US Pat. No. 10,474,130

MACHINING SIMULATION DEVICE

FANUC CORPORATION, Yaman...

1. A machining simulation device, comprising:a processor configured to perform machining simulation based on setup data including workpiece position data and tool data, workpiece data including data of a workpiece type and configuration data, and a machining program, wherein the processor is configured to:
extract a cutting condition in machining based on the machining program, from the machining program,
determine a tool type of a tool to be used in said machining in accordance with the machining program,
calculate, based on the extracted cutting condition and the determined tool type, a spindle load of a spindle of a machining tool, to which the tool is attached, in the machining,
determine whether the calculated spindle load exceeds a predetermined threshold or not, wherein the threshold is determined based on (i) the calculated spindle load and (ii) a rate at which the cutting condition to be adjusted is changed, and
in response to a determination that the calculated spindle load exceeds the predetermined threshold, calculate, in accordance with an adjustment method corresponding to the determined tool type, an adjustment amount with which the cutting condition is adjusted such that the spindle load becomes equal to or less than the predetermined threshold; and
a display configured to display
a result of the determination whether the calculated spindle load exceeds the predetermined threshold, and
an adjustment guidance generated based on the calculated adjustment amount,
wherein the processor is further configured to:
analyze the machining program to obtain a cutting direction of the tool and a spindle direction of the spindle,
determine that the tool type is a drill type tool or a tapping type tool in response to the cutting direction of the tool coinciding with the spindle direction, and
determine that the tool type is an end mill type tool in response to the cutting direction of the tool not coinciding with the spindle direction, and
wherein machining of a workpiece is performed by the machining tool using the tool attached to the spindle of the machining tool, in accordance with the machining program containing an adjusted cutting condition which is the cutting condition adjusted based on the adjustment guidance.

US Pat. No. 10,477,734

ELECTRONIC DEVICE

FANUC CORPORATION, Yaman...

1. An electronic device having a heat sink, wherein:the heat sink includes:
a flat-plate-shaped base; and
fins protruding from one surface of the base and extending substantially in a direction of gravity in a state where the electronic device is mounted on an apparatus;
a first inclined portion defined on a lower surface of each of the fins in the direction of gravity, the first inclined portion being configured to incline downward in the direction of gravity toward the base; and
a second inclined portion defined on a lower surface of the base in the direction of gravity, the second inclined portion being configured to incline with respect to a horizontal direction when the base is viewed from a side where the fins are provided, wherein the second inclined portion includes two inclined portions formed on either side of a central portion of the base.

US Pat. No. 10,429,137

HEAT SINK

Fanuc Corporation, Yaman...

1. A heat sink comprising:a heat sink body made of a metal material which includes a plurality of heat radiating fins having a flat plate shape, the plurality of heat radiating fins being arranged parallel to each other on one surface side of a base having a flat plate shape at intervals in a direction along a surface of the base;
a bridge member made of a metal material which has a plurality of grooves parallel to each other, the plurality of grooves being formed at a pitch equal to an arrangement pitch of the plurality of heat radiating fins of the heat sink body, and the plurality of grooves accommodating distal ends of the respective heat radiating fins in a press-fitted state;
wherein the heat sink body includes a side plate extending parallel to the plurality of heat radiating fins from the base at both ends of the heat sink body in an arrangement direction of the plurality of heat radiating fins;
wherein the heat sink has a stepped portion on an inner side of a distal end of the side plate, the stepped portion accommodating an end edge of the bridge member; and
an upper surface of the bridge member is recessed from the surface of an upper end of the side plate in an extension direction of the side plate when the bridge member is mounted on the heat sink body by making the distal ends of the plurality of heat radiating fins press-fitted in the plurality of grooves.

US Pat. No. 10,421,193

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a robot capable of detecting contact with an object;
a memory configured to store a program; and
a processor configured to execute the program so as to:
move the robot along a previously-determined scheduled search route when moving inside a predetermined search area; and
set a contact point as a position of the robot upon the robot making contact with the object along the scheduled search route;
cause the robot to change the scheduled search route upon the robot making contact with the object by shifting the scheduled search route by a certain distance from the contact point so as to make a route detour to avoid further contact with the object;
cause the robot to revert to the scheduled search route after the route detour to avoid the object, wherein the robot recursively repeats the change in the scheduled search route so that the scheduled search route is modified to include the route detour on further iterations of the scheduled search route; and
set an operable-inoperable area of the robot inside the search area based on the set contact point.

US Pat. No. 10,409,259

SERVOMOTOR CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A servomotor control device, comprising:a servomotor;
a driven body that is driven by the servomotor;
a connection mechanism that connects the servomotor and the driven body to transmit power of the servomotor to the driven body;
a first position detection section that detects a position of the servomotor;
a second position detection section that detects a position of the driven body; and
a motor control unit that controls the servomotor,
wherein the motor control unit includes:
a dual position control section that performs semi-closed feedback control based on a high-frequency component of a first deviation between a position command value for driving control of the servomotor and the position of the servomotor detected by the first position detection section, and full-closed feedback control based on a low-frequency component of a second deviation between the position command value and the position of the driven body detected by the second position detection section;
an acquisition section that acquires a magnitude of rigidity of the connection mechanism, or a magnitude of resonance frequency of the servomotor control device; and
a varying section that causes a proportion of the semi-closed feedback control to the full-closed feedback control in the dual position control section to vary in response to the magnitude of or variation in rigidity of the connection mechanism acquired by the acquisition section, or the magnitude of or variation in resonance frequency of the servomotor control device acquired by the acquisition section.

US Pat. No. 10,409,266

NUMERICAL CONTROLLER FOR CONTROLLING OVERLAP OF PRESS OPERATIONS

Fanuc Corporation, Yaman...

1. A numerical controller comprising:a processor configured to control the motions of a table along a table axis and a press along a press axis according to a machining program having a first block and a second block,
wherein according to the machining program, the processor is configured to:
1) start the motion of the press axis for the first block at a first top dead center, and
2) start the motion of the press axis for the second block at a clearance lower than the first top dead center, thereby overlapping the motions of the press axis for the first and second blocks, when:
a) the state of the table axis satisfies a condition adapted for the start of the motion of the press axis for the second block,
b) the motion of the press axis for the first block is not completed, and
c) the clearance is greater than or equal to a minimum clearance, the clearance calculated based on a remaining travel time for the press in the first block and an amount of movement of the press measured from a start of the second block.

US Pat. No. 10,373,109

SYSTEM AND METHOD FOR IPS CELL BANK USING MEDIA

FANUC CORPORATION, Yaman...

1. A system for an iPS cell bank, comprising:an entry management terminal that receives a request to produce an iPS cell from a customer;
an acceptance management terminal that manages acceptance of a somatic cell for producing the iPS cell;
a production process management terminal that manages a step of producing the iPS cell; and
a stock management terminal that manages stock of the produced iPS cell,
wherein the entry management terminal comprises:
a first memory; and
a first processor that
makes an entry of the production request from the customer, including a desired date of collection of the somatic cell, as well as customer identification information for identifying the customer,
determines a date of collection of the somatic cell based on (i) the desired collection date included in the entered production request and (ii) a collectable date on which the somatic cell can be collected,
outputs the determined date of collection of the somatic cell to a first medium, and
stores, in the first memory, the determined date of collection of the somatic cell in association with the entered customer identification information,
wherein the acceptance management terminal comprises:
a second memory that stores the collectable date; and
a second processor that
outputs the stored collectable date to a second medium;
determines a date of acceptance of the somatic cell based on (i) the date of collection of the somatic cell, transmitted by the first medium, and (ii) a period of production of the iPS cell, and
stores the determined date of acceptance of the somatic cell in the second memory, wherein the production process management terminal comprises:
a third memory that stores a producible period during which the iPS cell can be produced; and
a third processor that
determines the period of production of the iPS cell based on (i) the date of collection of the somatic cell, transmitted by the first medium, and (ii) the stored producible period,
determines a date of shipment of the produced iPS cell based on (i) the determined period of production of the iPS cell, and (ii) a stockable location and a stockable period where the produced iPS cell can be stocked,
outputs the determined period of production of the iPS cell to a third medium, and
stores the determined period of production of the iPS cell and the determined date of shipment of the iPS cell in the third memory,
wherein the stock management terminal comprises:
a fourth memory that stores the stockable location and the stockable period; and
a fourth processor that
outputs the stored stockable location and the stored stockable period to a fourth medium, and
determines a stock location and a stock period for stocking the produced iPS cell based on (i) the period of production of the iPS cell, transmitted by the third medium, and (ii) the stored stockable location and stockable period,
wherein the third processor registers a quality test result of the iPS cell and cancels the determined date of shipment of the produced iPS cell when the registered quality test result of the iPS cell is poor, and
wherein the quality test comprises at least one of
1) cell count and survival rates;
2) test of purity of cells;
3) process-related impurities testing;
4) sterility testing and mycoplasma negative testing;
5) endotoxin testing;
6) viral test;
7) characteristic test associated with iPS cells
(i) having pluripotency of being capable of differentiating into various somatic cells, and
(ii) observing no gene mutation inducing cancer after transplantation, as well as low risk of tumorigenicity due to contamination of undifferentiated cells.

US Pat. No. 10,338,541

MACHINE LEARNING TO ESTABLISH OPTIMAL FILTER FOR REMOVING EXTERNAL NOISE WITHOUT DEGRADING RESPONSIVITY

FANUC CORPORATION, Yaman...

1. A machine learning apparatus for learning magnitude and cutoff frequency of a filter as a condition associated with the filter for filtering an analog input signal to a motor drive apparatus, the machine learning apparatus comprising:a processor configured to
observe a state variable that includes the magnitude and the cutoff frequency of the filter as a state that an action changes directly, and a noise component and noise amount of an output signal from the filter and a responsivity to the input signal as a state that an action changes indirectly, wherein the magnitude and the cutoff frequency of the filter are selected based on an action value table, and
perform learning the magnitude and the cutoff frequency of the filter as the condition associated with the filter in accordance with a training data set that includes the state variable,
wherein the filter is modified based on a result of said learning such that an action value of the action value table is optimized.

US Pat. No. 10,338,570

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller comprising:a processor configured to;
sequentially read out and analyze commands for a sequence of blocks of a program, the sequence including a first block immediately preceding a second block;
perform look-ahead processing to analyze the second block before the first block is complete, and to save the result of the analysis in a buffer;
control a machine by executing the commands for the first block;
execute a function of stopping the look-ahead processing when the second block includes a code for stopping the look-ahead processing;
determine whether or not a look-ahead restart condition commanded by the code for stopping look-ahead is satisfied; and
restart the look-ahead processing of the second block prior to the first block being completed, if it is determined that the look-ahead restart condition is satisfied,
wherein the look-ahead restart condition is a condition related to the state of the machine.

US Pat. No. 10,286,507

MACHINE TOOL HAVING FUNCTION OF DIAGNOSING ABNORMALITY OF SPEED REDUCER OF TOOL CHANGER

FANUC CORPORATION, Yaman...

1. A machine tool comprising:a rotating-type tool magazine that is capable of attaching/detaching a tool to/from a spindle of the machine tool;
a plurality of tool holding parts that are radially provided at the tool magazine;
a magazine driving motor that causes the tool magazine to rotate;
a speed reducer that decelerates rotation of the magazine driving motor and transmits the decelerated rotation to the tool magazine; and
a controller that has a function of estimating a disturbance estimation value on the speed reducer by an observer, based on a torque command and a speed feedback acquired when the magazine driving motor is rotated at a constant speed, and extracting a specific spectrum from a frequency component of the disturbance estimation value acquired by frequency analysis, and moreover comparing an amplitude of the specific spectrum with a threshold, thereby diagnosing abnormality of the speed reducer, wherein
the controller includes:
a tool mass arrangement storage unit that stores masses of tools loaded onto the respective tool holding parts;
a threshold storage unit that stores tool mass arrangement patterns in the tool magazine and thresholds used to diagnose the abnormality of the speed reducer after associating the patterns with the thresholds, and
a threshold setting unit that selects a tool mass arrangement pattern similar to a tool mass arrangement stored in the tool mass arrangement storage unit among the tool mass arrangement patterns stored in the threshold storage unit, and sets a threshold associated with the tool mass arrangement pattern as a threshold to be used to diagnose the abnormality of the speed reducer.

US Pat. No. 10,289,474

FIXING SYSTEM, SERVER, TERMINAL DEVICE, FIXING METHOD, AND RECORDING MEDIUM

Fanuc Corporation, Yaman...

1. A fixing system comprising a server and a first terminal device configured to allow communication with each other through a network, the server analyzing a trouble occurring in a target device, the first terminal device measuring a state of the target device,the first terminal device comprising:
a fixing target information transmitting unit that transmits information about the trouble in the target device to the server;
a restoration information receiving unit that receives information for restoration of the target device transmitted from the server; and
a measuring instrument operating unit that operates a measuring instrument for measurement on the target device to measure the state of the target device based on the information for restoration of the target device,
the server comprising:
a fixing target information receiving unit that receives the information about the trouble in the target device;
a trouble analyzing unit that refers to a fixing know-how database to analyze the trouble occurring in the target device based on the information about the trouble in the target device, the fixing know-how database containing know-how information about fixing of the target device registered in advance; and
a transmission information selecting unit that selects information required for fixing of the target device from information for restoration specified based on a result of the analysis by the trouble analyzing unit so as to comply with a selection condition set in advance, and transmits the selected information to the first terminal device, wherein
the selection condition is set in such a manner that the information for restoration specified based on the result of the analysis by the trouble analyzing unit is limited to information directly relating to fixing of the target device and excluding know-how and technical confidential information not opened to outsiders; and
the transmission information selecting unit selects information for instructing work to be done by an operator at an actual place and a substance of automatic operation to be performed by the first terminal device for making measurement on the target device, and transmits the selected information as the information required for fixing of the target device to the first terminal device.

US Pat. No. 10,204,769

WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine configured from a plurality of machine elements, and performing electric discharge machining on a workpiece in a state in which an upper guide and a lower guide are disposed at predetermined relative positions, by causing the workpiece and a wire electrode installed between the upper guide and the lower guide to relatively move, the wire electric discharge machine comprising:a temperature detector for detecting temperatures of the plurality of machine elements;
a position measurer for measuring an actual value for relative positions of the upper guide and the lower guide;
a storage for storing the temperatures detected by the temperature detector and an actual value for the relative position measured by the position measurer to be associated with each other as associated data;
a relational expression calculator for inferring and calculating a relational expression between the temperatures of the plurality of machine elements and the relative position by way of machine learning with the associated data stored in the storage as training data;
a position estimator for calculating an estimated value for the relative position by substituting the temperatures detected by the temperature detector into the relational expression calculated by the relational expression calculator;
a correction amount calculator for calculating a correction amount for the upper guide and the lower guide, based on the estimated value for the relative position calculated by the position estimator;
a correction executor for performing correction of the relative positions of the upper guide and the lower guide, based on the correction amount calculated by the correction amount calculator;
a difference calculator for comparing the estimated value for the relative position calculated by the position estimator with the actual value for the relative position among associated data stored in the storage, and calculating a difference therebetween;
a relational expression decider for deciding, in a case of the difference calculated by the difference calculator being no more than a predetermined threshold, a relational expression used when calculating the estimated value for the relative position as a formal relational expression;
a determinator for determining a magnitude of influence imparted by the temperature of one machine element from the plurality of machine elements on the correction amount for the upper guide and the lower guide, based on the relational expression decided as the formal relational expression by the relational expression decider; and
a relational expression modifier for modifying the relational expression decided as the formal relational expression by the relational expression decider, by inferring a relational expression between the temperature of the one machine element and the relative position by way of machine learning, with associated data excluding the temperature of the one machine element as teaching data, in a case of the determinator determining that the influence imparted by the temperature of the one machine element on the correction amount for the upper guide and the lower guide is small.

US Pat. No. 10,180,344

ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. An electric discharge machine having a machining tank which is provided therein with a table and stores machining liquid, the table having a workpiece placed thereon, and machining the workpiece by relatively moving the table and an electrode, the electric discharge machine comprising:a workpiece density storing section in which density of the workpiece is stored;
a liquid level measuring section which measures a liquid level of the machining tank;
a stored-liquid amount calculating section which calculates the stored-liquid amount when the workpiece is attached in the machining tank, and a machining liquid is stored in the machining tank until the liquid level of the machining liquid reaches a predetermined value;
a volume calculating section in the machining tank calculating a volume of an amount of liquid which can be stored in the machining tank using the liquid level obtained by the liquid level measuring section when there is no workpiece in the machining tank;
a workpiece volume calculating section which calculates a volume of the workpiece from a difference between values calculated by the stored-liquid amount calculating section and by the volume calculating section in the machining tank; and
a workpiece weight calculating section which calculates a weight of the workpiece from the volume of the workpiece calculated by the workpiece volume calculating section using the density of the workpiece which is called up from the workpiece density storing section.

US Pat. No. 10,178,450

HIGH-SPEED CONVERTER, MEASUREMENT SYSTEM, AND COMPUTER-READABLE MEDIUM

FANUC CORPORATION, Yaman...

1. A high-speed converter comprising:at least one converter from among: an analog to digital converter for converting an analog signal into a digital value; a digital to analog converter for converting a digital value into an analog signal; an electrical to digital converter for converting an electrical signal into a digital signal; and a digital to electrical converter for converting a digital signal into an electrical signal,
wherein the at least one converter is operated by a method based on information acquired via a network;
wherein the information acquired via the network comprises data for measuring a measurement object, and
wherein the at least one converter converts and outputs the data for measuring, while a converter other than said at least one converter converts data inputted from a measurement instrument that is measuring the measurement object.

US Pat. No. 10,120,363

NUMERICAL CONTROLLER FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A numerical controller for a machine tool, for executing a machining program in a predetermined execution cycle and executing one or more auxiliary programs from among a plurality of auxiliary programs within the execution cycle, comprising:a CPU equipped in the numerical controller, the CPU to implement:
a decoding unit configured to analyze the machining program and the plurality of auxiliary programs;
a command element extraction unit configured to determine presence or absence of a relationship between the auxiliary programs, based on analysis result of the decoding unit;
a load computing unit configured to compute a processing time of the machining program and processing times of the plurality of auxiliary programs, based on the analysis result of the decoding unit;
an execution sequence computing unit configured to compute an execution sequence of the machining program and the plurality of auxiliary programs to execute the auxiliary programs that have the relationship with each other within a same execution cycle, responsive to the processing time of the machining program and the processing times of the plurality of auxiliary programs;
a different load computing unit configured to measure the processing time of the machining program and the processing times of the auxiliary programs when the machining program and the auxiliary programs are executed in the execution processing unit;
the execution sequence computing unit reconsiders the execution sequence, based on the processing time of the machining program and the processing times of the auxiliary programs that were measured by the different load computing unit; and
an execution processing unit configured to execute the machining program and the auxiliary programs in accordance with the computed execution sequence.

US Pat. No. 10,090,798

MACHINE LEARNING APPARATUS AND METHOD LEARNING PREDICTED LIFE OF POWER DEVICE, AND LIFE PREDICTION APPARATUS AND MOTOR DRIVING APPARATUS INCLUDING MACHINE LEARNING APPARATUS

FANUC CORPORATION, Yaman...

1. A machine learning apparatus that learns a predicted life of a power device of a motor driving apparatus that converts DC power into AC power by a switching operation of the power device to supply the AC power to an AC motor, the machine learning apparatus comprising:a state observation processor to sample a state variable indicative of a state of the motor driving apparatus, the state variable having an effect on the life of the motor driving apparatus, the state variable being one or more of: data regarding a number of times of switching of the power device, data regarding a junction temperature of the power device, and data regarding at least one of: presence and absence of a failure of the power device;
wherein data regarding the number of times of switching of the power device is obtained by the state observation processor in response to receiving a switching command for ON/OFF driving of the power device generated by the motor driving apparatus;
wherein data regarding at least one of presence and absence of the failure of the power device is obtained by the state observation processor in response to receiving the switching command for the power device generated by the switching operation of the motor driving apparatus and AC power output from the power device, the AC power output being detected by a current detector;
wherein data regarding the junction temperature of the power device is obtained by the state observation processor based on: a temperature of a fin cooling the power device detected by a first temperature sensor, ambient air temperature of the motor driving apparatus detected by a second temperature sensor, a value of current supplied to the AC motor from the motor driving apparatus and detected by the current detector, and a value of voltage applied to the AC motor from the motor driving apparatus,
the state observation processor being in communication with the first temperature sensor and the second temperature sensor to receive the measured temperature of the fin cooling the power device and the ambient air temperature,
the state observation processor being in communication with the current detector to receive the AC power output and/or the current supplied to the AC motor detected by the current detector; and
a learning processor in communication with the state observation processor, the learning processor to learn the predicted life of the power device based on the state variable;
wherein the learning processor:
determines a function for computing the predicted life of the power device, each function being associated with a reward obtainable by the learning processor,
determines the function corresponding to a maximum value of the reward, and
changes one or more operating and/or environmental parameters of the motor driving apparatus based on the predicted life of the power device.

US Pat. No. 10,086,456

WIRE ELECTRIC DISCHARGE MACHINE CAPABLE OF MACHINING VARIOUS SURFACES

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine for relatively moving a wire electrode and a work to perform electric discharge machining on the work, the wire electric discharge machine comprising:a controller for controlling the wire electric discharge machine; and
a wire crossing device including a wire crossing mechanism for crossing the wire electrode, the wire crossing device configured to
control a position and a posture of the wire crossing mechanism, and
transmit a coordinate position, when the wire crossing mechanism is moved, from the wire crossing device to the controller,
wherein the controller synchronizes a position of each shaft of the wire electric discharge machine with a movement of the wire crossing mechanism with reference to the coordinate position transmitted by the wire crossing device.

US Pat. No. 10,073,432

NUMERICAL CONTROLLER HAVING TOOL TIP POINT CONTROL FUNCTION

FANUC Corporation, Minam...

1. A numerical controller having a tool tip point control function, the numerical controller including at least one processor being configured to perform the method comprising:generating, in a multi-axis machine tool having three linear axes and two rotation axes, a first movement instruction for moving a tip point of a tool along a first movement path;
generating, on the basis of the first movement instruction, a second movement instruction for moving a control point of the tool along a second movement path;
generating a third movement instruction for moving the control point of the tool along a third movement path obtained by linearly interpolating the second movement path;
calculating, on the basis of coordinates of the third movement path, an inclination of the tool, and a length of the tool, a fourth movement path of the tip point of the tool, wherein the fourth movement path is arced;
determining whether the distance between the first movement path and the fourth movement path is within a predetermined tolerance; and
outputting the third movement instruction if the determination unit determines that the distance is within the predetermined tolerance.

US Pat. No. 10,061,295

NUMERICAL CONTROLLER EQUIPPED WITH DRAWING PATH CORRECTION FUNCTION

FANUC Corporation, Minam...

1. A numerical controller which controls operation of a machine tool based on a machining program, the numerical controller equipped with a check drawing function for drawing an unmachined path based on the machining program and a machining drawing function for drawing a machining trajectory during operation of the machine tool based on the machining program, the numerical controller including a processor configured to:control the machine tool to perform machining of a workpiece;
calculate a drawing trajectory correction vector which represents an amount of shift in an axial position of the machine tool at which the machining is actually performed from an axial position of the machine tool commanded by the machining program;
create a corrected machining trajectory by correcting a drawing position of the machining trajectory drawn by the machining drawing function, based on the drawing trajectory correction vector; and
display the corrected machining trajectory and the unmachined path on a same display screen, the corrected machining trajectory and the unmachined path substantially coinciding on the display screen.

US Pat. No. 10,055,805

DEVICE FOR MEASURING POSITIONS AND POSTURES OF PLURALITY OF ARTICLES, AND ROBOT SYSTEM HAVING THE DEVICE

FANUC CORPORATION, Yaman...

1. A position/posture measurement device for measuring positions/postures of a plurality of articles positioned within a measurement region, wherein the position/posture measurement device is configured to send an output signal to a robot controller configured to control a robot to operate with respect to the plurality of articles, the position/posture measurement device comprising:a model data storing part configured to store feature information of each of the plurality of articles as model data;
a position/posture calculating part configured to
receive scene data including the plurality of articles from a sensor configured to capture the plurality of articles positioned within the measurement region, and
calculate the positions/postures of the articles by comparing the model data with the scene data; and
a combination evaluating part configured to
select a plurality of combinations of the positions/postures of the plurality of articles positioned within the measurement region, which positions/postures are calculated by the position/posture calculating part,
calculate evaluation values with respect to the respective selected combinations of the positions/postures, and
output the combination of the positions/postures having the maximum evaluation value as a correct combination of the positions/postures of the articles to the robot controller for controlling the robot to operate with respect to the plurality of articles according to the correct combination of the positions/postures.

US Pat. No. 10,029,339

ROTARY TABLE

FANUC CORPORATION, Yaman...

