US Pat. No. 10,724,912

SENSOR DEVICE

FANUC CORPORATION, Yaman...

1. A sensor device comprising:a plurality of systems each having a sensor element configured to detect at least one of an external force and a moment applied to a detection target, and a computation unit configured to calculate as a first value a value of at least one of a force and a moment applied to the detection target in a predetermined axial direction, based on a detection signal detected by the sensor element; and
an abnormality determining unit configured to compare the first value calculated by the computation unit of each of the plurality of systems with one another, thereby obtaining at least one of a difference between external forces detected in each of the plurality of systems and a difference between moments detected in each of the plurality of systems, and to determine that there is an abnormality if at least one of the difference between the external forces and the difference between the moments is greater than or equal to a predetermined amount,
wherein the computation unit of at least one system of the plurality of systems calculates as a second value a value of at least one of a force and a moment applied to the detection target in the axial direction, based on a plurality of detection signals detected by the respective sensor elements of all of the plurality of systems,
the computation unit of each of the plurality of systems is capable of communicating mutually with each other, and receives from the computation unit of another one of the plurality of systems the detection signal detected by the sensor element of the other system.

US Pat. No. 10,724,963

DEVICE AND METHOD FOR CALCULATING AREA TO BE OUT OF INSPECTION TARGET OF INSPECTION SYSTEM

FANUC CORPORATION, Yaman...

1. A device configured to calculate an image area to be excluded from an inspection target of an inspection system for inspecting a workpiece surface, the inspection system including an imaging section configured to image a workpiece and a movement mechanism configured to move the workpiece or the imaging section so as to position the workpiece and the imaging section relative to each other, the device comprising a processor configured to:acquire CAD data of a workpiece model which models the workpiece,
receive selection of a surface model to be inspected included in the workpiece model, in the CAD data,
additionally generate data of a group of points, which is different from the CAD data, on the surface model, on the basis of the CAD data, and
obtain coordinate data of the group of points in a movement mechanism coordinate system for controlling the movement mechanism when the workpiece and the imaging section are positioned at an imaging position at which at least a part of a surface-to-be-inspected, which corresponds to the surface model, is within a field of view of the imaging section,
transform the coordinate data in the movement mechanism coordinate system into an imaging section coordinate system which defines the field of view of the imaging section positioned at the imaging position, so as to plot each of the group of points in the imaging section coordinate system, and generate an estimation image in the field of view, wherein the estimation image is an image which is estimated to be imaged by the imaging section when the workpiece and the imaging section are positioned at the imaging position, and
calculate, as a non-inspection area, an image area other than the surface-to-be-inspected and included in the generated estimation image.

US Pat. No. 10,722,975

LASER PROCESSING DEVICE CAPABLE OF STARTING LASER PROCESSING WHILE REDUCING REFLECTED LASER BEAM

FANUC CORPORATION, Yaman...

1. A laser processing device for carrying out laser processing of an object to be processed by condensing a laser beam by a light condense optical lens and irradiating the laser beam onto the object, the laser processing device comprising:a reflected beam intensity sensor configured to detect an intensity of a reflected beam, which is a part of a laser beam irradiated from a laser oscillator via a laser optical system and then is reflected by a surface of the object so as to return to the laser oscillator or the laser optical system;
a light condense optical lens configured to condense the laser beam irradiated from the laser oscillator;
a processor configured to:
execute a process for forming a recess on the surface of the object by continuously increasing an intensity of the laser beam irradiated onto the surface of the object, over a predetermined period of time;
monitor a temporal change in the intensity of the reflected beam detected by the reflected beam intensity sensor over the predetermined period of time;
in response to the monitored temporal change in the intensity of the reflected beam indicating that the intensity of the reflected beam is increasing and is less than an intensity threshold, continue to increase the intensity of the laser beam;
in response to the monitored temporal change in the intensity of the reflected beam indicating that the intensity of the reflected beam is decreasing and is less than the intensity threshold, execute a next process by irradiating the laser beam at a next intensity without gradually increasing the laser beam to the next intensity, the next process including at least one of a piercing process, a cutting process, a welding process or a marking process of the object, wherein the marking process forms a feature representing a character or a logotype on the surface of the object; and
in response to the monitored temporal change in the intensity of the reflected beam indicating that the intensity of the reflected beam is greater than or equal to the intensity threshold, execute a stop process by stopping the irradiation of the laser beam and preventing execution of the next process.

US Pat. No. 10,707,008

IRON CORE INCLUDING FIRST IRON CORE BLOCK AND SECOND IRON CORE BLOCK

FANUC CORPORATION, Yaman...

1. An iron core, comprising:an outer peripheral core;
at least three iron cores arranged inside the outer peripheral core which extend only in the radial direction of the outer peripheral core, wherein
gaps, which can be magnetically coupled, are formed between one of the at least three iron cores and another iron core adjacent thereto, and between the at least three iron cores and the outer peripheral core, and
the outer peripheral core and the at least three iron cores are formed by stacking a plurality of iron sheets, carbon steel sheets, electromagnetic steel sheets, or amorphous sheets in the stacking direction; and
non-magnetic fasteners for joining, in the stacking direction, between the at least three iron cores as well as between the outer peripheral core and the at least three iron cores.

US Pat. No. 10,702,987

ROBOT SYSTEM HAVING TEACH PENDANT COMMUNICATING WITH ROBOT CONTROLLER

FANUC CORPORATION, Yaman...

1. A robot system, comprising:a robot;
a sensor configured to detect a sign received by the robot;
a robot controller configured to control the robot;
a teach pendant configured to
communicate with the robot controller, and
input an operational instruction for the robot into the robot controller; and
a processor configured to permit input of the operational instruction from the teach pendant into the robot controller in response to the sensor detecting the sign, wherein
the sensor is configured to detect, as the sign given from outside to the robot, at least one of
a force applied from outside to the robot,
a signal indicating a motion approaching the robot, or
visual information indicating a predetermined body motion.

US Pat. No. 10,707,641

LASER OSCILLATOR

FANUC CORPORATION, Yaman...

1. A laser oscillator comprising: a transformer unit that adjusts a power supply voltage;as input power supply unit that inputs the voltage adjusted by the transformer unit to an oscillator unit; and
an oscillator unit that is connected to the input power supply unit and outputs a laser beam according to the voltage of the input power supply unit,
wherein the transformer unit is arranged below at least a part of the oscillator unit.

US Pat. No. 10,703,035

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. 10,703,581

WORKPIECE FIXING TOOL, WORKPIECE TRANSPORT DEVICE, AND ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:all workpiece transport device and a robot,
wherein the workpiece transport device comprises:
a linear rail disposed substantially horizontally;
a slider that moves along the rail; and
a workpiece fixing tool provided on the slider,
wherein the workpiece fixing tool comprises:
a pair of grip members that are disposed so as to face each other in a substantially horizontal direction and which can open and close in an opposite direction in which the pair of grip members face each other, the pair of grip members gripping the workpiece therebetween in a closed state; and
urging members that urge the pair of grip members in a closing direction, wherein the pair of grip members have inclined faces facing each other, the inclined faces forming an angle with respect to each other such that a distance therebetween in the opposite direction in which the inclined faces face each other gradually decreases from an upper side to a lower side,
wherein the robot is disposed near the rail of the workpiece transport device and has a robot hand that grips the workpiece,
wherein the robot lowers the robot hand between the pair of grip members and along the inclined faces to open the pair of grip members, and
wherein the robot raises the robot hand between the pair of grip members to close the pair of grip members via urging forces exerted by the urging members.

US Pat. No. 10,707,710

ROTOR WITH SINTERED U-SHAPED MAGNETS

FANUC CORPORATION, Yaman...

1. A rotor having an embedded magnet type structure, the rotor comprising:a rotor core for rotating around a rotary shaft as a rotation center, the rotor core having a plurality of slots disposed in a circumferential direction; and
a plurality of magnet parts respectively stored in the plurality of slots, wherein each of the plurality of magnet parts includes:
a pair of first sintered magnets each having a bar shape in a sectional view cut along a plane orthogonal to the rotary shaft, the pair of first sintered magnets each being disposed so as to come closer to the other first sintered magnet along a radially inward direction of the rotor core;
a second sintered magnet having a curved shape curved in an arc shape in the sectional view, each of both end surfaces of the second sintered magnet facing each of end surfaces in the radially inward direction of the pair of first sintered magnets; and
a connecting member formed of resin, the connecting member directly connecting each of the pair of first sintered magnets and the second sintered magnet, and
wherein the connecting member is arranged around the entire periphery of at least one of the first or second sintered magnets.

US Pat. No. 10,707,711

ROTOR AND ROTATING ELECTRICAL MACHINE

FANUC CORPORATION, Yaman...

1. A rotor comprising:a rotating member;
a permanent magnet arranged in a plurality of rows along a circumferential direction of the rotating member and divided into a plurality of parts in a rotational axis direction of the rotating member; and
a cover tube divided into a plurality of parts in the rotational axis direction of the rotating member and covering an outer circumferential surface of the permanent magnet, the cover tube being formed of a fiber-reinforced plastic, wherein
the plurality of permanent magnets in each row are arranged in an oblique direction with respect to the rotational axis direction of the rotating member, and the permanent magnets adjacent to the arrangement direction are disposed to be skewed in the circumferential direction and the divided permanent magnets each include a tapered portion that makes contact with an inner circumferential surface of the cover tube portion in an oblique direction for all sides surrounding the outer circumferential surface covered by the tube, and
at least one of the divided cover tubes covers an outer circumferential surface of one of the divided permanent magnets in the circumferential direction of the rotating member.

US Pat. No. 10,666,172

MOTOR CONTROL DEVICE AND MOTOR CONTROL METHOD

FANUC CORPORATION, Yaman...

1. A motor control device comprising:a polarity sensor configured to detect whether a magnetic pole position in a synchronous motor resides on a positive polarity side or a negative polarity side with reference to a reference position;
a motor control unit configured to turn the synchronous motor from the polarity side detected by the polarity sensor toward an opposite polarity side through the reference position; and
a magnetic pole position determination unit configured to determine, as the magnetic pole position, a position of the synchronous motor at a moment when a polarity changes, based on a detection result of the polarity sensor.

US Pat. No. 10,666,176

MOTOR DRIVE SYSTEM INCLUDING SERVOMOTOR FOR BUFFER INCLUDING PLURAL WINDINGS

FANUC CORPORATION, Yaman...

1. A motor drive system comprising:a flywheel capable of storing a rotation energy;
at servomotor for buffer which includes a plurality of independent windings and allows the flywheel to rotate;
a plurality of inverters for buffer respectively connected to the windings, the inverters for buffer performing power conversion between an AC power which is a drive power or a regenerative power of the servomotor for buffer and a DC power in DC links to which the inverters for buffer are respectively connected;
a plurality of converters respectively connected to the DC links to which the inverters for buffer are respectively connected, the converters performing power conversion between an AC power at a power supply side and a DC power in the DC links, respectively;
inverters for drive which are connected to any of the DC links and perform power conversion between a DC power in the DC links and an AC power which is a drive power or a regenerative power of servomotors for drive;
motor control units for buffer configured to control driving of the servomotor for buffer by controlling power conversion of the respective inverters for buffer respectively connected to the windings;
a power consumption amount calculation unit configured to calculate, with respect to each of the DC links, a total power consumption amount obtained as a sum of a loss at the converters and the inverters for drive which are respectively connected to the DC links and an output of the servomotors for drive connected to the DC links through the inverters for drive and a winding loss at the servomotors for drive connected to the DC links through the inverters for drive, respectively;
a power storage power supply capacity amount calculation unit configured to calculate, with respect to each of the inverters for buffer, a power storage power supply capacity amount defined as a DC power amount which can be taken in from the DC links or outputted to the DC links by the inverters for buffer, respectively, on the basis of the total power consumption amount and maximum power conversion amounts defined as maximum power amounts within which power conversion by the converters is possible;
a torque limit value calculation unit configured to calculate a torque limit value with respect to the servomotor for buffer on the basis of the power storage power supply capacity amount and a rotation speed of the servomotor for bluffer; and
a comparison unit configured to compare a magnitude of an absolute value of a sum total of the power storage power supply capacity amounts for indicating a DC power amount which can be taken in from the DC links by the inverters for buffer and a magnitude of an absolute value of a sum total of the power storage power supply capacity amounts for indicating a DC power amount which can be outputted to the DC links by the inverters for buffer,
wherein the motor control units for buffer perform, with respect to the inverter for buffer which can take in a DC power from the DC link, 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 taken in from the DC link by the inverter for buffer, while not performing, with respect to the inverter for buffer which indicates that a DC power can be outputted to the DC link, a torque control with respect to the servomotor for buffer when the power storage power supply capacity amount determined by the comparison unit to have a large absolute value indicates a DC power amount which can be taken in from the DC link, and
performs, with respect to the inverter for buffer which can output a DC power to the DC link, 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 outputted to the DC link by the inverter for buffer, while not performing, with respect to the inverter for buffer which indicates that a DC power can be taken in from the DC link, a torque control with respect to the servomotor for buffer when the power storage power supply capacity amount determined by the comparison unit to have a large absolute value indicates a DC power amount which can be outputted to the DC link.

