US Pat. No. 10,559,993

STATOR AND MOTOR

FANUC CORPORATION, Yaman...

1. A stator comprising:a stator core having a cylindrical yoke portion and a plurality of tooth portions protruding toward an inner side of a radial direction of the yoke portion from positions spaced from each other in a circumferential direction of an inner circumferential portion of the yoke portion and extending in an axial direction of the yoke portion;
a plurality of coils attached to the tooth portion so as to surround the tooth portion, the coils forming a first void portion between an inner circumferential portion of the coil and a first end surface on one end side in the axial direction of the tooth portion and forming a second void portion between the inner circumferential portion of the coil and a second end surface on the other end side in the axial direction of the tooth portion;
a plurality of first coil fixing components inserted into the first void portion from an inner side of the radial direction toward an outer side thereof to fix the coils; and
a plurality of second coil fixing components inserted into the second void portion from the inner side of the radial direction toward the outer side to fix the coils, wherein
the first end surface has a first concave portion,
the second end surface has a second concave portion,
the first coil fixing component has a first body portion inserted into the first void portion, a first convex portion protruding from a position contacting the first end surface, of the first body portion so as to be inserted into the first concave portion, and a first locking portion extending from an end on the inner side of the radial direction of the first body portion toward the opposite side of the first end surface to lock the coil from the inner side of the radial direction,
the second coil fixing component has a second body portion inserted into the second void portion, a second convex portion protruding from a position contacting the second end surface, of the second body portion so as to be inserted into the second concave portion, and a second locking portion extending from an end on the inner side of the radial direction of the second body portion toward the opposite side of the second end surface to lock the coil from the inner side of the radial direction,
the first body portion has a first guiding portion that guides insertion into the first void portion,
the second body portion has a second guiding portion that guides insertion into the second void portion,
the first body portion and the second body portion each have a shape that is tapered toward an outer side of the radial direction, and
at least one of the first body portion and the second body portion has an elastic structure that exerts elastic force in the axial direction.

US Pat. No. 10,549,368

ELECTRICAL DISCHARGE MACHINE AND FAILURE DETERMINING METHOD

FANUC CORPORATION, Yaman...

1. An electrical discharge machine configured to perform electrical discharge machining by applying a voltage to an inter-electrode gap formed between an electrode and a target workpiece and causing a current to flow, the electrical discharge machine comprising:a machining power supply having a plurality of different circuit states, and configured to be set to one circuit state of the plurality of circuit states by switching at least one of an electrical connection or an electrical setting;
a control unit comprising a storage medium in which a program is stored and a processor, wherein the processor is configured to:
determine whether or not the set circuit state is normal in response to setting each of the plurality of circuit states as the circuit state of the machining power supply;
specify a failure portion of the machining power supply based on a determination result with respect to each of the plurality of circuit states; and
set each of the plurality of circuit states as the circuit state of the machining power supply sequentially by switching at least one of the electrical connection or the electrical setting; and
a display configured to report the failure portion specified by the processor to an operator,
wherein the processor is further configured to determine, in response to switching the circuit state of the machining power supply, whether or not the switched circuit state is normal.

US Pat. No. 10,549,370

ROTATION TABLE

FANUC CORPORATION, Yaman...

1. A rotation table, comprising:a casing;
a face plate pivotally supported on the casing;
a drive portion for rotating the face plate; and
a seal mechanism portion including:
a sealing material arranged between the casing and the face plate;
a casing-side grooved portion for forming a casing-side seal mounting groove for retaining the sealing material, the casing-side seal mounting groove being formed on an end of the casing; and
a seal holding portion for holding a side of the sealing material with the casing-side grooved portion,
wherein a portion having the casing-side grooved portion and the seal holding portion are configured to be separable without moving or removing the face plate.

US Pat. No. 10,509,387

CONTROL DEVICE FOR MACHINE TOOL PERFORMING OSCILLATION CUTTING

FANUC CORPORATION, Yaman...

