to extend outwardly in the axis direction.

US Pat. No. 10,881,033

COOLING DEVICE

FANUC CORPORATION, Yaman...

1. A cooling device, comprising:a casing;
a fan configured to blow gas to a target object disposed on a downstream side of the fan by rotation of a rotator;
a bypass structure provided in the casing so as to avoid the rotator and configured to allow a liquid to flow, at least, from an upstream side of the fan to the downstream side of the fan;
a gutter provided above the rotator and configured to lead the liquid to the bypass structure; and
a gas-liquid separation mechanism arranged on the upstream side of the fan and configured to separate the liquid contained in the gas;
wherein
the gas-liquid separation mechanism contains therein a first space having a structure configured to separate the gas and the liquid from each other, and a second space communicating with the first space and configured to supply the gas having passed through the first space, to the fan,
the gutter is arranged in the second space,
the second space is free of any structure configured to separate the gas and the liquid from each other,
the first space and the second space fill substantially an entire inner space of the gas-liquid separation mechanism from an inlet to the gutter, and
the gutter is provided at an end of a gas flow flowing within the gas-liquid separation mechanism.

US Pat. No. 10,875,225

MACHINE BASE FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A machine base for an injection molding machine, the injection molding machine including a mold clamping device configured to open and close a mold and an injection device configured to inject melted resin into the mold, the mold including a stationary mold and a moving mold, the mold clamping device including a stationary platen to which the stationary mold is attached, a moving platen to which the moving mold is attached, a rear platen, and a toggle mechanism configured to move the moving platen toward and away from the rear platen, the machine base comprising:an upper frame supporting at least the mold clamping device of the injection molding machine from below, the upper frame having a rear end portion having an upper surface on which the rear platen is fixedly supported, a front end portion having an upper surface on which the stationary platen is fixedly supported, and an intermediate portion extending between the front and rear end portions and having an upper surface on which the moving platen is slidably supported; and
two lower frames supporting the upper frame from below in a state of being in contact with the upper frame, wherein:
the two lower frames are arranged with a predetermined space,
of the two lower frames, one lower frame supports the rear end portion of the upper frame at a location below the rear platen, and a rear end section of the intermediate portion of the upper frame from below a rear portion of a moving range of the moving platen, while another lower frame supports the front end portion of the upper frame on a lower side of the stationary platen, and
the two lower frames are arranged along an opening/closing direction of the mold while providing a void of the mold, wherein the void has a length defined longitudinally between the two lower frames and a height extending along an entire height of the two lower frames.

US Pat. No. 10,879,768

ELECTRIC MOTOR WITH FAN MOTOR

FANUC CORPORATION, Yaman...

1. An electric motor comprising:a motor main body,
a fan motor for cooling said motor main body, and
a casing which is attached to said motor main body to hold said fan motor, wherein
said fan motor has a plurality of engagement parts comprising female threads, and
both of said motor main body and said casing are each provided with a corresponding plurality of engagement parts (1E, 3E) comprising through holes, wherein the plurality of engagement parts on the fan motor align with either the plurality of engagement parts on the motor main body or casing so that a plurality of bolts can be received in either the plurality of engagement parts of the motor main body or casing and engage the plurality of engagement parts of the fan motor to fasten said fan motor to either the main motor body or casing.

US Pat. No. 10,876,537

FAN MOTOR CONTROL DEVICE

FANUC CORPORATION, Yaman...

12. A fan motor controlling method for controlling driving of a fan motor for cooling a device that generates heat during operation, the fan motor controlling method comprising:a rotational speed detecting step by a rotational speed sensor detecting a rotational speed of the fan motor; and
an abnormality decision controlling step by a processor
executing an abnormality decision mode of repeatedly switching between on and off of power supply to the fan motor during the operation of the device, and
determining abnormality of the fan motor at each time after switching the power supply between on and off, based on the rotational speed of the fan motor during the execution of the abnormality decision mode.

US Pat. No. 10,871,441

DETERIORATION DETECTION SENSOR OF PRINTED WIRING BOARD

FANUC CORPORATION, Yaman...

1. A deterioration detection sensor of a printed wiring board, the deterioration detection sensor comprising:a sensor main body which is provided on the printed wiring board and which includes a detection surface for detecting a foreign material,
wherein an intersection surface which intersects and extends in a direction that is orthogonal to a planar direction of the printed wiring board is included, and the intersection surface is oriented with respect to the printed wiring board to interrupt an air current in the planar direction.

US Pat. No. 10,870,172

LASER PROCESSING HEAD AND LASER PROCESSING SYSTEM INCLUDING THE SAME

FANUC CORPORATION, Yaman...

1. A laser processing head which has a head controller different from a robot controller, which is connected to a robot and the head controller, and which emits a laser beam to a workpiece supported by a support robot during laser processing, the laser processing head comprising:a head body attached to a distal end portion of the robot,
at least one optical path changing member that is arranged in the head body and that reflects or refracts, toward the workpiece, the laser beam emitted from a predetermined laser beam output section so as to emit the laser beam to the workpiece;
a driver that is arranged in the head body and that changes an orientation or a position of the optical path changing member; and
a memory that is arranged in the head controller and that stores target path information indicating a target path of the laser processing on the workpiece,
wherein the head controller receives, from the robot controller, positional information of the laser processing head in three-dimensional coordinates, which is changed by operation positions of first plurality of motors of an arm of the robot, and positional information of the workpiece in the three-dimensional coordinates, which is changed by operation positions of second plurality of motors of an arm of the support robot,
wherein the robot controller stores and executes a first program to control the operation positions of the first plurality of motors of an arm of the robot in order to control positions and postures of the laser processing head attached to the robot while the laser processing is performed on the workpiece,
wherein the robot controller stores and executes a second program to control the operation positions of the second plurality of motors of an arm of the support robot in order to control positions and postures of the workpiece supported by the support robot while the laser processing is performed on the workpiece,
wherein the head controller calculates a relative position of the workpiece with respect to the laser processing head based on the positional information of the laser processing head and the positional information of the workpiece while the position and/or orientation of the laser processing head is being changed by the robot while the laser processing is performed on the workpiece, and
wherein the head controller stores and executes a third program to control the driver and the target path of the laser processing on the workpiece while the laser processing is performed on the workpiece, wherein the head controller controls the driver according to the third program using the calculated relative position and the target path information so as to perform the laser processing along the target path.

US Pat. No. 10,870,199

ROBOT SYSTEM AND ROBOT TEACHING METHOD

FANUC CORPORATION, Yaman...

1. A robot system comprising:a robot including at least one sensor that detects an applied external force; and
a controller that controls the robot,
wherein the controller is configured to determine a position to which the external force has been applied and a pattern with which the external force has been applied on a basis of the detected external force, and is configured to change one of a plurality of predetermined operation modes of the robot on a basis of the determined position and the determined pattern; and
wherein the position of the external force is determined based on a moment around a first axis and at least one external force in a second axis perpendicular to the first axis when the external force is applied.

US Pat. No. 10,870,227

MANUFACTURING APPARATUS FOR ROBOT ARM

FANUC CORPORATION, Yaman...

1. A manufacturing apparatus for a robot arm including an arm main body with a long tubular or columnar shape having a uniform lateral cross-section, and attachment interface parts that are fixed to both sides of the arm main body and are attached to another member, the manufacturing apparatus comprising:a pair of fixing parts supporting at least a part of each of the attachment interface parts and each end of the arm main body in a positioned state and each including a space at least near a joint part between each of the attachment interface parts and the arm main body;
a slide mechanism capable of adjusting a distance between the two fixing parts along a longitudinal axis of the arm main body by moving at least one of the fixing parts; and
a material injection part that injects a molten material into at least a part of the space so as to integrally joint each of the attachment interface parts to each end of the arm main body,
wherein a material filling space, which is filled with the molten material, of the space has:
at least part of a first end proximate the arm main body, the first end having a cross sectional shape conforming to a cross sectional shape of the arm main body; and
at least a part of a second end proximate one of the attachment interface parts, the second end having a shape conforming to an outer peripheral surface of one of the attachment interface parts, and
wherein the material filling space has a hollow between at least the part of the first end and at least the part of the second end.

US Pat. No. 10,866,573

CUTTING FLUID SUPPLY TIMING CONTROL DEVICE AND MACHINE LEARNING DEVICE

Fanuc Corporation, Yaman...

1. A cutting fluid supply timing control device which estimates a timing of supplying a cutting fluid by a cutting fluid supply device which supplies the cutting fluid to a work position, the cutting fluid supply timing control device comprising:a machine learning device which learns estimation of the timing of supplying the cutting fluid with respect to an operating state of the cutting fluid supply device, wherein
the machine learning device includes
a state observation unit which observes operating state data regarding the operating state of the cutting fluid supply device as a state variable representing a current environment state, the operating state data including at least a time elapsed after the previous supply of the cutting fluid is stopped,
a label data acquisition unit which acquires supply timing data indicating the timing of supplying the cutting fluid as label data, and
a learning unit which learns a correlation between the operating state data and the supply timing data by using the state variable and the label data.

US Pat. No. 10,866,574

MACHINE TOOL CONTROLLER WITH LEARNING ERROR COMPENSATION

FANUC CORPORATION, Yaman...

1. A machine tool controller that relatively moves a workpiece or a tool while continuously rotating the workpiece to perform machining of the workpiece, the machine tool controller comprising:a servo control unit that generates a positional error based on a difference between a position command for moving the workpiece or the tool so that the workpiece is machined in a desired shape and a present position of the workpiece or the tool and generates a drive command for a driving unit that moves the workpiece or the tool on the basis of the positional error; and
a displacement meter that measures a machining surface displacement amount of the workpiece for each rotation angle of the workpiece, wherein
the servo control unit includes:
a compensation amount calculating unit that calculates a shape error of the workpiece with respect to the desired shape for each rotation angle of the workpiece on the basis of the machining surface displacement amount measured by the displacement meter and obtains a compensation amount of the positional error on the basis of the calculated shape error of the workpiece; and
a first compensation unit that compensates the positional error for each rotation angle of the workpiece on the basis of the compensation amount calculated by the compensation amount calculating unit,
wherein the servo control unit further includes:
a storage unit that stores the compensation amount for each rotation angle of the workpiece calculated by the compensation amount calculating unit, the compensation amount corresponding to one rotation of the workpiece, and
wherein the first compensation unit compensates the positional error on the basis of the compensation amount before one rotation of the workpiece stored in the storage unit, and
wherein the servo control unit includes:
a learning control unit that generates a learning compensation amount by performing learning control so that the positional error decreases on the basis of the positional error compensated by the first compensation unit, the learning compensation amount before one rotation of the workpiece, and the rotation angle of the workpiece; and
a second compensation unit that compensates the positional error compensated by the first compensation unit on the basis of the learning compensation amount learnt by the learning control unit.

US Pat. No. 10,864,587

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

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine configured to machine a workpiece so as to have different machined shapes on a top surface and a bottom surface of the workpiece, comprising:a distance measuring sensor configured to move within a machining area of the wire electrical discharge machine and measure a distance from the distance measuring sensor to an object to be measured; and
a calculating unit configured to set a reference surface in the machining area, wherein the reference surface is an upper surface or a lower surface of the worktable, and calculate a distance between the reference surface and the top surface of a workpiece and a distance between the reference surface and the bottom surface of a workpiece by measuring, with the distance measuring sensor, a distance between the reference surface and the distance measuring sensor, measuring from above the workpiece, with the distance measuring sensor, a distance between the top surface of the workpiece and the distance measuring sensor, and measuring from below the workpiece, with the distance measuring sensor, a distance between the bottom surface of the workpiece and the distance measuring sensor, and subtracting the distance measured between the top surface or bottom surface of the workpiece and the distance measuring sensor from the distance measure between the reference surface and the distance measuring sensor.

US Pat. No. 10,868,481

SERVO AMPLIFIER SELECTION DEVICE IN SYSTEM INCLUDING MULTIPLE CONVERTER UNITS

FANUC CORPORATION, Yaman...

1. A servo amplifier selection device comprising:an amplifier group allocation section configured to allocate each of a plurality of motors to any one of a plurality of amplifier groups on the basis of an amplifier group number input from an input unit;
a total rated output calculation section configured to calculate, for each of the plurality of amplifier groups, a total value of rated outputs of the motors allocated to the amplifier group;
a common power source selection section configured to determine, for each of a plurality of common power sources each having a predetermined power source capacity, whether a magnitude of the power source capacity satisfies a condition of being equal to or greater than the total value of each of the plurality of amplifier groups and configured to select one or a plurality of common power sources satisfying the condition; and
a display control section configured to get the selected one or the plurality of common power sources to be identifiably displayed in a display unit for each of the plurality of amplifier groups.

US Pat. No. 10,860,158

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

FANUC CORPORATION, Yaman...

1. A touch panel device including a capacitive touch panel, comprising:a computer having instructions stored therein, that when executed cause the touch panel device to:
send a drive pulse signal to the touch panel;
receive sense signals based on an operated position on the touch panel, the sense signals being outputted from the touch panel;
send a given number of pulses of the drive pulse signal at a given frequency to electrodes;
obtain strengths of the received sense signals; and
obtain the operated position based on sense signals, among the sense signals, in which an average of the strengths of the sense signals corresponding to the respective pulses of the drive pulse signal having been sent to the electrodes is equal to or greater than a given average, and a variance of the strengths of the sense signals corresponding to the respective pulses of the drive pulse signal having been sent to the electrodes is less than a given variance.

US Pat. No. 10,859,455

BRAKE INSPECTION DEVICE AND MOTOR CONTROLLER

FANUC CORPORATION, Yaman...

1. A brake inspection device comprising a memory, wherein the brake inspection device is configured to:measure a first load torque while a motor is normally rotated in a released state where an operation of a brake for holding a rotor with respect to a stator of the motor is released;
measure a second load torque while the motor is reversely rotated in the released state;
measure a third load torque while the motor is normally rotated in a locked state where the brake is operated; and
determine a state of the brake based on the first, second, and third load torques and predetermined thresholds.

US Pat. No. 10,859,467

BEARING DIAGNOSING DEVICE AND BEARING DIAGNOSING METHOD

FANUC CORPORATION, Yaman...