US Pat. No. 10,666,184

MACHINE TOOL CONTROLLER

FANUC CORPORATION, Yaman...

1. A controller of a machine tool comprising:a sensor that acquires measurements indicating an operating state of the machine tool and/or a peripheral device of the machine tool;
an abnormality detecting unit that detects an abnormality in the operating state of the machine tool and/or the peripheral device and outputs a signal indicating the abnormality and the measurements obtained when the abnormality was detected; and
a diagnosing unit that automatically selects a measurement related to the abnormality among the measurements and automatically diagnoses factors of the abnormality,
wherein the measurements obtained include a voltage of the peripheral device of the machine tool, a current of the peripheral device of the machine tool, a frequency of the peripheral device of the machine tool, a voltage of the peripheral device of the machine tool, a speed of the peripheral device of the machine tool, and an acceleration of the peripheral device of the machine tool.

US Pat. No. 10,661,440

ROBOT TEACHING DEVICE FOR WARNING OR CORRECTING POSITIONAL DEVIATION OF TEACHING POINTS OR TEACHING LINE

FANUC CORPORATION, Yaman...

1. A robot teaching device for generating a robot motion program, configured to perform a teaching operation for designating teaching points or a teaching line in a virtual space, comprising:a processing unit which executes processing for warning or correcting a positional deviation of the teaching points or teaching line,the processing unit comprising:a teaching position acquisition section which acquires not less than four teaching positions from a set of target teaching points or a set of target teaching lines,
a normal vector calculation section which calculates a normal vector satisfying the set of teaching positions,
a distance calculation section which calculates a distance between two teaching positions most distant in the direction of the normal vector from among the set of teaching positions, and
a first warning command section which issues a command, based on a distance between the two teaching positions which are most distant, to warn that the teaching points or teaching line corresponding to the teaching position have deviated from an actual plane of a workpiece.

US Pat. No. 10,661,454

ROBOT PROVIDED WITH WRIST INCLUDING HOLLOW MOVABLE ELEMENT AND HAVING WATERPROOF STRUCTURE

FANUC CORPORATION, Yaman...

1. A robot comprising:a robot arm;
a wrist including a casing connected to a distal end of the robot arm, and including a plurality of movable elements movably connected to each other, each of the movable elements being hollow;
an end effector connected to a distal end of the wrist;
a wire member laid so as to extend through the respective movable elements such that, between hollow parts of two of the moveable elements connected to each other, a portion of the wire member is exposed to the outside of the hollow parts; and
a cover having a first end mounted in a gap between the wrist and the end effector, and a second end mounted on the wrist a distance away from the casing so as to surround a connection between the two of the movable elements and surround the exposed portion of the wire member, without surrounding the casing connecting the wrist to the robot arm.

US Pat. No. 10,664,274

CONTROLLER AND EDITOR

Fanuc Corporation, Yaman...

1. A controller and an editor of a machine configured to detect an occurrence of an infinite loop of a loop process during execution of a ladder program, comprising:an infinite loop detection unit for:
monitoring states of execution condition signals for presence of a jump instruction;
comparing a destination indicated by the jump instruction to a processing direction of the ladder program; and
recording an execution condition signal of the loop process that may cause the infinite loop, in an infinite loop occurrence condition information table, wherein the recorded execution condition signal is embedded in object code of the ladder program and transmitted to the controller via an interface; andan infinite loop escape unit for:escaping the occurrence of the infinite loop by forcefully making a completion of an execution condition for a jump instruction false when the infinite loop occurs; andentering an emergency stop state of the machine.

US Pat. No. 10,661,491

MACHINE BASE

FANUC CORPORATION, Yaman...

1. A machine base for supporting at least one of a clamping unit and an injection unit of an injection molding machine, from below, comprising:an upper frame extending horizontally, wherein the upper frame is configured to support at least one of the clamping unit or the injection unit and has;
a pair of longitudinally-extending, first and second hollow members; and
first and second plate members each having a concave upper surface facing upward, the first and second plate members being parallel with and immovably attached to a respective upper surface of the first and second hollow members; and
an upright supporting the first and second hollow members from below the first and second hollow members, and
wherein the first plate member and the first hollow member are formed with a first through hole penetrating from the concave upper surface of the first plate member to a hollow portion in the first hollow member, and an opening in the concave upper surface of the first plate member is exposed to the environment,
the second plate member and the second hollow member are formed with a second through hole penetrating from the concave upper surface of the second plate member to a hollow portion in the second hollow member, and an opening in the concave upper surface of the second plate member is exposed to the environment.

US Pat. No. 10,666,388

ENCODER SIGNAL PROCESSING DEVICE AND ENCODER

FANUC CORPORATION, Yaman...

1. An encoder signal processing device that performs signal processing on analog signals that are periodically generated according to movement of a measurement target, to thereby generate position data according to the position of the measurement target, the encoder signal processing device comprising:a position data acquisition unit that samples the analog signals to acquire the position data according to the position of the measurement target;
an error data calculation unit that calculates error data on the basis of a difference between a predetermined number of pieces of position data among position data for one cycle acquired by the position data acquisition unit and ideal position data that assumes that the position moves linearly in one cycle; and
a compensation unit that compensates the position data acquired by the position data acquisition unit on the basis of the error data calculated by the error data calculation unit,
the error data calculation unit:
calculating first error data on the basis of a difference between the predetermined number of position data sampled at first predetermined time intervals ?Tn in one cycle and the ideal position data, and defining the first error data as the error data,
calculating second error data on the basis of a difference between position data sampled at second predetermined time intervals ?Tk in each of the first predetermined time intervals ?Tn and the ideal position data; and
on the basis of error characteristics of the first error data and the second error data, when there is the second error data that is closer to a local extremum or inflexion point in the error characteristics than the first error data, change a time interval of the error data without increasing or decreasing the predetermined number of pieces of the error data by replacing the second error data closest to the local extremum or inflexion point in the error characteristics with any of the pieces of the first error data.

US Pat. No. 10,647,044

INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,639,836

INJECTION MOLDING MACHINE INCLUDING A TEMPERATURE CONTROL JACKET

FANUC CORPORATION, Yaman...

1. An injection molding machine comprising:a temperature-controlled member;
a temperature control jacket that includes a flow channel or a cooling element and is removably placed on a peripheral surface of the temperature-controlled member; and
a joining member configured to join the temperature-controlled member and the temperature control jacket, wherein
the joining member includes:
a temperature control jacket attachment part attached to the temperature control jacket; and
a temperature-controlled member attachment part attached to the temperature-controlled member,
the temperature control jacket attachment part includes a plurality of first openings into which a plurality of first fixing members is insertable in order to join the joining member and the temperature control jacket,
the temperature-controlled member attachment part includes a plurality of second openings into which a plurality of second fixing members is insertable in order to join the joining member and the temperature-controlled member,
at least one of the plurality of first and second openings is configured to allow change in a position where the corresponding first or second fixing member is inserted in the opening,
the joining member comprises a block body having a first face and a second face, perpendicular to the first face, wherein the temperature control jacket attachment part is on the first face, and the temperature-controlled member attachment part is on the second face,
the plurality of first openings is in the first face of the block body, wherein the plurality of first openings extends parallel with each other,
the plurality of second openings is in the second face of the block body, wherein the plurality of second openings extends parallel with each other,
the temperature-controlled member attachment part has a curved surface that is curved along the peripheral surface of the temperature-controlled member,
the plurality of first openings is arranged along a curvature corresponding to the curved surface of the temperature-controlled member attachment part,
the plurality of second openings is aligned along an axis of the temperature-controlled member,
the plurality of first openings includes a first group of first openings and a second group of first openings, and
the plurality of the second openings is positioned between the first group of first openings and the second group of first openings, and at a top of the curvature along which the plurality of first openings is arranged.

US Pat. No. 10,630,126

ROTOR AND ROTARY ELECTRICAL MACHINE

FANUC CORPORATION, Yaman...

1. A rotor comprising: a rotary tube whose inner circumferential surface is tapered and which is fitted to a rotary shaft whose outer circumferential surface is tapered;a permanent magnet which is arranged on an outer circumferential side of the rotary tube; and
a sheath tube which is fitted to an outer circumferential side of the permanent magnet so as to cover the permanent magnet,
wherein as an outside diameter of a multilayer member formed with the rotary tube and the permanent magnet is reduced so as to be tapered along an axial direction, an interference of the sheath tube for the multilayer member is increased so as to be tapered along the axial direction.

US Pat. No. 10,620,089

BELT REPLACEMENT DETERMINATION DEVICE AND REPLACEMENT DETERMINATION METHOD

FANUC CORPORATION, Yaman...

1. A belt replacement determination device comprising:a drive control section configured to drive, based on an evaluation operation set in advance, two or more motors out of a plurality of motors which drive joint shafts of a robot, the two or more motors including a motor which drives at least one of the joint shafts through pulleys and a belt;
a detection section configured to detect motor torques of the two or more motors which vary according to the evaluation operation;
a torque difference calculation section configured to calculate a difference between the detected motor torques of the two or more motors;
a difference variation amount calculation section configured to calculate a variation amount between two differences detected at two points of time; and
a determination section configured to determine replacement of the belt upon an absolute value of the variation amount calculated exceeding a predetermined threshold.

US Pat. No. 10,618,166

TEACHING POSITION CORRECTION DEVICE AND TEACHING POSITION CORRECTION METHOD

FANUC CORPORATION, Yaman...

1. A teaching position correction device comprising:a vision sensor attached to a tip end of an arm of a robot, wherein the teaching position correction device is configured to:
measure a three-dimensional position of the tip end of the robot based on visual information acquired by the vision sensor when the vision sensor is arranged at a predetermined position with respect to each of three or more reference points that are provided on one of a work target object to be worked by the robot and a holding device that holds the work target object and that are not arranged on one straight line;
calculate a relative position, with respect to one of the reference points, of each of other reference points, based on the measured three-dimensional position while the vision sensor is translated by operation of the robot; and
correct a teaching point position in an operation program of the robot in such a way that a change in relative positions of the robot and the holding device is compensated for, based on calculated relative positions of the reference points before and after relocation of at least one of the robot and the holding device.

US Pat. No. 10,618,170

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a robot installed such that the working space thereof is within a first area;
an image acquisition unit that sequentially acquires images of the vicinity of a boundary of the first area and a second area that are adjacent to each other with the boundary therebetween;
a monitoring-area setting unit that sets, in the images acquired by the image acquisition unit, a monitoring area in each of a space in the first area adjacent to the boundary and in a space in the second area adjacent to the boundary;
an object detecting unit that detects a moving object in the monitoring area in the second area set by the monitoring-area setting unit by processing the images acquired by the image acquisition unit; and
a controller that performs control of the robot,
wherein when the moving object is detected by the object detecting unit, the controller performs control so as to restrict an operation of the robot located in the monitoring area in the first area and not to restrict the operation of the robot not located in the monitoring area in the first area.

US Pat. No. 10,613,509

CONTROLLER FOR A DRIVE MECHANISM DRIVEN BY A PLURALITY OF MOTORS

FANUC CORPORATION, Yaman...

1. A controller for a drive mechanism which is driven by a plurality of motors, the controller comprising, according to the motors:a position command calculation unit which calculates a position command value for driving the drive mechanism;
a position detection unit which detects a position of the motor;
a speed command calculation unit which calculates a speed command value based on a position error value determined from the position command value calculated by the position command calculation unit and a position detection value detected by the position detection unit;
a speed detection unit which calculates a speed detection value from the position detection value detected by the position detection unit; and
a torque command calculation unit which calculates a torque command value from a speed error value determined from the speed command value calculated by the speed command calculation unit and the speed detection value detected by the speed detection unit by use of at least an integral element,
wherein the position command calculation unit delivers the common position command value to each of the motors,
the torque command calculation unit switches, according to an operation state of the drive mechanism, between individualized control so that the output of the integral element of the torque command calculation unit is individualized to each of the plurality of motors and sharing control so that the output of the integral element of the torque command calculation unit is shared between the plurality of motors, and
wherein when the position command calculation unit feeds the position command value which is specified as a stop or constant speed operation, the operation state is determined to be a steady state such that the sharing control is performed.