1. A rotary table, comprising:a case;
a shaft rotatably arranged in the case, and configured to secure an object at an end of the shaft;
a motor housed in the case, the motor having a stator and a rotor, the motor configured to rotate the shaft;
a brake disc relatively, unrotatably arranged to the shaft; and
a clamping mechanism
for clamping the brake disc so that the shaft is not rotatable inside the case, and
for unclamping the brake disc so that the shaft is rotatable inside the case,
wherein
the clamping mechanism comprises:
a clamping member fixed to the case;
a piston driven by operating fluid in a direction of either of clamping and unclamping the brake disc; and
a biasing unit fixed by the case and the piston, always biasing the piston in a direction of either of clamping and unclamping the brake disc by a recovery force of elastic deformation,
the piston is configured to
move toward the brake disc, to hold the brake disc between the piston and the clamping member of the clamping mechanism, and
move away from the brake disc, to release the brake disc from being held by the piston and the clamping member, and
the piston, the clamping member, and the rotor and stator of the motor are aligned with one another along a central axis of the shaft,
wherein the biasing unit comprises a spring disc having
two fixing portions fixed to the case and the piston, respectively, and
a supporter between the two fixing portions, and
the spring disc is configured to always bias the brake disc in a direction of either of clamping and unclamping by a repellent force due to elastic deformation of the supporter of the spring disc.

US Pat. No. 10,014,753

MAGNETIC SENSOR HAVING POSITION-ADJUSTABLE DETECTION PORTION AND MOTOR HAVING THE SAME

FANUC CORPORATION, Yaman...

1. A magnetic sensor comprising a sensor gear attached to a rotor of a motor, a detection portion which outputs a signal representative of the presence or absence of a plurality of teeth provided on an outer periphery of the sensor gear at predetermined intervals, a sensor holder which holds the detection portion, a sensor mounting base to which the sensor holder is attached, and a screw by which the sensor holder is attached to the sensor mounting base,wherein
the detection portion on the sensor holder attached to the sensor mounting base is arranged to be opposed to the outer periphery of the sensor gear at a predetermined distance,
the sensor holder has a holder body which holds the detection portion and a portion to be fastened which is fastened to the sensor mounting base by the screw,
the portion to be fastened is provided integrally with one side of the holder body that is located to face opposite the sensor gear, and
at least the portion to be fastened of the sensor holder is made of a material having an elastic modulus lower than the materials of the sensor mounting base and the screw.

US Pat. No. 10,003,170

SOLDERING SYSTEM OF SEMICONDUCTOR LASER ELEMENT

FANUC CORPORATION, Yaman...

1. A soldering system of semiconductor laser elements, comprising: a soldering device that performs soldering of a semiconductor laser element in a semiconductor laser module having a housing and at least one of the semiconductor laser element; a robot that conveys the semiconductor laser module; a camera that can put the semiconductor laser module in a field of view thereof; and a control device that controls the robot and the camera with imaging output of the camera as one control factor,wherein the robot conveys the semiconductor laser module to an installation position of the soldering device and an imaging field of view position of the camera, and is capable of changing relative positions between the camera and a subject, under control of the control device,
wherein the camera images the semiconductor laser module which is in the imaging field of view position thereof under control of the control device, and
wherein the control device executes a quality determination mode that calculates a position of the semiconductor laser element based on the imaging output of the camera, as well as calculating parallelism between the housing of the semiconductor laser module and the semiconductor laser element based on a change in light intensity related to the imaging output when changing a relative position between the camera and the subject, and determines soldering quality of the semiconductor laser element based on the position and parallelism thus calculated.

US Pat. No. 9,993,888

WIRE ELECTRICAL DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine, where a wire electrode is held between an upper wire guide unit above and a lower wire guide unit beneath a piece of work, and said wire electrode and said piece of work are made to move relative to each other in accordance with a process program so that said piece of work is processed by said wire electrode through electrical discharge machining so as to cut out a core, comprising:a fluid jetting unit for jetting a fluid against said piece of work;
a fluid supplying unit for supplying fluid to said fluid jetting unit;
a core separation recognition unit for recognizing that the core has been separated from said piece of work as a result of electrical discharge machining;
an upward movement execution unit for moving said upper guide unit to a predetermined location after said core separation recognition unit has recognized the separation of the core;
a core floating execution unit for floating said core by jetting fluid from said fluid jetting unit through the control of said fluid supplying unit;
a core floating recognition unit for recognizing that said core has floated by a predetermined amount;
a core removal unit for catching said core for removal and collection after said core floating recognition unit has recognized that said core has floated by said predetermined amount; and
a core sorting unit for sorting said core after said core has been collected by said core removal unit.

US Pat. No. 9,983,567

NUMERICAL CONTROLLER CAPABLE OF AVOIDING OVERHEAT OF SPINDLE

FANUC Corporation, Minam...

1. A numerical controller configured to drivingly control a motor of a machine tool in accordance with a machining program, the numerical controller comprising:a machining continuable time estimation unit configured to estimate and output a machining continuable time before the motor overheats if an output of the motor exceeding a continuous rated output of the motor is continued;
a program operation unit configured to execute a command block included in the machining program, thereby drivingly controlling the machining continuable time, and output the currently running block and subsequent command blocks thereof when the machining continuable time is output by the machining continuable time estimation unit;
a machining time prediction unit configured to predict respective execution times of command blocks output by the program operation unit;
a machining continuable time prediction unit configured to predict the machining continuable time for each of the command blocks, based on the execution times of the command blocks predicted by the machining time prediction unit;
an alarm generation block identification unit configured to identify, as an alarm generation block, a command block in which the motor overheats, based on the machining continuable time for each of the command blocks predicted by the machining continuable time prediction unit;
a stop block identification unit configured to identify, as a stop block, a command block in which the driving control is allowed to be safely stopped, among the currently running block and the subsequent command blocks thereof and the command blocks preceding the alarm generation block identified by the alarm generation block identification unit; and
a display unit configured to display at least the alarm generation block and the stop block,
wherein the program operation unit is configured to stop the driving control based on the machining program in the stop block identified by the stop block identification unit.

US Pat. No. 9,956,660

CONTROLLER FOR A MACHINE TOOL TO PERFORM EFFICIENT WARM-UP CONTROL

FANUC CORPORATION, Yaman...

1. A controller for a machine tool, the controller being configured to drive at least one motor based on a machining program to drive a spindle and a feed screw of the machine tool, the controller comprising:a memory that stores, as target thermal displacement states of the spindle and the feed screw, thermal displacement states of the spindle and the feed screw when operated by respective warm-up operations such that thermal displacements of the spindle and the feed screw are saturated, wherein a thermal displacement state indicates at least one of thermal displacement amounts, thermal displacement distributions, and temperature distributions, and wherein a thermal displacement is determined to be saturated when displacement is stabilized; and
a processor configured to:
calculate the thermal displacement states for the spindle and the feed screw, wherein the thermal displacement state of the spindle is calculated by dividing the spindle into a plurality of sections, calculating temperatures of the plurality of sections of the spindle, and calculating heat conduction between adjacent sections of the spindle, and wherein the thermal displacement of the feed screw is calculated by dividing the feed screw into a plurality of sections, calculating temperatures of the plurality of sections of the feed screw, and calculating heat conduction between adjacent sections of the feed screw;
determine a warm-up operation pattern of the spindle and a warm-up pattern of the feed screw on the basis of the thermal displacement states calculated for the spindle and the feed screw, wherein, when the thermal displacement of the machine tool is saturated, the warm-up operation pattern of the spindle is determined from a rotating speed of the spindle obtained based on a total value of the temperatures of the plurality of sections of the spindle, and from a frequency of acceleration and deceleration of the spindle obtained based on an average value of temperature differences between adjacent sections of the spindle,
and the warm-up operation pattern of the feed screw is determined from a feed rate obtained based on a total value of thermal displacement amounts of the plurality of sections of the feed screw, and from turning points obtained based on the thermal displacement amounts of the plurality of sections of the feed screw;
drive the at least one motor according to the warm-up operation patterns determined for the spindle and the feed screw, wherein the spindle and the feed screw are driven to perform the respective warm-up operations up to a warm-up operation termination; and
determine the warm-up operation termination by calculating a current thermal displacement state of the spindle and a current thermal displacement state of the feed screw, comparing the calculated respective current thermal displacement states of the spindle and the feed screw with the stored respective target thermal displacement states of the spindle and the feed screw, and respectively stopping the at least one motor driving the spindle or the feed screw in response to a respective difference between the calculated respective current thermal displacement state and the stored respective target thermal displacement state of the spindle or the feed screw being not larger than a respective predetermined threshold value, to terminate the respective warm-up operation of the spindle or the feed screw.

US Pat. No. 9,956,686

DEFLECTION MEASUREMENT SYSTEM FOR MEASURING DEFLECTION OF ARTICULATED ROBOT

FANUC CORPORATION, Yaman...

1. A deflection measurement system for measuring deflection of a mechanism unit of an articulated robot, comprising:a measured mark arranged on one of an arbitrary mechanism unit of the articulated robot and a position distant from the articulated robot;
a position measuring device arranged on the other of the arbitrary mechanism unit of the articulated robot and the position distant from the articulated robot and configured to measure a position of the measured mark; and
a control apparatus configured to respectively control the articulated robot and the position measuring device,
wherein the control apparatus comprises:
a robot control unit configured to change posture of the articulated robot so that a relative positional relationship between the measured mark and the position measuring device is changed only depending on deflection of the mechanism unit; and
a deflection amount calculation unit configured to measure positions of the measured mark respectively before and after a change of the posture by the position measuring device and calculate an actual deflection amount of the mechanism unit based on a movement amount between the position of the measured mark measured before the change of the posture and the position of the measured mark measured after the change of the posture.

US Pat. No. 9,902,029

NUT RUNNER WITH CORE RUNOUT PREVENTING MECHANISM

FANUC CORPORATION, Yaman...

1. A nut runner, comprising:
an output shaft configured to be rotatable about a center axis of the nut runner, the output shaft including a first end and
a second end;

a socket holder attached to the first end of the output shaft, the socket holder being configured to retain a socket, so that
the output shaft, the socket holder and the socket are rotatable about and movable along the center axis together;

a slide mechanism in which the second end of the output shaft is slidable along the center axis;
a pusher housed in the slide mechanism, the pusher being engaged with the second end of the output shaft and configured to
push the output shaft toward the socket holder along the center axis, during a screw tightening operation, in cooperation
with the slide mechanism; and

a support configured to support the socket retained by the socket holder while allowing the socket to rotate about and axially
move along the center axis, wherein

the support comprises two opening and closing claws opposed to each other and ball rollers rotatably attached to the respective
claws; and

the support supports the socket by closing the claws so that the ball rollers of the respective claws abut an outer peripheral
surface of the socket.

US Pat. No. 9,904,278

NUMERICAL CONTROLLER CAPABLE OF PERFORMING AXIS CONTROL ROUTINE OF A PLURALITY OF AXES IN DISTRIBUTED MANNER

FANUC Corporation, Minam...

1. A numerical controller which includes a multi-core processor having a plurality of cores, for controlling a machine including
a plurality of axes, the numerical controller comprising:
an execution start request unit that allocates, to each of the plurality of cores to perform, a plurality of pieces of a grouped
axis control routine obtained by dividing an axis control routine of the plurality of axes by a unit of any number of the
axes, wherein the plurality of pieces of the grouped axis control routine allocated to each of the cores is based on one or
both of (i) an axis configuration of the machine and (ii) a capability of the respective core;

a grouped axis control routine execution unit which is arranged in each of the plurality of cores to perform the plurality
of pieces of the grouped axis control routine allocated to each of the cores; and

an execution completion monitoring unit which monitors a completion state of the plurality of pieces of the grouped axis control
routine allocated to each of the cores.

US Pat. No. 9,895,815

MULTIPLE JOINTS ROBOT WITH MECHANISM FOR COOLING MOTOR

FANUC CORPORATION, Yaman...

1. A manufacturing process for manufacturing a multiple joint robot,
the multiple joint robot comprising:
a movable body;
a motor for generating power to actuate the movable body;
a motor housing accommodating the motor in an interior of the motor housing so as to isolate the motor from an exterior; and
a heat conductor situated in the interior of the motor housing and forming a heat conducting path for conducting heat from
the motor to the motor housing,

the manufacturing process comprising:
sliding at least one of a first contact surface and a second contact surface of the heat conductor on an opposed heat generating
surface on a side of a motor body or an opposed inner surface of the motor housing, such that the first contact surface of
the heat conductor comes in contact with the heat generating surface and the second contact surface of the heat conductor
comes in contact with the inner surface of the motor housing, so as to adjust a position of the heat conductor; and

thereafter fixing the heat conductor by a fixture so as to form the heat conducting path.

US Pat. No. 9,889,560

ROBOT SYSTEM FOR OPERATING ROBOT FROM PLURALITY OF TEACHING DEVICES

FANUC CORPORATION, Yaman...

1. A robot system comprising:
at least one robot control device which controls a robot; and
at least two teaching devices which allows connection to the robot control device via a communication medium,
wherein
the robot control device comprises:
an active task unit which executes an active task, and
a passive task unit which executes passive tasks, wherein,
when one teaching device of the at least two teaching devices is communicating with the active task unit inside the robot
control device, if a request for connecting to the active task unit is transmitted from another teaching device of the at
least two teaching devices to the robot control device, the robot control device is configured to stop the one teaching device
executing an active task, establish communication allowing an active task to be executed between the other teaching device
and the active task unit of the robot control device, and simultaneously establish communication allowing passive tasks to
be executed between the one teaching device stopped executing the active task and the passive task unit of the robot control
device.

US Pat. No. 9,889,561

ROBOT CONTROLLER HAVING FUNCTION FOR DISPLAYING ROBOT AND FORCE

FANUC CORPORATION, Yaman...

1. A robot controller configured to control a motion of a robot gripping a workpiece to be processed so that the workpiece
is moved relative to a work tool, and to carry out a predetermined operation, the robot controller comprising:
a force detecting part configured to detect a force acting between the work tool and the workpiece; and
a displaying part configured to display simulated images or a video of the robot, the work tool and the workpiece,
wherein positions of working points on a surface of the workpiece, where the force by the work tool is applied, are calculated
based on a coordinate system defined with respect to the robot, a coordinate system defined with respect to the workpiece,
and a coordinate system defined with respect to the work tool,

wherein the displaying part is configured to display a trajectory of the working points as points on the coordinate system
defined with respect to the workpiece,

wherein the force detecting part is configured to detect the force applied to each working point when the work tool passes
through the working point on the trajectory, and

wherein the displaying part is configured to display the detected force as a line segment or a line segment-like shape, an
origin of which corresponds to the working point or a point in the vicinity of the working point.

US Pat. No. 9,891,616

NUMERICAL CONTROLLER WITH DNC OPERATION FUNCTION USING A PLURALITY OF COMMUNICATION LINES

FANUC Corporation, Minam...

1. A numerical controller capable of DNC operation using an NC program acquired from a host through a communication path,
the numerical controller comprising:
a numerical control unit that controls a machine tool based on the NC program;
a plurality of communication units that use different communication paths to receive the NC program; and
a DNC operation management unit that supplies the NC program received by the communication units to the numerical control
unit, wherein

each of the plurality of communication units comprises:
a reception data buffer that stores the NC program; and
an NC program reception unit that receives the NC program from the host to store the NC program in the reception data buffer,
wherein

the DNC operation management unit
acquires the NC program from the reception data buffer included in one of the plurality of communication units to supply the
NC program to the numerical control unit and

comprises a reception management unit that switches an acquisition destination of the NC program to the reception data buffer
of another communication unit when a communication failure of the communication path used by the one of the plurality of communication
units is detected, and wherein

the reception management unit detects the communication failure of the communication path used by the communication unit based
on a remaining amount of the NC program stored in the reception data buffer of the communication unit being an acquisition
destination of the NC program.

US Pat. No. 9,863,807

MACHINE TOOL WITH PROTECTIVE COVER DETECTOR

FANUC CORPORATION, Yaman...

1. A machine tool comprising a non-removable fixed protective cover, a removable fixed protective cover, and a movable protective
cover, wherein
the non-removable fixed protective cover is fitted with at least one set of a light-projecting unit and a light-receiving
unit,

the removable fixed protective cover and the movable protective cover are each fitted with at least one reflector, and
the light-projecting unit, the light-receiving unit, and the reflector are disposed so that a light beam emitted from the
light-projecting unit is received by the corresponding light-receiving unit only when the removable fixed protective cover
is mounted in an originally-proper position and the movable protective cover is fully closed, and are arranged so as to define
an optical path in which the light beam emitted from the light-projecting unit reaches the corresponding light-receiving unit
through the corresponding reflector.

US Pat. No. 9,841,747

NUMERICAL CONTROL DEVICE FOR PERFORMING CONTROL AXIS SWITCH

FANUC CORPORATION, Minam...

1. A numerical control device, comprising:
a plurality of control axis units configured to respectively control a plurality of control objects; and
a control axis switch unit configured to transmit position commands of the plurality of control axis units to a single drive
unit, wherein

the control axis switch unit is configured to transmit the position commands of the plurality of control axis units to the
single drive unit so as to allow the plurality of control objects to be controlled and driven by the single drive unit,

each of the plurality of control axis units comprises:
an axis movement amount conversion unit configured to convert a movement amount of a servo motor output from a position detection
unit provided in the single drive unit into a movement amount corresponding to each of the control axis units of the plurality
of control axis units;

an axis position data storage unit configured to store the movement amount converted by the axis movement amount conversion
unit as a position of the control object; and

a control object axis position data storage unit configured to store an axis position of the control object at a time when
the control object is separated from the single drive unit, and

each of the plurality of control axis units updates the axis position data storage unit with the movement amount of the servo
motor output from the position detection unit, regardless of whether or not the control axis unit is connected by the control
axis switch unit to the control object, so that the position of the single drive unit is moved to the position that can be
connected to the control object on the basis of the position of the control object stored in the position data storage unit
and the axis position stored in the control object axis position data storage unit at the time when the control axis is switched
so as to allow the single drive unit to be connected to the control object at a specific position during the control axis
switch.

US Pat. No. 9,746,858

CONTROL DEVICE FOR AUTOMATICALLY STARTING WARM-UP

Fanuc Corporation, Yaman...

1. A control device that controls a warm-up of a machine in accordance with an operation program, the control device comprising:
a storage unit that stores warm-up end time;
a time measurement unit that measures current time;
a temperature measurement unit that measures temperature of the machine; and
a control unit that controls operation of the machine, the control unit comprising:
an estimating unit that estimates warm-up time that it takes for the warm-up of the machine based on a difference between
the temperature of the machine that is measured by the temperature measurement unit and saturation temperature that is unique
to the machine;

a start time determination unit that determines warm-up start time by subtracting the warm-up time estimated by the estimating
unit from the warm-up end time stored in the storage unit;

a warm-up start unit that starts the warm-up of the machine based on the current time measured by the time measurement unit
and the warm-up start time determined by the start time determination unit; and

a warm-up end unit that ends the warm-up of the machine when the current time measured by the time measurement unit coincides
with the warm-up end time stored in the storage unit.

US Pat. No. 9,768,656

THREE-PHASE ALTERNATING CURRENT ELECTRIC MOTOR PROVIDED WITH STRUCTURE REDUCING TORQUE RIPPLE

FANUC CORPORATION, Yaman...

1. A three-phase alternating current electric motor comprising:
a rotor and
a stator having a number of slots wherein
when a number of pole pairs of said rotor is P and a number of slots in which windings of said stator are inserted is N, N/(6P)
becomes an irreducible fraction with a value of a denominator of 4 or more and wherein the relation of N>3P stands, in which
three-phase alternating current electric motor, in the slots in which the windings are inserted, any windings of the three
phases and their reverse directions for the total six phases are arranged divided into two layers for each slot, among the
two layers of windings which are arranged in each slot, for the layout of one layer of windings, U-phase, V-phase, and W-phase
three-phase windings are arranged so as to have rotational symmetry of ±120 degrees in terms of mechanical angle from each
other and, for the layout of the other layer of windings, the windings are arranged reversed in direction by 180 degrees in
electrical angle from the phases of the first layer of windings which have rotational symmetry and offset by M number of slots
from the first layer of windings, and

said number of pole pairs P, said number of slots N, and a number of slots offset M satisfy the following relation where T
is a selected value from an odd number for the following relationship to be obtained:

4/35?|T?2PM/N|?8/35.

US Pat. No. 9,715,226

NUMERICAL CONTROLLER WITH MULTI-CORE PROCESSOR

FANUC Corporation, Minam...

1. A numerical controller with a multi-core processor that controls a machine tool by execution of a machining program, the
numerical controller with the multi-core processor comprising:
a moving instruction creation processing time estimation unit that estimates moving instruction creation processing time required
for creation of a moving instruction that is to be executed in a predetermined cycle on the basis of a machining instruction
obtained from the machining program, and

a moving instruction creation process division unit that divides a moving instruction creation process for creating the moving
instruction with respect to cores of the multi-core processor on the basis of the moving instruction creation processing time
estimated by the moving instruction creation processing time estimation unit.

US Pat. No. 9,701,054

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system including a plurality of injection devices, a data acquisition unit configured to acquire data
from the plurality of injection device, and an injection molding number setting unit, and configured to complete molding by
sequential injection molding by the plurality of injection devices, each injection device composing the plurality of injection
devices comprising:
an injection molding number counting unit configured to count injection molding number each time when injection molding is
performed;

an injection molding number storing unit configured to store a count value of the injection molding number counted by the
injection molding number counting unit each time when injection molding is performed;

an operation data storing unit configured to acquire and store operation data of the injection device each time when injection
molding is performed; and

an injection device identification information storing unit configured to store identification information of the injection
device; wherein

the data acquisition unit is configured to acquire the operation data stored in the operation data storing unit, the count
value of the injection molding number counted by the injection molding number counting unit, and the identification information
of the injection device stored by the injection device identification information storing unit, and

the injection molding number setting unit is configured to set the count number of the injection molding number stored in
the injection molding number storing unit of each injection device composing the plurality of the injection devices to be
same number, when the injection molding system restarts injection molding after any injection device that forms the plurality
of the injection devices interrupts the operation.

US Pat. No. 9,639,080

CONTROLLER FOR CONTROLLING MACHINE TOOL AND ROBOT

FANUC CORPORATION, Yaman...

1. A controller for controlling at least one machine tool and at least one robot, the controller comprising:
a machining program storage unit configured to store a machining program input to the controller, wherein the machining program
includes at least one statement for machine tool and at least one statement for robot; and

a processor configured as:
a machine tool control unit configured to control the machine tool based on the statement for machine tool;
a robot control unit configured to control the robot based on the statement for robot; and
a machining program distribution unit configured to transfer, out of the statements for machine tool and for robot that are
included in the machining program stored in the machining program storage unit,

the statement for machine tool to the machine tool control unit, and
the statement for robot to the robot control unit;
wherein the machining program distribution unit comprises a simultaneous start unit configured to transfer the statements
for machine tool and for robot, included within a range previously specified by the machining program, to the machine tool
control unit and the robot control unit, respectively, and then simultaneously perform instructions of start of control based
on the transferred statements to the machine tool control unit and the robot control unit, whereby the machine tool and the
robot are simultaneously caused to start to be controlled by the simultaneous start unit.

US Pat. No. 9,665,946

ARTICLE CONVEYOR SYSTEM

Fanuc Corporation, Yaman...

1. An article conveyor system comprising:
a conveyor device which conveys a conveyance article in accordance with a command to convey said conveyance article to a target
position on a workpiece,

a visual detection device which has a camera device which is attached to said conveyor device so as to acquire an image which
includes both of said conveyance article after conveyance by said conveyor device and said workpiece, and analyzes said image
acquired by said camera device to detect the respective positions of said conveyance article and said workpiece, and

a judgment device which judges if an edge of said conveyance article detected by said visual detection device is located within
a permission area which is set within a region on said workpiece, the region is an area on said workpiece located within a
predetermined radius measured from an edge of said workpiece, wherein

said conveyor device performs a transport process for transporting the edge of said conveyance article toward said target
position if an edge of said conveyance article detected by said visual detection device is not located within said permission
area,

said visual detection device performs a secondary detection process for detecting the edge of said conveyance article after
transport by said transport process,

said judgment device performs a secondary judgment process for judging if the edge of said conveyance article detected in
said secondary detection process is located within said permission area, wherein

said article conveyor system further comprising a control system which controls said conveyor device, said visual detection
device, and said judgment device so that said transport process, said secondary detection process, and said secondary judgment
process are repeatedly performed a predetermined number of times at most, and wherein

said control system sets as a setting value of transport distance in said transport process, a value smaller than a distance
between the edge of said conveyance article detected by said visual detection device and said target position.

US Pat. No. 9,623,596

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system comprising:
a plurality of injection molding machines that produce molded articles based on preset operating conditions;
a carrier that carries the molded articles;
a storage section that stores, for each molded article type, a set of the operating conditions for the injection molding machines
and image-related information for the molded articles that are associated with the operating conditions and are molded in
accordance with the operating conditions; and

a molded article sorting section that sorts the molded articles, the molded article sorting section including
an image acquisition unit that acquires images of the molded articles carried by the carrier,
a molded article identification unit that generates identification information for identifying types of the molded articles
carried by the carrier in accordance with the molded article images acquired by the image acquisition unit and the image-related
information for the molded articles stored in the storage section, and

a molded article sorting unit that sorts the carried molded articles based on the identification information generated by
the molded article identification unit.

US Pat. No. 9,610,690

ROBOT SYSTEM FOR SETTING MOTION MONITORING RANGE OF ROBOT

FANUC CORPORATION, Yaman...

1. A robot system, comprising:
a display configured to
display a robot model of a robot and a peripheral device model of a peripheral device surrounding the robot,
display a deployed motion monitoring range model of a motion monitoring range of the robot, and
display the deployed motion monitoring range model being moved by a drag operation to determine a position of the deployed
motion monitoring range model, and

a computer connected to the display and configured to convert a range surrounded by the deployed motion monitoring range model
positioned in the display into coordinate values recognizable by the robot in order to set the motion monitoring range of
the robot.