1. A bearing diagnosing device for diagnosing degradation of a bearing rotatably supporting a spindle of a machine tool, comprising:a rotation speed obtainer configured to obtain a rotation speed of the spindle;
a temperature obtainer configured to obtain a temperature of the bearing;
a spindle operation storage controller configured to record a rotation time for which the spindle has rotated, at each of a plurality of classes that are defined in advance by combination of rotation speed range and temperature range, into a storage unit, based on the rotation speed and the temperature; and
a bearing degradation calculator configured to calculate bearing degradation information representing a degree of degradation of the bearing, based on the rotation time at each of the classes, stored in the storage unit,
wherein the bearing degradation calculator is configured to correct the rotation time at each class by multiplying the rotation time for each class by a predetermined coefficient for the class to calculate a corrected rotation time, which becomes relatively longer in a class with a higher rotation speed and in a class with a higher temperature and calculate the bearing degradation information by summing up the corrected rotation times for all the classes.

US Pat. No. 10,857,673

DEVICE, METHOD, PROGRAM AND RECORDING MEDIUM, FOR SIMULATION OF ARTICLE ARRAYING OPERATION PERFORMED BY ROBOT

FANUC CORPORATION, Yaman...

1. A simulation device for simulating an article arraying operation performed by a robot, the simulation device comprising:a processor configured to:
locate a conveyor model, a plurality of article models, a sensor model and an arraying robot model in a virtual space, which are prepared respectively by modeling a conveyor, a plurality of articles placed on the conveyor, a sensor detecting the plurality of articles and an arraying robot arraying the plurality of articles on the conveyor;
simulate an article conveying motion, the conveyor model moving, by the article conveying motion, to convey the plurality of article models placed in a random arrangement on the conveyor model;
simulate an article detecting motion, the sensor model operating, by the article detecting motion, to obtain position information of each of the plurality of article models conveyed in the random arrangement;
generate an arrangement pattern on the conveyor model by using the position information, the arrangement pattern including a plurality of pattern elements in a predetermined regular arrangement, each pattern element representing a position of each of the article models; and
simulate an article arraying motion by using information of the article conveying motion and the position information, the arraying robot model moving while tracking the article conveying motion, by the article arraying motion, to pick up each of the article models in the random arrangement and place a picked-up article model in accordance with the arrangement pattern;
wherein the processor is further configured to
recognize a point set on the conveyor model where generation of the arrangement pattern is executed; and
generate the arrangement pattern when the article models pass through the point by the article conveying motion; wherein
the point set on the conveyor model is located downstream of the sensor model and upstream of a working space boundary which designates a working space of the arraying robot model; and
the point is set or changed in response to an input or operation of an operator.

US Pat. No. 10,857,683

ROBOT HAND

FANUC CORPORATION, Yaman...

1. A robot hand comprising:a first portion attached to a distal end of a robot; and
a second portion which is detachably attached to the first portion and which includes a pair of holding pieces capable of holding a workpiece, wherein,
the first portion includes a first base attached to the robot, a first movable member which is supported so as to be movable in one direction with respect to the first base by a first stroke, an actuator which moves the first movable member, and an attaching and detaching mechanism which is provided in the first base and to which the second portion is detachably attached,
and the second portion includes a second base which is detachably attached to the attaching and detaching mechanism, and a second movable member which is supported so as to be movable in one direction with respect to the second base by a second stroke which is larger than the first stroke, wherein at least one of the holding pieces is fixed to the second movable member,
wherein a first engaging portion is provided in the first movable member, and
a plurality of second engaging portions are provided in the second movable member at an interval equal to or shorter than the first stroke in a moving direction of the second movable member, wherein the second engaging portions engage with the first engaging portion at a position where the second base is attached to the attaching and detaching mechanism.

US Pat. No. 10,859,995

CONTROLLER FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A controller for a machine tool used for thread cutting of a work as a target of the thread cutting using multiple axes, comprising:a movement command generation unit that generates a movement command for the multiple axes;
an oscillation command generation unit that generates an oscillation command for causing all three axes including at least a work rotary axis, a tool feed axis, and a radial direction motion axis to make oscillating motions involving synchronization between all the three axes including at least the work rotary axis, the tool feed axis, and the radial direction motion axis, the oscillation command being for causing a cutting tool for the thread cutting of the work to make motions of departing from the work while making cutting-out motions on the work and make cutting-in motions on the work intermittently; and
an adder that adds the movement command and the oscillation command and outputs a total movement command resulting from the addition, wherein
the total movement command is output to the machine tool.

US Pat. No. 10,859,999

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller for controlling a machine tool having a parallel link mechanism and also having two orthogonal rotating axes to work on a workpiece, in which the machine tool having the parallel link mechanism has a crossover offset based on mounting positions of the rotating axes, the numerical controller comprising:a command analysis unit for specifying a commanded position and a commanded posture of a tool by analyzing a program command;
a correction command calculation unit for calculating a corrected posture obtained by correcting only the commanded posture while maintaining the commanded position when a combination of the commanded position and the commanded posture of the tool is not feasible due to presence of the crossover offset, wherein an axial direction of the tool is changed without changing a distal end point of the tool; and
a command output unit for outputting the commanded position and the corrected posture to the machine tool, wherein the corrected posture comprises an angle of the tool with respect to the workpiece falling within a predetermined threshold value.

US Pat. No. 10,860,003

SERVO CONTROLLER

Fanuc Corporation, Yaman...

1. A servo controller comprising a command reception unit configured to asynchronously receive with every command reception period a command output by a control device with every command update period and a servo control computation unit configured to control a motor in response to the command,wherein the command reception unit asynchronously receives with every said command reception period a counter output by the control device with every said command update period in a measurement mode,
the servo controller comprising:
an event detection unit configured to detect the occurrence of an event which entails variation in reception intervals of the counter in the measurement mode;
a deviation calculation unit configured to calculate a deviation amount between respective clocks of the control device and the servo controller, based on an occurrence period of the event and the command reception period, in the measurement mode; and
a reception period adjustment unit configured to adjust the command reception period based on the deviation amount in an operation mode.

US Pat. No. 10,857,713

DISPLAY UNIT OF INJECTION MOLDING MACHINE AND DISPLAY UNIT DISPLAY METHOD

FANUC CORPORATION, Yaman...

1. A control device of an injection molding machine that displays an order of operations of a plurality of elements operating during clamp close or open of the injection molding machine, the control device configured to:set, with respect to a plurality of elements operating during either one of the clamp close or open, an operation start condition for each element;
associate one element and another element that operates in conjunction with an operation of said one element with one group and associate still another element that does not operate in conjunction with the operation of the one element with another group, based on the set operation start condition for each of the elements;
set an order of operations of the one element and the another element of the plurality of elements associated with the one group, based on the set operation start conditions for the one and another elements; and
control a display unit to display a field showing the one group and another field showing the another group and to display a symbol indicating an operation of said one element and a symbol indicating an operation of said another element in the field showing the one group in a manner of being related to each other in accordance with the set order of the operations of the one element and the another element of the plurality of elements, and also to display a symbol indicating an operation of said still another element in the another field showing said another group.

US Pat. No. 10,840,617

ELECTRONIC DEVICE

FANUC CORPORATION, Yaman...

1. An electronic device comprising:a circuit board;
a conductive casing accommodating the circuit board;
a connector including a connection surface having formed therein a plurality of connection holes into which a plurality of conducting wires are inserted, the connector being provided for a surface of the casing to connect the plurality of conducting wires and the circuit board; and
a conductive, conducting member provided so as to cover at least part of the connection surface except the connection holes and connected to the casing.

US Pat. No. 10,839,357

VISUAL GUIDANCE DEVICE, VISUAL GUIDANCE SYSTEM AND VISUAL GUIDANCE METHOD

FANUC CORPORATION, Yaman...

1. A visual guidance device comprising a control unit,wherein the control unit includes:
an image data acquisition unit which acquires image data when a machine is seen from a predetermined position and image data when the machine is seen from a separate position different from the predetermined position;
an image conversion unit which produces one or more pieces of image data by converting gradually, with one or more aspect ratios, the image data when the machine is seen from the predetermined position that is acquired by the image data acquisition unit into image data when the machine is seen from a separate position different from the predetermined position; and
a guidance display control unit which sequentially displays, on a display device, the image data when the machine is seen from the predetermined position, the one or more pieces of image data produced by the image conversion unit and the image data when the machine is seen from the separate position different from the predetermined position so as to guide a movement from the predetermined position to the separate position different from the predetermined position.

US Pat. No. 10,840,664

LASER CUTTING DEVICE, METHOD OF DIAGNOSING LASER OSCILLATOR AND COMPUTER-READABLE RECORDING MEDIUM

FANUC CORPORATION, Yaman...

1. A laser cutting device comprising:a laser oscillator configured to generate laser light;
a cutting nozzle configured to irradiate a work with the laser light supplied from the laser oscillator so as to cut the work; and
a controller configured to control the laser oscillator and a drive unit configured to move the cutting nozzle along a cutting path commanded by a cutting program,
wherein the controller includes:
a laser output control unit configured to issue a laser output command to the laser oscillator;
a diagnosis performance determination unit configured to determine whether or not the laser oscillator satisfies a predetermined operation condition, determine whether or not a temperature within an oscillator of the laser oscillator or a temperature of a cooling water falls within a certain range that is in a normal range having an upper limit and a lower limit, and determine, based on the cutting program, whether or not the laser oscillator is to be diagnosed; and
a diagnosis function performance unit configured to issue a laser output command for performing diagnosis of the laser oscillator to the laser oscillator, and
when the diagnosis performance determination unit determines that the laser oscillator satisfies the predetermined operation condition, determines that the temperature within the oscillator of the laser oscillator or the temperature of the cooling water falls within the certain range in the normal range, and determines, based on the cutting program, that the laser oscillator is to be diagnosed, the diagnosis performance determination unit outputs the laser output command for performing diagnosis to the laser oscillator,
the operation condition is a predetermined energization time of the laser oscillator or a predetermined number of times the cutting program is executed.

US Pat. No. 10,840,665

LASER MACHINING APPARATUS

FANUC CORPORATION, Yaman...

1. A laser machining apparatus wherein a machining head is connected to a laser oscillator which includes: a plurality of current control units connected mutually in parallel to a power supply and controlling current outputted from the power supply;a plurality of laser diode modules which are connected one-to-one to the plurality of current control units, and output light by the current controlled by the current control units flowing therethrough;
a plurality of laser cavities which connect one-to-several to the plurality of laser diode modules, and amplify and then output light outputted by the laser diode modules; and
a beam combiner which connects one-to-several to the plurality of laser cavities, and combines light outputted by the plurality of laser cavities,
wherein the laser machining apparatus is configured to perform machining by outputting the light combined by the beam combiner under control of a control unit from the machining head, the laser machining apparatus further comprising:
a current monitor unit which monitors each value of current controlled by the plurality of current control units; and
a power monitor unit which monitors each value of intensity of light outputted by the plurality of laser diode modules, each value of intensity of light outputted by the plurality of laser cavities, and value of intensity of light outputted by the beam combiner,
wherein the laser machining apparatus is configured to judge a failure location based on values of current monitored by the current monitor unit, and values of intensity of light monitored by the power monitor unit,
the failure location is judged to be in the plurality of current control units if any value of current controlled by the plurality of current control units is 0 A,
the failure location is judged to be in the plurality of laser diode modules if the failure location is not judged to be in the plurality of current control units and any value of intensity of light outputted by the plurality of laser diode modules is 0 kW,
the failure location is judged to be in the plurality of laser cavities if the failure location is not judged to be in the plurality of current control units or the plurality of laser diode modules and any value of intensity of light outputted by the plurality of laser cavities is 0 kW, and
the failure location is judged to be at the beam combiner if the failure location is not judged to be in the plurality of current control units, the plurality of laser diode modules, or the plurality of laser cavities, and the value of intensity of light outputted by the beam combiner is 0 kW.

US Pat. No. 10,838,380

AMPLIFIER SELECTION DEVICE, AMPLIFIER SELECTION METHOD, AND COMPUTER READABLE MEDIUM HAVING FUNCTION OF CLARIFYING ERRONEOUS SELECTION PART

FANUC CORPORATION, Yaman...

1. An amplifier selection device configured to select a motor, an amplifier, and a common power source, the amplifier selection device comprising:a display;
a characteristic data storage configured to store a database including respective characteristic data of a plurality of motors, a plurality of amplifiers, and a plurality of common power sources; and
a processor configured to
cause the display to display
a list of identification information of the plurality of motors, and
a motor selection command input section for receiving a selection command to select the motor to correspond to the identification information of the plurality of motors,
select the motor for which the selection command is input into the motor selection command input section,
cause the display to display
a list of identification information of the plurality of amplifiers, and
an amplifier selection command input section for receiving a selection command to select the amplifier to be combined with the selected motor to correspond to the identification information of the plurality of amplifiers,
select the amplifier for which the selection command is input into the amplifier selection command input section,
cause the display to display
a list of identification information of the plurality of common power sources, and
a common power source selection command input section for receiving a selection command to select the common power source to be combined with the selected motor and the selected amplifier to correspond to the identification information of the plurality of common power sources,
select the common power source for which the selection command is input into the common power source selection command input section,
cause the display to display a combination of the selected motor, the selected amplifier, and the selected common power source, and
determine whether a relation of the characteristic data between the selected motor and the selected amplifier satisfies a first condition under which the selected amplifier drives the selected motor, and whether a relation of the characteristic data between the selected motor and the selected common power source satisfies a second condition under which the selected common power source drives the selected motor,
wherein in response to a determination that at least one of the first condition or the second condition is not satisfied, the processor is configured to cause the display to
indicate the displayed combination of the selected motor and the selected amplifier, of which the relation of the characteristic data fails to satisfy the first condition, or
indicate the displayed a combination of the selected motor and the selected common power source, of which the relation of the characteristic data fails to satisfy the second condition,
the characteristic data of the selected motor include a continuous rated current, a short-time rated current, an maximum current during acceleration, a continuous rated output, a short-time rated output, and an acceleration maximum output of the selected motor,
the characteristic data of the selected amplifier include a continuous rated current, a short-time rated current, and an maximum current during acceleration of the selected amplifier,
the characteristic data of the selected common power source include a continuous rated output, a short-time rated output, and an acceleration maximum output of the selected common power source,
the first condition is set such that the continuous rated current, the short-time rated current, and the maximum current during acceleration of the selected amplifier are respectively equal to or higher than values of the continuous rated current, the short-time rated current, and the maximum current during acceleration of the selected motor, and
the second condition is set such that the continuous rated output, the short-time rated output, and the acceleration maximum output of the selected common power source are respectively equal to or higher than sums of the continuous rated output, the short-time rated output, and the acceleration maximum output of the selected motor.