US Pat. No. 10,528,035

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller for controlling a machine which performs punch pressing based on a program, the numerical controller comprising a processor configured to:accept settings of punch press parameters regarding punch pressing;
calculate an axis control parameter in punch pressing based on the accepted punch press parameters;
store the punch press parameters and the axis control parameter;
read and analyze a command block from the program to generate movement command data and output the generated movement command data;
perform interpolation processing based on the movement command data to generate interpolation data and output the generated interpolation data;
calculate a linear acceleration and deceleration time constant and a bell-shaped acceleration and deceleration time constant for use in axis control based on the stored punch press parameters and the axis control parameter and a feed rate specified by the command block, perform post-interpolation acceleration or deceleration processing on the interpolation data based on the calculated linear acceleration and deceleration time constant and the bell-shaped acceleration and deceleration time constant, and output the processed interpolation data to which the post-interpolation acceleration or deceleration processing is applied; and
control an axis of the machine based on the outputted processed interpolation data, the processed interpolation data to which the post-interpolation acceleration or deceleration processing is applied.

US Pat. No. 10,525,598

POSITIONING SYSTEM USING ROBOT

FANUC CORPORATION, Yaman...

1. A positioning system comprising:a robot having a movable arm;
a visual feature portion provided to one of a front end of the arm or a fixed position outside the robot;
a plurality of vision sensors provided to the other of the front end of the arm or the fixed position outside the robot, and configured to capture the visual feature portion; and
a processor configured to:
detect a parameter of a feature including at least one of a position, a posture and a size of the visual feature portion, on an image captured by the plurality of vision sensors;
store the parameter of the feature, as a first parameter of the feature, while the front end of the arm is positioned at a predetermined commanded position;
capture the feature portion by using the vision sensors, at a time point different from when the first parameter of the feature is detected, while the front end of the arm is positioned at or near the predetermined commanded position, so as to obtain a second parameter of the feature;
calculate a first commanded amount of movement of the robot, so that the second parameter of the feature coincides with the first parameter of the feature with respect to all of the vision sensors, based on a difference between the second parameter of the feature and the first parameter of the feature stored;
calculate a second commanded amount of movement, based on the first commanded amount of movement and a mechanical parameter determined from mechanical characteristics of the robot; and
drive the front end of the arm based on the second commanded amount of movement,
wherein the processor is further configured to repeat the calculation of the second commanded amount of movement and the driving of the front end of the arm based on the second commanded amount of movement, until the first commanded amount of movement is equal to or lower than a predetermined threshold, so that the front end of the arm gradually approaches a determined position, and is positioned at the determined position with an accuracy higher than an inherent positioning accuracy of the robot, and
wherein the processor is further configured to:
set the first commanded amount of movement as the second commanded amount of movement when the first commanded amount of movement is equal to or higher than the parameter determined from the mechanical characteristics of the robot, and
set the second commanded amount of movement as a value obtained by multiplying the first commanded amount of movement by a coefficient lower than one when the first commanded amount of movement is lower than the parameter determined from mechanical characteristics of the robot.

US Pat. No. 10,528,040

PROGRAM OPTIMIZATION SYSTEM

FANUC CORPORATION, Yaman...

1. A program optimization system comprising:a CNC simulator configured to sequentially read out a machining program and perform a machining simulation;
a machining program storage unit configured to successively transfer the machining program to the CNC simulator; and
a transfer speed control unit configured to control the speed of transfer between the machining program storage unit and the CNC simulator to be a predetermined lower limit value,
wherein the CNC simulator is configured to
optimize the machining program when a state of buffering deficiency in which the machining program to be read out is insufficient is detected in a cutting section and
create optimized machining program free from a buffering deficiency, and
wherein the CNC simulator is further configured to optimize the machining program so that (1) the buffering deficiency does not occur and (2) the machining time is the shortest, when a state of buffering deficiency occurs.

US Pat. No. 10,521,724

NUMERICAL CONTROLLER WITH SWARF REMOVAL CALCULATIONS

Fanuc Corporation, Yaman...

1. A numerical controller comprising a simulation unit that executes a simulation in which a workpiece is machined based on a machining program, the numerical controller comprising:a rendered workpiece volume calculation unit that calculates a volume of a rendered workpiece representing a shape of the workpiece that is rendered by the simulation; and
a swarf accumulation amount prediction unit that predicts, based on the volume of an initial rendered workpiece when execution of the simulation is started and the volume of the rendered workpiece when execution of each block included in the machining program is completed that are calculated by the rendered workpiece volume calculation unit, a swarf accumulation amount when the execution of the block is completed;
a swarf discharge timing calculation unit that calculates a timing at which swarf is discharged based on the swarf accumulation amount when the execution of each block included in the machining program is completed that is predicted by the swarf accumulation amount prediction unit; and
a swarf discharge command insertion unit that inserts a command code for swarf discharge into the machining program based on the timing at which the swarf is discharged that is calculated by the swarf discharge timing calculation unit.

US Pat. No. 10,520,014

ABNORMAL WEARING DETECTION DEVICE FOR SEAL MEMBERS AND ROTOR DEVICE

FANUC CORPORATION, Yaman...

1. An abnormal wearing detection device for oil seals, for detecting abnormal wearing of an oil seal that slides in relation to a circumferential surface of a rotating member to seal the circumferential surface of the rotating member, comprising:a load ratio measuring unit that measures a load ratio during rotation of the rotating member;
a temperature measuring unit that measures the temperature of the oil seal;
a gas concentration measuring unit that measures a concentration of a gas emitted from the oil seal; and
a determining unit that determines that abnormal wearing has occurred when it is detected that at least two measurement values of measurement values measured by the load ratio measuring unit, the temperature measuring unit, and the gas concentration measuring unit fall below a first reference value after reaching a second reference value, as a result of comparing each of the measurement values with the first reference value higher than a normal value and the second reference value higher than the first reference value.

US Pat. No. 10,521,871

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a conveying apparatus that conveys an object;
a robot that performs a process on the object being conveyed by the conveying apparatus;
a visual sensor that acquires visual information about the object being conveyed by the conveying apparatus;
a high-frequency processing unit that detects at least one of a conveying velocity at which the object is being conveyed by the conveying apparatus and a position of the object by processing, at a first frequency, the visual information acquired by the visual sensor;
a low-frequency processing unit that detects a position of the object by processing, at a second frequency that is lower than the first frequency, the visual information acquired by the visual sensor; and
a control unit that controls the robot on the basis of at least one of the conveying velocity and the position of the object detected by the high-frequency processing unit, and on the basis of the position of the object detected by the low-frequency processing unit.

US Pat. No. 10,520,117

COOLING PIPE JOINT FOR MOTOR COOLING AND MOTOR COOLING DEVICE PROVIDED WITH COOLING PIPE JOINT

Fanuc Corporation, Yaman...

1. A cooling pipe joint which receives a cooling pipe through which a coolant passes for cooling a motor, comprising:a base part having:
a first surface;
a second surface opposite the first surface; and
a first through hole which extends through the base part between the first surface and the second surface, and which receives the cooling pipe;
a fastening member fastened to the base part, the fastening member extending along an axis and having:
a third surface defining one terminal end of the fastening member;
a fourth surface opposite the third surface and defining the other terminal end of the fastening member, the fastening member extending along the axis from the one terminal end to the other terminal end, the third surface facing away from the fourth surface and toward the base part; and
a second through hole which extends axially through the fastening member between the third surface and the fourth surface, the second through hole communicating with the first through hole and receiving the cooling pipe,
the first surface being in contact with the third surface when the fastening member is fastened to the base part;
a deforming member arranged between the base part and the fastening member, the deforming member having a third through hole which communicates with the first through hole and the second through hole and which receives the cooling pipe; and
a first slanted surface arranged to face the deforming member and slanting with respect to a center axis of the third through hole, the first slanted surface pressing against the deforming member so as to deform the deforming member in a direction approaching the center axis by a force for fastening the fastening member to the base part, wherein
the base part, the fastening member, and the deforming member are fabricated from metals having the same rigidity and the same coefficient of thermal expansion.

US Pat. No. 10,518,357

MACHINE LEARNING DEVICE AND ROBOT SYSTEM TO LEARN PROCESSING ORDER OF LASER PROCESSING ROBOT AND MACHINE LEARNING METHOD THEREOF

FANUC CORPORATION, Yaman...

1. A machine learning device for learning a processing order of a robot system which includes a plurality of laser processing robots and the plurality of laser processing robots complete all processing in the system, comprising:a processor that
observes, as a state variable, one of a plasma light from a laser processing point of each of the laser processing robots and a processing sound from the laser processing point of each of the laser processing robots,
receives, as determination data, a system cycle time in which the plurality of laser processing robots complete all processing in the system, and
learns a processing order of the robot system including the plurality of laser processing robots based on the state variable and the determination data.

US Pat. No. 10,514,673

CONTROL DEVICE FOR MACHINE TOOL PERFORMING OSCILLATION CUTTING

FANUC CORPORATION, Yaman...

1. A control device of a machine tool for cutting an outer peripheral surface or an inner peripheral surface of a workpiece with a tool, the control device comprising:a spindle for performing a relative rotation between the workpiece and the tool about an axis of rotation of the workpiece,
at least one feed axis for performing a relative feeding between the tool and the workpiece along a generatrix of the outer peripheral surface or the inner peripheral surface of the workpiece,
a position detection part for detecting a position of the at least one feed axis,
an oscillation command generation part that generates an oscillation command for the at least one feed axis based on a rotation speed of the spindle and a position command for the at least one feed axis so that the oscillation command becomes a positive non-integral multiple of the rotation speed and so that the tool intermittently cuts the workpiece,
an oscillation command correction part for correcting the oscillation command generated by the oscillation command generation part using the position of the at least one feed axis detected by the position detection part, and
an addition part for adding the oscillation command which has been corrected by the oscillation command correction part to a position deviation, which is a difference between the position command and the detected position of the at least one feed axis detected by the position detection part.

US Pat. No. 10,514,681

NUMERICAL CONTROLLER INCLUDING OVERLAP FUNCTION BETWEEN ARBITRARY BLOCKS BY COMMON ACCELERATION/DECELERATION CONTROL UNIT

FANUC Corporation, Minam...

1. A numerical controller for carrying out acceleration/deceleration control, the numerical controller configured to control a machine tool and comprising a processor and memory configured to perform the method comprising:analyzing a first command block and a second command block of a plurality of command blocks of a machining program;
producing a first interpolation pulse by an interpolator based on the analyzed first command block and a second interpolation pulse by the interpolator based on the analyzed second command block;
controlling the first interpolation pulse to produce a first speed pulse by exercising acceleration/deceleration control processing based on a first acceleration/deceleration setting corresponding to the analyzed first command block;
exercising acceleration/deceleration control processing over the first speed pulse based on an overlapping shared acceleration/deceleration parameter irrespective of command speeds and command types of the plurality of command blocks to control an output of a modified first speed pulse, wherein the acceleration/deceleration control processing over the first speed pulse causes speed pulses produced based on the first and second command blocks to overlap each other; and
controlling the machine tool based on the output of the modified first speed pulse, which causes the machine tool having a shortened machining time.

US Pat. No. 10,512,980

WIRE ELECTRICAL DISCHARGE MACHINING SYSTEM AND RELATIVE POSITIONAL RELATIONSHIP CALCULATING METHOD

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machining system comprising:a wire electrical discharge machine configured to perform electrical discharge machining on a workpiece while feeding a wire electrode and changing a relative position between the wire electrode and a table supporting the workpiece, and also configured to operate based on a preset X1Y1Z1 orthogonal coordinate system;
a moving device configured to move the workpiece in order to exchange the workpiece placed on the wire electrical discharge machine, and also configured to operate based on a preset X2Y2Z2 orthogonal coordinate system;
wherein the moving device includes a reference piece having a predetermined shape and configured to serve as a reference for positional information, and a piece driving mechanism configured to move the reference piece, and
the wire electrical discharge machine includes an electrode driving mechanism configured to move the wire electrode along a plane parallel to an X1Y1-plane located in the preset X1Y1Z1 orthogonal coordinate system with which a feed direction of the wire electrode intersects, and tilt the wire electrode with respect to Z1-axis located in the preset X1Y1Z1 orthogonal coordinate system, and a contact detector configured to detect whether the reference piece has come in contact with the wire electrode,
the wire electrical discharge machining system further comprising:
an electrode motion control unit configured to control the electrode driving mechanism so as to move the wire electrode while keeping the wire electrode parallel to the Z1-axis located in the preset X1Y1Z1 orthogonal coordinate system, and bring the wire electrode into contact with the reference piece and so as to move the wire electrode while keeping the wire electrode inclined with respect to the Z1-axis located in the preset X1Y1Z1 orthogonal coordinate system, and bring the wire electrode into contact with the reference piece;
an electrode position acquiring unit configured to acquire a first electrode position of the wire electrode in the preset X1Y1Z1 orthogonal coordinate system when the wire electrode in a state of being parallel to the Z1-axis comes in contact with the reference piece, and a second electrode position of the wire electrode in the preset X1Y1Z1 orthogonal coordinate system when the wire electrode in a state of being inclined with respect to the Z1-axis comes in contact with the reference piece;
a piece position acquiring unit configured to acquire a piece position of the reference piece in the preset X2Y2Z2 orthogonal coordinate system when the wire electrode comes in contact with the reference piece; and
a relative positional relationship calculator configured to calculate a coordinate system relative positional relationship between the preset X1Y1Z1 orthogonal coordinate system and the preset X2Y2Z2 orthogonal coordinate system, based on the first electrode position, the second electrode position, and the piece position.