US Pat. No. 9,604,365

DEVICE AND METHOD OF TRANSFERRING ARTICLES BY USING ROBOT

FANUC CORPORATION, Yaman...

10. An article transferring method, configured to make a robot hold and transfer a plurality of articles conveyed by a conveyor,
the method comprising:
executing image capturing and detection of the plurality of articles that move according to a conveying motion of the conveyor,
with a first period allowing all of the plurality of articles to be captured and detected, and obtaining initial position
information of each of said all of the articles;

executing image capturing and detection of the plurality of articles that move according to the conveying motion of the conveyor,
with a second period shorter than the first period, and obtaining shifted position information of each of the plurality of
articles iteratively with the second period, the shifted position information being based on the initial position information;
and

controlling the robot with use of the shifted position information, so as to make the robot hold and transfer each of the
plurality of articles while following the conveying motion of the conveyor.

US Pat. No. 9,588,508

MASTER DEVICE THAT CHANGES DATA COMMUNICATION SPEED IN ACCORDANCE WITH THE NUMBER OF SLAVE DEVICES

FANUC Corporation, Minam...

1. A master device capable of connecting to slave devices, which correspond to a first number not less than two of motors,
via a serial communication bus for carrying out data transmission and reception at a first communication speed, in order to
control a system in which a first number not less than two of motors in the same number as the number of inverters can be
connected in parallel to a DC link part, which is connected to an alternating-current power source via a converter, via each
the first number of the inverters, the number of the slave devices being a second number, the master device comprising: a
call circuit configured to transmit a call signal to verify the presence or absence of the slave devices, which correspond
to the motors, to all the slave devices, which correspond to all the motors connected to the DC link part, after the master
device is activated;
a response reception circuit configured to receive a response signal to the call signal from each of all the slave devices,
which correspond to all the motors connected to the DC link part, and to determine a third number which is the number of all
the slave devices, which correspond to all the motors connected to the DC link part, based on the number of received response
signals; and

a communication speed change determination circuit configured to determine whether or not a data communication speed of data
transmitted and received between the master device and the third number of slave devices should be changed from the first
communication speed to a second communication speed different from the first communication speed during a period from the
time when the third number is determined to the time when the drive of the motors is stopped, in accordance with a result
of comparison of between the third number and a fourth number less than the second number and equal to or more than one, the
fourth number being previously set as a threshold value for determining whether or not the data communication speed should
be changed from the first communication speed to the second communication speed.

US Pat. No. 9,541,373

MAGNETIC DETECTOR EQUIPPED WITH ROTOR INCLUDING SIGNAL GENERATION UNIT

Fanuc Corporation, Yaman...

1. A magnetic detector manufacturing method, the method comprising steps of:
preparing a rotor configured to rotate around a rotary shaft;
forming a plurality of concave and convex portions of a signal generation unit on a surface of the rotor which is perpendicular
to the rotary shaft and is not on a peripheral surface of the rotor by electroforming so that sections of the convex portions
of the plurality of concave and convex portions are tapered in a direction parallel to the rotary shaft; and

locating a detection unit, which detects a rotational angle of the rotor by using magnetism via the signal generation unit,
to face the surface of the rotor on which the signal generation unit is formed, so as to manufacture a magnetic detector.

US Pat. No. 9,513,618

NUMERICAL CONTROLLER CAPABLE OF DISPLAYING AND INPUTTING TOOL DIRECTION RELATIVE TO WORKPIECE

FANUC Corporation, Minam...

1. A numerical controller for controlling a five-axis machine configured to machine a workpiece mounted on a table by means
of at least three linear axes and two rotation axes, the numerical controller comprising:
a tool direction computation unit configured to calculate a tool direction relative to the workpiece as a tool direction vector
representation, a roll-pitch-yaw angle representation, or an Euler angle representation, based on respective positions of
the two rotation axes; and

a tool direction display unit configured to display the tool direction relative to the workpiece on a display, based on the
tool direction vector representation, the roll-pitch-yaw angle representation, or the Euler angle representation which is
calculated by the tool direction computation unit, wherein

if the tool direction vector representation is to be displayed, the tool direction computation unit is configured to calculate
the tool direction relative to the workpiece as the tool direction vector representation, and the tool direction display unit
is configured to display the tool direction vector representation relative to the workpiece,

if the tool direction vector representation is to not be displayed and if the roll-pitch-yaw angle representation is to be
displayed, the tool direction computation unit is configured to calculate the tool direction relative to the workpiece as
the roll-pitch-yaw angle representation and the tool direction display unit is configured to display the roll-pitch-yaw angle
representation relative to the workpiece, and

if the tool direction vector representation is to not be displayed and the roll-pitch-yaw angle representation is to not be
displayed, the tool direction computation unit is configured to calculate the tool direction relative to the workpiece as
the Euler angle representation and the tool direction display unit is configured to display the Euler angle representation
relative to the workpiece.

US Pat. No. 9,503,014

GEARED MOTOR UNIT HAVING FUNCTION FOR LIMITING THRUST LOAD

Fanuc Corporation, Yaman...

1. A geared motor unit, comprising:
an electric motor;
a gear connected to the electric motor so that a thrust load is applied to the electric motor when transmitting a torque;
and

a control section which controls the electric motor,
wherein the control section comprises:
a thrust load obtaining part which obtains a thrust load of the electric motor;
a critical thrust load storing part which stores a critical thrust load of the electric motor; and
a torque limiting part which electrically limits the torque of the electric motor when the thrust load of the electric motor
obtained by the thrust load obtaining part exceeds the critical thrust load of the electric motor stored in the critical thrust
load storing part.

US Pat. No. 9,494,929

NUMERICAL CONTROLLER HAVING PROGRAM RESTART FUNCTION

FANUC Corporation, Minam...

1. A numerical controller that controls a machine tool having a plurality of controlled axes by analyzing and executing blocks
of a machining program to machine a workpiece, and has a program restart function in which program restart block data is acquired
for resuming and ending suspended machining of the workpiece and partial machining of the workpiece is performed based on
the acquired program restart block data, the numerical controller comprising:
a specified area registration unit that specifies a machining area of each of the controlled axes and registering the specified
machining area;

a specified area passing block determination unit that analyzes a block of the machining program and determines whether or
not a moving path of a tool as commanded by the block, obtained by analyzing the block, has an intersection with a boundary
of the machining area registered in the specified area registration unit; and

a program restart block data acquisition unit that acquires the program restart block data of a currently analyzed block of
the machining program if determined by the specified area passing block determination unit that the moving path of a tool
as commanded by the block has an intersection with a boundary of the machining area registered in the specified area registration
unit,

wherein the specified area passing block determination unit determines whether or not a sequence of the distal end points
of the tool, which is obtained by correcting the moving path of the tool to the positions of the tool distal end points, passes
the boundary of the machining area, and

wherein the program restart block data acquisition unit acquires, in addition to the program restart block data of a block
of the machining program, the program restart block data of immediately preceding and succeeding blocks of the block, if determined
by the specified area passing block determination unit that the moving path of a tool as commanded by the block passes a boundary
of the registered machining area.

US Pat. No. 9,466,902

METHOD OF PRODUCING A DETECTOR

Fanuc Corporation, Yaman...

1. A method of producing a detector comprising a circuit board, a connector which is mounted on said circuit board, and a
flexible cable which has a terminal part inserted in said connector, wherein,
a reinforcement member of said flexible cable is attached to an end part of said flexible cable which includes said terminal
part,

said reinforcement member includes a foldable part which can be folded and deformed so as to allow local bending of said end
part of said flexible cable, and

said foldable part includes a weakened part which is formed to split by folding and deforming the foldable part,
wherein the method of producing a detector comprising:
attaching to said reinforcement member, an immobilizing member which immobilizes said foldable part so that said end part
of said flexible cable cannot be bent,

inserting into said connector, said terminal part of said flexible cable together with said reinforcement member having said
immobilizing member attached thereto,

detaching said immobilizing member from said reinforcement member, and
folding and deforming the foldable part of said reinforcement member to split said weakened part, and locally bending said
end part of said flexible cable along said foldable part.

US Pat. No. 9,444,373

MOTOR CONTROL DEVICE HAVING PROTECTIVE UNIT OF CHARGING RESISTOR

Fanuc Corporation, Yaman...

1. A motor control device comprising:
a rectifier that rectifies AC power supplied from an three-phase AC input side and outputs DC power;
a smoothing capacitor provided to a DC link which is a DC output side of the rectifier;
an inverter that mutually power-converts DC power in the DC link and AC power which is driving power or regenerative power
of a motor;

an initial charging unit having a switch unit and a charging resistor connected in parallel to the switch unit, opening the
switch unit before motor driving is started, and charging the smoothing capacitor with a DC current output from the rectifier
via the charging resistor;

a current detection unit that detects an AC current value of the three-phase AC input side of the rectifier, and outputs an
AC current detection value;

a current conversion unit that outputs a conversion value obtained by converting the AC current detection value into a value
corresponding to a DC current in the DC link;

a current integration unit that outputs an integration value obtained by integrating the conversion value output from the
current conversion unit during a charging period of the smoothing capacitor by the initial charging unit;

an alarm output unit that outputs an alarm when the integration value is equal to or more than a first threshold value;
a disconnecting unit that is able to disconnect supply of the AC power to the rectifier in response to a received command;
and

a protective unit that commands the disconnecting unit to disconnect the supply of the AC power when the alarm is output.

US Pat. No. 9,417,619

NUMERICAL CONTROLLER HAVING FUNCTION OF RE-MACHINING THREAD CUTTING CYCLE

FANUC Corporation, Minam...

1. A numerical controller controlling a machine tool which carries out thread cutting machining, the numerical controller
having a thread re-machining function of re-machining a thread by reattaching a workpiece to a chuck, after once detaching
the workpiece from the chuck, in the process of a thread cutting cycle in which the thread cutting is carried out by repeating
motions of positioning a tool at a cutting start position on the basis of a machining program designating a thread shape,
and moving the tool in a direction of work axis relatively to the workpiece which is attached to the chuck of the machine
tool in synchronization with rotation of a spindle,
wherein the numerical controller comprises:
a thread position measuring means for measuring a position in a feed axis direction and a position in a direction of an incision
axis of the thread before re-machining in a state in which the workpiece is attached to the chuck of the machine tool;

a number of incisions calculating means for calculating a number of incisions to a thread on the basis of the position in
the feed axis direction and the position in the incision axis direction of the thread which are measured by the thread position
measuring means;

a phase deviating amount calculating means for calculating an amount of deviation in a phase of the screw thread caused by
reattachment of the workpiece, on the basis of the number of incisions which is calculated by the number of incisions calculating
means; and

a thread re-machining means for positioning the workpiece or the tool by using the number of incisions and the amount of deviation
in the phase so as to re-machine the thread.

US Pat. No. 10,827,638

ELECTRIC DEVICE AND MOTOR DRIVING DEVICE

FANUC CORPORATION, Yaman...

1. An electric device comprising:a printed board on which a pattern is printed;
a resin board which is formed by molding a resin and on which no pattern is printed; and
a short bar through which a current larger than a current passed through the pattern of the printed board is passed,
wherein the printed board is provided on the resin board, and
the short bar is provided outside a region on the resin board, the region being where the printed board is mounted, wherein the short bar is disposed outside of an outer periphery of the printed board.

US Pat. No. 10,656,620

MOTOR CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A motor control device for controlling a spindle motor which rotationally drives a tool or workpiece in a machine tool, the motor control device comprising:a moving average filter which moving averages a torque command value or drive current value of the spindle motor for averaging time, and generates averaged load information of the spindle motor; and
an averaging time calculation unit which calculates, as the averaging time of the moving average filter, a first time of an integral multiple of a period of one rotation of the spindle driven by the spindle motor, or in a case of the spindle rotationally driving a tool, a second time of an integral multiple of a value arrived at by dividing the period of one rotation of the spindle by a number of cutting tooth of a tool held by the spindle.

US Pat. No. 10,635,090

PROGRAM GENERATING APPARATUS AND PROGRAM GENERATING METHOD

FANUC CORPORATION, Yaman...

1. A program generating apparatus for generating a numerical control program for controlling a wire electrical discharge machine, comprising:a machining order acquisition unit configured to acquire order in which a plurality of machining paths should be machined, the order being determined based on a predetermined rule; and
a program generating unit configured to automatically change the order acquired by the machining order acquisition unit so as to perform an attaching process for attaching a core to a workpiece by depositing a component of a wire electrode, and generate a numerical control program configured to machine the machining paths in the changed order, wherein:
the core is produced during the machining of the workpiece; and
wherein the depositing the component of the wire electrode is done prior to performing an uncut process for leaving part of the core uncut.

US Pat. No. 10,630,225

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. 10,603,793

WORK ASSISTING SYSTEM INCLUDING MACHINE LEARNING UNIT

FANUC CORPORATION, Yaman...

1. A work assisting system comprising:a sensor unit that detects a position and an orientation of each of the body parts including a hand of a worker;
a supply unit that supplies a part or a tool to the worker; and
a cell controller that controls the supply unit, the cell controller comprising:
a machine learning unit that constructs a learning model based on the detected position and orientation of the each of the body parts and a label relating to a work status of the worker, and
a work status determining unit that determines the work status of the worker by using the constructed learning model,
wherein the supply unit selects the part or tool based on the determined work status and a work table in which the labeled work status is correlated to a motion of the supply unit, and changes a position and orientation of the part or tool based on the position and orientation of the each of the body parts.

US Pat. No. 10,564,621

FAILURE DETECTION AND CORRECTION CONTROL SYSTEM OF MACHINE TOOL USING CHRONOLOGICAL CONTROL DATA

FANUC CORPORATION, Yaman...

1. A control system of a machine tool which machines a work, the control system comprising:a control device which controls a drive axis of the machine tool based on control data that comprise movement command data for commanding the control device;
a machined surface measurement device which measures a machined surface of the work; and
an analysis device which analyzes the machined surface of the work,
wherein the analysis device includes:
a first acquisition portion which acquires, from the control device, chronological control data when the work is machined;
a second acquisition portion which acquires spatial machined surface measurement data after the machining of the work measured by the machined surface measurement device;
a data-associating processing portion which associates the chronological control data acquired by the first acquisition portion and the spatial machined surface measurement data acquired by the second acquisition portion with each other;
a machined surface failure detection portion which detects a feature on the machined surface of the work as a failure in machining, a location of the feature as a failure location, and a depth of the feature as a failure depth of the failure location based on the spatial machined surface measurement data acquired by the second acquisition portion; and
an identification portion which identifies, based on the control data and the machined surface measurement data associated with each other by the data-associating processing portion, control data of the failure location corresponding to the machined surface measurement data of the failure location detected by the machined surface failure detection portion so as to identify the failure depth corresponding to the control data of the failure location, and
wherein the control device corrects the control data of the drive axis of the machine tool based on the control data of the failure location identified by the analysis device and the corresponding failure depth.

US Pat. No. 10,564,635

HUMAN-COOPERATIVE ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A human-cooperative robot system configured to work in cooperation with an operator, the system comprising:a robot including a handle; and
a processor configured to:
calculate a handling force applied to the handle, based on an output signal from a first force sensor provided at the handle,
operate the robot in accordance with the calculated handling force,
when operating the robot, calculate
a resultant force of all forces acting on, a second force sensor provided at a proximal end side component of the robot, based on an output signal from the second force sensor, and
an internal force acting on the second force sensor, based on mass of the robot,
calculate an external force applied to the robot when operating the robot, by subtracting the calculated internal force from the calculated resultant force, the external force being indicative of a sum of
(1) the handling force, and
(2) a contact force applied from an external object to the robot when the robot contacts the object, and
calculate the contact force by subtracting the calculated handling force from the calculated external force.

US Pat. No. 10,564,658

SERVO CONTROL APPARATUS, SERVO CONTROL METHOD AND COMPUTER-READABLE RECORDING MEDIUM

FANUC CORPORATION, Yaman...

1. A servo control apparatus, comprising:a velocity command creation circuit configured to create a velocity command value of a servomotor;
a velocity detection circuit configured to detect a velocity of the servomotor;
a velocity control gain that is a control gain of a velocity control loop;
a torque command creation circuit configured to create a torque command value for the servomotor;
at least one filter circuit configured to attenuate a particular frequency band component included in the torque command value;
a sine-wave sweep input circuit configured to perform a sine-wave sweep in a predetermined frequency range;
a frequency characteristics calculation circuit configured to calculate frequency characteristics of a sine-wave that is swept; and
a filter adjustment circuit configured to adjust the filter circuit so as to attenuate a particular frequency band component included in the torque command value; wherein
the velocity control gain, the torque command creation circuit, the filter circuit, and the velocity detection circuit configure the velocity control loop;
a signal is input to the velocity control gain, the signal being obtained by adding a sine-wave being output from the sine-wave sweep input circuit to a difference between the velocity command value and the velocity detected;
the filter adjustment circuit is configured to detect a plurality of resonance frequency bands included in frequency characteristics that are calculated by way of the frequency characteristics calculation circuit, while changing a value of the velocity control gain, and configured to adjust the filter circuit by measuring an influence of the velocity control gain on a resonance frequency and resonance peak amplitude; and
the filter adjustment circuit is further configured to evaluate a rate of increase of the resonance peak amplitude with respect to changes in the velocity control gain in multiple frequency bands based on a quantitative relationship between a value of the velocity control gain and resonance peak amplitude of frequency characteristics obtained from the frequency characteristics calculation circuit, and adjust the filter while giving higher priority to the frequency band having a higher rate of increase.

US Pat. No. 10,565,727

APPARATUS AND METHOD OF GENERATING THREE-DIMENSIONAL DATA, AND MONITORING SYSTEM INCLUDING THREE-DIMENSIONAL DATA GENERATION APPARATUS

FANUC CORPORATION, Yaman...

1. A three-dimensional data generation apparatus configured to generate three-dimensional data used for recognizing an object present in an observation area, the apparatus comprising:a processor configured to:
obtain measured coordinates of the object in a three-axis rectangular coordinate system set in the observation area, based on measurement data from a three-dimensional sensor measuring the observation area;
define a reference plane parallel to an X-Y plane of the three-axis rectangular coordinate system in the observation area, uniformly divide the reference plane into a plurality of subdivisions, and assign to a subdivision, among the plurality of subdivisions, that contains X-Y coordinate values of the measured coordinates of the object, a Z value of the same measured coordinates as a representative height of the subdivision; and
store the representative height for each of the plurality of subdivisions,
wherein the three-dimensional data generation apparatus is configured to repeatedly carry out a data generation operation over an arbitrary period of time, the data generation operation including obtaining the measured coordinates and assigning the representative height,
wherein the processor is further configured to place a storage region, which is provided for a subdivision not assigned with the representative height, into a nullified state in each data generation operation, and
wherein three-dimensional data of the observation area is generated by using a position and dimensions in the reference plane and the stored representative height, of each of the plurality of subdivisions.

US Pat. No. 10,562,185

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a robot;
a controller comprising a processor and a memory and configured to control the robot; and
a sensor configured to detect magnitudes of forces that are applied to the robot,
wherein the controller is configured to determine, on a basis of the magnitude of the forces detected by the sensor, whether or not there is application of an external force different from a load that acts on the robot during a task that is performed by the robot,
wherein the controller is configured to store, in a storage mode, the magnitude of each of the forces detected by the sensor in a storage when the controller executes a plurality of operation commands included in an operation program for executing the task in a state where there is no application of the external force different from the load, and the controller is configured to store the magnitude of each of the forces in association with each of the operation commands, and
wherein the controller is configured to determine, in an execution mode, a presence or absence of the external force different from the load on the basis of the magnitude of each of the forces that is stored in the storage in association with each of the operation commands and the magnitude of the force that is detected by the sensor when the plurality of operation commands are executed by the controller,
wherein the operation program includes a plurality of load state storage commands respectively inserted at a plurality of positions which are before or after the operation commands,
wherein the controller stores, in the storage mode, the magnitude of each of the forces that is detected by the sensor when executing the load state storage commands.

US Pat. No. 10,556,343

SIMULATION DEVICE AND SIMULATION METHOD FOR ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A simulation device for a robot system, the simulation device comprising:an input unit that allows input of the constitution of a virtual robot to be simulated;
a storage unit that stores the constitutions and elements of virtual-robot candidates and settings of virtual-robot-controller candidates in association with each other;
a difference extracting unit that reads, from the storage unit, the constitution of one of the virtual-robot candidates that most closely approximates the constitution of the virtual robot input via the input unit and that extracts the difference between the read constitution of the virtual-robot candidate and the constitution of the virtual robot input via the input unit;
a virtual-robot generating unit that reads, from the storage unit, the setting of the virtual-robot-controller candidate associated with the constitution of the most approximate virtual-robot candidate and the settings of the virtual-robot-controller candidates associated with the elements of the virtual-robot candidates included in the difference extracted by the difference extracting unit and that adds or deletes the setting of the associated virtual-robot-controller candidate for each of the elements of the virtual-robot candidates included in the difference to or from the setting of the most approximate virtual-robot-controller candidate to generate the constitutions of new virtual-robot candidates and settings of virtual-robot-controller candidates associated therewith and the constitution of a new virtual robot and a setting of a virtual robot controller associated therewith; and
a candidate updating unit that stores, in the storage unit, the constitutions of the new virtual-robot candidates and the settings of the virtual-robot-controller candidates associated therewith, generated by the virtual-robot generating unit.

US Pat. No. 10,559,995

MOTOR HAVING A COVER MEMBER FOR GUIDING WATER DROPLETS AWAY FROM ROTARY ENCODER

FANUC CORPORATION, Yaman...

1. A motor comprising:a motor main body having a rotating shaft member; and
a rotary encoder, wherein
the rotary encoder has a cover member, and
an inner surface of the cover member has a first top surface formed having an inclined portion that is inclined relative to a horizontal direction so as to guide a droplet of water when the rotating shaft member is disposed to extend in a vertical direction, and a second top surface formed having an inclined portion that is inclined relative to a horizontal direction so as to guide a droplet of water when the rotating shaft member is disposed to extend in a horizontal direction,
wherein a groove for guiding a droplet of water is formed in the first top surface and/or the second top surface, the groove being linear and extending in a predetermined direction when viewing the first top surface and the second top surface from inside the cover member, and
a hygroscopic material is disposed to be bonded to the first top surface and the second top surface at the boundary between the first top surface and the second top surface of the inner surface of the cover member, and absorbs the droplets of water guided by the first top surface and the second top surface.

US Pat. No. 10,549,423

CONTROLLER AND MACHINE LEARNING DEVICE

FANUC CORPORATION, Yaman...

1. A controller configured to control a robot used to bond a radiation plate to an electric component via a heat conductor, the controller comprising:a machine learning device configured to learn an operating parameter for an operation of bonding the radiation plate by the robot, wherein
the machine learning device includes a processor configured to
observe, as state variables that express a current state of an environment, operating parameter data indicating the operating parameter, and heat conductor state data indicating a state of the heat conductor,
acquire determination data indicating a propriety determination result of the operation of bonding the radiation plate,
learn the operating parameter in association with the heat conductor state data, using the state variables and the determination data, and
output a command value based on the operating parameter, according to a learning result, to control the robot to bond the radiation plate to the electric component via the heat conductor based on the command value.

US Pat. No. 10,549,466

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system, comprising:an injection molding machine;
a bolt attaching and detaching unit configured to attach and detach a bolt for fixing of a plurality of different components to the injection molding machine at a different attachment position of the bolt relative to the injection molding machine depending on the component attached by the bolt to the injection molding machine;
a conveying apparatus configured to convey the bolt attaching and detaching unit;
a bolt position related information recognizing unit configured to recognize the attachment position of the bolt for each component of the plurality of different components;
a memory configured to store
the attachment position of the bolt recognized by the bolt position related information recognizing unit, or
the attachment position of the bolt and a phase of the bolt recognized by the bolt position related information recognizing unit; and
an instrument configured to hold a molded article, wherein
the bolt attaching and detaching unit is configured to attach and detach the bolt to and from the component based on
the attachment position of the bolt recognized by the bolt position related information recognizing unit and stored in the memory, or
the attachment position of the bolt and the phase of the bolt recognized by the bolt position related information recognizing unit and stored in the memory,
the conveying apparatus is configured to convey the instrument,
the bolt attaching and detaching unit and the instrument are replaceable with each other, and
the bolt position related information recognizing unit is at least either a direct recognizing unit or an indirect recognizing unit,
the direct recognizing unit is configured to recognize either (1) information about the attachment position of the bolt, or (2) the attachment position of the bolt and the phase of the bolt, based on image information of the bolt taken by a camera, and
the indirect recognizing unit is configured to recognize the attachment position of the bolt from drawing information stored in the memory regarding the plurality of different components,
the phase of the bolt
indicates an orientation of a rotating direction in a hole into which a head of the bolt is to be inserted by a wrench of the bolt attaching and detaching unit, and
represents a numerical value for use in adjusting an insertion angle of the wrench into the bolt,
when the bolt is detached,
(1) a state of the bolt is recognized,
(2) the position of the bolt and a state of a tool are corrected, and
(3) the wrench is brought into contact with the bolt, and
when the bolt is fastened, fastening is performed
with a first torque which is smaller than a specified torque set in advance, then
with a second torque which is larger than the first torque, and then
with a third torque which is the specified torque set in advance.

US Pat. No. 10,546,077

INFORMATION PROCESSOR FOR SIMULATING OPERATION OF A TOOL

Fanuc Corporation, Yaman...