US Pat. No. 10,837,871

MACHINE TOOL AND METHOD FOR THE MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A system including a plurality of machine tools and a factory monitoring system,the machine tool comprising:
a motor;
a ball screw configured to connect to the motor such that rotational motion of the motor is converted to linear motion of the ball screw;
a table connected to the ball screw that moves linearly based on the linear motion of the ball screw; and
a control device connected to the motor for detecting a rotational position of the motor and a use frequency within a stroke of the ball screw, the use frequency within the stroke of the ball screw being used for determining uneven wear of the ball screw,
wherein the factory monitoring system detects uneven wear of the ball screw by summing each distribution of the use frequency sent from the plurality of machine tools.

US Pat. No. 10,838,394

FAILURE CLASSIFYING DEVICE, FAILURE CLASSIFYING METHOD, AND FAILURE CLASSIFYING PROGRAM FOR SPECIFYING LOCATIONS OF FAILURES IN A MACHINE

FANUC CORPORATION, Yaman...

1. A failure classifying device comprising:a failure unit acquiring unit that acquires a data set in which a failure unit of a machine is correlated with one or a plurality of constituent parts;
a failure history acquiring unit that acquires a failure history including events of failures that occurred in the past and countermeasure parts for eliminating the failures; and
a correlating unit that stores information on one or a plurality of events in correlation with the failure unit by matching the constituent part to the countermeasure part.

US Pat. No. 10,838,395

INFORMATION PROCESSING DEVICE

Fanuc Corporation, Yaman...

1. An information processing device that optimizes, for an interference check, three-dimensional model data of a machine including a plurality of structures, the device comprising:a processor configured to:
execute a motion range demarcating unit that determines a three-dimensional motion range of the machine;
execute a check object selection unit that selects structures among the plurality of structures in the three-dimensional model data that overlap the determined three-dimensional motion range of the machine; and
execute a model creating unit that creates a modified three-dimensional model data from the selected structures.

US Pat. No. 10,838,405

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller capable of causing a machine to simultaneously execute multiple operations, the controller comprising:a processor configured to:
analyze a program and distinguish commands for multiple control groups that are described in one block and distinguished from each other by delimiter characters; and
independently execute the commands for the multiple control groups in parallel on a per-control-group basis, wherein the delimiter characters include at least a control group delimiter character and a wait delimiter character.

US Pat. No. 10,840,758

ROBOT DRIVE UNIT AND ROBOT

FANUC CORPORATION, Yaman...

1. A robot drive unit that is provided with a first member and a second member that are relatively rotated about a predetermined axis, the robot drive unit comprising:a housing that is fixed to the first member;
an output shaft member that is supported by the housing so as to be capable of rotating about the axis and that is fixed to the second member;
a hollow shaft having cylindrical shape and that is disposed coaxially with the axis, that is fixed to one of the housing and the output shaft member, and that is supported by the other one of the housing and the output shaft member so as to be capable of rotating about the axis; and
rotating-body sealing members that respectively seal a gap between the housing and the output shaft member and a gap between the hollow shaft and the other one of the housing and the output shaft member, while allowing relative rotation about the axis,
wherein the hollow shaft is provided with: a shaft body that is made of a non-ferrous material; and a contact-surface member that is fixed to the shaft body, that is made of a material having a higher surface hardness than the shaft body, and that forms a contact surface to be in contact with the corresponding rotating-body sealing member.

US Pat. No. 10,838,211

MAINTENANCE SUPPORT DEVICE AND MAINTENANCE SUPPORT SYSTEM FOR FACTORY EQUIPMENT

FANUC CORPORATION, Yaman...

1. A maintenance support device, comprising:an image analysis unit configured to extract information indicating an operational state of a piece of factory equipment, by
detecting character regions and image regions in a real image captured by an image capture unit of a head-mounted display comprising a display unit configured to display an augmented reality image in which an additional image is superimposed on a real scene and the image capture unit configured to capture the real scene to acquire the real image,
taking out characters from the character regions, and
recognizing image patterns in the image regions;
a data storage unit configured to store the information indicating the operational state extracted by the image analysis unit;
a data analysis unit configured to determine whether or not an abnormality has occurred in the piece of factory equipment, based on the information indicating the operational state stored in the data storage unit; and
a display control unit configured to cause the display unit of the head-mounted display to display the augmented reality image in which the additional image is superimposed on the real scene, the additional image indicating maintenance information for the piece of factory equipment with respect to which the data analysis unit has determined that the abnormality has occurred, wherein
the data analysis unit is configured to
determine that the abnormality has occurred, in response to a difference between (i) a first change in the information indicating the operational state during a first time period and (ii) a second change in the information indicating the operational state during a second time period preceding the first time period being out of a predetermined range of difference, and
determine that the abnormality has not occurred, in response to the difference between (i) the first change and (ii) the second change being within the predetermined range of difference, and
the maintenance information for the piece of factory equipment is information on maintenance including at least one of replacing a component constituting a device, replacing tools, replacing provisions, replenishing consumables, changing design, emergency stop of a device or manufacturing line including the device, shutting down power supply, diversion operation, relocating devices and products, removing alien objects, adding to raw materials, adjusting temperature, adjusting humidity, adjusting atmospheric pressure, and cleaning.

US Pat. No. 10,840,773

ROTARY ELECTRIC MACHINE WITH A STATOR HAVE A FRAME AND A CORE WITH HAVING THEIR MATERIAL MIXED AT JOINT

FANUC CORPORATION, Yaman...

1. A stator comprising:a substantially cylindrical core allowing arrangement of a winding inside the core; and
a stator frame joined to the outer lateral surface of the core through a joint,
wherein the joint is formed at least at a part of a boundary where the outer lateral surface of the core and the inner lateral surface of the stator frame are in contact with each other,
a material forming the core and a material forming the stator frame are mixed at the joint,
the material forming the stator frame includes a powder material that gets into irregularities formed in a surface of the core at the joint, and
the joint is not exposed anywhere at an outer circumferential surface of the stator frame.

US Pat. No. 10,835,930

SORTING SYSTEM

FANUC CORPORATION, Yaman...

1. A sorting system configured to generate control information for sorting an object to be sorted, based on measurement data obtained by measuring a state of the object to be sorted with a measuring device, the sorting system comprising:an input device configured to receive sorting data indicative of a first result of sorting of the object to be sorted by a worker;
a machine learning device configured to learn the sorting data corresponding to the measurement data to determine a second result of sorting of the object to be sorted;
a learning result aptitude determination unit configured to determine an aptitude of a result of learning by the machine learning device, based on the first result input through the input device and the second result determined by the machine learning device;
a sorting control switching unit configured to switch a mode of sorting operation for the object to be sorted, based on the aptitude determined by the learning result aptitude determination unit; and
a control unit configured to generate the control information for sorting the object to be sorted,whereinthe sorting control switching unit is configured to switch the mode of sorting operation of the control unit so as to perform automatic sorting of the object to be sorted, in response to the aptitude of the result of the learning being compatible with a previously specified criterion, and
the sorting control switching unit is configured to switch the mode of sorting operation of the control unit so as not to perform the automatic sorting of the object to be sorted, in response to the aptitude of the result of the learning being not compatible with the previously specified criterion.

US Pat. No. 10,838,764

LADDER PROGRAM ANALYZING DEVICE

FANUC CORPORATION, Yaman...

1. A ladder program analyzing device, comprising:a processor configured to
analyze a ladder program including a plurality of ladder circuits,
prepare an execution priority signal table in which execution priorities of the ladder circuits, position information of the ladder circuits, reference signals indicating signals input to the ladder circuits, and update signals indicating signals output from the ladder circuits are correlated with each other,
delete all non-updated reference signals from the execution priority signal table, wherein each non-updated reference signal is a reference signal different from all update signals in the execution priority signal table,
repeatedly perform following operations until the execution priority signal table is empty:
finding, in the execution priority signal table, a ladder circuit having an empty reference signal,
adding the position information of the found ladder circuit to an execution priority table at a highest unassigned execution priority,
deleting, from the execution priority signal table, all reference signals which are the same as the update signal of the ladder circuit added to the execution priority table, and
deleting, from the execution priority signal table, the ladder circuit added to the execution priority table, and
in response to the execution priority signal table being empty, rearrange the ladder circuits according to the position information and the execution priorities in the execution priority table.

US Pat. No. 10,835,974

WIRE COLLECTION DEVICE OF WIRE ELECTRICAL DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire collection device of a wire electrical discharge machine for collecting a used wire electrode having been used for electrical discharge machining and fed sequentially, comprising:a first collection box having a wire inlet provided at a top portion for introduction of the wire electrode;
a second collection box having a wire inlet provided at a top portion for introduction of the wire electrode, housed in the first collection box, and capable of being taken out to the outside through an access port formed in the first collection box; and
a partition member provided to be openable and closable for partitioning the interior of the first collection box into lower space for housing the second collection box and upper space communicating with the wire inlet of the first collection box, and for making communication between the lower space and the upper space, wherein
the wire collection device is configured in such a manner that, while the partition member is opened, the wire electrode is fed through the first collection box and the wire inlet of the second collection box into the second collection box and collected in the second collection box, and
while the partition member is closed, the wire electrode is fed through the wire inlet of the first collection box, and accumulated and collected on the partition member.

US Pat. No. 10,840,848

MOTOR DRIVER AND MOTOR DRIVING SYSTEM

FANUC CORPORATION, Yaman...

1. A motor driver that is accommodated in a housing and drives a motor, the motor driver comprising:a storage unit that stores a quantity of heat generated independently of a value of a current caused to flow in the motor as a first heat quantity;
a current detection unit that detects the value of the current caused to flow in the motor; and
a heat quantity calculation unit that calculates a quantity of heat released to an interior of the housing by adding the first heat quantity stored in the storage unit and a second heat quantity responsive to the value detected by the current detection unit, wherein
the storage unit stores a ratio of the quantity of heat released to the interior of the housing to a quantity of heat generated according to the value of the current caused to flow in the motor, and
the heat quantity calculation unit calculates the second heat quantity by multiplying a heat quantity responsive to the value detected by the current detection unit by the ratio stored in the storage unit.

US Pat. No. 10,839,317

CONTROL DEVICE AND MACHINE LEARNING DEVICE

FANUC CORPORATION, Yaman...

1. A control device configured to detect a collision of a spindle driven by a servo motor and included in a machine tool, the control device comprising:a processor configured to:
learn a state of the spindle during normal machining without the collision of the spindle, observe spindle estimated load torque data indicating estimated load torque values for the spindle and spindle acceleration data indicating acceleration values of the spindle as state variables representing a current state of an environment,
learn a correlation between the estimated load torque values for the spindle and the acceleration values of the spindle during the normal machining with use of the state variables,
perform a detection of the collision of the spindle based on an existence of a number of pairs of the estimated load torque values and the acceleration values of the spindle in a vicinity of a sample of the state variables using a graph in which a vertical axis represents the estimated load torque values of the spindle and a horizontal axis represents the acceleration values of the spindle,
output a result of the detection, and
generate an alarm or control the servo motor for driving the spindle included in the machine tool based on the result of the detection.

US Pat. No. 10,830,648

ABNORMAL TEMPERATURE DETECTION SYSTEM, ABNORMAL TEMPERATURE DETECTION CABLE AND CABLE

FANUC CORPORATION, Yaman...

1. An abnormal temperature detection system that detects an abnormal temperature in a cable used to transmit power to an electrical device, the abnormal temperature detection system comprising:first and second conductors that are disposed along a longitudinal axis direction of the cable;
a plurality of temperature-responsive electronic components that are disposed along the longitudinal axis direction of the cable and are electrically connected to the first and second conductors to establish a parallel connection; and
a long flexible printed circuit board that is disposed along the longitudinal axis direction of the cable,
wherein the long flexible printed circuit board, the first and second conductors and the plurality of temperature-responsive electronic components form an electrical circuit, the abnormal temperature being detected on the basis of an electrical signal acquired from the electrical circuit.

US Pat. No. 10,831,176

NUMERICAL CONTROLLER MONITORING REMOVAL OF DAISY CHAINED DEVICES

Fanuc Corporation, Yaman...

1. A numerical controller in which a plurality of devices is allowed to be connected to a serial bus by a daisy chain, the numerical controller comprising:a processor configured to:
acquire, from each of the devices, a connection number indicating a connection position of the device on the daisy chain and a device ID corresponding to identification information unique to the device as connection information;
determine presence or absence of a problem by comparing the connection information including respective connection numbers of each of the devices with respective connection numbers of a connection setting parameter obtained by associating the connection number with a logic axis number corresponding to identification information of a logic axis of the numerical controller, the connection numbers of each of the devices identifying a respective connection order of the devices in the daisy chain;
store the connection information acquired when the connection numbers of each of the devices matches with the connection numbers of the connection setting parameter; and
identify a removed device when the connection number of the removed device does not match any of the connection numbers in the connection setting parameter, and create connection setting data by renumbering one the remaining devices to use the connection number of the removed device.

US Pat. No. 10,833,553

ELECTRIC MOTOR INCLUDING TERMINAL BOX AND MACHINE TOOL

FANUC CORPORATION, Yaman...

1. An electric motor comprising:a stator;
a rotor including a rotating shaft rotatable about an axis with respect to the stator;
a bearing configured to rotatably support the rotating shaft;
a housing configured to support the bearing and define a space adjacent to the bearing on an outer side in a direction of the axis; and
a terminal box for a power line connected to the electric motor,
wherein an inner portion of the terminal box is in fluid communication with a clean environment, the inner portion of the terminal box and the space communicate with each other through a hollow tube provided on an outer side of the stator, and air in the clean environment automatically flows into the space through the inner portion of the terminal box and the hollow tube in accordance with a rotation of the rotor so that air, flowing out from a gap that is adjacent to the bearing and communicated with an outer portion of the electric motor, is compensated;
wherein an element other than the hollow tube does not intervene between the terminal box and the space defined by the housing.