US Pat. No. 10,513,039

TEACH PENDANT AND ROBOT SYSTEM PROVIDED WITH THE SAME

FANUC CORPORATION, Yaman...

1. A teach pendant including an input unit and allowing teaching of operation of a robot by an input to the input unit, the teach pendant comprising:a measurement reference surface which comes into surface contact with a measured surface of the robot;
a tilt sensor whose position is fixed with respect to the measurement reference surface; and
a teach pendant controller,
wherein the teach pendant controller is configured to output a detection value of the tilt sensor or data based on the detection value to a control device of the robot in a state where the measurement reference surface is in surface contact with the measured surface and when a predetermined input is performed on the input unit or a contact detection sensor for detecting the surface contact between the measurement reference surface and the measured surface detects the surface contact.

US Pat. No. 10,488,465

ABNORMALITY DIAGNOSING DEVICE AND ABNORMALITY DIAGNOSING METHOD

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,488,984

DATA TRANSMISSION SYSTEM, TOUCH PANEL APPARATUS AND DATA TRANSMISSION METHOD

FANUC CORPORATION, Yaman...

1. A data transmission system configured to transmit data via a touch panel capable of detecting vibrations, comprising:a portable apparatus including:
a portable apparatus processor configured to convert arbitrary data into a vibration signal, and change a period or an amplitude of the vibration signal, and
a motor configured to generate vibrations corresponding to a pattern of the vibration signal, the vibrations vibrating the portable apparatus; and
a touch panel apparatus including:
a resistive film-type touch panel inputting the vibrations upon coming into physical contact with the vibrating portable apparatus,
a pulse converter configured to convert, into a detection signal, a voltage level detected corresponding to a contact and a non-contact between resistive films of the resistive film-type touch panel based on the inputted vibrations, and
a touch panel apparatus processor configured to detect the data based on a pattern of the detection signal, and configured to specify a period or amplitude of the vibrations so as to minimize errors of the detected data in a plurality of types of vibrations changed by the portable apparatus processor.

US Pat. No. 10,481,596

CONTROL DEVICE AND CONTROL SYSTEM

FANUC CORPORATION, Yaman...

1. A control device, comprising:a receiving unit that receives output signals from a plurality of manufacturing machines, via a communication network;
a noise-component extracting unit that extracts a common noise component contained in the output signals; and
a noise-component removing unit that removes the extracted noise component from at least one of the output signals,
wherein the noise-component extracting unit extracts the common noise component by selecting, from frequency spectra corresponding to each of the output signals, power that has the minimum value at each frequency to generate a common-power spectrum and applying a high-pass filter to the common-power spectrum.

US Pat. No. 10,458,867

FORCE DETECTING DEVICE AND ROBOT

FANUC CORPORATION, Yaman...

1. A force detecting device comprising: an installed member that is attached on an installing face and a force sensor main unit fixed on a top face of the installed member,wherein, in the case where the installing face on which the installed member is attached is horizontal, the installed member includes a plate-shaped or brim-shaped first portion having the top face on a top end side thereof and extending at least in a horizontal direction, a second portion extending at least downward from a bottom face side of the first portion, and a third portion extending at least in the horizontal direction from the second portion and fixed to the installing face, and
wherein a gap in a top-down direction is formed between the first portion and the third portion.

US Pat. No. 10,459,422

SERVOMOTOR CONTROL DEVICE, SERVOMOTOR CONTROL METHOD, AND COMPUTER-READABLE RECORDING MEDIUM

FANUC CORPORATION, Yaman...

1. A servomotor control device, comprising:a servomotor;
a driven body adapted to be driven by the servomotor;
a connection mechanism for connecting the servomotor and the driven body, and transmitting power of the servomotor to the driven body;
a position command generation unit for generating a position command value for the driven body;
a motor control unit for controlling the servomotor using the position command value;
a force estimation part for estimating a drive force acting on the driven body at a connecting part with the connection mechanism;
a switching part for switching between a first force estimated value estimated by the force estimation part, and a second force estimated value of a fixed value; and
a compensation amount generation part for generating a compensation amount for compensating the position command value generated by the position command generation part, based on the first force estimated value or the second force estimated value which was switched by the switching part.

US Pat. No. 10,459,424

NUMERICAL CONTROLLER FOR CONTROLLING TAPPING

Fanuc Corporation, Yaman...

1. A numerical controller that executes a rigid tap by starting synchronization between the rotational speed of a spindle and the feed rate of a rigid tap without stopping the spindle at a point R of which the height is set higher than a top of a workpiece, comprising:a workpiece top detection unit that detects a position of the workpiece top; and
a synchronization error monitoring unit that starts monitoring for determining whether or not an error amount of a synchronization error in the synchronization exceeds a predetermined threshold value at the position of the workpiece top.

US Pat. No. 10,449,645

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool comprising:a moving portion configured to move within a machining area;
a fixed portion provided within the machining area;
a line-shaped member having elasticity, the line-shaped member having one end side fixed to the moving portion and another end side fixed to the fixed portion; and
an interference portion provided within the machining area, wherein, when the moving portion is moved in a direction to come close to the fixed portion, the line-shaped member is bent and then a portion of the line-shaped member is brought into abutment against the interference portion;
wherein a friction reduction portion is provided at a portion of the interference portion against which the line-shaped member is brought into abutment, and is configured to reduce friction between the interference portion and the line-shaped member when the line-shaped member is moved relative to the interference portion in a state of being held in abutment against the interference portion, wherein:
the moving portion is a spindle head configured to move in a vertical direction;
the line-shaped member is a supply pipe configured to supply cutting fluid; and
the interference portion is a cover configured to cover the machining area.

US Pat. No. 10,451,444

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

FANUC CORPORATION, Yaman...

1. An encoder comprising:a voltage generation circuit connected to a power supply through a diode and having a variable resistor, the voltage generation circuit outputting a voltage (I×R) corresponding to a current I flowing through the diode and a resistance value R of the variable resistor, as a threshold value Vth;
a comparator configured to perform a comparison between an analog signal inputted from a detector for detecting rotation of a motor and the threshold value Vth inputted from the voltage generation circuit, and output a comparison result as a comparator output Vout;
a resistance value variation circuit configured to vary the resistance value R of the variable resistor; and
a threshold value determination circuit configured to determine the threshold value Vth based on a relationship between the resistance value R and the comparator output Vout,
wherein the threshold value Vth is an average value of a maximum value and a minimum value of threshold values with which, when the resistance value R is varied continuously, the comparator output Vout becomes normal.

US Pat. No. 10,451,445

ABSOLUTE ENCODER INCLUDING ABNORMALITY DETECTION UNIT FOR DETECTING ABNORMALITY OF CONSUMPTION CURRENT

FANUC CORPORATION, Yaman...

1. An absolute encoder that drives based on a current supplied from an electronic power supply, the absolute encoder comprising: a plurality of regulators connected in parallel with one another that receive, from an electronic power supply, a drive current in which a magnitude of a constant voltage output to the absolute encoder and a magnitude of a drive current needed for outputting the constant voltage are different; a voltage detection unit configured to detect an output voltage of at least one regulator of the plurality of regulators; and an abnormality detection unit configured to detect an abnormality of a current from an electronic power supply consumed when the absolute encoder is driven, based on an output voltage detected by the voltage detection unit.

US Pat. No. 10,449,664

ROBOT BASE STAND

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,451,485

IMAGE DISPLAY DEVICE

Fanuc Corporation, Yaman...

1. An image display device to display a temperature distribution of a machine, comprising a processor configured to:acquire machining information relating to machining performed by the machine;
generate a three-dimensional simulation animation by performing a three-dimensional machining simulation representing a machining status of the machine on the basis of the machining information;
acquire temperature distribution data representing a status of a temperature distribution of the machine;
generate a temperature distribution image on the basis of the temperature distribution data;
generate an image obtained by synthesizing the temperature distribution image and a projection image generated from the three-dimensional simulation animation; and
display the generated image.

US Pat. No. 10,384,320

POSITION COMPENSATION SYSTEM AND POSITION COMPENSATION METHOD FOR TOOL CHANGER

FANUC CORPORATION, Yaman...

1. A position compensation system of a tool changer including a turret in which a plurality of grips capable of holding tools to be attached to a spindle of a machine tool are arranged along a circumferential direction, and a rotary driver that rotationally drives the turret about a rotary shaft to index an arbitrary one of the grips,the position compensation system comprising:
a storage unit configured to store a reference rotary position coordinate of the turret corresponding to an index position of one of the grips as a coordinate representing a reference position of the turret;
a rotary position coordinate detector configured to detect a rotary position coordinate of the turret;
a compensation necessity determiner configured to determine whether or not it is necessary to perform a rotational compensation to return the turret to the reference position, in accordance with a rotational deviation of the rotary position coordinate of the turret detected by the rotary position coordinate detector from the reference rotary position coordinate of the turret stored in the storage unit; and
a compensation request part configured to request an operation or work related to the rotational compensation when the compensation necessity determiner determines that the rotational compensation needs to be performed.

US Pat. No. 10,389,191

STATOR AND ELECTRIC MOTOR HAVING TIGHTENING ROD FOR COUPLING HOUSINGS

FANUC CORPORATION, Yaman...

1. A stator of an electric motor comprising:a stator core that is formed by stacking a plurality of steel sheets each having a through hole penetrating the steel sheet in its thickness direction, the steel sheets each having a center hole penetrating the steel sheet in the thickness direction at the center of the steel sheet, the center holes capable of accommodating a rotor of the electric motor;
a pair of housings that are arranged at positions sandwiching the stator core in a stacking direction, each housing including a screw hole arranged at a position aligning with the through hole; and
a tightening rod that penetrates the through hole of the stator core and that includes male threads that are respectively screwed into the screw holes of the housings,
wherein the male thread on one end of the tightening rod is a right-hand thread, and the male thread on another end is a left-hand thread, and
wherein an engaging portion that is engaged with a tool for turning the tightening rod around a longitudinal axis of the tightening rod is provided in at least one end surface of the tightening rod.

US Pat. No. 10,384,345

SAFETY MANAGEMENT METHOD AND SAFETY MANAGEMENT SYSTEM

Fanuc Corporation, Yaman...

1. A safety management method comprising:setting a third space that both a worker and a robot can enter between a first space in which the worker is mainly present and a second space in which the robot is mainly disposed;
setting, between the first space and the third space and between the second space and the third space, respectively, monitoring boundaries for monitoring crossing thereof;
monitoring whether or not the robot or the worker is present in the third space;
when a monitoring state of crossing of one monitoring boundary and a monitoring state of the worker or the robot in the third space are substantially simultaneously switched from non-detection to detection, setting an alert state, in which the operation of the robot is restricted, when crossing of another monitoring boundary is detected; and
canceling the alert state only when the monitoring state of crossing of the one monitoring boundary and the monitoring state of the worker or the robot in the third space are substantially simultaneously switched from detection to non-detection.

US Pat. No. 10,389,063

SYSTEM AND CONNECTOR

FANUC CORPORATION, Yaman...

1. A system including a first device and a second device connected via a cable, comprising:a connector provided on the cable and including
a first connector part being connected to the first device and
a second connector part being attachable and detachable with respect to the first connector part and being connected to the second device; and
a detachment switch provided for the connector and configured to be operated when the second connector part is disconnected from the first connector part,
wherein at least one of the first device and the second device is configured to be triggered to perform a predetermined process when the detachment switch is operated while the second connector part remains joined to the first connector part.

US Pat. No. 10,372,644

PROGRAMMABLE CONTROLLER

FANUC CORPORATION, Yaman...

1. A programmable controller configured to perform handshake processing in conjunction with a reception-side device, the programmable controller comprising:an output signal area in which a signal to be output to the reception-side device is held;
an input signal area in which a signal output by the reception-side device is held;
a sequential program execution part configured to execute a sequential program;
an output signal temporary area in which an output signal from the sequential program is held; and
a handshake processing part configured to
copy a signal state of the output signal temporary area to the output signal area, and
hold the signal state of the output signal area so that the input signal area is notified of a completion signal.