1. An information processor configured to simulate a motion of a tool based on a machining program, the information processor comprising:a memory device configured to store at least information on a workpiece;
a processor configured to:
reproduce the positional relationship between the tool and the workpiece on a virtual space based on the information on the workpiece and the machining program,
specify an air-cut path, which is a tool path in which the tool is not in contact with the workpiece, for each of blocks included in the machining program, based on the result of the simulation processing,
calculate an air-cut time, which is a time required for a movement in the air-cut path, for each block included in the machining program, and change a display mode of each block included in the machining program, based on the air-cut time.

US Pat. No. 10,534,876

SIMULATION DEVICE AND SIMULATION METHOD THAT CARRY OUT SIMULATION OF OPERATION OF ROBOT SYSTEM, AND RECORDING MEDIUM THAT RECORDS COMPUTER PROGRAM

FANUC CORPORATION, Yaman...

1. A simulation device configured to carry out a simulation of an operation of a robot system, the simulation device comprising:a processor configured to
arrange a plurality of component models in a virtual space, the plurality of component models being three-dimensional models of a plurality of components of the robot system, a virtual operation parameter being given to each component model of the plurality of component models for simulatively operating the component model in the virtual space, the virtual operation parameter including a control coordinate system used as a reference for operation of the component model in the virtual space, each component model being arranged in the virtual space together with the respective control coordinate system,
receive
an input operation for selecting a first control coordinate system of a first component model of the plurality of component models,
an input operation for selecting a second control coordinate system of a second component model of the plurality of component models, and
an input operation for selecting an origin of the selected second control coordinate system, an axis of the selected second control coordinate system, or a plane defined by the selected second control coordinate system,
set the selected origin, the selected axis, or the selected plane of the second control coordinate system as a reference point, a reference axis, or a reference plane in the virtual space,
generate a symmetric component model which is a three-dimensional model symmetric to the selected first component model arranged in the virtual space with respect to the reference point, the reference axis, or the reference plane defined by the second component model, and
carry out a simulation to simulatively operate the first and second component models and the symmetric component model in the virtual space,
wherein the simulation device is configured to construct a layout of the robot system and simulate the operation of the robot system in the virtual space.

US Pat. No. 10,536,106

CONTROL DEVICE OF ELECTRIC MOTOR, ELECTRIC MOTOR SYSTEM, AND CONTROL METHOD OF ELECTRIC MOTOR

FANUC CORPORATION, Yaman...

1. A control device of an electric motor in which a fan is installed, the control device comprising:a cooling operation information acquisition section configured to acquire cooling operation information of the fan;
a cooling operation determination section configured to determine whether or not the cooling operation information indicates a normal cooling operation;
a running information acquisition section configured to acquire running information of the electric motor; and
a running control section configured to control the running of the electric motor so as to be in an overheat-prevented state, with reference to the running information, when it is determined that the cooling operation information does not indicate the normal cooling operation.

US Pat. No. 10,508,051

LENS FORMING MOLD AND MANUFACTURING METHOD FOR CYLINDRICAL LENS

FANUC CORPORATION, Yaman...

1. A manufacturing method for a plurality of cylindrical lenses using a lens forming mold for forming, from a glass material formed into a circular plate shape, a molding on which a plurality of cylindrical surfaces are arranged in parallel, the lens forming mold comprising:a first mold comprising: a plurality of cylindrical surface forming portions that are arranged in parallel at equal intervals; and a first flat surface forming portion that is provided between adjacent cylindrical surface forming portions; and
a second mold comprising a second flat surface forming portion that sandwiches the glass material and faces the plurality of cylindrical surface forming portions and the first flat surface forming portion of the first mold when the molding is molded,
wherein the first mold and the second mold are each formed into a cylindrical shape that has a circular molding surface,
the method comprising the steps of:
placing a glass material formed into a circular plate shape on the first mold and joining the first mold and the second mold to thereby form, without performing centering, a molding on which a plurality of cylindrical surfaces are arranged in parallel; and
cutting the molding with a cutting tool in two directions, the two directions being a direction in which the plurality of cylindrical surfaces are arranged and a direction that intersects with the direction in which the plurality of cylindrical surfaces are arranged, to thereby obtain the plurality of cylindrical lenses from one molding.

US Pat. No. 10,503,139

CONTROL DEVICE FOR MACHINE TOOL PERFORMING OSCILLATION CUTTING

FANUC CORPORATION, Yaman...

1. A control device for controlling a machine tool, the machine tool comprising a spindle for relatively rotating a workpiece and a tool around a center axis of the workpiece, and at least one feed axis for relatively feeding the tool and the workpiece along a generatrix of an outer peripheral surface or an inner peripheral surface of the workpiece,the control device comprising:
a position command generation part for generating a position command for the at least one feed axis based on a relative rotation speed of the workpiece and the tool and a relative feed speed of the tool and the workpiece,
at least one position detection part for detecting an actual 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 the rotation speed and the position command such that an oscillation count of the tool per rotation of the spindle becomes a positive non-integral multiple and the tool intermittently cuts the workpiece,
a first adding part for generating a resultant command obtained by adding the oscillation command to a position deviation, which is a difference between the position command and the actual position of the at least one feed axis detected by the at least one position detection part,
a normalization part for normalizing the resultant command with a representative value and generating a normalized resultant command which is not unit system dependent, wherein the representative value is at least one of the position command of the at least one feed axis and a rotation speed command of the spindle,
the control device further comprising:
a learning control part that obtains a correction amount of the resultant command based on an oscillation phase obtained from the oscillation command and the normalized resultant command and which adds the correction amount to the resultant command,
a denormalization part for denormalizing an output from the learning control part with a representative value which is the same as the representative value used by the normalization part, and
a second adding part for adding an output which has been denormalized by the denormalization part to the resultant command.

US Pat. No. 10,434,613

CONTROL DEVICE FOR MACHINE TOOL PERFORMING OSCILLATION CUTTING

FANUC CORPORATION, Yaman...

1. A control device for controlling a machine tool for cutting an outer peripheral surface or an inner peripheral surface of a workpiece with a tool, the machine tool having a spindle for rotating the workpiece and the tool relative to each other around a central axis of the workpiece, at least one feed shaft 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, and a position detector for detecting an actual position of the at least one feed shaft, the control device comprising:a position command generation part for generating a position command for the at least one feed shaft based a relative feed speed of the tool and the workpiece; and
a feed shaft control part for controlling the at least one feed shaft according to the position command, wherein
the feed shaft control part is configured to control the at least one feed shaft by generating a torque command based on a resultant command obtained by adding the oscillation command to a position deviation, which is a difference between the position command and the actual position of the at least one feed shaft detected by the position detector;
the feed shaft control part further comprises an elastic deformation amount calculation part for calculating, based on the torque command, an elastic deformation amount of a structure between an output terminal of the at least one feed shaft and a machine oscillation end which generates oscillation for the oscillation cutting;
the output terminal is the portion of a rotary motor rotating shaft which drives a feed mechanism of the feed shaft that is connected to the feed mechanism;
the machine oscillation end is a tip of the tool;
the elastic deformation amount is an expansion/contraction elastic deformation amount of the rotary motor in the axial direction, or the sum of an expansion/contraction elastic deformation amount of the rotary motor in the axial direction and a torsional elastic deformation amount about the axis of the rotary motor; and
the feed shaft control part comprises an oscillation command generation part that generates the oscillation command for the at least one feed shaft so that the tool performs oscillation cutting on the workpiece, and so as to generate, based on the rotation speed, the position command, and the elastic deformation amount, an oscillation frequency which is a positive non-integral multiple of the rotation speed.

US Pat. No. 10,437,230

NUMERICAL CONTROLLER HAVING FUNCTION OF AUTOMATICALLY SELECTING STORAGE DESTINATION OF MACHINING PROGRAM

FANUC CORPORATION, Yaman...

1. A numerical controller for controlling a machine tool based on a plurality of machining programs, the numerical controller comprising:first and second storage units that store the plurality of machining programs;
a management information storing portion that stores management information including information on a storage destination of each of the plurality of machining programs;
a program inputting portion that reads the plurality of machining programs;
a program analyzing portion that performs analysis of contents of each machining program among the plurality of machining programs input from the program inputting portion, to determine whether or not the each machining program is required to be read at high speed at a time of execution of the each machining program; and
a program managing portion that stores the each machining program in any one of the first storage unit and the second storage unit in accordance with a result of the analysis performed by the program analyzing portion, and updates the information on the storage destination of the each machining program, the information stored in the management information storing portion, wherein
the first storage unit has a higher reading speed than the second storage unit,
the management information includes, for each machining program among the plurality of machining programs,
a high-speed flag indicating whether said each machining program includes a high-speed operation instruction,
a subprogram counter indicating a number of other machining programs, among the plurality of machining programs, which call said each machining program as a subprogram during a high-speed operation in the other machining programs, and
a repeated call counter indicating a number of further machining programs, among the plurality of machining programs, which repeatedly call said each machining program as a subprogram.

US Pat. No. 10,423,154

ROBOT SYSTEM INCLUDING FORCE-CONTROLLED PUSHING DEVICE

FANUC CORPORATION, Yaman...

1. A robot system for causing a robot and a force-controlled pushing device provided at a tip end of the robot to control a force acting between a tool and a workpiece, so as to move the tool and the workpiece relative to each other, wherein the robot system comprises:the robot;
the force-controlled pushing device comprising a movement mechanism part, which holds a first object being one of the tool and the workpiece, and moves the first object by controlling a force acting between the first object and a second object being the other of the tool and the workpiece, so as to push the first object, in a predetermined pushing direction, by a predetermined target pushing force;
a robot operation input measuring part for measuring a robot operation input for moving/operating the robot;
a robot movement command calculating part for calculating, based on the robot operation input measured by the robot operation input measuring part, a robot movement command being a movement command for the robot;
a force-controlled pushing device's pushing direction setting part for setting the pushing direction of the force-controlled pushing device;
a force-controlled pushing device's target pushing force setting part for setting the target pushing force of the force-controlled pushing device;
a force-controlled pushing device's force measuring part for measuring a force acting between the tool and the workpiece; and
a force-controlled pushing device movement command calculating part for calculating, based on the pushing direction set by the force-controlled pushing device's pushing direction setting part, the target pushing force set by the force-controlled pushing device's target pushing force setting part, and a force measured by the force-controlled pushing device's force measuring part, a force-controlled pushing device movement command being a movement command for the movement mechanism part of the force-controlled pushing device, wherein
the force-controlled pushing device's pushing direction setting part sets a pushing direction of the force-controlled pushing device, based on at least one of the position, orientation, or position and orientation of the first object, the force-controlled pushing device movement command for moving the first object, the position, orientation, or position and orientation of the movement mechanism part of the force-controlled pushing device, the position, orientation, or position and orientation of the robot, or the robot movement command for moving the robot, and
either (i) or (ii) below
(i) the robot operation input measuring part measures the robot operation input for moving/operating the robot by measuring a force acting on a main body portion of the robot, or a force acting on a tip end of the robot,
(ii) the robot system further comprises a robot guidance device, and the robot operation input measuring part measures the robot operation input for moving/operating the robot by measuring a force acting on the robot guidance device attached to the robot, or an input given by a non-contact robot guidance device.

US Pat. No. 10,409,302

CONTROLLER WITH COOLANT MONITORING FUNCTION

FANUC CORPORATION, Yaman...

1. A controller for controlling a machine based on a state of a coolant used for machining by the machine, the controller comprising:a storage device configured to record measurement value history information in which a measurement value for a state of the coolant is associated with time information on a time when the measurement value is measured; and
a processor configured to
control a sensor to measure a measurement value for a state of the coolant to acquire the measurement value from the sensor,
generate measurement value history information based on the acquired measurement value,
record the generated measurement value history information in the storage device,
calculate a rate of change in the measurement value for a state of the coolant based on the measurement value history information recorded in the storage device,
determine a state of the coolant based on a comparison of the calculated rate of change in the measurement value with a preset predetermined threshold, wherein the measurement value includes at least any one of motor loads of a main shaft and a feed shaft during machining of the machine, vibration during machining of the machine, and surface temperature of a workpiece during machining of the machine,
determine an operation to be performed based on the determined state of the coolant, and
perform the determined operation.

US Pat. No. 10,404,032

OPTICAL POWER MONITORING DEVICE AND LASER APPARATUS

FANUC CORPORATION, Yaman...

1. An optical power monitoring device that detects an optical power propagating through an optical fiber including at least a core and a cladding, comprising:a first optical fiber including a first protection coating;
a second optical fiber having a larger core diameter than the first optical fiber, the second optical fiber including a second protection coating;
a connection part where an end surface of the first optical fiber and an end surface of the second optical fiber are spliced;
a first leakage part for leakage of a beam from the first optical fiber to the outside, the first protection coating extending to the first leakage part and extending from the first leakage part toward the connection part;
a second leakage part for leakage of a beam from the second optical fiber to the outside, the second protection coating extending to the second leakage part and extending from the second leakage part toward the connection part;
a first photodetector that detects an optical power leaking from the first leakage part; and
a second photodetector that detects an optical power leaking from the second leakage part, wherein
the optical power monitoring device is installed at a point along the output optical fiber of a laser apparatus in order for a laser output beam output from the laser oscillator to propagate in a direction from the first optical fiber toward the second optical fiber,
the laser apparatus comprising:
a laser oscillator;
an output optical fiber for propagation of a laser output beam output from the laser oscillator toward a laser beam output end;
a laser power supply that supplies driving power to the laser oscillator;
a control unit that receives a detection signal output from each of the first photodetector and the second photodetector in the optical power monitoring device, and outputs an output command value to the laser power supply instructing supply of driving power to the laser oscillator;
a recording unit containing the first detection characteristic showing a relationship of a detection value obtained from the first photodetector with an output command value from the control unit in the absence of a reflected beam from a workpiece as a laser machining target and a second detection characteristic showing a relationship of a detection value obtained from the second photodetector with the output command value from the control unit in the absence of a reflected beam from the workpiece; and
a calculation unit calculating a first reflected beam power during laser machining based on a detection value obtained from the first photodetector relative to the output command value from the control unit and the first detection characteristic, and a second reflected beam power during the laser machining based on a detection value obtained from the second photodetector relative to the output command value from the control unit and the second detection characteristic, wherein
at least one threshold is set individually for each of the first reflected beam power and the second reflected beam power calculated by the calculation unit, and if the threshold is exceeded, the control unit instructs interruption of beam output or operates so as to change the output command value by following a predetermined standard.

US Pat. No. 10,350,758

ROBOT CONTROL UNIT FOR ASSEMBLY ROBOT

FANUC CORPORATION, Yaman...

1. A robot control unit for an assembly robot configured to hold a first work by using a first holding device as a robotic arm and fit the first work to a second work held by a second holding device, the robot control unit comprising:a force detecting device configured to detect a force applied to the first work or the second work at the time of fitting;
a storage device storing at least one of a first-work deflection amount table and a first-work deflection-amount calculation formula, the first-work deflection amount table associating at least magnitude variations of the force applied at the time of fitting with the deflection amounts of the first holding device or the deflection amounts of the first holding device and the first work in the direction of the fitting, and the first-work deflection-amount calculation formula calculating the deflection amount of the first holding device or the deflection amount of the first holding device and the first work in the direction of the fitting by using at least the magnitude of the force applied at the time of fitting as a variable; and
a controller, wherein the controller is configured to conduct:
a deflection-amount acquiring process to calculate a first deflection amount as the deflection amount related to the first holding device in the direction of the fitting by using a value detected by the force detecting device and at least one of the first-work deflection amount table and the first-work deflection-amount calculation formula;
a work-position acquiring process to calculate a work position as a position of the first work relative to the second work in the direction of the fitting based on operation information about the first holding device; and
a real-fitting-amount acquiring process to calculate a value related to a real fitting amount of the first work relative to the second work by correcting the work position using the first deflection amount so as to obtain the fitting amount of the work in consideration of the deflection of the first holding means in the fitting direction at the time of the fitting.

US Pat. No. 10,312,757

PERMANENT MAGNET ROTOR FOR SYNCHRONOUS ELECTRIC MOTOR

FANUC CORPORATION, Yaman...

1. A permanent magnet rotor for an electric motor, comprising:a core having a cylindrical shape;
a plurality of magnets sequentially disposed on an outer circumferential surface of the core along a circumferential direction of the core, each magnet has a circumferential end surface; and
a plurality of projection portions each disposed between the magnets adjacent to each other, an axial length of each projection portion being smaller than an axial length of the core, wherein
a thickness of the magnets in a radial direction of the core is smaller as from a center portion of the magnets toward an end portion of the magnets in the circumferential direction of the core,
the projection portions include;
a base portion that projects from the outer circumferential surface of the core to a radial direction outer side of the core, the base portion has a circumferential end surface circumferentially spaced apart from the circumferential end surface of the magnet adjacent to the projection portion; and
a cover portion that extends from the base portion in the circumferential direction of the core so as to be separate away from an outer surface of the magnet, and covers the end portion of the magnets through a space, the cover portion being not provided with a portion which is in contact with the outer surface of the magnet, and
the cover portion is formed such that a height of the space in the radial direction of the core is more reduced as from the base portion toward a tip end of the cover portion.

US Pat. No. 10,302,762

ELECTRIC APPARATUS WITH FOREIGN MATTER DETECTION PANEL

FANUC CORPORATION, Yaman...

1. An electric apparatus comprising:an electric component arranged inside a casing;
a foreign matter detection panel arranged inside the casing above or below the electric component, wherein in response to foreign matter detaching from the electric component and then contacting the foreign matter detection panel, the foreign matter detection panel detecting the contact of the foreign matter;
a detection controller which receives a signal outputted from the foreign matter detection panel and judges whether or not the foreign matter is in contact with a surface of the foreign matter detection panel; and
a communication device which transmits detection information of the foreign matter judged by the detection controller to an external device, wherein
the foreign matter detection panel includes:
a substrate,
a first transmitter which generates a first surface acoustic wave on the substrate,
a first reflection array which reflects the first surface acoustic wave in a first predetermined direction,
a first receiver which receives the first surface acoustic wave which has propagated along the substrate,
a second transmitter which generates a second surface acoustic wave on the substrate,
a second reflection array which reflects the second surface acoustic wave in a second predetermined direction, and
a second receiver which receives the second surface acoustic wave which has propagated along the substrate,
wherein the first predetermined direction is different from the second
predetermined direction,
wherein the detection controller determines a position of the foreign matter on the foreign matter detection panel based on the detected information, and estimates a position of the electric component within the casing where the foreign matter was attached prior to contacting the foreign matter detection panel.

US Pat. No. 10,209,699

MACHINE CONTROL PANEL

FANUC CORPORATION, Yaman...

1. A machine control panel connected to a numerical controller for controlling a machine tool and configured to operate the machine tool, comprising:a double-contact key switch provided on the machine control panel, the double-contact key switch having first and second contacts configured to be turned on when the double-contact key switch is depressed;
a first communication circuit connected to the first contact and configured to receive a signal of the double-contact key switch when the double-contact key switch is depressed;
a second communication circuit connected to the second contact, and configured to receive the signal of the double-contact key switch when the double-contact key switch is depressed;
a first transmission line connecting the first and second communication circuits, and configured to transmit the signal of the second communication circuit to the first communication circuit;
a second transmission line connecting the first communication circuit and the numerical controller, and configured to transmit the signals of the first and second communication circuits from the first communication circuit to the numerical controller;
a first input circuit and a second input circuit other than the first and second communication circuits, and configured to receive external safety-related signals of two systems from an external device other than the numerical controller; and
a first output circuit connected to the first communication circuit and a second output circuit connected to the second communication circuit,
wherein
the first and second input circuits are connected to the first and second communication circuits, respectively, to communicate the received external safety-related signals of two systems to the numerical controller via the first and second communication circuits,
the numerical controller is configured to compare the signals received from the first and second communication circuits with each other in order to comply with safety standards by monitoring integrity of a safety function, and
the first and second communication circuits are configured to receive safety-related signals of two systems from the numerical controller and then output to the outside through the first and second output circuits, respectively.

US Pat. No. 10,203,686

OPERATION MANAGEMENT SYSTEM FOR DIRECTLY DISPLAYING WORK INSTRUCTION BASED ON OPERATION MANAGEMENT INFORMATION ON MACHINE TOOL

FANUC CORPORATION, Yaman...

1. An operation management system in which a plurality of machine tools that operates based on an operation by an operator are connected to a management server via a network, whereinthe management server includes
a schedule information storage unit that stores schedule information representing information on a work schedule of the operator conducting work with the machine tools,
a notification analysis unit that analyzes notifications transmitted from the machine tools,
a schedule management unit that specifies a machine tool to be used by the operator in a next work process among the plurality of machine tools based on analysis results of the notifications analyzed by the notification analysis unit and the schedule information, and
a guide information generation unit that generates guide information for guiding the operator to the machine tool specified by the schedule management unit, and transmits the generated guide information to one or more machine tools that are under the charge of the operator among the plurality of machine tools, and
each of the plurality of machine tools includes
a guide information analysis unit that analyzes the guide information transmitted from the management server to generate information for guiding the operator to the machine tool to be used in the next work process,
a display unit that displays the information for guiding the operator to the machine tool to be used in the next work process, and
a notification generation unit that monitors the operation by the operator and transmits a notification representing a status of the work by the operator to the management server, wherein
the guide information analysis unit is configured such that:
when an analysis result of the guide information shows that the machine tool to be used by the operator in the next work process is a machine tool embedded with the guide information analysis unit, the guide information analysis unit generates information indicating that the machine tool embedded with the guide information analysis unit is to be used by the operator in the next work process, as the information for guiding the operator to the machine tool to be used in the next work process; and
when the analysis result of the guide information shows that the machine tool to be used by the operator in the next work process is a machine tool other than the machine tool embedded with the guide information analysis unit, the guide information analysis unit generates information representing a direction of the machine tool to be used by the operator in the next work process when seen from the machine tool embedded with the guide information analysis unit, as the information for guiding the operator to the machine tool to be used in the next work process.

US Pat. No. 10,175,677

NUMERICAL CONTROLLER

FANUC Corporation, Minam...

1. A numerical controller including an automatic display unit of a teach program for moving an axis to a teach point by manual feed and performing teach operation to set a plurality of positions as teach points, the numerical controller including the automatic display unit of the teach program comprising:a manual movement axis monitor unit configured to monitor whether there is an axis moved by manual feed;
a teach target program selection and determination unit configured to select and determine a teach program controlling the axis; and
a teach block selection and determination unit configured to select and determine a teach point from a movement direction of the axis, and selecting and determining, as a teach block, a block in the teach program in which the teach point is an end point,
wherein when an axis where teaching is to be performed is moved in a teach point direction by manual feed, the selection and determination of the teach program and a cursor movement to the teach point in the teach program are automatically executed.

US Pat. No. 10,118,295

MANUAL FEED APPARATUS OF ROBOT FOR CALCULATING OPERABLE RANGE OF ROBOT

FANUC CORPORATION, Yaman...

1. A manual feed apparatus of a robot comprising:a manual operation panel configured to transmit a command to manually operate a robot by a worker;
a robot control apparatus configured to control an operation of the robot according to an operation of the manual operation panel; and
an interference calculation apparatus configured to calculate an operable range in which the robot can operate, wherein
the operable range is a range in which the robot can move without causing interference of an object arranged around the robot with the robot or an end effector,
the interference calculation apparatus includes a robot state acquisition part configured to acquire a current state of the robot, an operation range setting part configured to judge a position of the robot at which the robot or the end effector can operate without interfering with a peripheral object in order of closeness to the current state of the robot and set the operable range, and a storage part configured to store the operable range set by the operation range setting part,
the operation range setting part calculates the operable range during a period when the robot is stopped by performing a control for judging the position of the robot at which the robot or the end effector can operate without interfering with the peripheral object when the robot is moved in a direction of a moving axis in the coordinate system selected by the worker in the manual operation panel, the control being repeated at positions in which the robot is moved from a current position in the direction of the movement axis by a minute distance with respect to all of the moving axes in the coordinate system,
the robot control apparatus transmits a direction in which the robot operates to the interference calculation apparatus when a manual operation of the robot is started,
the interference calculation apparatus calculates an operation allowable range in the direction in which the robot operates based on the operable range and transmits the operation allowable range to the robot control apparatus, and
when the operation allowable range is smaller than a predetermined judgement value, the robot control apparatus executes a control for reducing a speed of the robot lower than a predetermined manual operation speed or a control for stopping the robot.

US Pat. No. 10,118,227

MACHINE TOOL AND WORKPIECE FLATTENING METHOD

FANUC CORPORATION, Yaman...

1. A machine tool comprising:a table having a workpiece setting surface to which a workpiece is fixed;
a spindle equipped with a tool configured to perform flattening on the workpiece fixed to the table;
a workpiece flattening control unit configured to perform flattening on the workpiece using the tool in a manner that machining areas of the tool on a surface of the workpiece partially overlap one another;
at least one contact element arranged on the spindle at a position that faces the table;
a contact-element position storing unit configured to store multiple measured values that are obtained by performing measurement of a position of the contact element at least two times in a state where the spindle is set at at least one phase and the contact element is positioned at an identical point;
a spindle tilt angle calculating unit configured to calculate a tilt angle of the spindle with respect to an XY-plane for machining, based on the multiple measured values stored in the contact-element position storing unit; and,
a coordinate system rotation unit configured to rotate the XY-plane about at least one of X-axis and Y-axis, based on the tilt angle of the spindle calculated by the spindle tilt angle calculating unit,
wherein the workpiece flattening control unit machines a flat surface of the workpiece along the XY-plane rotated by the coordinate system rotation unit.