US Pat. No. 10,832,295

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. 10,828,776

CONTROL DEVICE FOR LIMITING SPEED OF ROBOT

FANUC CORPORATION, Yaman...

1. A control device for controlling an operation speed of a robot, the control device comprising:a processor configured to
stop an operation of the robot in response to a person coming in contact with the robot, and
limit the operation speed of the robot, wherein
a distance determination value relating to an accident caused by sandwiching a person between two objects among a component of the robot, an operation tool attached to the robot, and an object arranged around the robot is predetermined,
a contact determination value is a determination value for a distance when the two objects among the component of the robot, the operation tool, and the object arranged around the robot come into contact with each other,
the contact determination value relating to contact between the two objects is a value that is different from the distance determination value relating to the accident caused by sandwiching the person,
the processor is configured to
generate three-dimensional models of the two objects among the component of the robot, the operation tool, and the object arranged around the robot,
calculate a shortest distance between the models of the two objects in the three-dimensional models,
determine whether or not the shortest distance is less than the distance determination value,
in response to the shortest distance being less than the distance determination value, control the operation speed of the robot so that the operation speed is equal to or lower than a first limit speed determined in advance,
determine whether or not the shortest distance is less than the contact determination value, and
in response to the shortest distance being less than the contact determination value, control the operation speed of the robot so that the operation speed is equal to or lower than a second limit speed determined in advance.

US Pat. No. 10,828,781

CALIBRATION SYSTEM AND CALIBRATION METHOD FOR HORIZONTAL ARTICULATED ROBOT

FANUC CORPORATION, Yaman...

1. A calibration system for a horizontal articulated robot, the calibration system comprising:an installation surface on which a base of the horizontal articulated robot is installed;
reference surfaces that are provided on the base and that define two directions intersecting with the installation surface and intersecting with each other; and
a positioning jig that is attached to a distal end of the horizontal articulated robot and that has positioning surfaces, in three directions, which respectively and simultaneously come into contact with the installation surface and the reference surfaces.

US Pat. No. 10,828,791

HUMAN-COOPERATIVE INDUSTRIAL ROBOT INCLUDING PROTECTION MEMBER

FANUC CORPORATION, Yaman...

1. A human-cooperative industrial robot, comprising:a base unit;
a movable unit movably provided on or above the base unit;
a protection member of a material having a rigidity lower than rigidities of the base unit and the movable unit, the protection member covering a circumference of at least the movable unit; and
a detector mounted in at least one of the base unit and the movable unit,
wherein the detector is configured to detect an external force transmitted through the protection member and through said at least one of the base unit and the moveable unit, to the detector,
wherein the detector is arranged at a position spaced apart from the protection member without contacting the protection member and is fixed directly to said at least one of the base unit and the movable unit,
wherein the external force transmits through said at least one of the base unit and the movable unit to the detector and is detected by the detector, and
wherein the protection member is fixed with a clearance from an external peripheral surface of the base unit or the movable unit.

US Pat. No. 10,831,871

ROBOT SYSTEM HAVING BIOMETRIC AUTHENTICATION FUNCTION

FANUC CORPORATION, Yaman...

1. A system, comprising:a plurality of robots;
a plurality of control devices for controlling the respective robots; and
a single RF tag; the single RF tag comprising:
a detection device for detecting biometric authentication information of an individual;
a memory for storing unique biometric authentication information of an authorized person which is authorized to perform operations related to tasks of the respective robots;
a first processor for obtaining a biometric authentication result by comparing the biometric authentication information detected by the detection device with the unique biometric authentication information stored in the memory; and
a first antenna for transmitting the biometric authentication result obtained by the first processor; wherein
each of the plurality of control devices comprises a second antenna for receiving the biometric authentication result transmitted from the single RF tag, a reader comprising the second antenna, and a second processor which can communicate with the reader and which advances the process of the operation, and each of the control devices advances a process of the operation performed by the individual in connection with the operation of the respective robot without the detection of the biometric authentication information by the respective plurality of control devices when the biometric authentication result indicates that the individual is the authorized person.

US Pat. No. 10,827,085

MACHINE LEARNING DEVICE, SCREEN PREDICTION DEVICE, AND CONTROLLER

FANUC CORPORATION, Yaman...

1. A machine learning device comprising: a state observation unit that acquires a state vector sequence {xn: n is equal to or greater than 1} that is time-series data as a group of state vectors xn corresponding to a transition of operation screens responsive to a series of operations by a user or change in a machine state of an industrial machine, the state vectors xn each containing screen type data yn and machine state data zn, the screen type data yn indicating a screen type of each operation screen used by the user when the user performs the series of operations on the basis of an operation screen displayed on a display unit of a controller for controlling the industrial machine, the machine state data zn indicating the machine state of the industrial machine controlled by the controller when the operation screen is displayed;a training data acquisition unit that acquires training data containing input data and label data, the input data being a subsequence of preset N (N is equal to or greater than 2) consecutive state vectors {xn, xn+1, . . . xn+N?1} starting from an arbitrary state vector xn (n is equal to or greater than 1) belonging to the state vector sequence acquired by the state observation unit,
the label data being screen type data about a screen to be displayed next or on an occasion after the next to the operation screen containing screen type data yn+N?1 indicating the type of a screen to be displayed next to an operation screen corresponding to a state vector xn+N?1 at the end of the state vector subsequence as the input data; and
a learning unit that performs supervised machine learning using the training data containing the input data and the label data, when the user performs a series of operations on the basis of an operation screen displayed on the display unit, the learning unit generating a learned model for predicting screen type data to be used next or on an occasion after the next by the user on the basis of a state vector subsequence containing N consecutive state vectors determined retrospectively starting from a current state vector.

US Pat. No. 10,823,783

MOTOR DRIVE DEVICE HAVING FAILURE DETECTION FUNCTION

FANUC CORPORATION, Yaman...

1. A motor drive device comprising:an inverter provided with a plurality of power devices and configured to convert a DC voltage to an AC voltage by switching the plurality of power devices;
a current detector configured to detect a current output from the inverter;
a current controller configured to generate a voltage command based on a current command and a value of the current detected by the current detector;
a control signal generator configured to control switching of the plurality of power devices of the inverter based on the voltage command;
a dynamic brake circuit provided with a plurality of relays and configured to short-circuit an output side terminal of the inverter via a plurality of resistances;
a storage configured to store, when a current command is input to the current controller and at least two relays from among the plurality of relays are caused to conduct, an initial current value being an initial value of a current detected by the current detector and a first threshold value for determining presence or absence of a failure; and
a failure determiner configured to compare, after a predetermined time has elapsed since detection of the initial current value, a current value and the initial current value, and determine presence or absence of a failure in the motor drive device without the motor drive device being connected with a motor based on a result of comparing a change rate of the current value from the initial current value with the first threshold value,
wherein the current value is a value of a current detected by the current detector when a current command is input to the current controller and at least two relays from among the plurality of relays are caused to conduct.

US Pat. No. 10,826,361

ROTARY ELECTRICAL MACHINE

FANUC CORPORATION, Yaman...

1. A rotary electrical machine comprising a housing including: a first member with a paint surface with paint and a machining surface adjoining the paint surface after being subjected to machining, the paint surface including a boundary area formed at a boundary part with the machining surface; and a second member covering the boundary area,wherein the second member includes a recess, and the recess includes a first facing surface facing the boundary area, and a second facing surface facing the machining surface, and
wherein a gap is formed between the boundary area and the first facing surface, and the machining surface and the second facing surface contact each other.

US Pat. No. 10,824,121

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

FANUC CORPORATION, Yaman...

1. A servo motor control system comprising a servo motor controller including a changing unit configured to change a parameter of a control unit configured to control a servo motor on a basis of a position command and a compensation value of at least one of the position command and a torque command, a control target controlled by the servo motor controller, and a machine learning device that performs machine learning with respect to the servo motor controller,wherein the machine learning device includes:
a state information acquisition unit configured to acquire, from the servo motor controller, state information including the position command, a servo state including at least a positional error, a combination of the parameter of the control unit and the compensation value by causing the servo motor controller to execute a predetermined program;
an action information output unit configured to output action information including adjustment information of the combination of the parameter and the compensation value which are included in the state information, to the servo motor controller;
a reward output unit configured to output a value of a reward of reinforcement learning based on the positional error included in the state information; and
a value function updating unit configured to update a value function on a basis of the value of the reward output by the reward output unit, the state information, and the action information,
wherein the control unit of the servo motor controller includes: a position control unit configured to generate a velocity command on a basis of the position command; a velocity control unit configured to generate the torque command on a basis of the velocity command output from the position control unit; and a filter configured to attenuate signals of frequencies in a predetermined frequency range of the torque command output from the velocity control unit, and
the changing unit of the servo motor controller changes a gain of at least one of the position control unit and the velocity control unit, a filter coefficient of the filter, and at least one of a torque offset value and a friction compensation value applied to the position command or the torque command, on a basis of the action information.

US Pat. No. 10,824,136

SETTING DEVICE AND COMPUTER READABLE MEDIUM

FANUC CORPORATION, Yaman...

1. A setting device comprising: a memory configured to store a program; anda processor configured to execute the program and control the setting device to:
receive a specification of a first setting value for at least one or more parameters on control of a machine tool;
receive a specification of a second setting value for the parameter after the reception of the first setting value;
receive a specification of a selection condition for determining which one of the first setting value and the second setting value is selected; and
select, based on the selection condition whose specification is received, any one of the first setting value and the second setting value as a setting value that is applied to the parameter;
wherein the selection condition is provided for each purpose of machining performed by the machine tool and is a condition in which selection criteria for the first setting value and the second setting value individually differ according to the purpose of the machining; and
wherein the processor is further configured to execute the program and control the setting device to apply any one of the first setting value and the second setting value selected to the parameter so as to control the machine tool based on the applied setting value.

US Pat. No. 10,821,600

ROBOT WITH HOLLOW WRIST ELEMENT

Fanuc Corporation, Yaman...

1. A robot comprising:a hollow first wrist element coupled to a distal end of a robot arm so as to be rotatable about a first axis;
a hollow second wrist element coupled to the first wrist element so as to be rotatable about a second axis intersecting the first axis;
a third wrist element coupled to the second wrist element so as to be rotatable about a third axis intersecting the second axis, the third wrist element supporting an end effector configured to carry out a work on a workpiece;
a first wire member wired so as to pass through the inside of the first wrist element, the second wrist element, and the third wrist element, and connected to the end effector; and
a second wire member wired so as to pass through the inside of the first wrist element, while passing outside of the second wrist element and the third wrist element, and connected to the end effector.

US Pat. No. 10,814,481

ROBOT SYSTEM FOR PERFORMING LEARNING CONTROL BY USING MOTOR ENCODER AND SENSOR

Fanuc Corporation, Yaman...

1. A robot system comprising a robot mechanism unit provided with a sensor and a motor encoder for detecting a position of a control target, and a robot control device which controls an operation of the robot mechanism unit in accordance with an operation program, the robot system comprising:a learning control unit which causes the robot mechanism unit to operate in accordance with an operation command related to a target position of the control target to estimate a position error between an estimated position of the control target and the target position and perform learning by newly calculating a new correction amount, based on the estimated position error and a correction amount calculated previously to bring the estimated position of the control target closer to the target position; and
a robot control unit which corrects the operation command by using the newly calculated correction amount, to control the operation of the robot mechanism unit,
wherein the learning control unit comprises a position error estimating section which estimates a low-frequency component in the position error, based on information from the motor encoder, and estimates a high-frequency component in the position error, based on information from the sensor.

US Pat. No. 10,814,482

ROBOT CONTROLLER

Fanuc Corporation, Yaman...

1. A robot controller that controls an arm tip end portion of a robot to move at constant predetermined speed on the basis of a movement, path including an arc portion, the robot controller comprising:a centrifugal force calculation unit that calculates a centrifugal force acting on the arm tip end portion as time series data;
a transformation unit that performs Fourier transformation with respect to the time series data of the centrifugal force into frequency data; and
a speed determination unit that determines the predetermined speed such that a frequency component in a predetermined range including a natural vibration frequency of the robot is equal to or less than a threshold on the basis of the frequency data of the centrifugal force.

US Pat. No. 10,814,485

DEVICE, SYSTEM, AND METHOD FOR AUTOMATICALLY GENERATING MOTION PATH OF ROBOT

Fanuc Corporation, Yaman...

1. A device configured to automatically generate a motion path of a robot, comprising:a shape acquisition section configured to acquire a shape of a workpiece to be processed by a robot;
a motion pattern acquisition section configured to acquire a basic motion pattern including a reference workpiece shape, a reference working position in the reference workpiece shape, and a type of work onto the reference working position;
a similarity determination section configured to determine whether the shape of the workpiece acquired by the shape acquisition section is similar to the reference workpiece shape included in the basic motion pattern;
a position determination section configured to newly calculate a working position in the workpiece that corresponds to the reference working position included in the basic motion pattern, using information representing the shape of the workpiece and the reference workpiece shape determined to be similar to each other by the similarity determination section, and a mapping theory equation for calculating corresponding positions in two shapes having different dimensions; and
a motion-path generation section configured to generate a motion path for the robot to carry out the work included in the basic motion pattern onto the working position, by changing the reference working position to the working position calculated by the position determination section,
wherein the mapping theory equation is represented as:

wherein:
x is the reference working position in the reference workpiece shape,
k is an index value of the reference working position in the reference workpiece shape,
f is the corresponding positions in the two shapes having different dimensions, and
argmin is the minimum value.

US Pat. No. 10,814,500

CABLE CLAMP AND ROBOT

FANUC CORPORATION, Yaman...

1. A cable clamp comprising:a base member fixed to a predetermined position of an arm of a robot;
a rotation mechanism provided on the base member; and
a clamp base rotatably supported by the base member using the rotation mechanism, wherein the clamp base is rotatable around a predetermined rotation axis line,
wherein the clamp base includes a plurality of holes, each of which penetrates the clamp base along the predetermined rotation axis line and into which a fixation band that is wound around a cable is inserted for fixing the cable to the clamp base.