US Pat. No. 10,369,647

WIRE ELECTRICAL DISCHARGE MACHINE AND WIRE ELECTRICAL DISCHARGE MACHINING METHOD

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine comprising:a wire electrode and a workpiece movable relative to each other according to a machining program to carry out electrical discharge machining on the workpiece by an electrical discharge generated between the wire electrode and the workpiece, the wire electrical discharge machine having a core fixing function for fixing a core, which is formed by the electrical discharge machining, to a base material of the workpiece by attachment and deposition of machining chips generated as a result of the electrical discharge machining;
a core position recognizing unit configured to recognize a position of the core which is fixed by the core fixing function during execution of the machining program;
a core removal unit configured to remove the core, which is in the position recognized by the core position recognizing unit, from the workpiece during execution of the machining program; and
a core removal determining unit configured to determine whether or not the core, which is in the position recognized by the core position recognizing unit, has actually been removed by the core removal unit during execution of the machining program,
wherein the core position recognizing unit includes an image capturing unit configured to acquire a captured image showing the workpiece, and recognizes the position of the core from the captured image acquired by the image capturing unit.

US Pat. No. 10,371,211

BEARING STRUCTURE

FANUC CORPORATION, Yaman...

1. A bearing structure comprising: two bearings arranged in an axis direction and having respective outer rings and respective inner rings to rotate relative to the outer rings; and a spacer interposed between the bearings, whereinthe spacer comprises:
a ring-like outer ring spacer interposed between the respective outer rings of the two bearings arranged in the axis direction, and having an insertion hole penetrating the outer ring spacer in a radial direction and into which a jig is to be inserted; and
a ring-like inner ring spacer interposed between the respective inner rings of the two bearings arranged in the axis direction, and having an engagement part to make engagement with the jig inserted into the insertion hole, and
one bearing of the two bearings is capable of being pulled out together with the spacer from a rotary shaft supported by the inner rings by pulling the jig in the axis direction (AD) inserted into the insertion hole and engaged with the engagement part.

US Pat. No. 10,367,390

INSULATOR FOR INSULATING COILS OF A STATOR OF ELECTRIC MOTOR

FANUC CORPORATION, Yaman...

1. A stator of an electric motor, the stator comprising:a stator core formed with a plurality of slots, each slot being defined by an inner wall surface and a pair of side wall surfaces extending radially inward from the inner wall surface so as to be opposite to each other;
a first coil wound around the stator core, and configured to transmit a signal of a first phase, the first coil including a first coil side received in a first slot of the plurality of slots and a first coil end arranged outside of the first slot, only the first coil being received in the first slot;
a second coil wound around the stator core and configured to transmit a signal of a second phase different from the first phase, the second coil including a second coil side received in a second slot of the plurality of slots and a second coil end arranged outside of the second slot, only the second coil being received in the second slot; and
at least one first insulator arranged in the first slot, the first insulator including:
a first coil side-insulation part having a bottom arranged between the inner wall surface of the first slot and the first coil side so as to contact the inner wall surface of the first slot, the bottom of the first coil side-insulation part electrically insulating the first coil side from the inner wall surface of the first slot; and
a first coil end-insulation part integrally coupled with the bottom of the first coil side-insulation part, and arranged outside of the first slot, the first coil end-insulation part being arranged between the first coil end and the second coil end, the first coil end-insulation part electrically insulating the first coil end from the second coil end.

US Pat. No. 10,360,784

ENCODER SYSTEM HAVING FUNCTION OF DETECTING ABNORMALITY, AND METHOD FOR DETECTING ABNORMALITY OF THE SAME

FANUC CORPORATION, Yaman...

1. An encoder system comprising:an encoder configured to output positional data and magnetic pole data of an output axis of a motor; and
a controller wiredly or wirelessly communicating with the encoder, configured to receive the positional data and the magnetic pole data outputted from the encoder, wherein
the encoder includes:
a positional data generation circuit configured to measure an angle of the output axis of the motor, and generating the positional data from the measured angle;
a magnetic pole data generation circuit configured to generate the magnetic pole data representing the position of a rotor of the motor;
a first data abnormality detection circuit configured to detect the presence or absence of an abnormality by comparing the positional data to the magnetic pole data, and output a first alarm signal indicating whether or not an abnormality has occurred; and
a parallel-to-serial conversion circuit configured to apply parallel-to-serial conversion to the positional data, the magnetic pole data, and the first alarm signal, and output serial data to the controller, and
the controller includes:
a second data abnormality detection circuit configured to detect the presence or absence of an abnormality by comparing the positional data to the magnetic pole data received from the encoder, and output a second alarm signal indicating whether or not an abnormality has occurred; and
a communication abnormality detector configured to detect the presence or absence of an abnormality in a communication path between the encoder and the controller, based on the first alarm signal and the second alarm signal,
wherein when either the first alarm signal or the second alarm signal indicates an abnormality, the communication abnormality detector determines that an abnormality has occurred in the communication path, and
wherein when both of the first alarm signal and the second alarm signal indicate abnormalities, the communication abnormality detector determines that an abnormality has occurred in the encoder.

US Pat. No. 10,359,761

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

FANUC CORPORATION, Yaman...

1. A controller of a machine tool, configured to control a synchronized operation of a spindle axis and a feed axis, the controller comprising:a numerical control section configured to prepare a spindle-axis command and a feed-axis command based on a tapping program;
a spindle-axis control section configured to control a rotational motion of the spindle axis in accordance with the spindle-axis command;
a rotation detecting section configured to detect a rotational position of the spindle axis; and
a feed-axis control section configured to control a feed motion of the feed axis in accordance with the feed-axis command and based on the rotational position;
the numerical control section comprising:
a spindle-axis command outputting section configured to obtain, from the tapping program, a total rotation amount and a maximum rotation speed of the spindle axis during a period when the spindle axis operates from a starting position to a target position, and to send the total rotation amount and the maximum rotation speed as the spindle-axis command to the spindle-axis control section;
the spindle-axis control section comprising:
an initial-motion control section configured to make the spindle axis perform an accelerated rotation at a maximum capacity using a maximum permissible current of a drive source from the starting position, by a velocity control in which the maximum rotation speed is set as a target value;
a maximum-acceleration detecting section configured to detect a maximum acceleration of the spindle axis during the accelerated rotation at the maximum capacity, based on the rotational position;
a residual rotation-amount detecting section configured to detect a residual rotation amount of the spindle axis during a period when the spindle axis operates from a current position to the target position, based on the total rotation amount and the rotational position;
a current-speed detecting section configured to detect a current speed of the spindle axis based on the rotational position;
a decelerating-motion control section configured to execute the velocity control for making the spindle axis perform a decelerated rotation so as to reach a predetermined intermediate speed, based on the residual rotation amount and the current speed, after the accelerated rotation is performed at the maximum capacity; and
a positioning-motion control section configured to execute a position control for making the spindle axis perform the decelerated rotation so as to reach the target position at a maximum deceleration corresponding to the maximum acceleration, the residual rotation amount and the current speed, after the spindle axis reaches the intermediate speed,
wherein the decelerating-motion control section is configured to successively update a velocity command for the velocity control with use of the residual rotation amount and the current speed, and to make the spindle axis perform the decelerated rotation by the successively updated velocity command so that the residual rotation amount at an instant when the spindle axis reaches the intermediate speed becomes equal to a positioning rotation amount of the spindle axis required for the spindle axis to reach the target position under the position control, and
wherein the positioning-motion control section includes:
a first-velocity-command calculating section configured to calculate a first velocity command for the position control, the first velocity command making the spindle axis perform the decelerated rotation at the maximum deceleration corresponding to the maximum acceleration, during a time except for a predetermined acceleration-varying time just after the spindle axis reaches the intermediate speed and just before the spindle axis reaches the target position, and making the spindle axis perform the decelerated rotation at a variable deceleration lower than the maximum deceleration and varying at a predetermined rate, during the acceleration-varying time;
a second-velocity-command calculating section configured to calculate a second velocity command for the position control, the second velocity command making the spindle axis perform the decelerated rotation at a constant deceleration lower than the maximum deceleration after the spindle axis reaches the intermediate speed; and
a velocity-command choosing section configured to choose a velocity command achieving a lower speed, which is either one of the first velocity command and the second velocity command, during a period when the spindle axis operates from the intermediate speed to reach the target position.

US Pat. No. 10,357,879

ROBOT ZERO-POINT CALIBRATION DEVICE AND METHOD

FANUC CORPORATION, Yaman...

1. A robot zero-point calibration device, comprising:an axial position recording unit configured to record positional data of each axis of a robot in each of a plurality of postures when a first positioning point and second positioning point are made to coincide with each other, the first positioning point being disposed at a predetermined coordinate on a base coordinate system of the robot, and the second positioning point being disposed at a predetermined coordinate on a flange coordinate system of the robot; and
a positional offset calculating unit configured to calculate an offset amount of a zero point of each axis of the robot from a true zero point of the axis based on a plurality of sets of the positional data stored in the axial position recording unit, wherein
the positional offset calculating unit is configured to calculate
coordinates of the second positioning point on the base coordinate system from a set of positional data in each of the plurality of postures and the predetermined coordinate of the second positioning point on the flange coordinate system,
differences between the coordinates of the each of the second positioning point on the base coordinate of the predetermined coordinate of the first positioning point, and
an offset amount of each axis based on a plurality of the calculated differences.

US Pat. No. 10,357,880

OFFLINE PROGRAMMING DEVICE AND POSITION-PARAMETER CORRECTING METHOD

FANUC CORPORATION, Yaman...

1. An offline programming device that generates, while being offline, a program for operating a robot, the offline programming device comprising:a matrix calculating portion that calculates a conversion matrix with which, when a coordinate system that serves as a reference for the robot is changed, the coordinate system before the change is converted to a coordinate system after the change;
a parameter selecting portion that selects a position parameter to which the conversion matrix is applied; and
a parameter correcting portion that corrects the selected position parameter by applying the conversion matrix thereto.

US Pat. No. 10,359,624

GALVANOSCANNER

FANUC CORPORATION, Yaman...

1. A galvanoscanner that scans a laser beam, comprising:at least one galvano mirror that is configured to be rotatable about a rotation axis, and reflects a laser beam;
a galvano motor that rotationally drives the galvano mirror;
an optical component that is arranged so that the laser beam incident on the galvano mirror is incident in a thickness direction, is configured to be rotatable about a rotation axis, and has a refractive index that differs from a surrounding; and
a rotary motor that rotationally drives the optical component,
wherein the optical component is a ring shape having a hole in the center thereof, a rotating shaft of the rotary motor being inserted into the hole to be fixed, and is arranged so that, in a cross section in a thickness direction along the radial direction of the optical component, a region on an incident side and a region on an emission side are parallel to each other, and the region on the incident side is sloped relative to an optical axis of the laser beam that is incident, and thickness thereof continuously varies along a rotation direction.

US Pat. No. 10,350,802

INJECTION DEVICE

FANUC CORPORATION, Yaman...

1. An injection device comprising:a screw inserted into a cylinder and configured to move in an axial direction and rotate about the axial direction;
a pusher plate configured to support the screw rotatably and immovably in the axial direction;
a rear plate configured to receive a reaction force from the pusher plate;
an injection motor configured to move the pusher plate relative to the rear plate in the axial direction; and
a conversion mechanism configured to convert a rotational force of a rotary shaft of the injection motor into a liner motion force in the axial direction and transmit the linear motion force to the pusher plate;
the injection device further comprising:
a brake mechanism provided on a side of the rotary shaft of the injection motor and configured to brake rotation of the rotary shaft;
an injection motor connecting portion extending from the pusher plate in a direction substantially perpendicular to the axial direction; and
an injection motor supporting portion connected to the injection motor connecting portion so as to be adjustable in position relative to the injection motor connecting portion, and configured to support the injection motor and the brake mechanism.

US Pat. No. 10,335,898

LASER PROCESSING APPARATUS CAPABLE OF RETRACTING PROCESSING NOZZLE UPON POWER FAILURE

FANUC CORPORATION, Yaman...

1. A laser processing apparatus comprising:a processing nozzle configured to irradiate a workpiece with laser beam;
a driving mechanism configured to move said processing nozzle and said workpiece relative to each other;
a gap sensor configured to detect a gap between said processing nozzle and said workpiece;
a gap control section configured to refer to a measured value detected by said gap sensor and calculate a manipulating variable used for controlling said driving mechanism so as to maintain said gap during execution of laser processing at a first dimension;
a power monitoring section configured to monitor electric power supplied from a power supply and send an abnormality detection signal to said gap control section when an abnormality occurs in the electric power; and
a control action switching section configured to switch a control action of said gap control section so as to increase said gap from said first dimension when said abnormality detection signal is sent to said gap control section during execution of laser processing,
wherein said control action switching section includes an information selecting section configured to select, as feedback information to be referred to by said gap control section, either one of said measured value detected by said gap sensor and a command value for a nozzle retraction, the command value being previously determined to be smaller than said first dimension, and wherein,
when said abnormality detection signal is sent to said gap control section during execution of laser processing, said information selecting section selects said command value instead of said measured value, and said gap control section calculates said manipulating variable by referring to said command value.