US Pat. No. 10,114,366

NUMERICAL CONTROLLER FOR MANAGING MACHINING DATA AND MACHINING RESULT

FANUC Corporation, Minam...

1. A numerical controller configured to control a machine based on input data including a machining program and a machining condition, the numerical controller comprising:an operation execution unit configured to perform operation control of the machine based on the machining program and the machining condition and generate output data indicative of a result of the operation control;
a data storage unit configured to store project data comprising the input data and the output data associated with each other and version information including a difference between versions of the project data;
a data management unit configured to perform version management of the project data; and
a display device configured to display the project data,
wherein the data management unit is configured
to generate, when an operator selects a version of the project data, input data and output data corresponding to the version of project data selected by the operator, based on the project data and the version information of the project data stored in the data storage unit, and
to store, when the operator modifies the input data and performs operation control based on the modified input data, (i) a difference between the input data and the modified input data and (ii) a difference between the output data and output data indicative of a result of the operation control based on the modified input data, as new version information of the project data in the data storage unit,
the display device is configured to display, with respect to a plurality of versions of the project data selected by the operator, relationship data between the plurality of versions of the project data, the relationship data including one or more of (i) an indication of a change in the machining program between the versions of the project data, (ii) an indication of a change in the machining condition between the versions of the project data, and (iii) an indication of a change in a processing time of a block of the machining program between the versions of the project data, and
the machining condition is (i) a parameter associated with performing operation control of the machine based on the machining program or (ii) a coordinate value of an axis of the machine.

US Pat. No. 10,054,930

ERROR CORRECTION AMOUNT CREATING DEVICE

FANUC CORPORATION, Yaman...

1. An error correction amount creating device that creates an error correction amount for a five-axis machine controlled by a numerical controller and having three linear axes and two rotation axes, the error correction amount creating device comprising:for said two rotation axes of a first axis and a second axis, a measurement data input unit that inputs, as arithmetic measurement data,
a translation error and rotation error at respective positions divided at equal or unequal intervals for the second rotation axis, measured by a measuring machine, when the first axis is fixed at an arbitrary angle, and
a translation error and rotation error at respective positions divided at equal or unequal intervals for the first rotation axis, measured by the measuring machine, when the second axis is fixed at an arbitrary angle,
wherein, when one of said two rotation axes is fixed at an arbitrary angle, the translation error and rotation errors at the respective positions in the fixed axis are all the same, and
an error correction amount arithmetic unit that obtains, from the arithmetic measurement data, at least one of a rotation axis-dependent translation error correction amount that is a translation error correction amount and a rotation axis-dependent rotation error correction amount that is a rotation error correction amount, for each lattice point of a lattice region into which a two-dimensional coordinate system space with the two rotation axes is divided at the equal intervals or unequal intervals in each axis direction; and
an error correction amount output unit that outputs at least one of the rotation axis-dependent translation error correction amount and the rotation axis-dependent rotation error correction amount to the numerical controller controlling the five-axis machine.

US Pat. No. 10,040,203

ROBOT HAND

FANUC CORPORATION, Yaman...

1. A robot hand comprising:a first movable member that includes a first pushing surface to be pushed against a first surface of a workpiece and a second pushing surface to be pushed against a second surface of the workpiece, intersecting the first surface, and that is supported in a manner capable of moving in a first direction perpendicular to the first pushing surface;
a second movable member that is supported by the first movable member in a manner capable of relatively moving in a second direction intersecting a movement direction of the first movable member, and that includes a third pushing surface to be pushed against a third surface facing the second surface;
an actuator that generates a pressing force for pressing the first movable member and the second movable member in the first direction; and
a pressing force conversion mechanism that converts a part of the pressing force generated by the actuator into a pressing force in a direction of moving the second movable member relative to the first movable member.

US Pat. No. 10,024,644

WIRE ELECTRICAL DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine having functions of relatively moving an object and a wire electrode supported by upper and lower wire guides and positioning the wire electrode or measuring the shape of the object based on a contact/non-contact state of the wire electrode and the object, the wire electrical discharge machine comprising:a voltage applying unit configured to apply a detection voltage for detecting the contact/non-contact state of the wire electrode and the object between the wire electrode and the object;
a relative movement unit for relatively moving the wire electrode and the object;
a wire electrode position detecting unit for detecting a center position of the wire electrode;
a contact state detecting unit configured to detect the voltage between the wire electrode and the object in the course of relative movement of the wire electrode toward and away from the object by the relative movement unit and detect the contact/non-contact state of the wire electrode and the object based on the detected voltage;
a wire electrode diameter storage unit for storing the diameter of the wire electrode;
a wire electrode displacement amount storage unit for storing an amount of displacement such that the wire electrode is displaceable between the upper and lower wire guides in a direction perpendicular to a line segment connecting the upper and lower wire guides;
an end face determination position detecting unit configured to detect an end face determination position in which the wire electrode is determined to be in contact with an end face of the object, based on the contact/non-contact state detected by the contact state detecting unit and the position of the wire electrode detected by the wire electrode position detecting unit;
a set number of times executing unit configured to execute a set number of times a contact detection movement where the relative movement unit moves the wire electrode and the object in the direction in which the wire electrode and an end surface of the object come into contact with each other with the movement speed slowing down and a non-contact detection movement where the relative movement unit moves the wire electrode and the object in the direction in which the wire electrode and the object come out of contact with each other with the movement speed increasing in order to shorten the detection time of the end surface determination position; and
an end face determination position compensation unit configured to obtain an average value of the end surface determination position at the time of the contact detection movement, which has been detected by the end surface determination position detection unit after the set number of times execution unit has executed the contact detection movements and the non-contact detection movements, and then obtain the end face determination position from the thus obtained average value by compensation using a compensation value obtained from the wire electrode diameter and the displacement amount,
wherein the wire electrical discharge machine positions the wire electrode or measures the shape of the object based on the position obtained by the end face determination position compensation unit as a position of the object.

US Pat. No. 10,005,107

WORKPIECE SORTING SYSTEM AND METHOD

FANUC CORPORATION, Yaman...

1. A workpiece sorting system comprising:a conveyor configured to randomly convey various types of workpieces having different weights;
a conveying position detection part configured to detect a conveying position of each of the workpieces conveyed by the conveyor;
a camera configured to photograph the workpieces conveyed by the conveyor;
a plurality of robots disposed along a conveying direction of the conveyor, each of the robots being provided with a hand capable of ejecting the workpieces on the conveyor and a weight measurement part configured to measure a weight of each of the workpieces ejected by the hand;
a controller configured to control each of the robots; and
a large group classifying part configured to classify the workpieces into two or more large groups based on a contour feature of an image of the workpieces captured by the camera, the large groups being allocated to the robots,
wherein the controller includes
a visual tracking part configured to cause each of the robots to handle the workpieces, while causing each of the robots to follow an operation of the conveyor, based on the image of the workpieces captured by the camera and the conveying position of each of the workpieces detected by the conveying position detection part,
a hand controller configured to control the hand using the visual tracking part so as to eject the workpieces classified into the large groups allocated to the robots from the conveyer, and
a workpiece sorting part configured to sort the workpieces based on the weight measured by the weight measurement part for each of small groups respectively included in the large groups.

US Pat. No. 9,964,943

NUMERICAL CONTROLLER OPERATING BASED ON TABULAR DATA

FANUC Corporation, Minam...

1. A numerical controller which controls a position of a control axis in synchronization with a reference value by using tabular data for instructing a position of each control axis based on the reference value which is time, an axis position, or a spindle position, comprising:a shift table in which the reference value and a movement amount of the control axis are stored in a manner to be associated with each other;
a command block read unit which reads a command block from the tabular data;
a table analysis unit which, in a case where a command for outputting a movement amount at a specific reference value is included in a command block which is read by the command block read unit, registers a reference value and a movement amount of the command block in the shift table while associating the reference value and the movement amount with each other;
an output determination unit which outputs, when the current reference value reaches the reference value registered in the shift table, a movement amount of the control axis that is associated with the reached reference value;
a distribution processing unit which generates a movement amount for an axis to be controlled by the tabular data, based on the command block read by the command block read unit, and updates a coordinate value of the control axis based on the movement amount of the control axis which is outputted by the output determination unit; and
an output control unit which superposes the movement amount of the control axis that is outputted by the output determination unit on the movement amount that is generated by the distribution processing unit, and outputs the superposed movement amount as a movement amount of the each control axis.

US Pat. No. 9,960,721

MOTOR CONTROL DEVICE PROVIDED WITH POWER FAILURE MANAGEMENT

FANUC CORPORATION, Yaman...

1. A motor control device which is connected to an AC power supply and used for a machine tool or an industrial robot which drives a driven body by controlling at least one motor, wherein the motor control device is provided with a power failure management function for use during an AC power supply failure at the time of driving the at least one motor, and wherein the at least one motor is controlled to perform at least one of stopping the at least one motor and retracting the driven body which is controlled by the at least one motor, the motor control device comprising:a first device including an AC-DC converter device equipped with a converter and DC link unit configured to convert AC power into DC power;
a second device connected to the first device including a DC-AC converter device and a control unit thereof, which is configured to output AC power to the at least one motor by converting DC power from the DC link unit into AC power by the DC-AC converter which is controlled by the control unit,
wherein:
the first device includes a power failure detection unit configured to detect power failure of the AC power supply at a time of driving the at least one motor and to generate a power failure detection signal in accordance with a detection of power failure, and a transmitter unit configured to transmit the power failure detection signal,
the second device includes a receiver unit configured to receive the power failure detection signal transmitted from the transmitter unit and transmit the detection signal to the control unit, and the control unit is configured to perform either stopping the at least one motor in response to receiving the power failure detection signal or retracting the driven body which is driven by the at least one motor, and
the motor control device further includes a plurality of additional second devices therein and each additional second device of the plurality of second devices is equipped with a receiver unit for receiving the power failure detection signal and configured to provide power failure management during power failure of the AC power supply;
when the power failure detection unit transmits a power failure detection signal during power failure of the AC power supply to a plurality of receiver units provided in each of the second device and the plurality of additional second devices, it is power failure management is provided in each of the second device and the plurality of additional second devices at the same timing of receiving the power failure detection signal, and power failure management is extended.

US Pat. No. 9,950,378

WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine which comprises an auxiliary discharge circuit, configured to apply a voltage to an inter-electrode gap between an electrode and a workpiece, thereby inducing electric discharge, and a main discharge circuit configured to supply a machining current, and machines the workpiece by repeating a cycle in which the main discharge circuit is activated and stopped after the auxiliary discharge circuit is activated, the wire electric discharge machine comprising:a discharge delay time measuring unit configured to measure a discharge delay time, which is a duration without electric discharge such that a machining voltage is applied from the auxiliary discharge circuit to the inter-electrode gap,
wherein
a short-circuit machining current is supplied from the main discharge circuit to the inter-electrode gap when a result of measurement by the discharge delay time measuring unit is zero after a lapse of a predetermined short-circuit determination period since a start of an application of the machining voltage to the inter-electrode gap by the auxiliary discharge circuit,
no machining current is supplied from the main discharge circuit to the inter-electrode gap or a machining current lower than or equal to the short-circuit machining current is supplied when electric discharge is generated and the discharge delay time is less than a reference value after the short-circuit determination period,
a normal machining current equal to or higher than the short-circuit machining current is supplied from the main discharge circuit to the inter-electrode gap when electric discharge is generated and the discharge delay time is not less than the reference value after the short-circuit determination period, and
the machining current applied to the inter-electrode gap when electric discharge is generated and the discharge delay time is less than the reference value after the short-circuit determination period, is lower than the normal machining current applied to the inter-electrode gap when electric discharge is generated and the discharge delay time is not less than the reference value after the short-circuit determination period.

US Pat. No. 9,937,620

ROBOT SYSTEM HAVING FUNCTION TO CALCULATE POSITION AND ORIENTATION OF SENSOR

FANUC CORPORATION, Yaman...

1. A robot system comprising a robot having a movable part to which a sensor is attached to monitor at least vibrations, and a control device which controls the operation of the robot, whereinthe control device comprises a sensor coordinate system calculation unit which calculates a position and an orientation of the sensor by causing the robot to perform a predetermined operation, and
the sensor coordinate system calculation unit comprises an operation parameter optimization unit which is configured to obtain a combination most suitable for calculating the position and orientation of the sensor, from a plurality of combinations of modified values of a predetermined type of operation parameters, by making the robot perform the predetermined operation, successively using each of the combinations, and wherein
the operation parameter optimization unit is configured to
calculate the position and orientation of the sensor based on data of a physical quantity representing the vibrations, the data output from the sensor when the predetermined operation is performed by the robot in accordance with each of the combinations, and calculate the physical quantity acting on the sensor based on the calculated position and orientation of the sensor and on the position and posture of the robot during the predetermined operation, and
determine a combination in which the calculation precision of the position and orientation of the sensor becomes the highest, from the plurality of combinations, based on the data output from the sensor and the calculated physical quantity acting on the sensor.

US Pat. No. 9,903,774

ROBOT SYSTEM FOR MONITORING CONTACT FORCE OF ROBOT AND HUMAN

FANUC CORPORATION, Yaman...

1. A robot system comprising:
a robot;
a load detector which detects the load applied to the robot; and
a robot controller which controls the robot, wherein
the load detector has a plurality of temperature detection elements to detect temperatures, and
the robot controller is configured to
monitor whether a temperature difference between the detected temperatures output from at least two temperature detection
elements of the plurality of temperature detection elements exceeds a third threshold, and

stop the operation of the robot when the difference between the detected temperatures exceed the third threshold.

US Pat. No. 9,902,010

WELDING ROBOT MONITORING FEEDABILITY OF WELDING WIRE

FANUC CORPORATION, Yaman...

1. A welding robot, comprising:
an arm having a first link, and a second link rotatably connected to a base end part of the first link via a rotational axis:
a welding torch attached to the arm at a side of the first link;
a wire feed device attached to the arm at a side of the second link;
a welding cable connected to both of the wire feed device and the welding torch and configured to hold a welding wire fed
from the wire feed device to the welding torch, the welding cable being constrained by a first constraining part provided
at the first link and a second constraining part provided at the second link to be adjacent to the rotational axis;

a control part configured to control operation of the arm to move the welding torch over a predetermined welding path; and
a monitoring part configured to judge that an amount of flexure of the welding cable caused by operation of the rotational
axis is within an allowable range of the amount of flexure, when at least one of an operating angle and an angular speed of
the rotational axis obtained during movement of the welding torch over the welding path under the control of the control part
is equal to or less than a predetermined upper limit value corresponding to the allowable range, and

judge that the amount of flexure exceeds the allowable range when the at least one of the operating angle and the angular
speed is larger than the predetermined upper limit value.

US Pat. No. 9,782,921

INJECTION MOLDING SYSTEM WITH ADDITIONAL INJECTION DEVICE

FANUC CORPORATION, Yaman...

1. An injection molding system comprising:
an injection molding machine;
an injection molding machine controller for controlling the injection molding machine;
at least one additional injection device;
an additional injection device controller for controlling the additional injection device;
power interruption signal transmission means configured to transmit a power interruption signal between the injection molding
machine controller and the additional injection device controller;

a communication line through which a state of position confirmation means for a movable door is transmitted between the injection
molding machine controller and the additional injection device controller; and

notification means,
wherein the injection molding machine comprises at least one injection molding machine movable door and position confirmation
means for the injection molding machine movable door, capable of detecting an open/close state of the injection molding machine
movable door,

the injection molding machine controller outputs a power interruption signal to the additional injection device controller
through the power interruption signal transmission means when it is detected by the position confirmation means for the injection
molding machine movable door that the injection molding machine movable door is opened,

the additional injection device comprises at least one additional injection device movable door and position confirmation
means for the additional injection device movable door, capable of detecting an open/close state of the additional injection
device movable door,

the additional injection device controller outputs a power interruption signal to the injection molding machine controller
through the power interruption signal transmission means when it is detected by the position confirmation means for the additional
injection device movable door that the additional injection device movable door is opened,

the injection molding machine controller obtains the state of the position confirmation means for the additional injection
device movable door through the communication line and/or the additional injection device controller obtains the state of
the position confirmation means for the injection molding machine movable door through the communication line, and

the state of the position confirmation means for the additional injection device movable door and/or the state of the position
confirmation means for the injection molding machine movable door is notified by the notification means.

US Pat. No. 9,787,330

CONTROLLER HAVING ERROR CORRECTION FUNCTION IN ACCORDANCE WITH OPERATING STATE OF MONITORING TARGET

FANUC Corporation, Minam...

1. A controller that has an error correction function that encodes information data into code words and decodes code words
into information data by using error correction codes, and automatically corrects a correctable error in decoding, the controller
comprising:
a state monitoring unit that monitors a state of a monitoring target and outputs state information;
a correction rate calculation unit that outputs a correction rate for respective states; and
an error correction processing unit that has an error correction code group including a plurality of error correction codes
having a correction capability ranking defined based on a predetermined standard, encodes information data into code words
and decodes code words into information data by switching the error correction codes, and outputs correction information related
to the error correction,

wherein the correction rate calculation unit is configured to calculate the correction rate for the respective states based
on the state information outputted by the state monitoring unit and the correction information outputted by the error correction
processing unit,

wherein the error correction processing unit is configured to switch the error correction codes to a higher correction capability
based on the comparison of the correction rate for the respective states outputted by the correction rate calculation unit
with a first predetermined threshold, and, when the correction rate for the respective states does not exceed the first predetermined
threshold, the error correction processing unit is further configured to switch the error correction codes to a lower correction
capability based on the comparison of the correction rate for the respective states outputted by the correction rate calculation
unit with a second predetermined threshold, and

wherein the first predetermined threshold and the second predetermined threshold are changeable according to the states of
the monitoring target when the correction rate for the respective states is within the first predetermined threshold and the
second predetermined threshold.

US Pat. No. 9,776,328

ROBOT CONTROL APPARATUS HAVING FUNCTION OF DETECTING CONTACT WITH OBJECT OR PERSON

FANUC CORPORATION, Yaman...

1. A robot control apparatus, comprising:
a contact detection unit which judges whether or not a robot is in contact with an object other than the robot; and
an operation direction monitor unit which detects an operation direction of the robot after the robot comes in contact with
the object, and monitors operation of the robot; wherein

the contact detection unit set a reference direction which is a direction of reference for retreat of the robot when the robot
comes in contact with the object,

the reference direction is a direction in which the robot moves away from the object,
the operation direction monitor unit sets a range within a predetermined angle with respect to the reference direction to
a permissible range, and

after the robot comes in contact with the object, the operation direction monitor unit permits operation of the robot being
within the permissible range and inhibits operation of the robot falling outside the permissible range.

US Pat. No. 9,744,705

CONTROLLER FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. An injection molding controller for an injection molding machine, the injection molding controller programmed to simultaneously
execute at least a part of a mold clamping step and at least a part of an injection step, the injection molding controller
comprising a processor configured to
receive an input of a gas venting time from start of the injection step until completion of a mold clamping operation as a
first time,

acquire an operating time for the mold clamping step as a second time,
compare the first time and the second time,
in response to the first time being shorter than the second time,
start the injection step when a time equal to a difference between the first time and the second time has elapsed after the
mold clamping step is started, and

in response to the first time being longer than the second time,
stop a movable platen at a mold touch position until the time equal to the difference between the first time and the second
time has elapsed after the injection step is started, and then

start the mold clamping step when the time equal to the difference has elapsed.

US Pat. No. 9,740,197

MOTOR CONTROL APPARATUS GENERATING COMMAND LIMITED BY MOTOR TORQUE

Fanuc Corporation, Yaman...

1. A motor control apparatus controlling a motor connected to a movable body as a driving source to linearly move the movable
body, the control apparatus comprising:
a detection unit configured to detect a motor rotational frequency;
a storage unit configured to store an allowable torque which is a maximum torque that the motor can output at the motor rotational
frequency detected by the detection unit, a first torque offset which is a torque generated in a direction opposite to a moving
direction of the movable body, a second torque offset which is a torque generated in one direction regardless of the moving
direction of the movable body, a rotor inertia moment of the motor, a load inertia moment, and a conversion factor for converting
a motor rotation angle in rotary motion of the motor to a moving distance in linear motion of the movable body; and

an acceleration calculation unit configured to calculate an acceleration command of the motor for each moving direction of
the movable body and each acceleration operation and deceleration operation of a rotor of the motor using the allowable torque,
the first torque offset, the second torque offset, the rotor inertia moment, the load inertia moment, and the conversion factor.

US Pat. No. 9,764,474

ROBOT SYSTEM IN WHICH BRIGHTNESS OF INSTALLATION TABLE FOR ROBOT IS CHANGED

FANUC CORPORATION, Yaman...

1. A robot system, comprising:
an intrusion detector which detects that a person has entered into a monitoring area established around a robot;
an installation table which has an upper surface and a side surface, and supports the robot;
a light emitting device which brightens the side surface of the installation table; and
a control device which receives a signal outputted by the intrusion detector and controls the light emitting device, wherein
the upper surface of the installation table is a working surface for workpieces, and
the control device is configured to cause the light emitting device to emit light when it is detected that the person has
entered into the monitoring area.

US Pat. No. 9,724,828

ROBOT SYSTEM IN WHICH BRIGHTNESS OF INSTALLATION TABLE FOR ROBOT IS CHANGED

FANUC CORPORATION, Yaman...

1. A robot system, comprising:
an intrusion detector which detects that a person has entered into a monitoring area established around a robot;
an installation table which has an upper surface and a side surface, and supports the robot;
a light emitting device which brightens the side surface of the installation table; and
a control device which receives a signal outputted by the intrusion detector and controls the light emitting device, wherein
the upper surface of the installation table is a working surface for workpieces, and
the control device is configured to cause the light emitting device to emit light when it is detected that the person has
entered into the monitoring area.

US Pat. No. 9,729,039

LINEAR DRIVE UNIT WITH A MAGNETIC GAP CHANGING MECHANISM

Fanuc Corporation, Yaman...

1. A machine tool comprising a linear drive unit having a linear motor provided with a magnet and a coil having a coil core,
wherein a movable part is configured to linearly move relative to a fixed part via a bearing,
wherein the linear drive unit comprises a magnetic gap changing mechanism which is configured to change a magnitude of a magnetic
gap between the coil and the magnet, by displacing the coil so that the coil and the magnet approach or are separated from
each other,

wherein the coil is positioned within a coil bearing, and the coil bearing guides a movement direction of the coil in a direction
of the magnetic gap,

and wherein the machine tool has a plurality of processing modes in which the magnitudes of the magnetic gaps are different
from each other, and the processing modes includes a crude processing mode and a finish processing mode, in which the magnetic
gap in the finish processing mode is larger than the magnetic gap in the crude processing mode.

US Pat. No. 9,751,246

EJECTION CONTROLLER FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. An ejection controller for an injection molding machine,
the injection molding machine comprising:
a mold clamping unit;
an injection unit;
a mold unit;
an ejection device for releasing a molded article of a resin from the mold unit after the resin injected from the injection
unit into the mold unit is molded; and

a cover unit provided at least around the mold clamping unit and comprising a safety door configured to be opened and closed,
the ejection controller comprising:
an ejection interruption control unit configured to, in response to position data indicating that the ejection device is at
a predetermined ejection interrupting position, interrupt ejection by the ejection device before the ejection is completed;

a safety door closing detection unit configured to detect closing of the safety door in an open state; and
an ejection restart control unit configured to restart the ejection by the ejection device when the safety door closing detection
unit detects the closing of the open safety door while the ejection device is interrupted by the ejection interruption control
unit.

US Pat. No. 9,718,161

ROTATION TABLE

FANUC CORPORATION, Yaman...

1. A rotation table, comprising:
a rotation axis;
a work placement table connected to one end of the rotation axis;
a clamping device configured to hold the work placement table at a stop position;
a switching valve configured to switch the clamping device; and
a member configured to connect the clamping device to the switching valve, said member having a pressure fluid supply flow
passageway, and the member being free of a joint and a pipe,

wherein the clamping device and the switching valve are configured to communicate with each other.

US Pat. No. 9,720,226

MACHINE TOOL INCLUDING VIEWING WINDOW CONTROLLER

FANUC CORPORATION, Yaman...

1. A machine tool including a viewing window attached to a splash guard or an opening/closing door, the viewing window for
observation of a machining area, and a block plate provided inside the viewing window, the block plate for blocking the viewing
window, the machine tool comprising:
an actuator for driving the block plate to switch states between a state in which the machining area is visible from outside
the viewing window and a state in which the machining area is not visible from outside the viewing window;

an operation mode determination unit for determining an operation mode of the machine tool; and
a controller for driving the actuator according to the determination result by the operation mode determination unit to control
opening or closing operation of the block plate.

US Pat. No. 9,720,397

MACHINE TOOL HAVING WARMING-UP FUNCTION

FANUC CORPORATION, Yaman...

1. A machine tool having a warming-up function of driving a movable unit of the machine tool to perform warm up, the machine
tool comprising:
a control unit that controls the movable unit;
a temperature measurement unit that measures an atmospheric temperature around the machine tool;
a program storage unit that stores a plurality of warm-up operation programs in association with the atmospheric temperature;
a warm-up operation command unit that selects one warm-up operation program from among the warm-up operation programs stored
in the program storage unit on the basis of the atmospheric temperature measured by the temperature measurement unit, and
gives a command of warm-up operation to the control unit on the basis of the selected warm-up operation program; and

a humidity measurement unit that measures an atmospheric humidity around the machine tool, wherein
the control unit controls the movable unit on the basis of the command from the warm-up operation command unit,
the program storage unit stores the plurality of warm-up operation programs in association with the atmospheric temperature
and the atmospheric humidity, and

the warm-up operation command unit is configured to select the warm-up operation program from among the warm-up operation
programs stored in the program storage unit on the basis of the atmospheric temperature measured by the temperature measurement
unit and the atmospheric humidity measured by the humidity measurement unit.