1. A control device for controlling a machine tool for machining an outer peripheral surface or an inner peripheral surface of a workpiece using a tool, the machine tool including a main spindle for relatively rotating the workpiece and the tool about a central axis line of the workpiece, and at least one feed axis for relatively feeding the tool and the workpiece along a generatrix of the outer peripheral surface or the inner peripheral surface of the workpiece, the control device comprising:a position command generation unit for generating a position command for the feed axis, based on a relative rotation speed between the workpiece and the tool, and a relative feed speed between the tool and the workpiece; and
a feed axis control unit for controlling the feed axis by the position command, wherein
the feed axis control unit includes an oscillation command generation unit for generating an oscillation command for the feed axis based on the rotation speed and the position command, such that an oscillation frequency becomes a positive non-integer multiple of the rotation speed, and such that the tool intermittently machines the workpiece, and the feed axis control unit controls the feed axis based on a composite command obtained by adding the oscillation command to a positional deviation that is a difference between the position command and an actual position of the feed axis,
the control device further includes a command block timing detection unit for detecting arbitrary timing between adjacent command blocks, based on a machining program, including a plurality of command blocks, of the machine tool, and
the feed axis control unit further includes:
a learning controller for performing learning control in which a correction amount of the composite command is calculated based on an oscillation phase calculated from the oscillation command, and the composite command, and the correction amount is added to the composite command; and
a determination unit for determining whether or not a current time is in the arbitrary timing between the adjacent command blocks, and for stopping oscillation of the feed axis based on the determination.

US Pat. No. 10,503,140

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 performing a relative rotation between the workpiece and the tool around a central axis of the workpiece, and at least one feed axis for performing a relative feeding between the tool and the workpiece along a generatrix of the outer peripheral surface or the inner peripheral surface of the workpiece, 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; and
a feed axis control part that controls the at least one feed axis according to the position command, wherein
the feed axis control part includes 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 the tool intermittently cuts the workpiece at an oscillation frequency which is a positive non-integral multiple of the rotation speed, and the feed axis control part is configured to control the at least one feed axis based on a resultant command obtained by adding the oscillation command to a position deviation, which is a difference between the position command and an actual position of the at least one feed axis;
the control device further comprising an oscillation permission/prohibition notification part which notifies the oscillation command generation part of generation permission of the oscillation command when the value of the position command is not within a predetermined range from the machining stop point of the workpiece which has been stored in the control device in advance, and which notifies the oscillation command generation part of generation prohibition of the oscillation command when the value of the position command is within the predetermined range; wherein
the feed axis control part further comprises:
a learning controller which performs learning control to obtain a correction amount of the resultant command based on an oscillation phase obtained from the oscillation command and the resultant command and which adds the correction amount to the resultant command; and
a determination part which determines whether the oscillation command generation part has been notified of generation permission or generation prohibition of the oscillation command, and in the determination, when notification of generation permission of the oscillation command has been received, the learning control is turned on, and when notification of generation prohibition of the oscillation command has been received, the oscillation command is set to zero and the learning control is turned off.

US Pat. No. 10,503,141

DISPLAY DEVICE AND MACHINING SYSTEM FOR OSCILLATION CUTTING

FANUC CORPORATION, Yaman...

1. A display device for displaying information related to a machine tool when performing intermittent cutting by oscillating a tool and a workpiece relative to each other in a machining feed direction in order to shred swarf generated when machining is performed, the machine tool performing machining through cooperation of a spindle for performing a relative rotation between the workpiece and the tool around a central axis of the workpiece, and a feed axis for performing a relative feeding between the tool and the workpiece in the machining feed direction, the display device comprising:a position information acquisition part which acquires position information of the feed axis at predetermined intervals when intermittent cutting is performed;
a rotation information acquisition part which acquires a rotation speed of the spindle as rotation information of the spindle when intermittent cutting is performed;
a first waveform generation part which generates first waveform data representing a change of the position information over time from time series position information of the feed axis acquired by the position information acquisition part at the predetermined intervals;
a second waveform generation part which generates a plurality of second waveform data by obtaining a rotation time per rotation from the rotation speed acquired by the rotation information acquisition part, dividing the first waveform data into partial waveform data for time per rotation, and sequentially shifting each partial waveform data in the time axis direction so as to match a start point of the first waveform data; and
a waveform display part which displays the plurality of second waveform data, the display device further comprising:
a third waveform generation part which generates third waveform data by subtracting nth second waveform data (where n is a non-negative integer) from (n+1)th second waveform data, regarding each of the nth and (n+1)th waveform data obtained by dividing and shifting the first waveform data for time per rotation; wherein
the waveform display part displays the third waveform data instead of the plurality of second waveform data.