US Pat. No. 10,326,380

MOTOR DRIVE APPARATUS WITH FUNCTION TO DETECT ABNORMALITY IN POWER DEVICE

FANUC CORPORATION, Yaman...

1. A motor drive apparatus comprising:a converter configured to convert AC power supplied by an AC power source to DC power and to output the DC power to a DC link;
an inverter including power devices provided for an upper arm and a lower arm, which power devices are ON/OFF controlled by respective gate voltages applied thereto, to convert the DC power in the DC link to AC power for driving a motor;
a capacitor provided in the DC link;
a shut-off circuit configured to open and close an electrical path between the AC power source and the converter;
a constant current control unit configured to perform control in such a manner as to allow a constant current supplied by the capacitor charged with DC power to pass through a detection target power device among the power devices in the inverter; and
an abnormality detection unit configured to detect an abnormality in the detection target power device based on changes in voltage between a collector and an emitter of the detection target power device during a period in which the constant current passes through the detection target power device.

US Pat. No. 10,320,281

CONVERTER APPARATUS HAVING FUNCTION OF DETECTING FAILURE OF POWER DEVICE, AND METHOD FOR DETECTING FAILURE OF POWER DEVICE

FANUC CORPORATION, Yaman...

1. A converter apparatus comprising:a converter including a plurality of power devices, configured to convert an AC voltage supplied from a power supply into a DC voltage, and output the DC voltage;
a DC link capacitor connected to an output side of the converter;
a voltage detector configured to detect a voltage of the DC link capacitor;
a charging circuit disposed between the converter and the DC link capacitor, configured to charge the DC link capacitor;
a charging circuit controller configured to control a charging switch connected in parallel with a charging resistor in the charging circuit;
a current detector configured to detect a current flowing between the converter and the DC link capacitor;
a turn-on controller configured to control turning-on of the power devices of the converter;
a power switch configured to connect or disconnect between the power supply and the converter;
a power supply monitor configured to control switching of the power switch, and to monitor a connection state between the power supply and the converter by detecting a voltage to be inputted to the converter;
a threshold value setter configured to set a first threshold value or a second threshold value to determine a presence or an absence of a failure of the power devices; and
a failure detector configured to determine the presence or absence of the failure of the power devices by a comparison between the first threshold value or the second threshold value and a current flowing upon turning on at least one power device of the converter using electric charge of the DC link capacitor, immediately after the power switch disconnects the power supply from the converter and the charging switch is turned off.

US Pat. No. 10,315,283

TOOL CLEANING DEVICE FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A tool cleaning device for removing chips adhered to a tool of a machine tool, the tool cleaning device comprising:a chip removing device configured to remove the chips by injecting liquid at the chips;
a moving device to which the chip removing device is attachable;
a detecting device configured to detect an accumulation status of the chips adhered to the tool of the machine tool; and
a controller configured to
process information according to the accumulation status of the chips acquired by the detecting device to judge a region where a chip removing operation is necessary,
control the moving device to move the chip removing device to the region where the chip removing operation is necessary, and
based on the accumulation status of the chips, control a pressure of the liquid injected at the chips.

US Pat. No. 10,317,873

NUMERICAL CONTROLLER AND SYNCHRONOUS FOLLOW-UP CONTROL METHOD

FANUC CORPORATION, Yaman...

1. A numerical controller comprising:a position table in which a positional relationship is defined between a position of a master axis and a position of a slave axis;
a slave axis synchronous control unit configured to drive and control the slave axis in accordance with the position table so that the position of the slave axis is synchronized with and follows the position of the master axis;
a parent determining unit configured to determine the slave axis to be a parent of the master axis; and
a master axis control unit configured to drive and control the master axis based on a command position, and in an event that the slave axis which serves as the parent of the master axis is determined by the parent determining unit, drive and control the master axis in accordance with the position table, so that the position of the master axis is synchronized with and follows the position of the slave axis determined to be the parent.

US Pat. No. 10,317,883

NUMERICAL CONTROLLER FOR CLASSIFYING AND DISPLAYING MACHINING PROGRAM RECORDED AS HISTORY

FANUC CORPORATION, Minam...

1. A numerical controller for controlling a machine based on a program, the numerical controller including a processor and a memory having instructions stored therein which, when executed by the processor, cause the processor to perform a method comprising:executing control processing of a machine based on a program;
generating execution history information based on information relating to the executed program;
recording the generated execution history information of the executed program in an execution history storage area;
registering, in a favorite program storage area, the executed program based on a preset favorite condition and the generated execution history information of the executed program recorded in the execution history storage area, wherein the registered program is one of a plurality of registered programs in the favorite program storage area, the preset favorite condition includes an executing frequency of the executed program, and wherein the executed program is registered in the favorite program storage area when the executing frequency of the executed program exceeds a predetermined specified value in a predetermined latest period;
classifying the registered program in the favorite program storage area based on contents of the registered program, wherein the classification of the registered program is one of a plurality of classifications corresponding to different actions associated with controlling the machine; and
controlling a display to switch between displaying (i) an unfiltered listing of the plurality of registered programs and (ii) a subset of the plurality of registered programs, the subset of registered programs corresponding to a selected classification of the plurality of classifications.

US Pat. No. 10,315,864

PALLETIZING SYSTEM FOR LOADING ARTICLES ON PALLET

FANUC CORPORATION, Yaman...

1. A palletizing system for loading a plurality of types of articles on a pallet, the palletizing system comprising:a supply conveyor configured to convey a first type of article and a second type of article having a dimension different from that of the first type of article;
a type detection sensor configured to detect the type of the article conveyed by the supply conveyor;
a first buffer conveyor provided subsequent to the supply conveyor so as to convey the first type of article;
a second buffer conveyor provided subsequent to the supply conveyor at vertically upward of the first buffer conveyor so as to convey the second type of article;
a sorting robot configured to pick up the first type of article detected by the type detection sensor from the supply conveyor and place the first type of article on the first buffer conveyor, and configured to pick up the second type of article detected by the type detection sensor from the supply conveyor and place the second type of article on the second buffer conveyor; and
a loading robot configured to pick up the first type of article from the first buffer conveyor and the second type of article from the second buffer conveyor, and load them on the pallet in accordance with a loading pattern which determines loading positions of the first type of article and the second type of article on the pallet.

US Pat. No. 10,295,986

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller which controls a machine tool machining workpiece with a tool, the numerical controller configured to:acquire tool information including a shape of the tool;
acquire a machining condition in the machining of the workpiece; and
acquire information related to a machining result of the workpiece after the machining of the workpiece; and
wherein the numerical controller comprises a machine learning device which performs machine learning on tendency of the information related to a machining result with respect to the tool information and the machining condition based on the tool information and the machining condition used as input data and based on the information related to a machining result used as teacher data, so as to construct a learning model, and wherein
the machine learning device is configured to determine whether or not a machining result is good by using the constructed learning model based on the tool information acquired by the shape data acquisition unit and the machining condition acquired by the machining condition acquisition unit, before the machine tool machines the workpiece.

US Pat. No. 10,293,494

BULK WORKPIECE PICKING SYSTEM AND METHOD

FANUC CORPORATION, Yaman...

1. A bulk workpiece picking system comprising:a robot which is provided with an electromagnetic hand configured to magnetically attract a metal workpiece;
a detector configured to determine whether or not a magnetic attraction in which the metal workpiece is magnetically attracted to the electromagnetic hand is performed by detecting the magnetic attraction; and
a controller configured to control a magnetic force of the electromagnetic hand,
wherein, before it is determined by the detector that the magnetic attraction is performed, the controller sets a magnitude of the magnetic force of the electromagnetic hand so that the electromagnetic hand can suspend one metal workpiece and cannot suspend two metal workpieces, and then, after it is determined by the detector that the magnetic attraction is performed, the controller increases the magnetic force of the electromagnetic hand.

US Pat. No. 10,293,499

MOVABLE ROBOT

FANUC CORPORATION, Yaman...

1. A movable robot comprising:a robot arm which performs an operation for a machine tool;
a carriage which supports the robot arm and which moves the robot arm to a predetermined installation position so that the robot arm can perform the operation;
a vision sensor which is supported by the carriage together with the robot arm and which captures an image of recognition information provided on the machine tool when the robot arm is placed at the predetermined installation position;
a partner information receiving section which receives a partner information regarding the machine tool for which the robot performs the operation; and
a controller which determines whether the image captured by the vision sensor or information derived from the image corresponds with the partner information received by the partner information receiving section at the time the robot arm is placed at the predetermined installation position by the carriage and which sets the robot arm to be a state in which the robot arm can perform the operation.

US Pat. No. 10,281,884

LEARNING CONTROLLER FOR AUTOMATICALLY ADJUSTING SERVO CONTROL ACTIVITY

FANUC CORPORATION, Yaman...

1. A servo control system for a machine tool having a feed axis driven by a servomotor, the servo control system comprising:a position command generator configured to generate a position command to drive the feed axis in a specific operation pattern;
a position detector configured to detect a position of the feed axis;
a positional deviation obtainer configured to
receive a position command value of the position command generated by the position command generator and a position detection value of the position of the feed axis detected by the position detector, and
calculate a positional deviation that is the difference between the position command value and the position detection value;
a position control loop including the position command generator, the position detector, and the positional deviation obtainer;
a band limiting filter configured to attenuate a high frequency component of the positional deviation outputted from the positional deviation obtainer;
a dynamic characteristic compensation element configured to advance the phase of the positional deviation outputted from the band limiting filter;
a learning controller including the band limiting filter and the dynamic characteristic compensation element, wherein the learning controller is configured to output a correction amount;
a sine wave sweep input unit configured to apply a sine wave sweep to the position control loop;
a frequency characteristic calculator configured to estimate the gain and phase of position control loop input and output signals from the output of the position control loop at the time when sine waves are inputted to the position control loop; and
a learning control characteristic evaluation function calculator configured to calculate an evaluation function that indicates a position control characteristic with the learning controller, based on
a frequency characteristic by actual measurement calculated by the frequency characteristic calculator and
a frequency characteristic of the learning controller,
wherein
the learning control characteristic evaluation function calculator is configured to modify the configuration of at least one of the band limiting filter and the dynamic characteristic compensation element that constitute the learning controller, based on the value of the evaluation function,
the learning control characteristic evaluation function calculator is configured to adjust at least one of the band limiting filter and the dynamic characteristic compensation element that constitute the learning controller, so as to minimize the value of the evaluation function, and
the evaluation function is calculated using a peak height and a half width of the frequency characteristic of an index, which indicates the convergence of a transient deviation in the learning controller by the following expression:
Evaluation function=Peak height/Half width, and
the servo control system further comprises a speed command generator configured to
add the correction amount outputted by the learning controller to the positional deviation outputted by the positional deviation obtainer,
multiply a sum of the correction amount and the positional deviation by a positional gain to generate a speed command, and
output the generated speed command to the servomotor to control the servomotor.

US Pat. No. 10,281,906

MANUFACTURING MANAGEMENT APPARATUS CORRECTING DELAY IN OPERATION OF MANUFACTURING CELL

FANUC CORPORATION, Yaman...

1. A manufacturing management apparatus which is connected to a production planning apparatus for setting a manufacturing plan of a product and controls a plurality of manufacturing cells each including a manufacturing machine, the manufacturing plan including a number of products and a predetermined deadline, the manufacturing management apparatus comprising:a plan reception part configured to receive the manufacturing plan of the product from the production planning apparatus;
an operation distribution part configured to set operating plan information including an operation content of a manufacturing cell on the basis of the manufacturing plan;
an operating information acquisition part configured to acquire operating result information which is information of the manufacturing cell when the manufacturing cell is operated;
a progress evaluation part configured to identify the manufacturing cell having delay in operation and the manufacturing cell having operation time to spare with respect to the number of products and the deadline set in the manufacturing plan by comparing the operating plan information and the operating result information; and
an operation command part configured to transmit an operation command to the manufacturing cell; wherein
the plurality of manufacturing cells include a manufacturing machine having a wheel so as to be able to transfer from one manufacturing cell to another manufacturing cell,
the manufacturing management apparatus further comprises a machine extraction part configured to extract the manufacturing machine which can be transferred from the manufacturing cell having the operation time to spare to the manufacturing cell having the delay in operation, and
the operation command part transmits a command to transfer the extracted manufacturing machine from the manufacturing cell having the operation time to spare to the manufacturing cell having the delay in operation and further transmits a command to cause the transferred manufacturing machine to perform a part of the operations of the manufacturing cell having the delay in operation.

US Pat. No. 10,284,041

STATOR OF MOTOR HAVING INSULATING STRUCTURE

FANUC CORPORATION, Yaman...