US Pat. No. 9,700,982

ROTARY JOINT SUPPORT STRUCTURE SPINDLE OF MACHINE TOOL, AND ELECTRIC MOTOR

FANUC CORPORATION, Yaman...

1. A rotary joint support structure, comprising:
a rotary joint which includes a rotating side member and a stationary side member which are provided with bores which communicate
with each other,

a housing which supports said stationary side member,
a hollow shaft which is connected to said rotating side member,
a hollow shaft surrounding part which surrounds said hollow shaft,
a hollow rotary joint holding part which is formed inside said housing and surrounds contact parts between said rotating side
member and stationary side member,

at least one drain hole which extends from an outside of said housing to said rotary joint holding part,
a first cleaning passage which is formed inside said housing and is in fluid communication with said rotary joint holding
part,

a hollow shaft holding part which is formed inside said housing and covers said hollow shaft and said hollow shaft surrounding
part,

a plurality of cutaway parts which are formed in a circumferential direction of the housing so as to communicate an outside
of said housing with said hollow shaft holding part, and

a plurality of second cleaning passages, each of which is in fluid communication with each of the cutaway parts inside said
housing at positions corresponding to the plurality of cutaway parts.

US Pat. No. 9,656,362

TOOL CHANGER EQUIPPED WITH COVERS

FANUC CORPORATION, Yaman...

1. A tool changer, comprising:
a turret configured to grip tools, the tool changer being adapted to change a tool mounted on a spindle of a machine tool
by indexing a desired tool by rotating the turret;

a front cover adapted to cover a first surface of the turret;
a rear cover adapted to cover a second surface of the turret, the rear cover including a cylindrical portion having a cylindrical
surface portion having a cylinder center axis; and

a gap defined between the front cover and the rear cover, wherein the front and rear covers are distant from each other by
the gap,

wherein
the first surface of the turret is positioned farther from the spindle of the machine tool than from the gap,
the second surface of the turret is positioned closer to the spindle of the machine tool than the gap is,
an upper end of the cylindrical portion of the rear cover is higher than an upper end of the front cover in a state where
tool change is not performed, and

a protrusion, protruding from the cylindrical surface portion away from the cylinder center axis, is provided on the rear
cover at a position between an upper surface of the upper end of the cylindrical portion of the rear cover and the gap in
the state where tool change is not performed, and the protrusion is configured to block chips and cutting fluid from intruding
into the gap.

US Pat. No. 9,672,630

CONTOUR LINE MEASUREMENT APPARATUS AND ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A contour line measurement apparatus comprising:
a first camera and a second camera which capture a picture of an object to obtain a first object picture and a second object
picture, respectively;

an epipolar plane generation unit for generating, on the basis of a position and posture of the first camera and the second
camera, a plurality of epipolar planes so as to cross the object;

an epipolar line calculation unit for calculating a plurality of first epipolar lines in which the plurality of epipolar planes
are projected on an imaging surface of the first camera and a plurality of second epipolar lines in which the plurality of
epipolar planes are projected on an imaging surface of the second camera;

a reference contour line setting unit for setting a three dimensional reference contour line of the object;
a reference contour line image calculation unit for calculating a first reference contour line image and a second reference
contour line image in which the reference contour line is projected on the imaging surface of the first camera and the imaging
surface of the second camera, respectively;

an edge line extraction unit which sets a first picture processing region in the vicinity of the first reference contour line
image and extracts, from the first object picture in the first picture processing region, a first edge line which is an image
of a contour line of the object, while setting a second picture processing region in the vicinity of the second reference
contour line image and extracting, from the second object picture in the second picture processing region, a second edge line
which is an image of the contour line of the object;

an edge point generation unit for generating a plurality of first edge points which are intersections of the first edge line
and the plurality of first epipolar lines and a plurality of second edge points which are intersections of the second edge
line and the plurality of second epipolar lines;

a corresponding point selection unit for selecting, from the plurality of first edge points and the plurality of second edge
points, a pair of edge points consisting of the first edge point and the second edge point which are generated by using the
same epipolar plane and correspond to the same portion of the reference contour line; and

a three dimensional point calculation unit for calculating a three dimensional point on the contour line of the object on
the basis of a visual line of the first camera and a visual line of the second camera which pass the pair of edge points.

US Pat. No. 9,621,006

ELECTRIC MOTOR WITH SCATTER PREVENTING MEMBER OF BEARING PART

Fanuc Corporation, Yaman...

1. An electric motor comprising:
a housing,
a stator which is fastened to said housing,
a rotor which is arranged at an inside of said stator,
a bearing which is attached to said housing to support a shaft of said rotor, the bearing comprising a rolling element,
a shield member which is attached to said bearing to prevent scattering of lubricant enclosed in said bearing, and
a scatter preventing member which extends from said housing so as to be positioned between said bearing and an iron core of
said rotor, and prevents scattering of at least one of said shield member, and said rolling element to the inside of said
housing,

wherein the scatter preventing member is formed integrally with the housing, and
wherein said scatter preventing member has a center hole through which said shaft is inserted,
said bearing is a rolling bearing which comprises pluralities of rolling elements,
a diameter of said center hole is less than a sum of the diameter of said shaft plus two times the diameter of said rolling
elements, and

the scatter preventing member forms a radial gap with respect to the shaft of the rotor such that the scatter preventing member
does not contact the shaft of the rotor.

US Pat. No. 9,602,039

PWM RECTIFIER FOR MOTOR DRIVE CONNECTED TO ELECTRIC STORAGE DEVICE

Fanuc Corporation, Yaman...

1. A PWM rectifier connected through an electric storage device capable of storing DC power to DC side of an inverter performing
a power conversion between the DC power and AC power which is drive power or regenerative power of a motor, the PWM rectifier
comprising:
a main circuit unit in which a switching operation of a switching element is PWM-controlled on the basis of a PWM control
signal received, and which performs a power conversion between AC power on an AC power supply side and the DC power on the
DC side;

a DC voltage loop control unit which generates a current command to cause the DC voltage value on the DC side of the main
circuit unit to match a DC voltage command received;

a current command restriction unit which sets, when an absolute value of the current command exceeds a limit value predetermined,
the limit value as a final current command, and otherwise sets the current command as the final current command;

a DC voltage loop saturation determination unit which determines that the DC voltage loop control unit is in a saturation
state when the current command restriction unit sets the limit value as the final current command and otherwise determines
that the DC voltage loop control unit is in a non-saturation state;

a DC voltage command calculation unit which maintains the DC voltage command when the DC voltage loop saturation determination
unit determines the non-saturation state, and changes the DC voltage command into a value obtained by adding a predetermined
offset to a minimum value or a maximum value of the DC voltage value after a transition to the saturation state from the non-saturation
state when the DC voltage loop saturation determination unit determines the saturation state; and

a PWM control signal generation unit which generates the PWM control signal using the final current command to output the
PWM control signal to the main circuit unit.

US Pat. No. 9,570,875

LASER OSCILLATOR INCLUDING FANS WHICH COOL RESONATOR UNIT

Fanuc Corporation, Yaman...

1. A laser oscillator comprising:
a resonator unit configured to resonate a laser beam to be output;
a heat exchanger which is arranged adjacent to the resonator unit and is to be supplied with a cooling liquid;
a fan which is arranged at least at one of two opposite positions across both the resonator unit and the heat exchanger and
generates airflow in one direction, which passes through both the resonator unit and the heat exchanger;

a resonator temperature measuring unit which measures a temperature of the resonator unit; and
a fan control unit which controls the fan,
wherein the fan control unit switches a direction in which air is blown by the fan, based on the temperature of the resonator
unit measured by the resonator temperature measuring unit.

US Pat. No. 9,527,176

CONTROL DEVICE FOR MACHINE TOOL INCLUDING ROTARY INDEXING DEVICE

FANUC CORPORATION, Yaman...

1. A control device for a machine tool including a rotary indexing device, the rotary indexing device comprising:
a rotary table on which a work is to be mounted and fixed;
a clamping mechanism configured to clamp the rotary table;
a drive motor configured to rotate and drive the rotary table; and
a motor controller configured to control a rotation position and a speed of the drive motor,
wherein the rotary table is configured to be clamped by the clamping mechanism at a target position of a predetermined rotation
angle position,

wherein the control device comprises a processor configured to
detect an output torque of the drive motor,
obtain a position deviation from the motor controller, and
execute a target position changing processing on a condition that a time, during which the detected output torque of the drive
motor is equal to or higher than a preset permissible torque, continues for a predetermined time or the detected output torque
of the drive motor reaches a preset upper limit torque while a work mounted on the rotary table is being machined, and

wherein, in executing the target position changing processing, the processor is configured to
change the target position such that the output torque of the drive motor is brought close to or equal to 0 if the detected
output torque is equal to or higher than the permissible torque, and

change the target position by increments such that the obtained position deviation is brought close to or equal to 0 if the
detected output torque is smaller than the permissible torque.

US Pat. No. 9,512,851

ELECTRONIC APPARATUS WITH FAN MOTOR

FANUC Corporation, Minam...

1. An electronic apparatus comprising:
a fan motor;
a rotation state detection unit configured to detect a rotation state of the fan motor;
a display unit configured to display an operation state of the fan motor; and
a restart control unit configured to restart the fan motor if a rotation failure of the fan motor in a stopped state is detected
by the rotation state detection unit, wherein

the display unit is configured to display an indication to prompt replacement of the fan motor if a normal operation of the
fan motor is detected by the rotation state detection unit when the fan motor is restarted by the restart control unit, and

the electronic apparatus is configured so that the electronic apparatus is stopped or the fan motor is de-energized if an
abnormal operation of the fan motor is detected by the rotation state detection unit when the fan motor is restarted by the
restart control unit.

US Pat. No. 9,511,462

ATTACHMENT STRUCTURE FOR MAIN SPINDLE AND TOOL HOLDER OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. An attachment structure, comprising a main spindle and a tool holder of a machine tool, wherein
the tool holder has
a tapered shank portion having a smaller end and a larger end opposite each other in an axial direction of the tool holder,
the tapered shank portion gradually tapered from the larger end to the smaller end, and

a first through hole extending in the axial direction through the tapered shank portion,
the main spindle has
a tapered hole, and
a second through hole communicated with the tapered hole,
the tool holder is attached to the main spindle in a state in which
the tapered shank portion of the tool holder is inserted, in the axial direction, into the tapered hole formed in the main
spindle of the machine tool, and

the first through hole is communicated with the second through hole to form a passage for a cutting fluid, and
the attachment structure further comprises:
a circumferential groove formed (i) in an inner wall of the main spindle and (ii) outside the tapered hole,
wherein the circumferential groove is arranged, in the axial direction, between the tapered hole and the smaller end of the
tapered shank portion.

US Pat. No. 9,492,921

ROBOT CONTROLLER HAVING DETACHABLE TEACHING PENDANT

FANUC CORPORATION, Yaman...

1. A robot controller for controlling a robot, comprising:
a teaching pendant having an emergency stop button for interrupting drive power for the robot, the teaching pendant being
detachably connected to a main body of the robot controller;

a connection/disconnection switch which is manually operated when the teaching pendant is attached to or detached from the
main body of the robot controller;

a signal part which generates a connection-recognition signal representing that the teaching pendant is connected to the main
body of the robot controller; and

a power interrupting part
configured to not interrupt drive power for the robot when the connection-recognition signal is not generated even when the
robot controller receives an emergency stop signal from the teaching pendant, during a connecting/disconnecting operation
allowable state, the connecting/disconnecting operation allowable state corresponding to a duration until a first predetermined
period of time has passed after the connection/disconnection switch is operated, and configured to interrupt the drive power
for the robot when the robot controller receives the emergency stop signal form the teaching pendant, after the first predetermined
period of time has passed.

US Pat. No. 9,484,817

DC/DC CONVERTER

FANUC CORPORATION, Yaman...

1. A two- or more-channel digitally controlled step-down DC/DC converter using fixed ON-time nonlinear control, comprising:
switching power supply circuits of first to N-th (where N is an integer not less than 2) channels, the switching power supply
circuits being connected to an input terminal in parallel;

A/D converters for converting output voltages outputted from output terminals of the switching power supply circuits of the
respective channels to digital signals; and

an arithmetic processing unit receiving the digital signals converted by the A/D converters,
wherein each of the switching power supply circuit includes
a switching element having a first terminal connected to the input terminal to be turned on and off;
an inductor having a first terminal connected to a second terminal of the switching element;
a capacitor connected between a second terminal of the inductor and 0 volt; and
a driving circuit for driving the switching element, and wherein
the arithmetic processing unit is configured to measure a time interval between a time at which the switching element of the
switching power supply circuit of the first channel has been turned ON and a time at which the switching element of the switching
power supply circuit of the relevant one of the second to N-th channels has been turned ON, in case where the arithmetic processing
unit determines that the switching element of the switching power supply circuit of each of the second to N-th channels has
been turned ON, and,

if the measured time interval is within a specified range, the arithmetic processing unit continues operation without changing
an ON time of the switching power supply circuit used last time, but

if the measured time interval is out of the specified range, the arithmetic processing unit increases or decreases the ON
time of the switching element within a specified time range and continues operation so that the time interval may be brought
back to the specified range, thereby shifting phases of switching of the switching elements of the power supply circuits of
the respective channels to reduce overlaps between the ON times of the switching elements of the respective channels.

US Pat. No. 9,454,146

NUMERICAL CONTROLLER ENABLING INPUT OF RELATIVE TOOL DIRECTION TO WORKPIECE

FANUC Corporation, Minam...

1. A numerical controller controlling a five-axis machining machine that machines a workpiece attached to a table with three
linear axes and two rotary axes, the numerical controller comprising:
a relative tool direction input unit that inputs by a manual operation a relative tool direction representing a relative position
of the tool direction with respect to the workpiece after the rotary axes are moved, as a vector, roll-pitch-yaw angles, or
Euler angles; and

a rotary-axis position conversion unit that converts the relative tool direction into the rotary axis positions of the two
rotary axes,

wherein the numerical controller drives the two rotary axes based on the rotary axis positions.

US Pat. No. 9,448,545

SERVO CONTROL DEVICE FOR PERFORMING CORRECTION BASED ON AMOUNT OF STRETCH OR CONTRACTION OF BALL SCREW

FANUC CORPORATION, Yaman...

1. A servo control device for controlling a feed axis which converts rotational motion of a servo motor into linear motion
of a moving body by way of a ball screw,
wherein the ball screw is supported at opposite ends thereof by a first fixed unit arranged at one end of the ball screw closer
to the servo motor, and by a second fixed unit arranged at the other end of the ball screw, respectively,

the servo control device comprising:
a position command generating unit for generating a position command associated with a position of the feed axis;
a torque command generating unit for generating a torque command for the servo motor;
a thermal displacement amount calculating unit for calculating an amount of thermal displacement of the ball screw;
a tension calculating unit for calculating tension acting between the ball screw and the second fixed unit, based on a distance
from the first fixed unit to the second fixed unit, a distance from the first fixed unit to the moving body, the amount of
thermal displacement calculated by the thermal displacement amount calculating unit, and the torque command generated by the
torque command generating unit;

a stretch/contraction amount calculating unit for calculating an amount of locally-generated stretch or contraction of the
ball screw during operation of the servo motor, based on the tension calculated by the tension calculating unit, the distance
from the first fixed unit to the second fixed unit, the distance from the first fixed unit to the moving body, and the torque
command generated by the torque command generating unit; and

a position correction amount calculating unit for calculating an amount of position correction adapted to correct the position
command associated with a position of the feed axis, based on the amount of locally-generated stretch or contraction calculated
by the stretch/contraction amount calculating unit.

US Pat. No. 9,429,936

SERVO MOTOR CONTROLLER HAVING SELF-MEASURING FUNCTION AND SELF-MONITORING FUNCTION OF MECHANICAL STIFFNESS

Fanuc Corporation, Yaman...

1. A controller that controls a servo motor for driving a machine tool, comprising:
a speed command generating unit configured to generate a speed command value of the servo motor;
a speed detecting unit configured to detect a speed of the servo motor;
a torque command generating unit configured to generate a torque command value of the servo motor on a basis of the speed
command value and the detected speed;

a sine wave generating unit configured to generate a sinusoidal disturbance value;
a frequency response calculating unit configured to add the sinusoidal disturbance value generated by the sine wave generating
unit to the speed command value, thereby calculating a frequency response on a basis of output from a speed control loop when
the sinusoidal disturbance value has been input to the speed control loop including the torque command generating unit and
the speed detecting unit;

a resonance frequency detecting unit configured to detect a resonance frequency which is a frequency at which a gain of the
calculated frequency response is maximized;

a resonance frequency storing unit configured to store the resonance frequency detected by the resonance frequency detecting
unit;

at least one filter that attenuates a specific frequency band component included in the torque command value; and
a resonance frequency comparing unit configured to measure stiffness of a machine tool on a basis of the resonance frequency
stored in the resonance frequency storing unit, and adjusts the filter with respect to the resonance frequency.

US Pat. No. 9,418,394

OPERATION SIMULATION SYSTEM OF ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. An operation simulation system for simulating, on a computer, operation of a robot system having a robot, a machine tool
and a peripheral device, the robot system including moving members configured to move in accordance with a predetermined operating
program, the operation simulation system comprising:
a memory storing in advance the operating program, shape data of the moving members, and shape data of a workpiece;
a setting unit configured to set movement points, which are configured to move together with the moving members, at specific
portions of the robot and the machine tool or at specific portions of the robot and the peripheral device which are linked
with the moving members,

wherein the movement points are set based on different positional coordinates of the corresponding moving members;
a data acquisition unit configured to acquire time series position data of the movement points when simulating operation of
the robot system in accordance with the operating program on the computer;

an image generation unit configured to generate
an image of the robot system operating in accordance with the operating program based on (i) the simulated operation of the
robot system on the computer and (ii) the shape data of the moving members and the shape data of the workpiece stored in the
memory, and

an image of movement paths of the corresponding movement points based on the time series position data acquired by the data
acquisition unit; and

a display unit configured to display the image of the robot system and the image of the movement paths generated by the image
generation unit.

US Pat. No. 9,404,974

MOTOR DRIVE DEVICE INCLUDING INSULATION DETERIORATION DETECTION FUNCTION AND INSULATION RESISTANCE DETECTION METHOD OF MOTOR

FANUC CORPORATION, Yaman...

1. A motor drive device, comprising:
a first switch;
a rectification circuit configured to rectify an alternating-current voltage supplied from an alternating-current power source
via the first switch into a direct-current voltage;

a power source unit comprising a capacitor and configured to smooth the direct-current voltage rectified by the rectification
circuit by the capacitor;

an inverter unit comprising a semiconductor switching element and configured to drive a motor by converting the direct-current
voltage smoothed by the power source unit into an alternating-current voltage by a switching operation of the semiconductor
switching element;

a resistor, one end of which is connected to a coil of the motor and the other end of which is connected to a first terminal
of the capacitor;

a current detection unit configured to measure a current value of a current flowing through the resistor;
a voltage detection unit configured to measure a voltage value of a voltage across the first terminal and a second terminal
of the capacitor;

a second switch that grounds the second terminal of the capacitor; and
an insulation resistance detection unit configured to stop the operation of the motor, turn off the first switch, and
detect an insulation resistance value of an insulation resistance of the motor, by using two sets of the current value and
the voltage value measured in a state where the second switch is turned off and in a state where the second switch is turned
on, wherein an influence of a leakage current of the semiconductor switching element is eliminated by using the two sets of
the current value and the voltage value measured in the state where the second switch is turned off and in the state where
the second switch is turned on, and wherein the insulation resistance is a resistance between the coil of the motor and the
ground.

US Pat. No. 9,370,866

WRIST UNIT OF INDUSTRIAL ROBOT

FANUC CORPORATION, Yaman...

1. A wrist unit of an industrial robot, comprising:
a first wrist element supported rotatably about a first axial line at a first joint of a front end side of a robot arm;
a second wrist element supported rotatably about a second axial line at a second joint of a front end side of the first wrist
element, the second axial line not being on an extension of the first axial line and not being parallel to the first axial
line;

a third wrist element supported rotatably about a third axial line at a third joint of a front end side of the second wrist
element, the third axial line not being on an extension of the second axial line and not being parallel to the second axial
line;

a second wrist drive motor provided at the first wrist element or the robot arm to drive the second wrist element;
a third wrist drive motor provided at the first wrist element or the robot arm to drive the third wrist element; and
an eccentric rocking reduction gear provided at the second joint so that a rotation center axial line matches with the second
axial line to decelerate and transmit a rotation from the second wrist drive motor to the second wrist element,

wherein the eccentric rocking reduction gear comprises:
a carrier forming a hollow part along the rotation center axial line;
a through shaft (i) supported rotatably at the carrier by a pair of first bearings arranged inside the hollow part and (ii)
passing through the hollow part to transmit a rotation from the third wrist drive motor from a side of the first wrist element
to a side of the second wrist element, wherein

at one end of the through shaft, a bevel gear, which is engaged with a bevel gear at the end of the first wrist element, is
attached, and

at the other end of the through shaft, a flat gear, which is engaged with a flat gear at the end of the second wrist element,
is attached;

a plurality of crankshafts arranged around the through shaft, the plurality of crankshafts having flat gears at ends of the
side of the first wrist element; and

a gear member provided rotatably centered about the rotation center axial line, the gear member having
a bevel gear to which a rotational force from the second wrist drive motor is input, and
a flat gear with which the flat gears of the plurality of crankshafts engage;
wherein the gear member is rotatably supported by a pair of second bearings attached to an outer circumferential surface of
the through shaft, the pair of second bearings arranged outside the hollow part in an axial direction along the rotation center
axial line.

US Pat. No. 9,314,859

CONTACT DETECTION APPARATUS FOR WIRE ELECTRICAL DISCHARGE MACHINE WITH CAPABILITY TO VARY APPLIED GAP VOLTAGE

FANUC CORPORATION, Yaman...

1. A contact detection apparatus for a wire electrical discharge machine, said apparatus comprising:
a voltage application unit configured to apply a detection voltage to detect contact between a wire electrode and a workpiece
during non-machining periods;

a contact determination unit configured to determine contact or non-contact between the wire electrode and the workpiece based
on changes in the detection voltage applied by the voltage application unit; and

a controller configured to change, during the non-machining periods, a voltage value of the detection voltage applied by the
voltage application unit according to a property of the workpiece.

US Pat. No. 9,306,487

MOTOR DRIVE DEVICE HAVING FUNCTION OF DETECTING CONTACT FUSION IN ELECTROMAGNETIC CONTACTOR

Fanuc Corporation, Yaman...

1. A motor drive device which comprises an AC/DC converter which converts an alternating current voltage which is supplied
from a three-phase alternating current power supply to a direct current voltage, a detection circuit of the input power voltage,
and a detection circuit of the input current, in which motor drive device, said AC/DC converter comprising a three-phase bridge
circuit comprised of a switching device and a diode, and said detection circuit of an input power voltage and detection circuit
of an input current having an electromagnetic contactor which turns the input power line on/off set between them, said motor
drive device provided with the following:
an off circuit of an electromagnetic contactor for turning off said electromagnetic contactor in the state charged by the
direct current voltage of said AC/DC converter;

a partial controller of the three-phase bridge circuit for turning on the upper arm of one phase of said three-phase bridge
circuit for the phase with the lowest input voltage and for turning on the lower arm of one phase of said three-phase bridge
circuit for the phase with the highest input in the state where the off circuit of said electromagnetic contactor turns off
said electromagnetic contactor;

a current detector for detecting if current is flowing or not flowing in the state where said partial controller of the three-phase
bridge circuit has turned on said upper arm of one phase and said lower arm of one phase; and

a contact fusion detector whereby said current detector detects said electromagnetic contactor is normal when not detecting
current and said current detector detects that it has a fused contact when detecting current in the state where said partial
controller of the three-phase bridge circuit turns on said upper arm of one phase and said lower arm of said one phase.

US Pat. No. 9,233,475

UMBILICAL MEMBER ATTACHMENT DEVICE OF ROBOT

FANUC CORPORATION, Minam...

1. A robot, comprising:
a first member and a second member which rotate relative to each other;
a plurality of umbilical members including a first umbilical member and a second umbilical member and having:
movable portions movable between the first member and the second member, and
each of the plurality of umbilical members having a nonmoving portion fixed on the first member; and
a pair of umbilical member attachment devices attached to the first member and the second member, respectively;
a servo motor driving the robot; and
a power supply supplying power for maintaining positional information of the servo motor,
wherein each of the pair of umbilical member attachment devices comprises:
a base part attached detachably to the first member or the second member;
a first fastening part attached to the base part to fasten the first umbilical member; and
a second fastening part attached to the base part to fasten the second umbilical member,
wherein the second fastening part has an attachment member attached to the base part and a fastening member fastening the
second umbilical member to the attachment member, and

wherein the attachment member is provided detachably from the base part together with the second umbilical member in a state
where the first umbilical member is fastened by the first fastening part,

wherein the first umbilical member includes a power line and a signal line to the servo motor, and
wherein the second fastening part fastens the second umbilical member in a manner detachable from the robot in a state where
the servo motor and the power supply are connected.