US Pat. No. 10,816,588

NOISE SOURCE MONITORING APPARATUS AND NOISE SOURCE MONITORING METHOD

FANUC CORPORATION, Yaman...

16. A noise source monitoring apparatus, comprising:an imaging unit configured to capture an image of a plurality of electrical switches configured to switch on and off motors configured to drive a plurality of devices, the motors being arranged around a controller configured to control an industrial machine, the plurality of devices being different from the industrial machine; and
a processor configured to:
acquire a noise event time of a noise occurring in the controller;
recognize an on/off switching time of each of the plurality of switches, based on the image captured by the imaging unit;
calculate, for each of the switches, a degree of correlation between occurrence of the noise and on/off switching of the switches, based on the noise event time and the on/off switching time of each of the plurality of switches; and
cause a display to display information indicating the degree of correlation for each of the switches.

US Pat. No. 10,814,554

CONTROL DEVICE FOR LASER MACHINING APPARATUS, AND LASER MACHINING APPARATUS

FANUC CORPORATION, Yaman...

1. A control device for a laser machining apparatus including a plurality of lasers, and a plurality of scanners which respectively scan laser beams outputted from the plurality of lasers, the control device comprising:a scanner control unit which synchronously controls the plurality of scanners; and
a laser control unit which synchronously controls the plurality of lasers,
wherein the scanner control unit performs tracking control to precede or delay operation of at least one scanner among the plurality of scanners relative to operation of another scanner among the plurality of scanners, and
wherein the laser control unit performs tracking control to precede or delay laser output of at least one laser among the plurality of lasers corresponding to the at least one scanner, relative to laser output of another laser among the plurality of lasers corresponding to the other scanner.

US Pat. No. 10,815,067

WORK SYSTEM, METHOD FOR EXECUTING WORK ON OBJECT, AND ROBOT

FANUC CORPORATION, Yaman...

1. A work system comprising:a conveying apparatus that conveys an object;
a moving platform that can be moved;
a work portion that is secured to the moving platform and that performs work on the object being conveyed by the conveying apparatus;
a visual sensor that is secured to the moving platform and that successively acquires visual information about the object being conveyed by the conveying apparatus or a mark formed on the conveying apparatus;
a detecting portion that successively detects at least positions of the object or the mark by processing the visual information acquired by the visual sensor;
a calculating portion that calculates a conveying velocity of the conveying apparatus on a basis of the positions of the object or the mark that are successively detected by the detecting portion; and
a drive control unit that drives the work portion by using the conveying velocity,
wherein an image-capturing area of the visual sensor is located at an upstream side of the conveying apparatus relative to a work area where the work is conducted by the work portion, and the work area is not captured by the visual sensor,
wherein, in the case in which the object or the mark is not detected in a plurality of the visual information acquired by the visual sensor in a predetermined period, the drive control unit drives the work portion by using the conveying velocity calculated by the calculating portion before the predetermined period.

US Pat. No. 10,814,398

CONTROLLER FOR CHIP CUTTING WHEN PROCESSING A ROTATING WORKPIECE

Fanuc Corporation, Yaman...

1. A controller configured to control a machine tool which performs thread cutting for a rotating workpiece by moving a cutting tool pressed against the workpiece, according to a machining program, the controller comprising:a cutting-up/cutting-in motion operating condition analysis unit configured to analyze operating conditions of a cutting-up/cutting-in motion commanded in the machining program; and
a cutting-up/cutting-in motion insertion unit configured to insert a cutting-up/cutting-in motion created based on the operating conditions analyzed by the cutting-up/cutting-in motion operating condition analysis unit into the thread cutting,
wherein the cutting-up/cutting-in motion insertion unit is configured to repeatedly perform, along a thread groove cutting direction, a cycle including performing:
a cutting-in operation from a start position where the cutting tool cuts into the workpiece to a predetermined depth,
when the cutting-in operation is complete, a cutting-up operation which cuts chips into pieces by raising the cutting tool for cutting in the radial direction of the workpiece so that the cutting tool escapes to an outside of an outer diameter of the workpiece when the thread is an external thread, or so that the cutting tool escapes to an inside of an inner diameter of the workpiece when the thread is an internal thread, and
when the cutting-up operation is complete, an operation to cause the cutting tool to approach a subsequent start position for execution of a subsequent cutting-in operation, wherein the approach is a path of the cutting tool that is determined so that the cutting tool does not interfere with the workpiece during the approach to the subsequent start position.

US Pat. No. 10,814,424

LASER MACHINING HEAD HAVING FUNCTION OF RECTIFYING ASSIST GAS

Fanuc Corporation, Yaman...

1. A laser machining head having a function of rectifying an assist gas comprising:a protection window;
a nozzle configured to blow the assist gas over a workpiece;
a chamber defining a space between the protection window and the nozzle;
an inflow port disposed in the chamber and configured to allow the assist gas to flow in; and
a flow dividing projection disposed on an inner wall of the chamber opposing to the inflow port at a position beyond an optical axis of a laser beam and configured to divide a flow of the assist gas from the inflow port into a first flow and a second flow flowing along a circumferential direction around the optical axis of the laser beam.

US Pat. No. 10,814,444

WORKPIECE CLAMPING DEVICE CLAMPING AND SECURING WORKPIECE

Fanuc Corporation, Yaman...

1. A workpiece clamping device comprising:a receiving base on which a first workpiece is placed;
a first clamping mechanism configured to clamp the first workpiece placed on the receiving base, and including a first clamp section and a second clamp section which are provided at the receiving base so as to open and close in a first-axis direction and which can clamp the first workpiece; and
a second clamping mechanism configured to clamp a second workpiece placed on the first workpiece, and including:
a third clamp section and a fourth clamp section which are provided at the receiving base so as to open and close in the first-axis direction independently from the opening and the closing of the first clamp section and the second clamp section of the first clamping mechanism, and which can clamp the second workpiece; and
a second biasing section interposed between the receiving base and at least one of the third clamp section and the fourth clamp section, and configured to bias the at least one of the third clamp section and the fourth clamp section in a closing direction,
wherein the second clamping mechanism retaining the second workpiece at a position with respect to the first workpiece.

US Pat. No. 10,814,446

MOTOR WITH SHAFT MOVABLE IN LIMITED MANNER, AND MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A motor, comprising:a rotor including a shaft;
a housing configured to support the shaft so as to be movable in an axial direction in a limited manner and to be rotatable;
a flange disposed axially outside of the housing and provided at the shaft so as to rotate integrally with the shaft, the flange projecting radially outward from the shaft and being configured to prevent a foreign object from entering the housing during operation of the motor; and
a temporary tacking structure disposed on at least one of the housing or the flange, and configured to temporarily tack the housing and the flange to each other in the axial direction.

US Pat. No. 10,809,672

MEASUREMENT SYSTEM

FANUC CORPORATION, Yaman...

1. A measurement system comprising:a control device which controls a control target device in real time and transmits control data for controlling the control target device to a terminal device; and
a measuring instrument which acquires data indicating a physical status of the control target device and transmits the data as measurement data to the terminal device, wherein
the control device includes a control unit and a sequence control unit, the control unit transmitting a timing signal to the measuring instrument using a signal output device without using the sequence control unit, the control unit transmitting other signals using the sequence control unit, wherein the sequence control unit operates at a predetermined control interval,
the control device transmits, to the terminal device, the control data that includes a first piece of time information based on the timing signal transmitted to the measuring instrument using the sequence control unit,
the measuring instrument transmits, to the terminal device, the measurement data that includes a second piece of time information based on the timing signal from the control unit, and
the terminal device compensates for a delay between the control data and the measurement data on the basis of the first piece and second piece of time information, wherein the delay is the time interval required for the timing signal transmitted from the control unit to the measuring instrument.

US Pat. No. 10,812,009

MOTOR DRIVING DEVICE AND ABNORMAL HEAT GENERATION DETECTING METHOD FOR MOTOR DRIVING DEVICE

FANUC CORPORATION, Yaman...

1. A motor driving device for driving a motor, comprising:a heat sink;
a rectifier provided on the heat sink and configured to rectify an AC voltage supplied from an AC power supply to a DC voltage;
a smoothing capacitor configured to smooth the DC voltage rectified by the rectifier;
a charging resistor provided on the heat sink and configured to be used for charging the smoothing capacitor during an initial charging period before start of driving the motor;
a temperature sensor with which the charging resistor is provided; and
a controller configured to determine that at least one of the rectifier or the charging resistor is abnormally generating heat when a temperature detected by the temperature sensor after a lapse of the initial charging period is equal to or higher than a first threshold, and then stop supply of the AC voltage to the rectifier.

US Pat. No. 10,810,770

ROBOT SYSTEM, PROCESSING DEVICE AND TEACH PENDANT, HAVING EXTERNAL FORCE DISPLAYING FUNCTION

FANUC CORPORATION, Yaman...

1. A robot system comprising:a robot;
a detection section configured to detect an external force applied to the robot;
a conversion section configured to convert magnitude and direction of the external force detected by the detection section into a coordinate value of a three-dimensional rectangular coordinate system;
an image generating section configured to generate a force model image representing the magnitude and the direction of the external force by a graphic, with use of the coordinate value obtained by the conversion section; and
a display section configured to three-dimensionally display the force model image generated by the image generating section.

US Pat. No. 10,810,547

INJECTION MOLDING MANAGEMENT SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding management system for performing stock control management of a plurality of types of molding material comprising at least molding materials 1, 2, and 3 used for forming a plurality of kinds of molding with a plurality of injection molding machines comprising at least molding machines 1, 2, and 3 which each form one kind of molding with one or more types of molding material, the injection molding management system comprising at least one processor configured to execute the steps of:storing, for each kind of molding, molding information on usage of each type of molding material used in forming a molding;
calculating a remaining product quantity of each kind of molding;
calculating a total usage of each type of molding material used by the injection molding machines, based on the remaining product quantity and the molding information of each kind of molding remaining;
storing a stock quantity of molding material;
calculating an order quantity of each type of molding material, based on the total usage and the stock quantity of each type of molding material; and
issuing an ordering command of each type of molding material, based on the order quantity of molding material calculated, wherein
calculating the total usage of each type of molding material comprises calculating a total usage of each of the molding materials 1, 2, and 3 for each of the injection molding machines 1, 2, and 3 using the below expressions (I)-(III):
(Total usage of molding material 1)=(Usage of molding material 1 in injection molding machine 1)+(Usage of molding material 1 in injection molding machine 2)+(Usage of molding material 1 in injection molding machine 3);  (I)
(Total usage of molding material 2)=(Usage of molding material 2 in injection molding machine 1)+(Usage of molding material 2 in injection molding machine 2)+(Usage of molding material 2 in injection molding machine 3); and  (II)
(Total usage of molding material 3)=(Usage of molding material 3 in injection molding machine 1)+(Usage of molding material 3 in injection molding machine 2)+(Usage of molding material 3 in injection molding machine 3).  (III)

US Pat. No. 10,801,604

RELIEF UNIT AND ROBOT

FANUC CORPORATION, Yaman...

1. A relief unit attached to an attachment hole penetrating through a wall of a housing that accommodates a power transmission mechanism of a robot together with lubricating oil in a sealed state, the relief unit comprising:a body provided with an attachment section attachable to the attachment hole and that forms a communication passage disposed at a position where an internal space of the housing and an external space are connected when the attachment section is attached to the attachment hole;
an opening and closing mechanism that is provided in the communication passage, that closes the communication passage in a sealed state when the opening and closing mechanism is closed, and that opens the communication passage when the opening and closing mechanism is opened; and
a catching part that is disposed at an intermediate position of the communication passage and that catches the lubricating oil,
wherein the opening and closing mechanism is closed at a predetermined pressure value or less and is opened above the predetermined pressure value, and
wherein the predetermined pressure value is adjustable.

US Pat. No. 10,804,760

ROTOR AND MOTOR

FANUC CORPORATION, Yaman...

1. A rotor comprising:a cylindrical rotor core fixed to an outer peripheral side of a rotary shaft rotatable about an axis center, the rotor core including:
multiple first slots arranged at substantially regular intervals in a peripheral direction of the rotor core and penetrating the rotor core in an axis direction of the rotary shaft; and
multiple second slots formed at an inner position of the rotor core with respect to the first slots, arranged at substantially regular intervals in the peripheral direction of the rotor core, and penetrating the rotor core in the axis direction of the rotary shaft, wherein
each of the first slots and each of the second slots are positioned at different positions in terms of phases in the peripheral direction of the rotor core such that for each second slot, in a front view, a straight line from the axis center through the center of the second slot and extending in a radially outward direction to the outside of the cylindrical rotor core does not intersect any of the first slots; and
a secondary conductor including:
multiple conductor bars arranged in the first slots and the second slots; and
a pair of ring-like end rings arranged at opposite end surfaces of the rotor core and connecting end portions of the multiple conductor bars.

US Pat. No. 10,802,460

CONTROLLER FOR OSCILLATION CUTTING

Fanuc Corporation, Yaman...

1. A controller that performs oscillation cutting, the controller comprising:an oscillation command creation unit that outputs an oscillation command;
an oscillation command creation determination unit that determines whether or not cutting of a workpiece by a tool is actually being performed, and stops an output of the oscillation command during non-cutting; and
a cut path storage unit that stores a cut path on which cutting has been completed,
wherein the oscillation command creation determination unit stops the output of the oscillation command when a tool path and the cut path overlap with each other.

US Pat. No. 10,802,461

CONTROLLER FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A controller for a machine tool used for thread cutting by means of lathe-turning machining on a work, comprising:a processor configured
to calculate an oscillation amplitude and an oscillation direction allowing shredding of chips occurring from the lathe-turning machining based on an infeed amount in a radial direction of the work and a shift amount in a circumferential direction of the work relative to a last machining path of a tool used for the lathe-turning machining on the work;
to calculate an oscillation command for causing the work and the tool to oscillate relative to each other based on the oscillation amplitude and the oscillation direction calculated by the oscillation condition calculation unit; and
to add a movement command for moving the work and the tool relative to each other for the lathe-turning machining on the work and the oscillation command.