1. A stator of a motor comprising:a teeth unit with a circular cylindrical part having a circular cylindrical shape and multiple projection parts spaced uniformly along an outer circumference of the circular cylindrical part in a circumferential direction of the circular cylindrical part, the projection parts projecting radially outwardly from the circular cylindrical part;
multiple bobbins each having:
a cylindrical shaped-part including a hollow section through which a projection part of the multiple projection parts is passed to be fitted, and an outer periphery around which windings are wound; and
a radially innermost part having a surface facing the circular cylindrical part;
a cylindrical external unit arranged radially outside the teeth unit and fitted to an outer circumference of the teeth unit and the outer peripheries of the bobbins; and
multiple first insulating parts arranged to fill gaps between the circular cylindrical part of the teeth unit and the bobbins and electrically insulating the teeth unit and the windings, wherein
each first insulating part of the multiple first insulating parts has at least one circumferentially extending portion that radially faces the radially innermost part of the bobbin.

US Pat. No. 10,284,048

ELECTRIC MOTOR FOR SUPPRESSING ENTRY OF FOREIGN SUBSTANCES

FANUC CORPORATION, Yaman...

1. An electric motor comprising:a rotor including a rotary shaft;
a housing that supports the rotary shaft and that is disposed on one side of the rotary shaft, coupled to another member; and
an annular member supported by the housing, wherein
the rotary shaft includes an annular protrusion part protruding in the radial direction,
the annular member includes an opposite part spaced from a surface of the protrusion part, which extends in the circumferential direction, by a predetermined distance;
a first cover part opposed to a first surface of the protrusion part on the one side; and
a second cover part opposed to a second surface of the protrusion part on the other side, the first cover part is formed into a plate shape so as to extend in parallel with the first surface, the second cover part is formed into a plate shape so as to extend in parallel with the second surface,
the first cover part and the second cover part are spaced from the protrusion part so that a pressure in a space sandwiched by the first cover part and the first surface is equalized with a pressure in a space sandwiched by the second cover part and the second surface,
one surface of the first surface and the second surface is formed so as to have a surface roughness larger than that of the other surface,
one cover part of the first cover part and the second cover part is opposed to the one surface and the other cover part is opposed to the other surface, and
the distance between the one cover part and the one surface is larger than the distance between the other cover part and the other surface.

US Pat. No. 10,284,049

ELECTRIC MOTOR HAVING LABYRINTH

FANUC CORPORATION, Yaman...

1. An electric motor comprising:a stator;
a rotor having a rotation shaft configured to rotate about an axis relative to the stator;
a front bearing and a rear bearing configured to rotatably support the rotation axis; and
a labyrinth member attached to at least one of: a portion of the rotation shaft positioned further at a front side than the front bearing with respect to the axis; and a portion of the rotation shaft positioned further at a rear side than the rear bearing with respect to the axis,
wherein the labyrinth member has: a plurality of first openings formed on an end surface axially opposed to a surface facing an inside of the electric motor; and a plurality of second openings formed on an outer lateral side of the labyrinth member, the second opening being fluidly communicated with the first opening within the labyrinth member,
and wherein the first opening is a tapped hole.

US Pat. No. 10,284,052

MOTOR DRIVE DEVICE WHICH COOLS HEAT SINK BY OUTSIDE AIR

FANUC CORPORATION, Yaman...

1. A motor drive device fixed to a wall part of a housing of a power panel, the motor drive device comprising:a duct arranged inside the housing and fluidly isolated therefrom, the duct including a main body part having:
an inflow port,
an outflow port,
a flow passage for outside air defined between the inflow port and the outflow port,
the inflow port being arranged to draw the outside air through the inflow port via openings in the wall part of the housing and direct the outside air toward the flow passage,
the outside air flowing out of the outflow port to a location exterior to the housing of the power panel,
the inflow port, the outflow port and the flow passage are each fluidly isolated from the housing, and
a concave part arranged laterally on the main body part,
a heat-sink unit coupled to the main body part so as to release heat into the duct;
a printed circuit board including a second surface on which one or more heat generation components are arranged, the second surface extending in a direction parallel to the wall part,
the one or more heat generation components generating heat,
the one or more heat generation components each having a third surface opposite to the second surface, the third surface contacting at least a portion of the main body part, such that the flow passage defined within the main body part is indirectly coupled to the third surface so as to remove heat from the one or more heat generation components; wherein
the one or more heat generation components being arranged along a first line parallel to the wall part,
a width of the one or more heat generation components not extending beyond the concave part in a direction perpendicular to the first line.

US Pat. No. 10,268,433

DISPLAY SYSTEM

FANUC CORPORATION, Yaman...

1. A display system, comprising:a first display provided in an electronic apparatus;
a head-mounted display device including
a frame, and
a second movable display movably connected to the frame;
a display destination selector configured to select, in response to an operator's selection, a display destination to determine whether a window is to be displayed on (i) the first display or (ii) the second movable display which is movable relative to the frame; and
a window selector configured to select a window to be displayed on the display selected by the display destination selector,
wherein
the head-mounted display device is provided with the second movable display at a position such that a view of the first display is not blocked when an operator wears the head-mounted display device on his/her head and sees a window of the first display, and
the window selected by the window selector is displayed on the display destination selected by the display destination selector,
the second movable display is configured to display an image, and when the operator wears the head-mounted display device, the image displayed on the second movable display is at a left or right position of, and aligned with, the first display,
the head-mounted display device includes an eye direction detector and a neck direction detector,
the display destination selector includes the eye direction detector and the neck direction detector,
the second movable display is connected to the head-mounted display device by at least one hinge and is rotatable about a connection shaft of the at least one hinge,
the eye direction detector and the neck direction detector detect an eye direction and a neck direction, respectively,
a combined direction of the eye direction and the neck direction is determined,
when the combined direction is directed to the first display, the second movable display is opened, and
when the combined direction is directed to the second movable display, the second movable display is closed.

US Pat. No. 10,267,704

OIL LEAKAGE DETECTION DEVICE

FANUC CORPORATION, Yaman...

1. An oil leakage detection device for detecting oil leakage in a hydraulic pressure supply device which is configured to supply a hydraulic pressure to activate at least one driving mechanism of a machine tool, the oil leakage detection device comprising:a processor configured to
from log data recorded during operation of the machine tool, acquire, as a change pattern, information on a change of a flow rate of oil supplied by the hydraulic pressure supply device corresponding to operating conditions of the driving mechanism,
create input data based on the acquired change pattern,
from the log data recorded during the operation of the machine tool, acquire information on a presence of oil leakage in the hydraulic pressure supply device and information on a point of oil leakage in the hydraulic pressure supply device,
create teacher data based on the acquired information on the presence of oil leakage and the acquired information on the point of oil leakage in the hydraulic pressure supply device,
perform supervised learning based on the created input data and the created teacher data,
construct a learning model based on a result of the performed supervised learning, and
store the constructed learning model in a storage device.

US Pat. No. 10,263,388

LD MODULE COOLING DEVICE AND LASER APPARATUS

FANUC CORPORATION, Yaman...

1. An LD module cooling device, comprising:a cooling plate;
a plurality of cooling portion flow paths formed in the cooling plate, through which a cooling medium for cooling a plurality of LD modules arranged on a front surface of the cooling plate flows, corresponding to positions of the plurality of LD modules;
a common supply flow path formed in the cooling plate, that supplies the cooling medium in parallel to the plurality of cooling portion flow paths; and
a common drainage flow path formed in the cooling plate, that drains the cooling medium in parallel from the plurality of cooling portion flow paths,
wherein:
the cooling portion flow path has a flow path height and a flow path width that are constant in at least a majority of the flow path length, and is formed as a thin layer flow path parallel to a front surface of the cooling plate,
a rectangular shape of the cooling portion flow path defined by the dimensions flow path length×flow path width overlaps with at least a majority of a main contact surface between the cooling plate and the plurality of LD modules as viewed from the front surface of the cooling plate,
the flow path height of the cooling portion flow path satisfies at least either one of a condition that flow path height is 1/20 or less of the flow path length and the flow path width, and a condition that the flow path height is 0.5 mm or less, and
pressure loss of the cooling medium that flows through the cooling portion flow path caused by pipe friction is greater than pressure loss of the cooling medium that flows through the common supply flow path and the common drainage flow path caused by pipe friction.

US Pat. No. 10,261,490

SERVOMOTOR CONTROL DEVICE, SERVOMOTOR CONTROL METHOD, AND COMPUTER READABLE RECORDING MEDIUM

FANUC CORPORATION, Yaman...

1. A servomotor control device, comprising:a servomotor;
a driven body configured to be driven by the servomotor;
a connection mechanism configured to connect the servomotor and the driven body to transfer power of the servomotor to the driven body;
a position command generation unit configured to generate a position command value for the driven body;
a motor control unit configured to control the servomotor using the position command value;
a force estimation unit configured to estimate a force estimated value which is drive force acting on the driven body at a connecting part with the connection mechanism;
a force estimated value output unit configured to define a predetermined force estimated value range, in a case of the command velocity of the position command value becoming no more than a predetermined value, with a basis of the force estimated value at this time, and if the force estimated value outputted from the force estimation unit is within the force estimated value range, outputting the force estimated value of when interrupting updating of the force estimated value, and if the force estimated value outputted from the force estimation unit is outside the force estimated value range, outputting a force command value reflecting updating of the force estimated value; and
a compensation amount generation unit configured to generate a compensation amount for compensating the position command value using output of the force estimated value output unit.

US Pat. No. 10,261,492

NUMERICAL CONTROLLER THAT CONTROLS AN OUTPUT VALUE IN FEEDBACK CONTROL

Fanuc Corporation, Yaman...

1. A numerical controller adapted to control a machine that includes a spindle and an axis driving the spindle on the basis of a program instruction and carry out feedback control to control a moving speed of the axis such that a load value of the spindle becomes constant, the numerical controller comprising:an instruction program analysis unit configured to analyze the program instruction and generate instruction data instructing movement of the axis; and
a speed computation unit configured to start speed computation processing to compute a feeding speed of the axis by the instruction data or an override for the feeding speed by feedback control such that the spindle load value becomes constant, the speed computation unit being configured to compute an integral term used in the feedback control based on the spindle load value and compute the override based on the integral term, and when another override that is different than the override is defined as an output value, assign a substitute value computed by the output value to the integral term.

US Pat. No. 10,261,497

MACHINE TOOL FOR GENERATING OPTIMUM ACCELERATION/DECELERATION

FANUC CORPORATION, Yaman...

1. A machine tool configured to drive at least one axis based on a command path of a tool commanded by a program to perform machining of a workpiece, the machine tool comprising:an operation evaluation section configured to evaluate an operation of the machine tool to output evaluation data; and
a machine learning device configured to perform machine learning of a determination of a movement amount of the axis, wherein
the machine learning device includes
a state observation section configured to acquire, as state data, data including at least a position of the axis of the machine tool and the evaluation data output from the operation evaluation section,
a reward conditions setting section configured to set a reward condition,
a reward calculation section configured to calculate a reward based on the state data acquired by the state observation section,
a movement-amount adjustment learning section configured to perform the machine learning of the determination of the movement amount of the axis, and
a movement-amount output section configured to determine the movement amount of the axis such that acceleration of the tool becomes optimum, based on (i) a machine learning result of the machine learning of the determination of the movement amount of the axis by the movement-amount adjustment learning section and (ii) the state data, and output the determined movement amount, and
the movement-amount adjustment learning section is configured to perform the machine learning of the determination of the movement amount of the axis based on (i) the determined movement amount of the axis, (ii) the state data acquired by the state observation section after an operation of the machine tool based on the output movement amount of the axis, and (iii) the reward calculated by the reward calculation section.

US Pat. No. 10,261,498

NUMERICAL CONTROLLER

FANUC Corporation, Minam...

1. A numerical controller that performs multi-path control of controlling a plurality of paths and an axis belonging to each path based on a plurality of machining programs, the numerical controller comprising:a machining program storage unit that stores a plurality of machining programs capable of controlling the plurality of paths and describing a wait instruction code including a wait code number;
a wait management table that stores, for each machining program, wait management information that correlates a machining program number for identifying the machining program, a wait code number of a wait instruction code included in the machining program, and a wait state of each wait code number of the wait instruction code included in the machining program;
a decoder that decodes the machining program;
an axis controller that executes a plurality of machining programs decoded by the decoder in parallel and controls at least one axis belonging to each of the plurality of paths;
a wait controller that performs wait control of each of the axes by issuing an instruction to the axis controller based on the wait management information stored in the wait management table; and
a management unit that updates the wait management information of each machining program stored in the wait management table according to the execution state of the plurality of machining programs.

US Pat. No. 10,261,500

NUMERICAL CONTROLLER CONTROLLING MACHINING TOOL BASED ON SKIVING INSTRUCTION

FANUC Corporation, Minam...