US Pat. No. 10,500,687

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool comprising:a tool magazine having a plurality of tool grippers radially disposed about a center of the tool magazine, each of the plurality of tool grippers being capable of gripping a tool;
a workpiece support with a workpiece placed thereon and removed therefrom by an automated workpiece carrier, the workpiece to be machined by the tool; and
a spindle subjected to attachment of the tool for machining the workpiece on the workpiece support, wherein
the tool magazine is able to rotate between a machining position where the tool attached to the spindle machines the workpiece, a tool exchange position where the tool attached to the spindle is exchanged, and a retreat position where the automated workpiece carrier is not disturbed in placing the workpiece on or removing the workpiece from the workpiece support,
the workpiece is placed on the workpiece support from above or removed upward from the workpiece support by the automated workpiece carrier via a space located horizontally adjacent the tool magazine, wherein
the tool magazine is configured such that when disposed in either the machining position or the tool exchange position, the automated workpiece carrier is precluded from accessing the workpiece support, and
when the automated workpiece carrier is performing the placing of the workpiece on or the removal of the workpiece from the workpiece support, the workpiece support is disposed lower than the tool magazine, and
the machine tool further comprises:
a tool magazine retractor for moving the tool magazine to the retreat position, and
a controller for controlling, in synchronism with each other, an operation of placing the workpiece on or removing the workpiece from the workpiece support by the automated workpiece carrier and an operation of the tool magazine retractor.

US Pat. No. 10,476,386

DIGITALLY CONTROLLED POWER SUPPLY APPARATUS AND PRODUCTION MANAGEMENT SYSTEM

FANUC CORPORATION, Yaman...

1. A digitally controlled power supply apparatus, comprising:a switching device for converting a given input voltage to output a converted voltage by being on/off driven in accordance with gate signals that the switching device receives;
a smoothing circuit for smoothing the converted voltage outputted by the switching device to output a power supply voltage;
an analog-digital converter for analog-digital converting the power supply voltage outputted by the smoothing circuit to output a power supply voltage digital data;
a Proportional-Integral-Derivative (PID) controller for performing PID control operation to an error between a setpoint and the power supply voltage digital data outputted by the analog-digital converter;
a switching drive circuit for generating gate signals for on/off driving the switching device, based on an operation outcome of the PID controller;
a control parameter adjuster for dynamically performing automatic adjustment of control parameters used for the PID control operation by the PID controller, based on a history of fluctuations indicated in samplings of the power supply voltage digital data;
a control parameter output unit for outputting the control parameters adjusted by the control parameter adjuster and used for the PID control operation by the PID controller; and
a control parameter determination unit for determining whether or not the control parameters outputted by the control parameter output unit satisfy a predetermined abnormality determination condition,
wherein the abnormality determination condition is based on a rate of change of at least one of the control parameters.

US Pat. No. 10,444,721

SIMULATION APPARATUS, PROGRAM GENERATING DEVICE, CONTROLLER, AND DISPLAY METHOD FOR COMPUTER

FANUC CORPORATION, Yaman...

1. A simulation apparatus comprising:a characteristics storage unit configured to store a rated value of a value related to output of a spindle of a machine tool depending on a rotational speed of the spindle;
a cutting conditions storage unit configured to store cutting conditions for cutting a workpiece;
a spindle output estimating unit configured to estimate, on basis of the stored cutting conditions, the rotational speed of the spindle, and the value related to the output of the spindle at a time of cutting the workpiece;
a cutting conditions display control unit configured to display the stored cutting conditions on a display unit;
a spindle output display control unit configured to display on the display unit a graph showing the rated value with respect to the rotational speed of the spindle, and also display on the display unit, as a coordinate point on the graph, the value related to the output with respect to the rotational speed of the spindle which is estimated from the cutting conditions; and
a cutting conditions setting unit configured to set conditions specified by an operation of an input unit by an operator, as the cutting conditions;
wherein the cutting conditions storage unit stores the set cutting conditions, and
wherein the cutting conditions setting unit calculates the cutting conditions from coordinates on the graph designated by an operation of the input unit by the operator, and changes the set cutting conditions to the calculated cutting conditions.

US Pat. No. 10,444,729

MONITORING DEVICE, MACHINE TOOL, AND MONITORING SYSTEM

FANUC CORPORATION, Yaman...