US Pat. No. 10,802,462

MACHINING CONDITION SELECTING DEVICE FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machining condition selecting device for a machine tool, comprising:a processor configured to perform the processes of:
managing machining condition contribution data in which each of a plurality of machining conditions that a machine tool can perform when machining a target product is associated with degrees of contribution to each item of a 3-dimensional surface roughness parameter of a cutting surface of the target product and degrees of contribution to each item of a required condition related to productivity of the target product;
acquiring a combination of at least one item of the 3-dimensional surface roughness parameter and at least one item of the required condition as a matter of priority specified by an operator;
managing, for each of the plurality of machining conditions, machining condition selection data in which a combination pattern of items that can be specified as the matter of priority is associated with a sum of the degrees of contribution to each item in the combination pattern;
selecting a machining condition on the basis of the sum of the degrees of contribution associated with the combination pattern of the machining condition selection data matching the combination of the matters of priority;
acquiring actual measurement values and target values of each item of the 3-dimensional surface roughness parameter of the cutting surface of the target product as a target surface; and
outputting each item of the 3-dimensional surface roughness parameter of the target surface having an actual measurement value that is different from the target value.

US Pat. No. 10,802,464

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller for controlling a machine tool, the machine tool including a spindle adapted to rotate a tool and at least two linear feed axes adapted to move the tool relative to a workpiece, whereinthe numerical controller is configured to perform rigid tapping on a cutting surface by moving the tool in a tap direction such that the tool vertically faces the cutting surface, the cutting surface being inclined with respect to at least any one of axes of a machine coordinate system of the machine tool, and wherein
the numerical controller comprises:
a processor configured to:
store a predefined first allowable synchronization error, the first allowable synchronization error being an allowable synchronization error specified by a user between a rotation of the spindle and a movement of each axis of a workpiece coordinate system, wherein the tap direction is set to any one of the axis of the workpiece coordinate system;
acquire an inclination angle of the cutting surface of the workpiece coordinate system with respect to the machine coordinate system;
determine a second allowable synchronization error on the basis of the predefined first allowable synchronization error and the inclination angle, the second allowable synchronization error being used in the machine coordinate system for a determined allowable synchronization error between the spindle and the feed axis; and
monitor a synchronization error between the spindle and the feed axis on the basis of the determined allowable synchronization error.

US Pat. No. 10,802,466

INTEGRATED MACHINING SYSTEM, INTEGRATED MACHINING METHOD AND NON-TRANSITORY COMPUTER READABLE MEDIUM ENCODED WITH PROGRAM

FANUC CORPORATION, Yaman...

1. An integrated machining system comprising:a machine tool device that performs machining with a tool;
a database that stores, as hierarchized structured data, production data related to steps from design until machining, the production data including data of machining commands to be executed by the machine tool device and data of machining history corresponding to the data of machining commands, the data of machining commands including data related to the tool and usage result information of the tool; and
at least one processor configured to:
generate provided information representing an indicator of tool replacement to be provided externally, by way of acquiring at least either of the data of machining commands and the data of machining history from the database, and referencing a hierarchized structure to acquire elements of data related to specific information; and
determine when the tool has been mounted to the machine tool device, wherein
when the tool is mounted to the machine tool device, the at least one processor is configured to:
register the data related to the tool in the data of machining commands in the database;
set an initial tool consumption rate of the tool in the database;
obtain the usage result information when the tool is used;
update the initial tool consumption rate of the tool to a current tool consumption rate based on the usage result information in the database; and
determine that the tool needs to be replaced when the current tool consumption rate reaches a reference value for replacement, output the provided information indicating that the tool needs to be replaced, and stop the machine tool device to allow replacement of the tool.

US Pat. No. 10,802,470

CONTROL SYSTEM

Fanuc Corporation, Yaman...

1. A control system in which at least one controller for controlling a machine and a management device configured to acquire control-related data from the controller, based on a command from a program, and manage the acquired data are connected through a network,the management device comprising:
a command execution unit,
a grouping request creation unit,
a result acquisition unit,
wherein the command execution unit is configured to read out commands in the program and the commands comprise a command grouping mode:
in response to the command grouping mode being OFF, sequentially execute commands in the program by sequentially transmitting regular requests to the controller, and
in response to the command grouping mode being ON, instruct the grouping request creation unit to create a grouping request,
wherein, in response to the instruction from the command execution unit, the grouping request creation unit is configured to create a grouping request by grouping data acquisition requests based on a plurality of data acquisition request commands, out of the commands read from the program by the command execution unit, and transmit the grouping request to the controller,
the controller comprising:
a request analysis unit,
a data acquisition unit, and
a grouping result creation unit,
wherein the request analysis unit is configured to:
in response to receiving the regular requests, command the data acquisition unit to acquire control-related data corresponding individually to the regular requests, and transmit the acquired control-related data to the management device, and
in response to receiving the grouping request, fetch the data acquisition requests from the grouping request, command the data acquisition unit to acquire control-related data requested by the data acquisition requests fetched from the grouping request, command the grouping result creation unit to create a grouping result, and transmit the grouping result to the management device.

US Pat. No. 10,802,476

NUMERICAL CONTROLLER WITH LEARNED PRESSURE ESTIMATION

Fanuc Corporation, Yaman...

1. A numerical controller for controlling a machine operating a contact object using a motor to apply a force to an object to be touched and for estimating a pressure to apply to the object to be touched based on at least one of a command value and a feedback value associated with an operation of the contact object, the numerical controller comprising:a machine learning device for learning the pressure corresponding to the at least one of the command value and the feedback value,
wherein the machine learning device includes:
a state observation unit for observing as a state variable the at least one of the command value and the feedback value and at least one of data for identifying the contact object and data for identifying the object to be touched,
a label data acquisition unit for acquiring label data indicating the pressure under the state variable, and
a learning unit for associating the learned pressure with a corresponding state variable and label data to determine a pressure of the machine applying the force to the object to be touched without a pressure sensor, and learning a cause of an occurrence of a machining surface defect,
wherein the learning unit utilizes teacher data prepared in advance including sensed pressures applied by the machine corresponding to a plurality of state variables, and
wherein the learning unit outputs a learned pressure corresponding to an input state variable to control the machine.

US Pat. No. 10,802,781

DISPLAY DEVICE

FANUC CORPORATION, Yaman...

1. A display device which acquires and displays path information of a feed axis of a machine tool that includes a spindle for relatively rotating a workpiece and a cutting tool and at least one of the feed axis for relatively feeding the workpiece and the cutting tool and that performs machining on the workpiece while making the cutting tool and the workpiece swing relatively, the display device comprising:a display, and
a processor configured to,
present the path information of the feed axis on the display, the presenting including stacking parts of a path corresponding to the path information within a graph in a direction corresponding to an axis of the graph that is associated with a feed position of the cutting tool,
select one of the stacked parts of the path corresponding to the path information, and
relatively highlight, in the path information presented on the display, a selection part which includes the selected one of the stacked parts corresponding to the path information and at least one adjacent stacked part of the path preceding or subsequent to the selection part with respect to at least one other stacked part of the path corresponding to the path information other than the selection part and the at least one adjacent stacked part,
wherein each of the selection part and the at least one adjacent stacked part corresponds to one revolution or a plurality of revolutions of the spindle.

US Pat. No. 10,799,982

NOZZLE FOR LASER PROCESSING HEAD

FANUC CORPORATION, Yaman...

1. A nozzle for laser processing head comprising:a nozzle tip body that irradiates a workpiece with a laser beam;
a charge port formed in the nozzle tip body;
an exhaust port formed opposing to the charge port, in the nozzle tip body; and
an elastic member that is provided in a tip end of the nozzle tip body and contacts with the workpiece while extending and contracting elastically to an axial center direction of the nozzle tip body,
an airflow generator that generates a helical rising airflow in the inside of the nozzle tip body, the airflow generator composed of a first gas path that supplies gas from the outside of the nozzle tip body, via the inside of the nozzle tip body, to the outside, and a second gas path that supplies gas from the outside of the nozzle tip body, via the inside of the nozzle tip body, to the outside, the first gas path and the second gas path being in opposite directions, and
a gas flow path extending from the charge port to the exhaust port by crossing across the laser beam in the nozzle tip body, to thereby cause a melted material generated by irradiating the workpiece with the laser beam to be sucked from an opening part of the tip end of the nozzle tip body and discharged to the outside of the nozzle tip body from the exhaust port, and to generate a negative pressure at the opening part of the tip end of the nozzle tip body, wherein the elastic member contacts the workpiece and encloses the nozzle tip body to provide a negative pressure during operation of the laser processing head,
the first gas path and the second gas path oppose each other by sandwiching an optical axis of the laser beam, in the lower part of the gas flow path, and are offset from each other to an axial center direction of the nozzle tip body,
a diameter of the charge port is a diameter in a portion across which the gas of the laser beam in the nozzle tip body crosses, or more, and
a diameter of the exhaust port is larger than the diameter of the charge port.

US Pat. No. 10,801,527

DRIVING APPARATUS

FANUC CORPORATION, Yaman...

1. A driving apparatus comprising:a motor drive capable of moving a movable portion toward a predetermined direction by an output of a servo motor;
an air cylinder drive capable of moving the movable portion toward the predetermined direction by an output of an air cylinder; and
a controller which controls the motor drive and the air cylinder drive, wherein:
the controller is configured to control the air cylinder to apply force, which is directed in the predetermined direction, to the movable portion beginning at a time point prior to a movement starting time of the movable portion in the predetermined direction;
the controller is configured to control the servo motor to apply force, which is directed in an opposite direction that is opposite to the predetermined direction, to the movable portion beginning at a time point prior to the movement starting time, and
the controller then controls the servo motor to reduce the force directed in the opposite direction so that the movable portion is moved in the predetermined direction at the movement starting time.

US Pat. No. 10,802,051

WAVEFORM DISPLAY DEVICE THAT ALLOWS CYCLE TIME COMPARISON TO BE MADE

FANUC CORPORATION, Yaman...

1. A waveform display device for a numerical controller for controlling machining of an object based on information from a machining program and settings, the waveform display device is configured to display first waveform data and second waveform data for comparison therebetween, the waveform display device comprising:an operating unit configured to receive
first settings corresponding to a machining acceleration or speed of the machining of the object, the first waveform data corresponding to a first amount of time required to perform a machining operation on the object at the first settings, and
second settings corresponding to a different machining acceleration or speed of the machining of the object, the second waveform data corresponding to a second amount of time required to perform the same machining operation on the object at the second settings, wherein the second settings replace the first settings and the second amount of time is different from the first amount of time;
a correspondence data generating unit configured to
obtain, based on a first point on the first waveform data, a second point on the second waveform data which is in a correspondence with the first point, wherein coordinate values of the first waveform data and the second waveform data change with respect to a time axis, and
generate correspondence data indicating a correspondence between the first point and the second point, wherein
the first waveform data represent machining the object based on information from the machining program and the first settings input to the operating unit, and
the second waveform data represent machining the object based on information from the machining program and the second settings input to the operating unit, and the second settings replace the first settings;
a display unit configured to display, based on the correspondence data generated by the correspondence data generating unit, the first waveform data and the second waveform data in a manner such that
(1) a predetermined point on the first waveform data, which serves as a reference point, and
(2) a point on the second waveform data, which is in a correspondence with the reference point, overlap one another on the time axis; and
a cycle time increase/decrease calculating unit configured to calculate, based on the correspondence data generated by the correspondence data generating unit, an increase/decrease value between
(1) a cycle time which is a time required for machining the object up to a point on the second waveform data which is in correspondence with each point on the first waveform data, and
(2) a cycle time which is a time required for machining the object up to said each point on the first waveform data, wherein
the display unit is further configured to display the increase/decrease value of the cycle time calculated by the cycle time increase/decrease calculating unit in association with the first waveform data and the second waveform data, and
the numerical controller is configured to control machining of the object based on information from the machining program and the settings after changing the settings, with which an effect of reduction of the cycle time is determined,
wherein, when the reference point on the first waveform specified by the first waveform data is T1, the point on the second waveform specified by the second waveform data and corresponding to T1 is obtained as T2 by the following expression:
T2=T1?W1diff(T1),
where W1diff is a difference between corresponding points of the first waveform data and the second waveform data,
on the display unit, the second waveform is offset forward by ?=T1?T2 with respect to the first waveform data so that T1 and T2 overlap one another on the time axis, and
the settings are operator-input sets of initial values.

US Pat. No. 10,786,881

SPINDLE DEVICE

FANUC CORPORATION, Yaman...

1. A spindle device comprising:a spindle housing;
a spindle shaft configured to be rotatably supported inside the spindle housing;
a spindle mount having an insertion cavity into which the spindle housing is inserted along an axial direction of the spindle shaft;
a flange portion projecting outward from an outer peripheral surface of the spindle housing and configured to be removably fixed to an end of the spindle mount that is closer to one opening of the insertion cavity; and
a support member configured to support the spindle housing inserted in the insertion cavity, by using, as a base, another end of the spindle mount that is closer to another opening of the insertion cavity,
wherein the support member includes a plurality of support arms which are arranged at intervals in a circumferential direction of the spindle shaft, each of the support arms extending in a radial direction of the spindle shaft so as to cross an edge of the other opening of the insertion cavity.

US Pat. No. 10,786,906

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a robot for performing predetermined processing to a treating object;
a photographing device for photographing the treating object;
a robot control device for performing position compensation of a moving destination of the robot to track the treating object, the position compensation being performed based on (i) previously-set information on a position of the robot, (ii) previously-set information on a relative positional relationship between the robot and the photographing device, (iii) previously-set information on a position of the treating object, and (iv) an image of the treating object photographed by the photographing device; and
a display device for providing an Augmented Reality (AR) space in which virtual information is superimposed and displayed on a real space,
wherein the robot control device calculates a position of the photographing device based on the previously-set information on the position of the robot and the previously-set information on the relative positional relationship between the robot and the photographing device, and
the display device displays an image imitating the photographing device at a corresponding position in the AR space based on the calculated position of the photographing device, and
the AR space provided by the display device includes at least the photographing device in the real space, and further includes the image imitating the photographing device as the virtual information.

US Pat. No. 10,781,923

COVER, SEAL FITTING DEVICE, AND SEAL FITTING METHOD

FANUC CORPORATION, Yaman...