1. A numerical controller that controls a machining tool performing a skiving process of cutting a rotational symmetrical surface of a rotating workpiece by a tool, based on a machining program, whereinthe machining program is adapted to include a skiving instruction capable of designating a cutting point movement path during the skiving process, and wherein
the numerical controller comprises:
non-transitory computer readable memory;
one or more hardware processors coupled to the non-transitory memory and configured to read instructions from the non-transitory memory to cause the numerical controller to perform operations comprising:
analyzing the machining program and determining whether a block read out from the machining program is a skiving instruction or not;
calculating a tool path and a tool feed rate based on a cutting point path and a cutting point feed rate instructed by the skiving instruction when the analyzing determines that the read block is the skiving instruction, the instructed cutting point path including a machining tool movement amount in a plurality of axes; and
controlling the machining tool on the basis of the calculated tool path and the calculated tool feed rate so that the machining tool performs the skiving process of cutting the rotational symmetrical surface of the rotating workpiece,
wherein the movement amount and the cutting point feed rate in the skiving process are directly instructed by the machining program so that performing a movement instruction with respect to a tangential direction of the rotating workpiece in the skiving process is not needed, thus reducing a load of creating the machining program for the skiving process by an operator.

US Pat. No. 10,261,274

OPTICAL FIBER CONNECTION UNIT HAVING CIRCULATION PATH FOR ALLOWING COOLANT TO CIRCULATE

FANUC CORPORATION, Yaman...

1. An optical fiber connection unit comprising:a hollow main body, at one end of which a laser-beam entrance part optically connected to a first optical fiber is provided, and the other end of which a laser-beam emission part optically connected to a second optical fiber different from the first optical fiber is provided, the main body defining an inside space through which a laser beam from the laser-beam entrance part propagates;
at least one optical member positioned in the inside space between the laser-beam entrance part and the laser-beam emission part, and configured to transmit the laser beam from the laser-beam entrance part to the laser-beam emission part;
a closed circulation path which is provided at the main body, and through which a coolant for removing heat generated in the optical fiber connection unit due to the laser beam propagating through the optical fiber connection unit circulates, the circulation path being defined as a space separated from the inside space of the main body so as not to be in communication with the inside space; and
a coolant circulation device which flows the coolant so as to circulate in the circulation path.

US Pat. No. 10,248,095

NUMERICAL CONTROL DEVICE HAVING IMPROVED SERVO CONTROL PERFORMANCE

FANUC CORPORATION, Yaman...

1. A numerical control device comprising:a CPU for outputting a position command value of a servomotor;
an integrated circuit including a servo controller for outputting a current command value to an amplifier for driving the servomotor, and another processor; and
a DSP for reading the position command value and controlling the servomotor such that the servomotor moves to a position indicated by the position command value, wherein
the CPU and the integrated circuit are connected through a plurality of serial interfaces,
the integrated circuit has a first integrated circuit internal bus connected to one of the plurality of serial interfaces, and a second integrated circuit internal bus connected to another one of the plurality of serial interfaces,
the servo controller is connected to the first integrated circuit internal bus, and
the other processor is connected to the second integrated circuit internal bus.

US Pat. No. 10,248,102

NUMERICAL CONTROLLER OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A numerical controller for controlling a machine tool including a spindle motor formed of an induction motor, the numerical controller comprising:a storage unit that stores a maximum acceleration at which the spindle motor can operate when a magnetic flux amount of the spindle motor reaches its maximum;
a magnetic flux amount acquisition unit that acquires a present magnetic flux amount of the spindle motor; and
an acceleration change unit that changes an acceleration of a position command based on a maximum acceleration of the spindle motor stored in the storage unit according to a magnetic flux amount at the start of movement of the spindle motor acquired by the magnetic flux amount acquisition unit when the spindle motor is operated by position control using a position command.

US Pat. No. 10,242,325

MACHINE LEARNING APPARATUS, LASER APPARATUS AND MACHINE LEARNING METHOD

FANUC CORPORATION, Yaman...

15. A machine learning method for learning LD unit driving condition data including output command data instructed to a power source unit and at least a prediction result of a remaining life as a prediction result of characteristics of each LD unit,the method comprising:
observing a state amount of a laser apparatus including output data from an optical output characteristic recording unit that records history of a measurement result of optical output characteristics of each LD unit obtained from the driving current output from the power source unit and an optical output, and a driving condition/state amount recording unit that records history of the LD unit driving condition data including at least a prediction result of a remaining life of each LD unit as a prediction result of characteristics of each LD unit output from a machine learning apparatus and history of the state amount of the laser apparatus;
receiving, as results of the LD unit driving condition data, a difference between the prediction result of the characteristics of each LD unit including at least the prediction result of the remaining life of each LD unit recorded in the driving condition/state amount recording unit and the measurement result of the optical output characteristics of each LD unit and/or an estimation result from the measurement result; and
learning the LD unit driving condition data including the output command data instructed to the power source unit and at least the prediction result of the remaining life as the prediction result of the characteristics of each LD unit in association with the state amount of the laser apparatus and the results of the LD unit driving condition data.

US Pat. No. 10,222,782

PARAMETER-BASED CONTROLLER FOR MANAGING TOOL LIFE CONSIDERING CHANGE IN MACHINING CONDITIONS

FANUC CORPORATION, Yaman...

1. A numerical controller for machining a workpiece by controlling a machine tool including a tool based on a command of each of a plurality of blocks read from a machining program, the numerical controller comprising:a tool data storage section for storing tool data in which the tool and a life of the tool are associated with each other;
a machining condition data storage section for storing machining condition data in which machining conditions at time of machining and a consumption factor representing a degree to which the tool consumes the tool life under the machining conditions are associated with each other;
a program operation section for controlling the machine tool based on the machining program;
a tool usage calculation section for calculating a usage of the tool for each of the plurality of blocks of the machining program;
a consumption factor determination section for determining a consumption factor by referring to the machining condition data storage section based on machining conditions at time of machining performed in accordance with the machining program; and
a life consumption-amount calculation section for calculating an accumulated consumption life, which is a tool life consumed before each of the plurality of blocks based on the tool usage for each of the plurality of blocks calculated by the tool usage calculation section and the consumption factor determined by the consumption factor determination section,
wherein the program operation section is configured to, in response to a block read from the machining program containing a tool change command,
read a machining command of each of subsequent blocks between the block containing the tool change command and a block containing a next tool change command in advance of execution of the machining command, and
select a tool having a tool life that does not end before the block containing the next tool change command, from among tools stored in the tool data storage section, based on the accumulated consumption life.

US Pat. No. 10,166,642

DRIVE APPARATUS COMPRISING MECHANICAL VIBRATION SUPPRESSION FUNCTION, AND SYSTEM COMPRISING MECHANICAL VIBRATION SUPPRESSION FUNCTION

FANUC CORPORATION, Yaman...

1. A drive apparatus including a mechanical vibration suppression function, the drive apparatus comprising:a damper side linear motor including a stationary portion and a movable portion, the stationary portion being fixed to a machine base;
a drive side linear motor including a stationary portion and a movable portion, the stationary portion being fixed to the movable portion of the damper side linear motor;
a first detection unit that detects a first position that is a position of the movable portion of the drive side linear motor in relation to the machine base;
a second detection unit that detects a second position that is a position of the movable portion of the damper side linear motor in relation to the machine base;
a third detection unit that detects a third position that is a position of the movable portion of the drive side linear motor in relation to the movable portion of the damper side linear motor;
a drive side control unit that controls the drive side linear motor, based on the first position detected by way of the first detection unit and the third position detected by way of the third detection unit; and
a damper side control unit that controls the damper side linear motor, based on the second position detected by way of the second detection unit, thereby causing the damper side linear motor to function as a damper,
wherein adjustment of a response band of the damper side control unit is allowed in accordance with a command frequency band provided to the drive side control unit or a response band of the drive side control unit, and
wherein the adjustment is performed by adjusting a parameter used by the damper side control unit to control the damper side linear motor.

US Pat. No. 10,150,200

GRINDING ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A grinding robot system comprising:a motor-driven grinder that performs grinding;
a robot that grinds a grinding target by the grinder in a state in which one of the grinder or the grinding target is attached to a distal end of the robot and is moved, and another one of the grinder of the grinding target is set at a fixed position; and
a control unit that controls the robot and the grinder,
wherein the control unit is provided with a storage unit that stores a plurality of functions showing the relationship between movement speed of the distal end of the robot and rotational-speed command value for the grinder, and
when an operation program of the robot is executed, the control unit reads the function from the storage unit on the basis of the movement speed of the distal end of the robot instructed in the operation program of the robot, calculates a rotational-speed command value for the grinder by using the read function, and controls the rotational speed of the grinder on the basis of the calculated rotational-speed command value.

US Pat. No. 10,150,217

TOOL ADAPTER FOR ROBOT WRIST AND ROBOT WITH TOOL ADAPTER ATTACHED THERETO

FANUC CORPORATION, Yaman...

1. A tool adapter configured to mount a tool on a robot wrist, the robot wrist having two or more degrees of freedom and including a first rotary member rotatable about a first axis and a second rotary member rotatable about a second axis orthogonal to the first axis, the tool adapter comprising:a flat plate-like first section provided with a first attaching portion and configured to be attached to the second rotary member at the first attaching portion;
a flat plate-like second section extending from the first section, the second section provided with a second attaching portion and configured to be attached to the tool at the second attaching portion;
a pair of side walls provided along a pair of side edges of the first and second sections; and
a top wall extending so as to bridge between the pair of side walls, the top wall spaced apart from and in parallel to the first and second sections, the top wall including a cutout portion aligned with the second attaching portion of the flat plate-like second section, the cutout portion for the tool to pass through to attach to the second attaching portion of the flat plate-like second section, and
wherein the first attaching portion and the second attaching portion are respectively disposed at positions where a direction of a reaction force applied to the second section through the tool from an object, during an operation performed to the object with use of the tool, is defined to intersect with both of the first axis and the second axis.

US Pat. No. 10,066,971

ROTATION ANGLE DETECTION APPARATUS HAVING FUNCTION OF DETECTING ENTRY OF FOREIGN SUBSTANCE BASED ON FREQUENCY CHARACTERISTIC OF SIGNALS

FANUC CORPORATION, Yaman...

1. A rotation angle detection apparatus comprising:a rotator and a track, the rotator configured to rotate the track around a rotation axis;
a detector disposed in correspondence with the track; and
a processor configured to:
calculate a rotation angle of a rotation axis based on signals generated by the detector;
calculate the rotation speed of the rotation axis based on the signals; and
detect an abnormality based on the signals, by:
calculating a frequency characteristic of the signals;
storing the signals generated from the track per revolution of the rotator;
calculating a signal frequency that is the product of the stored signals and the calculated rotation speed; and
detecting the abnormality, when the frequency characteristic includes a component of a higher order than the signal frequency.

US Pat. No. 10,012,975

NUMERICAL CONTROL SYSTEM INCLUDING INTERNAL REGISTER SELF-RESET FUNCTION WITH SERIAL COMMUNICATION SIGNAL MONITORING

FANUC Corporation, Minam...

1. A numerical control system comprising:a numerical controller; and
one or more I/O units connected to the numerical controller, the numerical control system performing transmission and reception of input and output signals using serial communication between the numerical controller and a first I/O unit, wherein
the first I/O unit includes a monitoring part that monitors a serial communication signal transmitted from the numerical controller,
the monitoring part includes circuitry including
a transmission and reception part that receives the serial signal from the numerical controller or a second I/O unit at a front stage relative to the first I/O unit and transmits the serial signal to a third I/O unit at a subsequent stage relative to the first I/O unit,
a determining part that determines that a power supply of the numerical controller is stopped when the serial signal is stopped for a predetermined time or longer,
a stop part that stops the serial signal to be transmitted to the first I/O unit at a subsequent stage when the determining part determines that the power supply of the numerical controller is stopped, and
a reset signal output part that outputs a reset signal to a register inside the first I/O unit when the determining part determines that the power supply of the numerical controller is stopped, wherein the register inside the first I/O unit is reset based on the reset signal.

US Pat. No. 9,990,590

MACHINE LEARNING APPARATUS AND METHOD FOR OPTIMIZING SMOOTHNESS OF FEED OF FEED AXIS OF MACHINE AND MOTOR CONTROL APPARATUS INCLUDING MACHINE LEARNING APPARATUS

FANUC CORPORATION, Yaman...

1. A machine learning apparatus that learns a condition associated with the number of corrections for any command of a position command, a speed command, or a current command in a motor control apparatus, the machine learning apparatus comprising:a state observation unit that observes a state variable composed of data relating to the number of errors between the position command relative to a rotor of a motor which is drive-controlled by the motor control apparatus and an actual position of a feed mechanism unit, any command of the position command, the speed command, or the current command in the motor control apparatus, data relating to a workpiece machining condition in a machine tool including the motor control apparatus, and data relating to a state of the machine tool including the motor control apparatus; and
a learning unit that learns the condition associated with the number of corrections used to correct any command of the position command, the speed command, or the current command in the motor control apparatus in accordance with a training data set constituted by the state variable.