US Pat. No. 9,211,647

PARALLEL LINK ROBOT

FANUC CORPORATION, Yaman...

1. A parallel link robot, comprising:
a base part having a plurality of actuators;
a moving part movable with respect to the base part;
a plurality of link parts with first ends linked with the plurality of actuators rotatably around rotary shafts with respect
to the base part and with other ends linked with the moving part; and

fixtures attached to the base part to measure rotational positions of the link parts,
wherein the base part has reference flat surfaces, wherein the link parts have moving flat surfaces extended in parallel with
respect to the rotary shafts, wherein positional relationships between the moving flat surfaces and the reference flat surfaces
become predetermined positional relationships when the link parts rotate to reference positions for calibration of position,

wherein the fixtures have measuring devices arranged at measurement positions with known positional relationships with respect
to the reference flat surfaces, the measuring devices facing the moving flat surfaces when the link parts rotate to the reference
positions and measuring distances between the reference flat surfaces and the moving flat surfaces, and

wherein the reference flat surfaces and the moving flat surfaces are formed so as to be positioned on the same planes as each
other when the link parts rotate to the reference positions.

US Pat. No. 9,162,386

CONTROLLER FOR AN INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A controller for an injection molding machine, configured so that an intermediate process is provided between an injection
process and a packing process in one molding cycle, the injection process is switched to the intermediate process when a preset
first switching condition is fulfilled, and the intermediate process is switched to the packing process when a preset second
switching condition is fulfilled, the controller comprising:
a first switching condition setting section for setting the first switching condition;
a second switching condition setting section for setting the second switching condition;
a pressure sensor for detecting an injection pressure;
an intermediate process target pressure setting section for setting an intermediate process target pressure based on the injection
pressure detected by the pressure sensor in the intermediate process; and

an intermediate process pressure control section configured to perform pressure control in the intermediate process based
on the set intermediate process target pressure as a target pressure.

US Pat. No. 10,714,248

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

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,712,288

SURFACE DAMAGE INSPECTION SYSTEM FOR WORKPIECE

FANUC CORPORATION, Yaman...

1. A surface damage inspection system for a workpiece comprising:an illumination unit including four illumination elements that emit light simultaneously to an inspection target surface of a surface of a workpiece as an inspection target from four directions including frontward and rearward directions in an X direction and rightward and leftward directions in a Y direction perpendicular to the X direction in a front view of the inspection target surface;
an imaging unit that captures an image of the inspection target surface from a Z direction facing the inspection target surface;
a damage detection unit that detects damage at the inspection target surface using the image of the inspection target surface acquired by the imaging unit;
a robot to which a damage inspection device including the illumination unit and the damage detection unit is attached;
a table on which the workpiece as the inspection target is to be placed; and
a controller that controls drive of the robot, wherein
the controller controls drive of the robot and the damage inspection device so as to make the damage inspection device inspect the workpiece as the inspection target on the table or the workpiece as the inspection target retrieved from the table and held by the robot.

US Pat. No. 10,656,621

INFORMATION PROCESSING DEVICE

Fanuc Corporation, Yaman...

1. A numerical controller for simulating and controlling an operation of a tool based on a machining program, the device comprising:a processor configured to:
store, in a memory device, at least information relating to a workpiece;
carry out a simulation process of reproducing a positional relationship between the tool and the workpiece in a virtual space based on the information relating to the workpiece and the machining program;
calculate, based on a result of the simulation process, an amount of removal of the workpiece by each block included in the machining program, the amount of removal being calculated on a per-block basis; and
display, on a display device, each of the blocks included in the machining program in a machining program display field in a respective display mode, the respective display mode for each of the blocks is determined by comparing the amount of removal for each of the blocks to at least one threshold indicating a predetermined amount of removal,
wherein the processor is further configured to identify, for each block included in the machining program, a block that acts as a factor causing the amount of removal of the workpiece within the block from the blocks of the machining program on the basis of the machining program and the result of the simulation process, and
wherein when the machining program is displayed, the processor is further configured to display on the display device the block acting as the factor causing the amount of removal of the workpiece by the block included in the machining program in a display mode in which the block acting as the factor causing the amount of removal of the workpiece is allowed to be distinguished from other blocks.

US Pat. No. 10,654,169

SUPPLY DEVICE CONFIGURED TO CIRCULATE WORKPIECES AND TRANSPORT DEVICE EQUIPPED WITH SUPPLY DEVICE

FANUC CORPORATION, Yaman...

1. A transport device comprising:a supply device including a placement member on which a workpiece is placed and supplying the workpiece to a take-out device taking out the workpiece;
a take-out device taking out the workpiece placed on the placement member;
an imaging device imaging the workpiece placed on the placement member; and
a control device controlling the take-out device and the imaging device; wherein the supply device includes:
a drive motor rotating the placement member;
a movement member moving the workpiece placed on the placement member; and
a discharge member discharging the workpiece to the outside of the placement member; wherein
a plurality of rotation regions are predetermined on a surface of the placement member in a concentric shape around a rotation axis of the placement member,
the rotation regions are regions in which the workpiece is moved in the circumferential direction by rotation of the placement member,
a replenishment region in which the workpiece is replenished is set in one rotation region of an innermost rotation region and an outermost rotation region, and a discharge region in which the discharge member is disposed is set in the other rotation region,
the movement member is configured to move the workpiece to an adjacent rotation region in a direction from the rotation region in which the replenishment region is set to the rotation region in which the discharge region is set,
a detection region in which the workpiece is imaged by the imaging device, a gripping region in which the workpiece is gripped by the take-out device, and a movement region in which the movement member is disposed are predetermined in a region where the placement member is disposed,
at least a portion of the detection region is disposed downstream from the replenishment region in a direction in which the placement member rotates, and the detection region is disposed upstream from the gripping region,
the gripping region, the discharge region, the movement region, and the replenishment region are disposed in the order of the gripping region, the discharge region, the movement region, and the replenishment region along the direction of rotation of the placement member when the placement member is viewed in a plan view, and
the control device detects a position and orientation of the workpiece based on an image of the workpiece captured by the imaging device, calculates a position and orientation of the workpiece in the gripping region based on a position and orientation of the workpiece in the detection region and a rotation angle of the placement member, and controls the take-out device based on a position and orientation of the workpiece in the gripping region so as to grip the workpiece when the workpiece passes through the gripping area a plurality of times while moving through the rotation regions.

US Pat. No. 10,607,768

AC REACTOR HAVING TERMINAL BASE

FANUC CORPORATION, Yaman...

1. An AC reactor comprising:a peripheral iron core;
at least three iron core coils extending radially outwardly from a center of the peripheral iron core and contacting or connected to an inner surface of the peripheral iron core, each of the iron core coils including:
an iron core and a coil wound around the iron core,
an input terminal, and
an output terminal,
wherein a distal end of the input terminal of each of the iron cores is arranged along a first line, and
wherein a distal end of the output terminal of each of the iron cores is arranged along a second line; and
a terminal base unit for covering the iron core coils, the terminal base unit including:
an input terminal connection portion including a respective input electrical connector for each input terminal, each respective input electrical connector is arranged along the first line, and
an output terminal connection portion including a respective output electrical connector for each output terminal, each respective output electrical connector is arranged along the second line,
wherein each input terminal is connected to the respective input electrical connector through a respective input opening in the terminal base unit, and each output terminal is connected to the respective output electrical connector through a respective output opening in the terminal base unit.

US Pat. No. 10,607,868

MANUFACTURING CELL AND MANUFACTURING CELL MANAGEMENT SYSTEM

FANUC CORPORATION, Yaman...

1. A manufacturing cell communicable with another manufacturing cell or a management computer, the manufacturing cell comprising:a device configured to physically process a workpiece;
a memory; and
a processor configured to
set an allowable range for at least one of (1) physical quantity data related to the manufacturing cell and (2) statistical processing data obtained by statistically processing the physical quantity data, the statistical processing data being stored in the memory,
output to said another manufacturing cell or the management computer, output information including at least one of (a) a notification of occurrence of abnormality, (b) the physical quantity data, and (c) the statistical processing data, in a case where the physical quantity data or the statistical processing data deviate from the allowable range,
when an abnormality occurred in said another manufacturing cell, receive physical quantity data or statistical processing data of said another manufacturing cell contained in output information sent from said another manufacturing cell,
compare the received physical quantity data or statistical processing data of said another manufacturing cell with the physical quantity data or the statistical processing data of the manufacturing cell, to determine a correlation coefficient,
automatically make a determination, around a timing when the abnormality occurred in said another manufacturing cell, whether or not the abnormality is inherent to the another manufacturing cell in which the abnormality occurred, by comparing the correlation coefficient with a predetermined range, and
in response to the correlation coefficient falling outside the predetermined range which indicates a possibility of occurrence of an abnormality in the manufacturing cell similar to the abnormality that occurred in said another manufacturing cell,
stop operation of the manufacturing cell.

US Pat. No. 10,603,798

ROBOT

FANUC CORPORATION, Yaman...

1. A robot comprising:a base; and
an articulated arm provided on the base,
wherein the articulated arm comprises: a first arm member which is supported by the base that is fixed onto an installation surface or a fixed part, and the first arm member is movable relative to the base around a first axis line; a second arm member which is supported by the first arm member and which is movable relative to the first arm member around a second axis line; a third arm member which is supported by the second arm member and which is movable relative to the second arm member around a third axis line; and a distal-end-side arm supported by the third arm member,
wherein the distal-end-side arm comprises a plurality of distal-end-side arm members connected in series,
wherein the robot further comprises:
a sensor that is provided in the base and detects external force applied to the articulated arm;
a controller that causes the articulated arm to make a stop motion, a deceleration motion, or an avoidance motion on a basis of a detected value of the sensor; and
a cable having one end connected to a device mounted on a distal end of the distal-end-side arm, and having the other end connected to a cable-connected device that controls the device and supplies a fluid or electric power to the device,
wherein the cable enters into the articulated arm from one of the distal-end-side arm members and passes through the first arm member to be connected to the cable-connected device.

US Pat. No. 10,599,119

LADDER-PROGRAM MANAGING DEVICE

FANUC CORPORATION, Yaman...

1. A ladder-program managing device comprising:a storage that stores a database; and
a processor that is connected to the storage;
wherein the database includes:
a ladder-program-storing memory region that stores ladder programs providing instructions for individually controlling a plurality of pieces of machinery,
a machinery-alteration history information memory region that stores alterations applied previously to the plurality of pieces of machinery and identification information for identifying contents of the alterations, and
a ladder-program-history information memory region that stores the identification information and correction programs required to perform the alterations;
wherein the processor is configured to:
search for, in the ladder-program-history information memory region, the identification information corresponding to the contents of the alterations to be applied to an alteration-target machinery and, thereafter, to generate searched identification information;
identify the correction program corresponding to the searched identification information;
merge the correction program with the ladder program for the alteration-target machinery; and
generate the correction program; and
wherein the correction program is generated by adding the alterations applied previously to the plurality of pieces of machinery to a difference program, wherein the difference program is a difference between a first ladder program before correction by an operator and a second ladder program after correction by the operator;
wherein, in the case in which a conflict occurs between the ladder program and the correction program, the merging of the correction program generates a plurality of merge candidates with which it is possible to eliminate the conflict.

US Pat. No. 10,599,135

OFFLINE TEACHING DEVICE FOR ROBOT

FANUC CORPORATION, Yaman...

1. An offline teaching device for a robot, for teaching an operation of the robot offline, comprising:a storage unit that stores a program for causing the robot to perform an operation;
a display control unit that causes a display unit on which a cursor is displayed to display four or more coordinate points based on teaching point data described in the program and causes the display unit to display one line connecting the four or more coordinate points successively; and
a correction amount generation unit that, after two coordinate points are selected on the display unit from remaining coordinate points except the coordinate points serving as a starting point and an ending point of the line and one coordinate system is selected among a plurality of coordinate systems, generates correction amounts of the coordinate points without changing the teaching point data on the basis of dragging of a segment of the line between the selected two coordinate points by the cursor according to the selected coordinate system.

US Pat. No. 10,596,698

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

Fanuc Corporation, Yaman...

1. A machine learning device for use with, and configured to perform reinforcement learning with respect to a robot control system,the robot control system comprising:
an illumination means that irradiates a surface to be inspected of an object to be inspected with illumination light;
an imaging means that images the surface to be inspected;
a robot that includes a robot hand;
a control unit that, while moving the robot hand gripping the object to be inspected or the imaging means, along a movement route including a plurality of imaging points set on the surface to be inspected so that the surface to be inspected is entirely covered by a plurality of images imaged by the imaging means, causes the imaging means to image the imaging points set on the surface to be inspected; and
a flaw inspection unit that detects a flaw on the surface to be inspected on the basis of the image obtained by imaging the surface to be inspected by the imaging means,
the machine learning device comprising:
an action information output unit that outputs action information including adjustment information of the imaging region including the imaging points, to the control unit;
a state information acquisition unit that acquires state information from the control unit and the flaw inspection unit resulting from a number N of images, obtained by imaging the surface to be inspected by the imaging means by moving the robot hand gripping the object to be inspected or the imaging means by the control unit, based on the action information, the state information including the number N and flaw detection information, the flaw detection information including a flaw detection position of the surface to be inspected, detected by the flaw inspection unit, with respect to each of a plurality of objects to be inspected prepared in advance;
a reward output unit that outputs a reward value in the reinforcement learning based on the number N and the flaw detection information including the flaw detection positions included in the state information; and
a value function updating unit that updates an action value function based on the reward value, the state information, and the action information.

US Pat. No. 10,597,226

FLOAT AND EVAPORATION SUPPRESSING METHOD

FANUC CORPORATION, Yaman...

1. A float that floats in a liquid, comprising a spherical body having a spherical shape from which parts are cut off so as to form a regular hexagonal shape when viewed from one direction,wherein a center of gravity of the float is set at a position shifted from a center point of the spherical body along a center line that passes through the center point in parallel with the one direction,
a magnet is attached to at least part of a portion of a surface of the spherical body, wherein the magnet and the portion are immersed in the liquid and is not any one of six side surfaces constituting the regular hexagonal shape, when the float is floated in the liquid.

US Pat. No. 10,589,422

ARTICLE CONVEYING APPARATUS

FANUC CORPORATION, Yaman...

1. An article conveying apparatus comprising:a three-dimensional sensor that measures a three-dimensional shape of an article having an undefined shape or flexible article sequentially conveyed on a conveyor;
an adhering pad that adheres to a surface of the article while tracking the article being conveyed on a conveyor;
an arm that is configured to move a position of the adhering pad in a three-dimensional manner; and
a controller that is configured to control the arm,
wherein the controller is provided with a center-of-gravity calculator that is configured to calculate a center of gravity of the entire article on the basis of the three-dimensional shape of the article measured by the three-dimensional sensor and an adhesion-site searching portion that is configured to search, in the vicinity of the center of gravity calculated by the center-of-gravity calculator, for a flat portion that has an area that is equal to or greater than an area needed to make the adhering pad adhere thereto, and wherein the controller controls the arm so that the adhering pad is aligned with the flat portion searched for by the adhesion-site searching portion.

US Pat. No. 10,564,619

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

FANUC CORPORATION, Yaman...

1. A machine learning device for performing machine learning with respect to a servo control device comprising a first memory configured to store a predetermined machining program, and a first processor configured to execute the predetermined machining program and control the servo control device to create a velocity feedforward value on the basis of a position command, the machine learning device comprising:a second memory configured to store a program; and
a second processor configured to execute the program to control the machine learning device to:
acquire from the servo control device, state information including a servo state including at least position error, and a combination of coefficients of a transfer function for creating the velocity feedforward value, by causing the servo control device to perform the predetermined machining program;
output action information including adjustment information of the combination of coefficients included in the state information, to the servo control device;
output a reward value in reinforcement learning based on the position error included in the state information; and
update a value function on the basis of the reward value, the state information, and the action information.

US Pat. No. 10,564,887

CONTROL DEVICE AND DATA WRITING METHOD THEREOF

FANUC CORPORATION, Yaman...

1. A control device including a processor and a nonvolatile memory, the control device comprising:a memory controller configured to output, to the nonvolatile memory, a control signal for storing data to the nonvolatile memory, in response to a write request from the processor;
a voltage monitoring portion configured to monitor an input voltage supplied from an input power supply;
a mask signal generating portion configured to generate and output a mask signal when the voltage monitoring portion determines that the input voltage has decreased wherein the mask signal invalidates the control signal output from the memory controller so that the nonvolatile memory does not perform a writing operation; and
a masking portion configured to apply, when receiving the mask signal outputted from the mask signal generating portion, a masking processing to the control signal outputted from the memory controller to the nonvolatile memory,
wherein, when the voltage monitoring portion determines that the input voltage has decreased, and the data is being written to the nonvolatile memory, then the mask signal generating portion outputs the mask signal only after completion of the data writing.

US Pat. No. 10,496,064

SELECTION DEVICE AND NETWORK SYSTEM FOR SELECTING ELECTRIC MOTOR SYSTEM

FANUC CORPORATION, Yaman...

1. A selection device for selecting an electric motor system, comprising:an information reception part which receives an input machine condition;
a storage which previously stores specification data representing performances of a plurality of electric motor systems and controller parameters each for setting an operation parameter in a controller which controls the electric motor system, the operation parameter being necessary for the controller to operate the electric motor system,
the specification data comprising one or more of rated power, rated torque, rated output current, or allowable regenerative power,
the operation parameters including:
the specification data; and
one or more of power monitoring function, power anomaly detection function, or temperature anomaly detection function,
the controller parameters including information of each of the operating parameters,
the specification data and the controller parameters being previously stored in association with the respective electric motor systems, each controller parameter being loaded into the controller, wherein the controller is configured to automatically set the operation parameter for operating the electric motor system when being loaded into the controller;
a selection part which compares the machine condition received by the information reception part with the specification data stored in the storage, and selects the electric motor system, which meets the machine condition, from the plurality of electric motor systems; and
a parameter generation part which reads out from the storage the controller parameter associated with the electric motor system selected by the selection part to output the controller parameter,
wherein the controller parameter output from the parameter generation part is loaded into the controller such that the controller automatically sets the operation parameter in the controller.

US Pat. No. 10,447,116

ELECTRIC MOTOR AND MACHINE TOOL

FANUC CORPORATION, Yaman...

1. An electric motor comprising:a stator having a tubular shape;
a rotor rotatable around a rotary axis, the rotor having a rotary spindle disposed along the rotary axis;
a first housing part disposed at an end of the stator in a rotary axis direction so as to rotatably support a front side spindle part that is part of partially house the rotary spindle, the rotary axis direction corresponding to a direction in which the rotary axis extends;
a second housing part disposed at the other end of the stator in the rotary axis direction so as to rotatably support a rear side spindle part that is another part of the rotary spindle;
a third housing part at a side opposite to the first housing part in the rotary axis direction with respect to the second housing part, the third housing part including an end face part disposed at a side opposite to the second housing part in the rotary axis direction;
a plurality of ventilation parts formed so as to communicate with at least the stator, the second housing part, and the third housing part; and
a plurality of fans for ventilating the plurality of ventilation parts, the plurality of fans being disposed in the third housing part on a plane perpendicular to the rotary axis so as not to overlap the rotary axis, wherein the end face part includes:
a plurality of exhaust parts which are end parts for the plurality of ventilation parts, the plurality of exhaust parts being disposed so as to respectively correspond to the plurality of fans; and
an opened part or an openable part disposed radially inside of the plurality of exhaust parts in a plane direction perpendicular to the rotary axis on a plane perpendicular to the rotary axis so as to overlap the rotary axis and be separated from the ventilation parts.

US Pat. No. 10,444,098

TORQUE SENSOR AND ROBOT

Fanuc Corporation, Yaman...

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

US Pat. No. 10,444,733

ADJUSTMENT DEVICE AND ADJUSTMENT METHOD

FANUC CORPORATION, Yaman...

1. An adjustment device that controls a control device configured to control motors driving at least two axes, and a machine learning device configured to perform machine learning with respect to the control device, the adjustment device comprising:a start command output unit configured to output a start command for starting the machine learning device;
a feedback information acquisition unit configured to acquire feedback information acquired on the basis of an evaluation program executed by the control device, from the control device;
a feedback information transmission unit configured to transmit the feedback information acquired, to the machine learning device;
a parameter setting information acquisition unit configured to acquire control parameter setting information acquired by machine learning using the feedback information, from the machine learning device; and
a parameter setting information transmission unit configured to transmit the control parameter setting information acquired, to the control device.

US Pat. No. 10,434,591

WIRE ELECTRIC DISCHARGE MACHINE INCLUDING UNIT FOR ADJUSTING ATTACHMENT POSITION OF WORKPIECE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine configured to perform machining of a workpiece in a work tank, the wire electric discharge machine comprising:a workpiece fixing unit disposed in the work tank and including a movable axis to which the workpiece is detachably attached;
a machining-reference-part detecting unit configured to detect a position of a machining reference part of the workpiece detachably fixed to the workpiece fixing unit;
a controller configured to automatically control the movable axis, on the basis of position information of the machining reference part detected by the machining-reference-part detecting unit, to position the machining reference part in a predetermined position;
a machining-reference-part measuring unit configured to measure an error of the machining reference part of the workpiece detachably fixed to the workpiece fixing unit; and
a measurement-positioning executing unit for positioning the machining-reference-part measuring unit in a predetermined measurement position,
wherein the predetermined position of the machining reference part is a position where the machining reference part does not collide with the machining-reference-part measuring unit positioned in the predetermined measurement position,
wherein the machining-reference-part measuring unit is configured to perform measurement of the machining reference part of the workpiece when the machining reference part is in the predetermined position and the machining-reference-part measuring unit is in the predetermined measurement position, and
wherein the controller is configured to automatically control the wire electric discharge machine to perform machining of the workpiece based on the measurement of the machining reference part of the workpiece.

US Pat. No. 10,434,649

WORKPIECE PICK UP SYSTEM

Fanuc Corporation, Yaman...

1. A workpiece pick up system for sequentially picking up a plurality of workpieces piled up in a container by a robot, the workpiece pick up system comprising:a three-dimensional sensor which is placed at an upper side of the container and which obtains a group of three-dimensional points, each of which has height position information; and
a controller, the controller being configured to conduct:
a group creating process which determines in the group of three-dimensional points, a plurality of workpiece-candidate three-dimensional point groups each of which is composed with adjacent three or more of the three-dimensional points;
an exclusion group determining process which determines that one or more workpiece-candidate three-dimensional point groups satisfy at least one of the following references:
a reference of excluding workpiece-candidate three-dimensional point groups not within a predetermined size;
a reference of excluding workpiece-candidate three-dimensional point groups not within a predetermined square measure; and
a reference of excluding workpiece-candidate three-dimensional point groups not within a predetermined length; and
a workpiece detection process which obtains a group of detection-purpose three-dimensional points for detecting workpieces by excluding points which are included in the one or more excluded groups from the group of three-dimensional points or the workpiece-candidate three-dimensional point groups, and which detects workpieces to be picked up by the robot by using the group of detection-purpose three-dimensional points.

US Pat. No. 10,437,238

SYSTEM PROVIDED WITH MULTIPLE MACHINES AND AT LEAST ONE SENSOR

FANUC CORPORATION, Yaman...

1. A system comprising:a plurality of machines that handle multiple workpieces;
a plurality of machine controllers that each control at least one machine of the plurality of machines;
at least one sensor that acquires data on the workpieces; and
a cell controller connected so as to communicate with the plurality of machine controllers and the at least one sensor, the cell controller comprising:
a sensor management part that receives information from the at least one sensor and collectively manages the information;
a workpiece management part that monitors a state amount indicating only a quality of the workpiece and monitors a stroke indicating a position or direction of movement of the workpiece, the stroke and state amount being included in the information received by the sensor management part from the at least one sensor; and
a task management part that:
receives a task request regarding the workpiece from the plurality of machine controllers, selects the workpiece to be handled by each of the plurality of machines from the multiple workpieces based on the task request and the state amount and the stroke of the workpiece monitored by the workpiece management part, and
transmits information on the selected workpiece only to the machine controller handling the selected workpiece,
wherein the machine controller handling the selected workpiece:
1) receives the transmitted information,
2) controls the at least one machine of the plurality of machines based on the information, and
3) transmits task results regarding the handling of the workpiece to the cell controller without transmitting the task results to any of the machine controllers.

US Pat. No. 10,427,297

ROBOT OPERATION COMMAND SYSTEM, TABLET TERMINAL AND CONTROL METHOD OF TABLET TERMINAL

FANUC CORPORATION, Yaman...

1. A control method of a tablet terminal configured to establish a wireless connection with one of multiple controllers each having identification information and transmit an operation signal for commanding operation of a robot to the wirelessly connected controller, wherein the tablet terminal is configured to be removably held in a base configured to be wiredly or wirelessly connected to one of the controllers,the control method comprising a step of preventing the robot from being operated by the operation signal when the identification information of the controller to which the base holding the tablet terminal is connected does not coincide with the identification information of the controller to which the tablet terminal is connected in a state where the tablet terminal is able to transmit the operation signal.

US Pat. No. 10,423,144

LADDER-LIBRARY MANAGEMENT APPARATUS

FANUC CORPORATION, Yaman...