1. A seal fitting device comprising:a cover comprising a container portion whose one end is opened and whose other end is closed by a bottom surface; and
a jig configured to fit a seal member to the cover,
the cover comprising:
an annular groove formed into an annular shape along an outer circumference of an opening of the container portion; and
a plurality of communicating portions that are formed in a side wall partitioning the annular groove and the container portion so as to connect the annular groove and the container portion in a radial direction,
the jig comprising:
an insertion portion formed along a shape of a side surface of the container portion; and
a plurality of seal attaching portions formed on an outer circumferential surface of the insertion portion and protruding at positions respectively corresponding to the communicating portions,
wherein the seal member is attached to an outer circumference of the seal attaching portions.

US Pat. No. 10,784,019

CABLE

FANUC CORPORATION, Yaman...

1. A cable comprising:a linear conductor;
a plurality of hollow tubes made of resin and which are disposed around the conductor so that an air layer is formed around the conductor, the hollow tubes extending in a longitudinal direction of the conductor; and
an insulating protective member configured to protect the conductor and the plurality of hollow tubes, wherein the insulating protective member surrounds the linear conductor and the plurality of hollow tubes without leaving a gap, the insulating protective member being in direct contact with the linear conductor, the insulating protective member having an outer peripheral edge defining an outer periphery of the cable, wherein a region extends between the outer peripheral edge of the insulating protective member and an outer peripheral edge of the linear conductor, the region consisting essentially of the insulating protective member, the plurality of hollow tubes, and the air layer.

US Pat. No. 10,784,037

REACTOR HAVING TEMPERATURE SENSOR ATTACHED TO TERMINAL BASE UNIT

Fanuc Corporation, Yaman...

1. A reactor comprising:a core body including:
an outer peripheral iron core composed of a plurality of outer peripheral iron core portions;
at least three iron cores coupled to the outer peripheral iron core portions; 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 unit for electrically connecting terminals of the coils to an external device, wherein the terminal base unit includes an integrally formed covering portion configured to completely cover the coils and an entire upper surface of the cores; and
a temperature sensor attached to an inner surface of the terminal base unit and configured to detect a temperature of heat generation of the coils, wherein the detected temperature is provided to the external device, and the inner surface being opposite the coils.

US Pat. No. 10,780,513

WIRE ELECTRICAL DISCHARGE MACHINING SYSTEM

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machining system including a holding unit that holds a workpiece to be machined by wire electrical discharge machining and a robot that changes the workpiece on the holding unit, that inspects the workpiece after the wire electrical discharge machining, or that inspects a cut-out portion cut out from the workpiece by the wire electrical discharge machining,the wire electrical discharge machining system comprising:
a securing device, wherein the securing device is placed, when the wire electrical discharge machining has been performed on the workpiece held on the holding unit to reach a predetermined position before completion of the machining, at a cut position where the wire electrical discharge machining has been performed, and the securing device simultaneously individually attracts a cut-out portion of the workpiece and a remaining portion of the workpiece at the cut position where the workpiece has been cut, thereby the securing device secures the cut-out portion to the remaining portion,
wherein the robot is configured to cause the securing device to individually attract the cut-out portion and the remaining portion.

US Pat. No. 10,780,579

WORK ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A work robot system comprising:a conveying apparatus that conveys an object;
a robot that performs a predetermined task on a target portion of the object being conveyed by the conveying apparatus;
a controller that controls the robot;
a movement amount detector that detects a movement amount of the object moved by the conveying apparatus; and
a force detector that detects a force generated by contact between a part or a tool supported by the robot and the object, wherein
when the predetermined task is performed by the robot, the controller performs force control based on a value detected by the force detector while performing control of the robot by using information about a position of the target portion and a value detected by the movement amount detector; and
the controller is configured to shorten a control cycle of force control or enhance sensitivity of the force control when the value detected by the movement amount detector varies to exceed a predetermined reference.

US Pat. No. 10,780,600

METHOD FOR CUTTING GATE FORMED ON MOLDED ARTICLE

Fanuc Corporation, Yaman...

1. A method of cutting a molded article including a plurality of product parts and a plurality of material passage parts, the method comprising:a) detecting, by a sensor, a shape of the molded article placed in an unfixed configuration at a work position;
b) determining, by a processor, when one of the plurality of material passage parts is detected to extend beyond an intended cut portion by analyzing the detected shape of the molded article;
c) when the one of the plurality of material passage parts is detected to extend beyond the intended cut portion:
determining, by the processor, a position of the one of the plurality of material passage parts in a coordinate system by analyzing the detected shape of the molded article;
determining, by the processor, a position of a cut spot in the one of the plurality of material passage parts as a target position in the coordinate system, based on the acquired position of the one of the plurality of material passage parts;
moving, by the processor, a cutting device in the coordinate system based on the determined target position, so as to arrange the cutting device at the work position for cutting the cut spot;
controlling, by the processor, the cutting device arranged at the work position to cut the cut spot in the one of the plurality of material passage parts;
repeat steps (b) and (c) for another one of the plurality of material passage parts; and
d) when the one of the plurality of material passage parts is not detected to extend beyond the intended cut portion, repeat steps (b) and (c) for another one of the plurality of material passage parts until each of the plurality of material passage parts are cut.

US Pat. No. 10,782,664

PRODUCTION SYSTEM THAT SETS DETERMINATION VALUE OF VARIABLE RELATING TO ABNORMALITY OF PRODUCT

Fanuc Corporation, Yaman...

1. A production system comprising:a manufacturing machine that manufactures a product made of a plurality of components;
a machine state detector that detects a state of the manufacturing machine;
an environment state detector that detects an environment state around the manufacturing machine;
an inspection device that inspects the product manufactured by the manufacturing machine; and
a manufacturing management apparatus that is connected to a control apparatus of the manufacturing machine and a control apparatus of the inspection device, wherein
the manufacturing management apparatus includes:
a memory that stores data on the state of the manufacturing machine, data on the environment state, and data on an inspection result of the product;
a processor configured to access the memory to:
select a variable relating to an occurrence of an abnormality, wherein the selected variable is based on a correlation between the inspection result of the product, and the data on the state of the manufacturing machine and the data on the environment state when the abnormality occurs in the inspection result, wherein the variable is among a plurality of variables relating to the state of the manufacturing machine and to the environment state;
set an initial determination value of the selected variable relating to the abnormality;
update the initial determination value by reinforcement learning;
obtain the data on the state of the manufacturing machine, the data on the environment state, and the inspection results of the product corresponding to the abnormality;
set a reward for calculating an action value when the initial determination value is set based on the obtained data on the state of the manufacturing machine, data on the environment state, and the inspection result of the product;
update an action evaluation function of an action value table based on the obtained data and the set reward; and
set a new determination value of the selected variable based on the updated action evaluation function.

US Pat. No. 10,780,618

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool comprising:a plurality of measurement units that each measures a measured value;
a calculation unit that calculates each of pieces of attitude accuracy information about a base of the machine tool based on each of the measured values; and
a display that displays the pieces of attitude accuracy information calculated by the calculation unit together with an overhead view of the machine tool,
wherein
the calculation unit calculates at least one of levelness, gradient, and verticality as the attitude accuracy information, and
the attitude accuracy information is displayed at a position which conforms to an actual position on the overhead view of the machine tool or therearound as a figure representing at least a degree of each attitude accuracy.

US Pat. No. 10,773,349

MACHINE TOOL AND CONTROL METHOD FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool comprising a tool magazine configured to change a tool attached to a spindle, the machine tool further comprising:a control device including:
an initial turning operation speed setter that is configured to set an initial turning operation speed of a turning operation of the tool magazine; and
an initial swinging operation speed setter configured to set an initial swinging operation speed of a swinging operation of the tool magazine with respect to the spindle;
a display device including:
a turning operation speed slider that is movable along a first bar of the display device such that a user can adjust a turning operation speed of the turning operation of the tool magazine relative to the initial turning operation speed; and
a swinging operation speed slider that is movable along a second bar of the display device such that the user can adjust a swinging operation speed of the swinging operation of the tool magazine relative to the initial swinging operation speed;
an actuator configured to actuate the tool magazine;
an actuator control configured to control the actuator to actuate the tool magazine at the turning operation speed of the turning operation,
wherein:
the control device is configured to acquire the turning operation speed of the turning operation of the tool magazine after adjustment of said turning operation speed of said turning operation;
the tool magazine is a turret provided with a plurality of grips, each of which is configured to hold the tool;
the turret is configured to perform the turning operation for indexing the tool and the swinging operation for attaching the tool to the spindle.

US Pat. No. 10,773,379

JOINT STRUCTURE FOR ROBOT INCLUDING MOTOR AND SPEED REDUCER

FANUC CORPORATION, Yaman...

1. A joint structure for an arm of a robot, comprising:a first member;
a speed reducer coupled to one surface of a wall portion of the first member, a shaft of the speed reducer being passed through the wall portion;
a motor located at a side opposite to the one surface of the wall portion;
a first gear attached to a shaft of the motor;
a second gear coaxially attached to the shaft of the speed reducer and intermeshing with the first gear; and
a second member attached to the speed reducer,
wherein
the second gear has a larger diameter than a diameter of a coupling unit of the speed reducer which couples to the first member,
the first member is provided with a gear accommodating portion that accommodates the first gear and the second gear which intermesh with each other,
the gear accommodating portion is formed by a cover member covering the first gear and the second gear which intermesh with each other, and
the cover member is disposed in a space of the arm of the robot, is removably fixed to the first member by a detachable fastener, and is located at a side opposite to the one surface of the wall portion, and the motor is held at the cover member.

US Pat. No. 10,773,384

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. 10,773,435

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. 10,775,766

COMPENSATION QUANTITY ACQUISITION DEVICE, FEED MECHANISM CONTROL DEVICE, COMPENSATION QUANTITY ACQUIRING METHOD AND FEED MECHANISM CONTROL METHOD

FANUC CORPORATION, Yaman...

1. A compensation quantity acquisition device used when a movement target is moved in a first axis direction, comprising:a vibration acquisitor configured to acquire vibration of the movement target in a second axis direction, orthogonal to the first axis direction when the movement target is moved in the first axis direction;
a positional frequency characteristic acquisitor configured to acquire a positional frequency characteristic by performing Fourier transformation on the vibration in the second axis direction acquired by the vibration acquisitor;
a position independent frequency storage configured to store a positional frequency of the vibration in the second axis direction that occurs independently of a position of the movement target in the first axis direction, as a position independent frequency;
a position dependent vibration acquisitor configured to perform inverse Fourier transformation on the positional frequency characteristic from which a component of the position independent frequency has been removed, to recover the vibration of the movement target in the second axial direction as position dependent vibration; and
a compensation quantity acquisitor configured to acquire positional compensation quantity of the movement target in the second axis direction that cancels the position dependent vibration.

US Pat. No. 10,775,767

MACHINING SYSTEM

FANUC CORPORATION, Yaman...

1. A machining system including a machine tool and a three-dimensional shape generating apparatus configured to generate a three-dimensional shape of part of the machine tool, wherein,the machine tool comprises:
a spindle to which a tool is attached;
a table configured to support a workpiece;
a motor configured to drive a moving mechanism configured to move the spindle and the table; and
a camera configured to move together with the table relative to the spindle so as to take an image of the spindle side,
the three-dimensional shape generating apparatus comprises:
an image capture unit configured to capture a first image from the camera when a relative position of the table relative to the spindle is at a first relative position, and capture a second image from the camera when the relative position is at a second relative position different from the first relative position; and
a shape generator configured to generate a three-dimensional shape of at least the tool, based on the first image, the second image and a first relative distance between the first relative position and the second relative position,
the machine tool is configured to machine the workpiece by using a tool length and a tool diameter of the tool acquired from the three-dimensional shape of the tool generated by the shape generator.

US Pat. No. 10,775,773

MANAGEMENT APPARATUS AND MANAGEMENT SYSTEM OF DEVICE INFORMATION AND POSITION INFORMATION

FANUC CORPORATION, Yaman...

1. A management apparatus communicably connected to a plurality of devices and storing backup data of the plurality of devices in a database, the management apparatus comprising:a display configured to display a list of the plurality of devices on a screen;
a central processing unit (CPU) configured to:
acquire position information of each of the plurality of devices; and acquire the backup data from each of the plurality of devices and store the backup data in the database in association with the position information, wherein
the CPU is further configured to:
compare relative positional relationships between the position information associated with the backup data of the plurality of devices included in the database and the position information of devices specified from the plurality of devices displayed on the screen of the display, and
restore the backup data between the devices having pieces of position information corresponding to each other, wherein the backup data include at least setting data and the position information;
restore the setting data acquired from the database to the devices specified through the display, wherein the database comprises a data table for storing the position information of the plurality of devices as source of an association process by the CPU; and
a temporary storage data table for storing the position information of the plurality of devices as destination of the association process by the CPU, wherein the temporary storage data table serves as a temporary buffer for writing the position information of the plurality of devices or as a retrieval key for retrieving the data table from the data base, and wherein the CPU is further configured to associate the position information stored in the temporary storage data table of the management apparatus with the position information stored in the data table of the database.

US Pat. No. 10,775,319

VISUAL SENSOR LENS OR LENS COVER ABNORMALITY DETECTION SYSTEM

FANUC CORPORATION, Yaman...

1. A visual sensor lens or lens cover abnormality detection system including a visual sensor that is provided in an industrial machine or the vicinity thereof to acquire a plurality of pieces of image data, comprising:a calculation unit that calculates a contamination degree of the lens or the lens cover of the visual sensor on the basis of the image data photographed by the visual sensor; and
a prediction unit that calculates information on a predicted cleaning timing to be performed in the future, of the lens or the lens cover on the basis of a plurality of calculations of the contamination degree of the lens or the lens cover calculated by the calculation unit, each of the plurality of calculations being from a respective one of a plurality of images photographed by the visual sensor.

US Pat. No. 10,766,078

WORKPIECE PICKING DEVICE

FANUC CORPORATION, Yaman...