1. A monitoring device connected to multiple machine tools through a network, the monitoring device comprising:a monitoring unit that monitors the occurrence of an alarm in the machine tools;
a counting unit that counts the number of time each alarm occurred;
an acquisition unit that acquires a set of measurement target data items responsive to an alarm from a database on the occurrence of the alarm;
a selection unit that selects a machine tool as a measurement target in which the set of measurement target data items is to be set based on a state of occurrence of the same alarm determined using a result of the counting by the counting unit; and
a collection unit that sets the set of measurement target data items in the machine tool selected by the selection unit, and collects data measured by following the setting,
wherein, if an alarm occurred at a frequency less than a predetermined frequency, the selection unit selects all the machine tools of the same type classified in advance.

US Pat. No. 10,439,504

POWER CONVERTER DEVICE AND CONTROL METHOD THEREOF

FANUC CORPORATION, Yaman...

1. A power converter device configured to convert alternating-current power supplied from a three-phase alternating-current power supply into direct-current power, comprising:a rectifier configured to convert the alternating-current power into the direct-current power based on a pulse width modulation control signal;
a voltage detecting unit configured to detect a voltage of a smoothing capacitor that is connected on a direct-current side of the rectifier;
a capacitance estimating unit configured to estimate capacitance of the smoothing capacitor;
a voltage control unit configured to calculate a voltage loop gain from the estimated capacitance and generate a control voltage from the voltage loop gain and an error between a command voltage and the detected voltage; and
a pulse width modulation control unit configured to generate the pulse width modulation control signal by using the control voltage and control the rectifier.

US Pat. No. 10,437,227

MOTOR DRIVE SYSTEM INCLUDING ABNORMALITY DETECTION UNIT OF POWER STORAGE DEVICE

FANUC CORPORATION, Yaman...

1. A motor drive system comprising:a power supply unit configured to supply DC power to a DC link;
a servo amplifier for drive configured to convert DC power in the DC link to AC power and supplies the AC power to a servomotor for drive as a driving power;
a power storage device configured to store DC power from the DC link and supplies DC power to the DC link;
an abnormality detection unit configured to detect an abnormality of the power storage device; and
a control unit configured to control an operation of the servo amplifier for drive such that when the abnormality detection unit detects an abnormality of the power storage device, an output of a servomotor for drive is limited to a value smaller than an output before an abnormality detection by the abnormality detection unit,
wherein the control unit controls an operation of the servo amplifier for drive such that when the abnormality detection unit detects an abnormality of the power storage device, an absolute value of an output of a servomotor for drive does not exceed a limiting value set to a value smaller than an absolute value of a maximum supply electric power of the power supply unit.

US Pat. No. 10,427,231

NUMERICAL CONTROLLER

FANUC Corporation, Minam...

1. A numerical controller providing machining for a workpiece by controlling a wire electric discharge machining device, the wire electric discharge machining device having an XY axis adapted to control the workpiece relatively with respect to a wire electrode in a horizontal direction and a UV axis adapted to control at least either one of an upper wire guide and a lower wire guide in the horizontal direction, the numerical controller comprising including a memory and a central processing unit (CPU), the CPU configured to perform a method:perpendicularly orientating the wire electrode to the workpiece by controlling at least either one of the XY axis and the UV axis;
parallel orientating the wire electrode with a direction in which a machining start hole extends, the wire electrode being inserted into and extending through at least one machining start hole provided in and perpendicular to the workpiece by controlling the at least either one of the XY axis and the UV axis;
calculating an inclination of the workpiece with respect to the XY axis on the basis of a position of the UV axis in response to the wire electrode being made to be perpendicular to the workpiece;
calculating a diameter of the machining start hole by controlling the XY axis and detecting a short-circuit state between the wire electrode and an inner wall of the machining start hole;
calculating a location of a center of an upper portion of the machining start hole by controlling a relative position of the upper wire guide relative to the workpiece and detecting the short-circuit state between the wire electrode inserted into and extending through the machining start hole and the inner wall of the machining start hole;
calculating a location of a center of a lower portion of the machining start hole by controlling a relative position of the lower wire guide relative to the workpiece and detecting the short-circuit state between the wire electrode inserted into and extending through the machining start hole and the inner wall of the machining start hole;
calculating an amount of correction of the upper wire guide with respect to the workpiece on a surface of the upper wire guide; and
calculating an amount of correction of the lower wire guide with respect to the work piece on a surface of the lower wire guide on the basis of the calculated inclination of the workpiece, the calculated diameter of the machining start hole, the calculated location of the center of the upper portion of the machining start hole, and the calculated location of the center of the lower portion of the machining start hole.