1. A ladder-library management apparatus that manages a library incorporated into a ladder program used in a machine connected via a network, the ladder-library management apparatus comprising:an incorporated-information storage area that stores incorporated information in which the machine is associated with identification information of an I/O device connected to the machine and a version number of the library used for the I/O device;
a library storage area that stores library data for use of the I/O device connected to the machine, in which the identification information, information about the I/O device having the identification information, and information about the library used in the I/O device having the identification information are associated with each other; and
a library server that adds or updates the library provided in the machine on the basis of the library data stored in the library storage area and that updates the incorporated information stored in the incorporated-information storage area.

US Pat. No. 10,423,152

INFORMATION PROCESSING APPARATUS FOR PROCESSING MACHINING INFORMATION BETWEEN PLURALITY OF MANUFACTURING CELLS

FANUC CORPORATION, Yaman...

1. An information processing apparatus for processing machining information so that the machining information is sharable between a plurality of manufacturing cells each including a plurality of machines, the information processing apparatus comprising:a plurality of dedicated data storage units in which machining information to be set for each of the machines is stored as dedicated data for that machine;
a common data storage unit in which machining information that is common to the plurality of manufacturing cells is stored as common data;
a configuration information management unit configured to collect control function information as configuration information of each of the manufacturing cells or each of the machines and, on the basis of the control function information, automatically generate a conversion table that associates a management number of the control function that is system common information, with dedicated information for each of the machines that corresponds to the management number;
a data conversion unit that at least either converts the dedicated data for each of the machines into the common data in accordance with the dedicated information for each of the machine in the conversion table or converts the common data into the dedicated data for each of the machines in accordance with the system common information in the conversion table; and
a common data management unit configured to store, in the common data storage unit, the common data generated by the data conversion unit and configured to transfer the common data stored in the common data storage unit to the data conversion unit.

US Pat. No. 10,423,189

CONTROL DEVICE OUTPUTTING A TIMING SIGNAL AND ADDITIONAL INFORMATION AND CONTROL SYSTEM INCLUDING THE CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A control device that receives information related to sensor data from a sensor interface device to which a plurality of sensors connected to respective Internet of Things (IoT) devices are connected, the control device comprising:a timing signal generation unit that generates a timing signal configured to allow for a time synchronization function among sensor data from the plurality of sensors even when the sensor interface is a common interface that is utilized with the plurality of sensors;
an additional information generation unit that generates additional information synchronized with the timing signal; and
an output unit that outputs the timing signal and the additional information to the sensor interface device, the timing signal and the additional information being configured so that a time synchronization of sensor data from the plurality of sensors and sampling of sensor data by the plurality of sensors with the timing signal and the additional information is implemented in the sensor interface device;
wherein the additional information includes information related to an operation mode of equipment of the respective IoT devices associated with sensor data so that sensor data may be acquired during a specific operation mode;
wherein the sensor interface device samples sensor data with the timing signal and the additional information, and sends the sensor data to an additional information decoding device.

US Pat. No. 10,409,250

SERVOMOTOR CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A servomotor control device comprising:a servomotor;
a driven body that is driven by way of the servomotor;
a connection mechanism. that connects the servomotor and the driven body to transmit power of the servomotor to the driven body;
a first position detection section that detects a position of the servomotor;
a second position detection section that detects a position of the driven body; and
a motor control unit that controls the servomotor,
wherein the motor control unit includes:
a force estimation section that estimates a drive force acting on the driven body at a connection part between the connection mechanism and the driven body;
a rigidity estimation section. that estimates a magnitude of rigidity of the connection mechanism based on a position of the servomotor detected. by the first position detection section, a position of the driven body detected. by the second position detection section, and a drive force estimated by the drive force estimation. section; and
a rigidity variation detection section that detects a change in rigidity of the connection mechanism, based on the magnitude of rigidity estimated by the rigidity estimation section.

US Pat. No. 10,404,110

STATOR WITH CORE INCLUDING DIVIDED CORES, AND ELECTRIC MOTOR

FANUC CORPORATION, Yaman...

1. A method of assembling a stator, comprising:providing a plurality of divided cores, each divided core including
a tooth having a circumferential width,
a divided back yoke extending from a radially outer edge of the tooth toward a first circumferential side and constituting a part of the divided back yoke, the divided back yoke having a radial width being less than or equal to the circumferential width of the tooth,
each tooth being aligned in a circumferential direction and extending toward radially inside from the divided back yoke, and
a connecting surface at an end of a second circumferential side opposite to the first circumferential side, the connecting surface being a plane or a convex surface extending from a side surface of the second circumferential side of the tooth to an outer circumferential surface of the divided back yoke; and
providing a plurality of annular coils, each annular coil having a center hole, each coil having a first center hole size of a first uniform width prior to being inserted around the tooth;
sliding the annular coil along each tooth, by moving the annular coil toward the tooth along the connecting surface so as to gradually enlarge the center hole to a second center hole size, the second center hole size being of a second uniform width, the second uniform width being uniformly greater than the first uniform width; and
coupling the plurality of divided cores each fitted with the annular coil to each other so as to be aligned in the circumferential direction.

US Pat. No. 10,391,639

TRANSFER TOOL AND ROBOT

Fanuc Corporation, Yaman...

1. A transfer tool comprising:a substantially strip-shaped frame;
a wrist-side slider to be attached to a wrist of a robot, provided on one side of the frame in a thickness direction in a manner capable of moving along a longitudinal direction of the frame;
a workpiece-side slider provided on another side of the frame in the thickness direction in a manner capable of moving along the longitudinal direction of the frame;
a distal-end swing shaft attached to the workpiece-side slider;
wherein the distal-end swing shaft includes:
a workpiece support section supported by the workpiece-side slider in a manner capable of swinging around an axis line extending in a width direction of the frame, the workpiece support section supporting a workpiece; and
an actuator attached to the workpiece-side slider, the actuator causing the workpiece support section to swing; and
wherein the actuator includes:
a motor fixed to the workpiece-side slider; and
a pair of gears that transmits driving force of the motor to the workpiece support section; and
at least one of the gears is formed into a fan shape where teeth are provided correspondingly with a swing angle range of the workpiece support section around the axis line.

US Pat. No. 10,345,778

WAVEFORM DISPLAY DEVICE THAT PERFORMS AUTOMATIC EXTRACTION

FANUC CORPORATION, Yaman...

1. A waveform display device, comprising:a data acquisition part that acquires a plurality of predetermined types of data from output data outputted from a numerical control, wherein the plurality of predetermined types of data include a program number of a processing program outputted from the numerical control, line number of a program, position command and operating state of the numerical control;
a condition determination part that determines a start condition and an end condition for extracting partial data from the plurality of predetermined types of data based on at least one among the program number of the processing program outputted from the numerical control, line number of the program, position command and operating state of the numerical control;
a data extraction part that extracts each partial data corresponding to the start condition and end condition from each of the plurality of predetermined types of data; and
a waveform display part that displays the partial data associates waveforms of each partial data with time, unifies and displays waveforms of each partial data.

US Pat. No. 10,338,563

NUMERICAL CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A numerical control device that controls a machine tool having a drive mechanism causing a tool to move in a plurality of axial directions, the numerical control device comprising:a command position calculation unit that calculates command position information based on a machining program;
a command path calculation unit that calculates command path information, based on the command position information calculated by the command position calculation unit;
an estimated actual position calculation unit that calculates estimated actual position information, based on the command position information and transmission characteristic information of the drive mechanism;
an estimated actual path calculation unit that calculates estimated actual path information based on the estimated actual position information calculated by the estimated actual position calculation unit;
a path error calculation unit that calculates path error, based on the command path information calculated by the command path calculation unit and the estimated actual path information calculated by the estimated actual path calculation unit;
a machining time calculation unit that calculates a machining time based on the estimated actual path information;
a jerk calculation unit that calculates jerk in each axis based on the estimated actual position information;
an evaluation value calculation unit that calculates an evaluation value, based on the path error calculated by the path error calculation unit, the machining time calculated by the machining time calculation unit, and the jerk calculated by the jerk calculation unit; and
a parameter correction instruction unit that instructs correction of various parameters including the transmission characteristic information based on the evaluation value.

US Pat. No. 10,252,372

LASER CUTTING APPARATUS THAT PERFORMS GAP SENSOR CALIBRATION AND REFLECTED LIGHT PROFILE MEASUREMENT, AND CORRELATION TABLE GENERATION METHOD FOR LASER CUTTING APPARATUS

FANUC CORPORATION, Yaman...

1. A laser cutting apparatus comprising:a laser oscillator configured to generate a laser beam;
an output control unit configured to control an output of the laser beam;
a cutting head configured to emit the laser beam to a processing object;
a gap sensor configured to detect a distance between the cutting head and the processing object;
an axial mechanism configured to activate the cutting head;
an axial control unit configured to instruct the axial mechanism to operate;
a detection unit configured to detect intensity of a laser beam that is reflected from the processing object and returned to the laser oscillator;
a storage unit configured to store an output value of the laser beam from the output control unit, reflected light intensity detected by way of the detection unit, a detection value of the gap sensor, and positional information of the axial mechanism; and
a correlation table generation unit configured to output an instruction to operate the axial mechanism while causing the laser oscillator to output the laser beam, to the axial control unit and the output control unit, and configured to generate a correlation table for obtaining a correlation between the output value of the laser beam and the reflected light intensity, a correlation between the positional information and the reflected light intensity, and a correlation between the detection value of the gap sensor and the positional information, based on the output value of the laser beam, the reflected light intensity, the detection value of the gap sensor, and the positional information.

US Pat. No. 10,254,731

MACHINING PROGRAM CREATING DEVICE

FANUC CORPORATION, Yaman...

1. A machining program creating device for calculating a movement command indicating a tool path, based on a machining program that includes a machining cycle command, the machining program creating device comprising:a machining region calculating unit configured to calculate a machining region based on a machining condition and a finished shape specified by the machining cycle command;
a movement command calculating unit configured to calculate the movement command based on
the machining condition specified by the machining cycle command, and
the machining region calculated by the machining region calculating unit; and
a machining program creating unit configured to create another machining program without the machining cycle command, the another machining program including:
information regarding an unmachined workpiece shape and the finished shape specified by the machining cycle command,
information regarding the machining region calculated by the machining region calculating unit, and
the movement command calculated by the movement command calculating unit,
wherein the machining program creating unit is configured to store the another machining program in a predetermined storage region.

US Pat. No. 10,248,103

NUMERICAL CONTROLLER DYNAMICALLY SWITCHING TIME CONSTANT FOR ACCELERATION AND DECELERATION FILTER

Fanuc Corporation, Yaman...

1. A numerical controller that controls axes in a machine based on a program to move a control target, the numerical controller comprising:a command analysis unit that looks ahead and analyzes commands indicated by a block contained in the program to output command data;
a time constant calculation unit that identifies a travel direction of the control target for each of the commands based on the command data to calculate a time constant based on the identified travel direction and a set value, using the following equation:

(where, an axis is denoted by ix);
a pre-interpolation acceleration and deceleration unit that performs a linear acceleration and deceleration process on the command data;
a time constant setting unit that sets a time constant for filter processing based on the time constant for each of the commands calculated by the time constant calculation unit;
a filter processing unit that performs filter processing on the command data subjected to the linear acceleration and deceleration process by the pre-interpolation acceleration and deceleration unit, based on the time constant for filter processing set by the time constant setting unit; and
an interpolation unit that calculates movement of each of the axes for each interpolation period based on the command data subjected to the filter processing by the filter processing unit.

US Pat. No. 10,232,512

COORDINATE SYSTEM SETTING METHOD, COORDINATE SYSTEM SETTING APPARATUS, AND ROBOT SYSTEM PROVIDED WITH COORDINATE SYSTEM SETTING APPARATUS

FANUC CORPORATION, Yaman...

1. A coordinate system setting method configured to set a conveyor coordinate system having a predetermined relationship with a base coordinate system of a robot, as a coordinate system for defining a position of an object on a conveyor, in a system having a configuration in which a position of the object conveyed by the conveyor is detected and the robot performs a work with respect to the object based on a detected position, the method comprising:providing a movable part of the conveyor with a plurality of features having a fixed positional relationship with each other, the movable part performing an object conveying operation;
providing the robot with a sensor able to detect a position of each of the plurality of features in a non-contact manner;
detecting positions of at least two features by the sensor, when the movable part is located at a first operating position, and acquiring detected positions as at least two first coordinates in the base coordinate system;
making the movable part perform the object conveying operation from the first operating position toward a second operating position;
detecting a position of at least one feature by the sensor, when the movable part is located at the second operating position, and acquiring a detected position as at least one second coordinate in the base coordinate system; and
determining the conveyor coordinate system based on a direction of the object conveying operation, the at least two first coordinates and the at least one second coordinate.

US Pat. No. 10,229,796

KEY SWITCH STRUCTURE

FANUC CORPORATION, Yaman...

1. A key switch structure, comprising:a case body with at least one keyhole;
a key base disposed in the case body;
a key switch located on the key base in a position corresponding to the keyhole;
a key top; and
a key sheet disposed between the key switch and the key top,
wherein
the key top comprises a pressing protuberance configured to depress the key switch through the key sheet when the key top is depressed,
an embossed portion that is embossed to protrude toward an inside of the case body is formed on the key sheet in a state where the key sheet is pressed down by the pressing protuberance while the key top is not depressed,
the embossed portion has a concaved region concaved at a first inclination when the key top is not depressed,
the embossed portion is configured to be deformed by the pressing protuberance so that the concaved region is concaved at a second inclination when the key top is depressed, the second inclination being greater than the first inclination, and
tip corner parts of the pressing protuberance are configured to contact the formed embossed portion in a fitted manner.

US Pat. No. 10,228,676

SERVO CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A servo control device that performs speed control or torque control for controlling speed or torque based on a speed command or a torque command by an analogue input voltage, and performs positional control for controlling a position of a servo motor based on feedback from the servo motor, the servo control device comprising:a command switching unit determining that a command voltage of a command by the analogue input voltage enters a dead zone of the command voltage which is registered in advance and determined as stopping, wherein,
when detecting that the command voltage enters the dead zone, the command switching unit ceases the speed control or the torque control, and switches, while the servo motor is ON, a control method of the servo motor for causing the servo motor to perform deceleration stop by the positional control by distribution processing of a movement command regarding an actual speed when the speed control or the torque control is ceased as an initial speed.

US Pat. No. 10,148,203

MOTOR DRIVING APPARATUS INCLUDING DC LINK VOLTAGE DETECTION UNIT

FANUC CORPORATION, Yaman...

1. A motor driving apparatus comprising:a converter unit configured to convert an AC voltage into a DC voltage;
a DC link unit configured to smooth the DC voltage by a capacitor to generate a DC link voltage;
multiple inverter units configured to convert the DC link voltage into a multiphase AC voltage for motor driving;
multiple pairs of short bars configured to electrically interconnect terminals of the DC link unit and terminals of the multiple inverter units; and
multiple DC link voltage detection units, each DC link voltage detection unit being connected to a corresponding inverter unit and configured to detect the DC link voltage at the corresponding inverter unit, so as to detect whether one of the short bars that connects the corresponding inverter unit to the DC link unit has been disconnected,wherein at least parts of the multiple pairs of short bars are located between the terminals of the DC link unit and terminals of the multiple DC link voltage detection units, and wherein the converter unit and the inverter unit are arranged in independent casings and interconnected by using the short bars provided outside the casings.

US Pat. No. 10,148,211

MACHINE LEARNING APPARATUS AND METHOD FOR LEARNING CORRECTION VALUE IN MOTOR CURRENT CONTROL, CORRECTION VALUE COMPUTATION APPARATUS INCLUDING MACHINE LEARNING APPARATUS AND MOTOR DRIVING APPARATUS

FANUC CORPORATION, Yaman...

1. A motor driving apparatus with current control based on a current command and a current feedback value in a three-phase AC motor, the motor driving apparatus comprising:a state observation unit that observes a state variable including at least one of data regarding an error between a rotor position command to the three-phase AC motor and a rotor actual position of the three-phase AC motor, data regarding temperature in the motor driving apparatus, data regarding temperature of the three-phase AC motor, and data regarding a voltage of the motor driving apparatus;
a learning unit that learns a current feedback offset correction value used for correcting an offset amount included in the current feedback value, an inter-current-feedback-phase unbalance correction value used for correcting an unbalance between phases in the current feedback value, and a current command correction value for a dead zone used for correcting a current command in order to compensate a decreased amount of current due to a switching dead zone by which switching elements of upper and lower arms in the same phase of an inverter for motor power supply provided in the motor driving apparatus are not simultaneously turned on, in accordance with a training data set defined by the state variable;
a decision-making unit which decides the current command correction value for a dead zone, on the basis of a result of learning by the learning unit in accordance with the training data set in response to an input of the state variable;
a current command correction unit for a dead zone which corrects the current command for the three-phase AC motor by using the current command correction value for a dead zone, and generates a corrected current command; and
a current control unit which controls driving of the three-phase AC motor based on the corrected current command,
wherein the voltage includes at least one of an input AC voltage input into the motor driving apparatus, DC link voltage between a rectifier provided in the motor driving apparatus and rectifying the input AC voltage and the inverter for motor power supply, and control voltage used to drive a control apparatus provided in the motor driving apparatus,
wherein the learning unit comprises:
a reward computation unit that computes a reward on the basis of the error between the rotor position command to the three-phase AC motor and the rotor actual position of the three-phase AC motor; and
a function update unit that updates, on the basis of the state variable and the reward, functions for computing the current feedback offset correction value, the inter-current-feedback-phase unbalance correction value, and the current command correction value for a dead zone, and
wherein the reward computation unit increases the reward when the error between the rotor position command to the three-phase AC motor and the rotor actual position of the three-phase AC motor is smaller than an error observed by the state observation unit before the present error, and the reward computation unit decreases the reward when the error is larger than the error observed before.

US Pat. No. 10,120,365

MACHINING SYSTEM FOR ADJUSTING NUMBER OF REVOLUTIONS OF MACHINING TOOL AND FEED SPEED OF WORKPIECE

FANUC CORPORATION, Yaman...

1. A machining system comprising;a robot which has a hand provided at an arm tip to grasp a workpiece;
a processing machine which has a spindle to rotate a machining tool;
a control unit which controls the processing machine and the robot so as to rotate the machining tool and press the workpiece held by the hand against the machining tool to thereby machine the workpiece;
a force sensor which detects force acting between the workpiece and the machining tool when the workpiece is pressed against the machining tool by the robot and is machined by the machining tool;
a judgment portion which judges whether the force value detected by the force sensor is between the predetermined upper threshold and the predetermined lower threshold; and
an operation commanding portion which regulates at least one of the feed speed of the workpiece pressed against the machining tool by the robot and the rotational speed of the machining tool so that the force value detected by the force sensor is between a predetermined upper threshold and a predetermined lower threshold by:
reducing at least one of the workpiece feed speed and the rotational speed of the machining tool when the judgment portion judges that the detected force value is above the predetermined upper threshold, and
increasing at least one of the feed speed and the rotational speed of the machining tool when the judgment portion judges that the detected force value is below the predetermined lower threshold.

US Pat. No. 10,112,309

GRIPPING DEVICE ATTACHED TO ROBOT

FANUC CORPORATION, Yaman...

1. A gripping device attached to a robot, comprising:a first finger part for contacting one side of a target object to be gripped;
a second finger part for contacting the other side of the target object, which is opposed to the first finger part;
a base part for supporting the first finger part and the second finger part; and
a drive part for driving at least one of the first finger part and the second finger part, wherein
the first finger part includes a first finger main body part which is supported by the base part and which has an opening, wherein the first main body part includes a plurality of bar-like parts, and a first fingertip part for contacting the target object, which is is permanently attached to ends of the plurality of bar-like parts;
the second finger part includes a second finger main body part supported by the base part, and a second fingertip part for contacting the target object, which is disposed at an end of the second finger main body part,
the first finger part and the second finger part are formed so that, when the drive part is driven based on a first motion command, the first fingertip part and the second fingertip part move closer to each other, and the first fingertip part and the second fingertip part grip the target object, and
the first finger part and the second finger part are formed so as to grip the target object when the drive part is driven based on a second motion command, with at least a part of the second finger part entering the inside of the opening, and the first finger main body part and the second finger main body part being in contact with the target object.

US Pat. No. 10,105,888

INJECTION MOLDING MACHINE WITH EJECTOR AND EJECTOR OPERATING METHOD FOR INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

4. An ejector operating method for an injection molding machine with an ejector, the ejector operating method comprising:setting, as ejector operating conditions, an advance limit position of the ejector, an ejection start position at which the ejector starts to eject a molded article, and a standard advance speed of the ejector for ejecting the molded article;
acquiring a set acceleration rate and a set deceleration rate of the ejector;
obtaining, as an ejection start position passing speed, a passing speed in the ejection start position which enables the ejector to be decelerated at the deceleration rate and stop at the advance limit position, based on a deceleration distance as a moving distance covered by the ejector advancing at the standard advance speed from a start of the deceleration at the deceleration rate until the ejector stops, an ejection distance between the ejection start position and the advance limit position, and the standard advance speed;
obtaining an acceleration distance for acceleration at the acceleration rate to the ejection start position passing speed; and
setting a position behind the ejection start position by the acceleration distance as an advance start position of the ejector.

US Pat. No. 10,099,415

INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. An injection molding machine, comprising:a first injection device which includes
a safety cover having a plurality of doors each of which is openable and closable, and
a screw covered by the safety cover;
a second injection device which includes
a nozzle, and
a screw;
a mold into which a resin is to be injected from the first and second injection devices, the mold covered by the safety cover;
an injection pressure detection unit for which the second injection device is an object for detection, the injection pressure detection unit configured to detect injection pressure inside the object for detection;
a locking mechanism configured to prevent opening of the plurality of doors of the safety cover; and
a lock control unit configured to control the locking mechanism, wherein
a first door of the plurality of doors of the safety cover is opened to permit access by the nozzle of the second injection device to the mold,
a second door of the plurality of doors of the safety cover is disposed in a straight line extending through the nozzle in a direction in which the resin is injected from the nozzle into the mold, and
the lock control unit is configured to set the locking mechanism to a locked state so as to inhibit opening of the second door of the safety cover, in response to the injection pressure inside the object for detection, the injection pressure being detected by the injection pressure detection unit, being equal to or higher than a predetermined value.

US Pat. No. 10,092,978

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 a target value selecting section configured to select, as a target value of said gap, either one of said first dimension that is previously determined and a second dimension that is previously determined to be larger than said first dimension, and wherein,
when said abnormality detection signal is sent to said gap control section during execution of laser processing, said target value selecting section selects said second dimension instead of said first dimension, and said gap control section calculates a manipulating variable used for controlling said driving mechanism so as to maintain said gap at said second dimension.

US Pat. No. 10,090,794

MOTOR DRIVER

FANUC CORPORATION, Yaman...

1. A motor driver comprising:a converter that converts an AC voltage into a DC voltage and outputs the DC voltage;
an inverter that inverts the input DC voltage into a multi-phase AC voltage for motor driving;
a short bar fixed to an output terminal of the converter and an input terminal of the inverter by screw fastening;
a first voltage detector that detects a voltage across the output terminals of the converter;
a second voltage detector that detects a voltage across the input terminals of the inverter; and
a reporting unit that provides, when a difference between the voltage detected by the first voltage detector and the voltage detected by the second voltage detector exceeds a predetermined threshold, a report relating thereto.

US Pat. No. 10,086,458

ELECTRICAL DISCHARGE MACHINE OF WHICH AXIS FEEDING PROPERTIES ARE CHANGEABLE

FANUC CORPORATION, Yaman...

1. An electrical discharge machine for processing a workpiece immersed in a process liquid, the electrical discharge machine comprising:a process tank for storing the process liquid into which the workpiece is to be immersed;
an electrode configured to perform a processing of the workpiece;
an axis configured to move the electrode and the workpiece relatively to each other; and
a controller configured to
acquire information that becomes an index of a process liquid level of the process liquid in the process tank; and
change axis feeding properties of the axis in accordance with the acquired information,
wherein the controller is further configured to change the axis feeding properties when the liquid level is determined as being above a level at which the process liquid does not spill from the process tank when a door of the process tank is in an open state.

US Pat. No. 10,088,827

NUMERICAL CONTROL DEVICE ACQUIRING ALARM INFORMATION FROM CONNECTED IO UNIT

FANUC Corporation, Minam...

1. A numerical control device, which has a numerical control device body, and a plurality of IO units connected to the numerical control device body in a daisy chain, and configured to control a machine by performing IO communication between the numerical control device body and the IO units, and,the numerical control device body comprising:
a communication abnormality detection unit configured to detect communication abnormality occurring in the IO communication between the numerical control device body and the IO units;
a command transmission unit configured to transmit a command simultaneously to all the IO units based on the detected communication abnormality;
an alarm acquisition unit, and,
each of the IO units comprising:
a status abnormality detection unit configured to detect at least one of incorrect data reception in the IO communication, power supply disconnection, communication line disconnection to the numerical control device body or another IO unit, and circuit abnormality of the IO unit itself as status abnormality;
a recording unit configured to record the status abnormality detected by the status abnormality detection unit as alarm information;
a command reply unit configured to make a reply with the alarm information with respect to the command from the numerical control device body, and,
the command transmission unit is configured to transmit a command requesting for making a reply to the numerical control device body with the alarm information recorded in the recording unit of each IO unit simultaneously to all the 10 units, when the communication abnormality detection unit detects the communication abnormality in the IO communication, and,
among the IO units, only the IO unit where the recording unit records the alarm information is configured to make a reply with the alarm information, and the alarm acquisition unit of the numerical control device body is configured to acquire the alarm information replied from the IO unit, when the command is transmitted simultaneously.