1. A workpiece picking device configured to pick up plate-shaped or pillar-shaped workpieces one workpiece at a time from a top of the workpieces stacked in a vertical direction, the workpiece picking device comprising:a chuck including a plurality of gripping claws arranged around a topmost workpiece, the plurality of gripping claws configured to grip a side surface of the topmost workpiece, the chuck being movable in a vertical direction;
an air cylinder provided inside at least one of the gripping claws; and
a pressing member which is moved by the air cylinder, the pressing member having a rectangular or circular shape,
wherein the pressing member is configured to be projectable downwardly from the at least one of the gripping claws toward the second workpiece, and
the air cylinder is configured to press the pressing member against the second workpiece by protruding the pressing member downwardly from the at least one of the gripping claws, and thereby the air cylinder separates the second workpiece from the topmost workpiece gripped by the gripping claws.

US Pat. No. 10,770,218

REACTOR, MOTOR DRIVER, POWER CONDITIONER AND MACHINE

Fanuc Corporation, Yaman...

1. A reactor comprising:an outer peripheral iron core;
at least three iron-core coils contacting or connected to an inner surface of the outer peripheral iron core,
wherein each of the iron-core coils includes iron cores and coils wound onto the iron cores, wherein a radial inner end portion of each of the iron cores converges towards a center of the outer peripheral iron core;
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, wherein the radial inner end portion of the iron core of the one iron-core coil is separated from the radial inner end portions of each adjacent iron core by the gaps;
wherein each of the iron cores extends only in a radial direction of the outer peripheral iron core; and
an external cooling unit is disposed circumferentially outside the outer peripheral iron core, for cooling the outer peripheral iron core.

US Pat. No. 10,761,655

DISPLAY DEVICE, MANAGEMENT DEVICE, MANAGEMENT SYSTEM, AND CONTROL PROGRAM

FANUC CORPORATION, Yaman...

1. A management system comprising a display device, having a capacitive touch panel, provided in each of a plurality of machine tools, and a management device communicably connected to the display device,each display device comprising:
a transmitting unit that transmits change amount data of an electrostatic capacitance detected by the touch panel to the management device; and
a setting unit that receives an operation mode determined by the management device according to the change amount data and sets a threshold for identifying presence of a touch corresponding to the operation mode to the touch panel, and
the management device comprising:
a receiving unit that receives the change amount data from each display device; and
a determining unit that determines any one of a plurality of operation modes in which the thresholds are different according to the change amount data and transmits the determined operation mode to each display device.

US Pat. No. 10,751,846

MACHINE TOOL AND STANDBY TIME CHANGING METHOD

Fanuc Corporation, Yaman...

1. A machine tool comprising:a rotary table adapted to support an object to be machined and which is capable of being rotated; and
a clamp mechanism adapted to clamp the rotary table in a manner so that the rotary table does not rotate;
wherein a clamping operation by the clamp mechanism is started after a standby time has elapsed from completion of indexing of the rotary table;
the machine tool further comprising:
a positional deviation calculating unit adapted to calculate a positional deviation of the rotary table when the clamping operation by the clamp mechanism is completed; and
a standby time changing unit adapted to shorten the standby time in the case that an absolute value of the positional deviation is less than a threshold value, and to lengthen the standby time in the case that the absolute value of the positional deviation is greater than the threshold value,
wherein the standby time is set to be, as an initial value, longer than a time period required for overshooting to converge.

US Pat. No. 10,756,716

ELECTRONIC DEVICE AND NOISE REMOVAL SYSTEM

FANUC CORPORATION, Yaman...

1. An electronic device having a function of removing a glitch included in a signal, the electronic device comprising:a glitch removal circuit which removes a glitch from an inputted signal; and
a count unit which counts a number of times removing a glitch.

US Pat. No. 10,749,344

MOTOR DRIVE SYSTEM INCLUDING POWER STORAGE DEVICE

Fanuc Corporation, Yaman...

1. A motor drive system comprising:a converter configured to perform power conversion between an AC power at a power supply side and a DC power in a DC link;
an inverter for drive configured to perform power conversion between a DC power in the DC link and an AC power which is a drive power or a regenerative power of a servomotor for drive;
a power storage device configured to store a DC power from the DC link or supplies a DC power to the DC link, the power storage device including: a flywheel capable of storing a rotation energy; a servomotor for buffer including a rotation shaft to which the flywheel is connected; and an inverter for buffer configured to perform power conversion between a DC power in the DC link and an AC power which is a drive power or a regenerative power of the servomotor for buffer on the basis of a command received; and
a processor configured to:
calculate a torque limit value with respect to the servomotor for buffer on a basis of a rotation speed of the servomotor for buffer and a DC power amount stored from the DC link or supplied to the DC link by the power storage device;
control the buffer for power conversion of the inverter for buffer so as to control rotation of the servomotor for buffer;
calculate a total power consumption amount obtained as a sum of an output of the servomotor for drive, a winding loss at the servomotor for drive, a loss at the converter, and a loss at the inverter for drive; and
calculate a DC power amount stored from the DC link or supplied to the DC link by the power storage device on the basis of the total power consumption amount and a maximum power conversion amount specified as a maximum power amount within which power conversion by the converter is possible, wherein
the processor performs a torque control with respect to the servomotor for buffer while changing an upper limit value and a lower limit value of a torque command using the torque limit value so as to adjust a DC power amount stored from the DC link or supplied to the DC link by the power storage device.

US Pat. No. 10,749,393

ROTOR, ROTARY ELECTRIC MACHINE, AND MANUFACTURING METHOD OF ROTOR

FANUC CORPORATION, Yaman...

1. A rotor comprising:a rotary member;
a plurality of permanent magnets disposed on an outer circumference of the rotary member; and
a cover tube that is mounted to outer circumference of the permanent magnets to cover the permanent magnets, and is formed of a fiber reinforced plastic, wherein at least the rotary member of the rotary member and the permanent magnets has a diameter enlarged portion having a diameter enlarged circumferential surface such that the cover tube is increased in diameter as the cover tube is inserted,
the diameter enlarged portion has a diameter that enlarges from a first diameter region to a second diameter region,
the first diameter region has a diameter equal to or less than an inner diameter of the cover tube, and
the second diameter region has a diameter equal to or more than an outer diameter of the permanent magnets.

US Pat. No. 10,744,612

ROTARY TABLE DEVICE

FANUC CORPORATION, Yaman...

1. A rotary table device comprising:both or one of a clamping mechanism and purge mechanism which operate by way of working fluid, the clamping mechanism including a brake disk configured to stop rotation of a rotating shaft, and the purge mechanism being arranged on an interior portion of the rotary table device;
a detection unit that detects a pressure or flow rate of the working fluid;
a transition information storage unit that acquires and stores transition information related to transition of a pressure value or flow rate value of the working fluid detected by the detection unit;
a judgment value storage unit that is programmed to store in advance a plurality of sets of judgment value information related to judgment values for judging a pressure value or flow rate value of the working fluid; and
a notification unit that notifies of notification information according to the pressure value or flow rate value of the working fluid, based on the transition information stored in the transition information storage unit and the plurality of sets of judgment value information stored in the judgment value storage unit.

US Pat. No. 10,747,194

MOTOR CONTROL DEVICE AND MOTOR CONTROL METHOD

FANUC CORPORATION, Yaman...

1. A motor control device configured to control a first motor and a second motor to drive a driven object, the motor control device comprising:a processor configured to:
generate a first operation command for the first motor to move the driven object in cooperation with the second motor and a second operation command for the second motor to move the driven object in cooperation with the first motor,
generate a first preload command to be added to the first operation command and a second preload command to be added to the second operation command in order for a drive axis of the first motor and a drive axis of the second motor to apply forces in opposite directions to the driven object when the driven object is stopped, and
adjust the first preload command and the second preload command so as to reduce an absolute value of the forces when an operation amount, that is acquired from at least one of the first operation command generated for the first motor to move the stopped driven object in a direction and the second operation command generated for the second motor to move the stopped driven object in the same direction, increases from a value at a time when the driven object is stopped and exceeds a predetermined threshold value.

US Pat. No. 10,747,197

ABNORMALLY FACTOR IDENTIFICATION APPARATUS

FANUC CORPORATION, Yaman...

1. An abnormality factor identification apparatus for identifying a factor in an abnormality occurring in a machine, the apparatus comprising:a processor configured to
obtain sensor signals associated with a physical state of the machine,
determine operating states of the machine based on information obtained from the machine,
calculate abnormality levels of the sensor signals for each determined operating state of the machine, and
determine a factor in an abnormality in the machine from historical data being a series of the abnormality levels for said each determined operating state.

US Pat. No. 10,747,199

OPERATION MANAGEMENT DEVICE

FANUC CORPORATION, Yaman...

1. An operation management device managing operation conditions of a machine tool, the operation management device comprising:a machining program information acquisition unit acquiring information related to machining program executed in the machine tool;
a signaling information acquisition unit acquiring signaling information related to a signal detected during execution of the machining programs in the machine tool;
an associated-information creation unit associating the information related to the machining program with the signaling information; and
a search/display unit displaying the information related to the machining program and the signaling information, which are associated by the associated-information creation unit, in a manner such that they are associated with each other,
wherein the associated-information creation unit is configured to
add a first block identifier to each block among a plurality of blocks in the information related to the machining program executed in the machining tool, and
add a second block identifier to the signal information, the second block identifier associated with the first block identifier and corresponding to a value of the signal, said value detected at a time when said each block is executed.

US Pat. No. 10,744,640

PARALLEL LINK ROBOT

FANUC CORPORATION, Yaman...

1. A parallel link robot comprising:a plurality of drive units; and
link units each driven by the corresponding drive unit,
wherein each of the drive units includes a motor, a transmission mechanism configured to transmit rotation of the motor to the link unit, and a housing configured to hold the motor, and
the housing includes a straight cylindrical main body configured to contain the motor and the transmission mechanism, a cylindrical branch diverging midway along the length of the main body, a first connection portion including a flange surface provided on a longitudinal end surface of the main body, a second connection portion including a flange surface provided on a longitudinal end surface of the branch, and an opening through which the link unit extends, the first connection portion of one of the drive units and the second connection portion of another of the drive units being connected to each other, the second connection portion of the one of the drive units and the first connection portion of another of the drive units being connected to each other.

US Pat. No. 10,732,616

NUMERICAL CONTROLLER INCLUDING MEANS FOR CHECKING EXECUTION STATUS OF PROGRAM

Fanuc Corporation, Yaman...

1. A numerical controller that controls a machine based on a program, the numerical controller comprising:a processor configured to:
receive manual instructions for manually advancing and manually reversing execution of the program;
control operation of the machine by sequentially executing the program in response to the manual instructions; and
identify a block in the program execution of which is about to be executed in response to the manual instructions, based on an attribute of the identified block, and output a notification prior to execution of the identified block,
wherein:
a) in response to the block being identified as an edited block, output a first sound notification or a first vibration notification to an operator of the machine,
b) in response to the block being identified as an specified block, output a second sound notification or a second vibration notification to the operator of the machine,
c) in response to the block being identified as including a switching point to another block, output a third sound notification or a third vibration notification to the operator of the machine, and
d) in response to block being identified as a prohibited block in which the reversing execution of the program is prohibited, output a fourth sound notification or a fourth vibration notification to the operator of the machine and control the machine to prohibit reverse operation,
wherein the first sound notification, the second sound notification, the third sound notification and the fourth sound notification are distinct from one another, and
wherein the first vibration notification, the second vibration notification, the third vibration notification and the fourth vibration notification are distinct from one another.

US Pat. No. 10,734,153

THREE-PHASE REACTOR COMPRISING IRON-CORE UNITS AND COILS

FANUC CORPORATION, Yaman...

1. A three-phase reactor, comprising:a non-rotatable central iron core, wherein the central iron core, without having any opening, is solid;
an outer peripheral iron core surrounding the central iron core; and
at least three connecting units that magnetically connect the central iron core and the outer peripheral iron core to each other,wherein the at least three connecting units are spaced from each other circumferentially at regular intervals,wherein each of the at least three connecting units comprise a first iron core extending radially from the central iron core and second iron core extending radially from an inner peripheral surface of the outer peripheral iron core,wherein the first and second iron core line up with each other in a radial direction but do not touch one another so that a gap exists between the first and second iron core to enable magnetic connection between the first iron core and the second iron core,wherein each of the connecting units comprises at least one coil wound around the first iron core and at least one coil wound around the second iron core, andwherein the at least one coil wound around the first iron core and the at least one coil wound around the second iron core are configured to connect either in series or in parallel and adjust the inductance of the reactor.

US Pat. No. 10,734,154

CORE BODY REACTOR

FANUC CORPORATION, Yaman...

1. A core body, comprising:an outer peripheral iron core, and
at least three iron cores inside the outer peripheral iron core and extending in the radial direction thereof, wherein
at least one of the outer peripheral iron core and the at least three iron cores is formed of a hoop material wound body formed by winding a hoop material,
the at least three iron cores are formed by bending radially inward at least three hoop material wound bodies so as to contact each other around center of the core body and to form a substantially Y shape, and
outer peripheral cutout parts are formed in one portion of each of the at least three hoop material wound bodies that correspond to the outer peripheral iron core.

US Pat. No. 10,722,992

WORKPIECE PLACEMENT SYSTEM FOR PLACING WORKPIECE IN CONTAINMENT AREA OR ON JIG

FANUC CORPORATION, Yaman...

1. A workpiece placement system for placing one or more workpieces in one or more containment areas or on one or more jigs comprising:a robot for placing the workpiece in the containment area or on the jig;
a sensor for measuring a three-dimensional shape of the containment area or jig;
a processor for performing a process to determine a workpiece placement position and a workpiece placement posture based on the three-dimensional shape; and
a robot controller for controlling the robot based on the workpiece placement position and the workpiece placement posture, wherein
the processor includes:
a workpiece shape obtainment section for obtaining a workpiece shape of the workpiece to be placed;
a placement posture retrieval section for retrieving one or more types of workpiece placement postures chosen by a user;
a vacant area calculation section for calculating a vacant area of the containment area or jig based on the three-dimensional shape;
a workpiece placeable area calculation section for calculating one or more workpiece placeable areas that satisfy the workpiece shape and the workpiece placement posture in the vacant area;
a list generation section for generating a placement list that specifies correspondences between the calculated one or more workpiece placeable areas and the one or more types of workpiece placement postures chosen by the user; and
a position and posture determination section for determining the workpiece placement position and the workpiece placement posture that are suitable for placement of the workpiece, by reference to the placement list, in the one or more workpiece placeable areas.