US Pat. No. 10,429,814

NUMERICAL CONTROL APPARATUS

FANUC Corporation, Minam...

1. A numerical control apparatus for controlling a machine tool and which enables specification of a movement trajectory of a circular arc shape by a circular arc interpolation command which is included in a machining program, the numerical control apparatus comprising:a program analysis unit which analyzes the machining program so as to acquire command data;
a command argument determination unit which (i) analyzes a form of an argument of a circular arc interpolation command included in the command data and (ii) determines, based on the analyzed form of the argument, whether the circular arc interpolation command specifies a vector originating from a certain point along a straight line connecting a start point and an end point of a circular arc shape and leading to a point along the circular arc shape, the certain point being displaced from a center point of the straight line connecting the start point and the end point of the circular arc shape;
a circular arc shape forming unit which forms a circular arc shape based on the machining program, the start point of the circular arc shape, the end point of the circular arc shape, and a direction and a length of the vector, the start point of the circular arc shape, the end point of the circular arc shape, and the vector being specified by the argument of the circular arc interpolation command, when the command argument determination unit determines that the circular arc interpolation command specifies the vector, wherein the circular arc shape forming unit is configured to:
obtain a start point of the vector based on (i) the start point of the circular arc shape, (ii) the end point of the circular arc shape, and (iii) a distance from the start point of the circular arc shape to the certain point along the straight line connecting the start point of the circular arc shape and the end point of the circular arc shape from which the vector originates,
obtain the point along the circular arc shape to which the vector leads based on (i) the start point of the vector, (ii) the direction of the vector, and (iii) the length of the vector, and
form the circular arc shape to pass through the (i) the start point of the circular arc shape, (ii) the end point of the circular arc shape, and (iii) the point along the circular arc shape to which the vector leads;
a tool trajectory forming unit which forms a tool trajectory of a machine tool based on the circular arc shape; and
a distribution processing execution unit which controls at least one motor of the machine tool based on the tool trajectory formed by the tool trajectory forming unit.

US Pat. No. 10,427,302

ROBOT CONTROL APPARATUS CAPABLE OF TRANSFERRING WORKPIECE HAVING PARAMETER EXCEEDING RATED WORKPIECE PARAMETER

FANUC CORPORATION, Yaman...

1. A robot control apparatus, comprising:a processor configured to set a workpiece parameter value of a parameter of a workpiece, wherein the parameter affects transferability of the workpiece to be held and transferred by an arm of an industrial robot; and
a memory configured to store
a rated workpiece parameter value, which is a maximum value of the parameter at which the workpiece is transferable by the industrial robot at a rated velocity of the industrial robot; and
an upper-limit workpiece parameter value, which is an upper-limit value of the parameter of the workpiece transferrable by the arm of the industrial robot, and is greater than the rated workpiece parameter value,
wherein
the parameter of the workpiece includes a first parameter of the workpiece and a second parameter of the workpiece, the second parameter being different from the first parameter of the workpiece, and
the processor is configured to, in response to the set workpiece parameter value being greater than the stored rated workpiece parameter value and not greater than the upper-limit workpiece parameter value, for the first and second parameters, calculate a reduced maximum velocity of the industrial robot by
calculating a first maximum velocity with respect to the first parameter and a second maximum velocity with respect to the second parameter,
determining which one of the first and second maximum velocities has a smaller value,
setting the smaller value as the reduced maximum velocity of the industrial robot, the reduced maximum velocity being lower than the rated velocity, and
causing the industrial robot to transfer the workpiece at the reduced maximum velocity.

US Pat. No. 10,427,308

WIRE BODY PROCESSING STRUCTURE FOR ROBOT

FANUC CORPORATION, Yaman...

1. A wire body processing structure for a robot having a wrist, a base end of which is connected to a forearm in a rotatable manner about a first axis and a distal end of which has a plurality of working tools attached thereto, the wire body processing structure comprising:a through-path extending therethrough along the first axis from the forearm to the distal end of the wrist;
a first conduit accommodated within the through path and having flexibility and disposed along the first axis;
a second conduit having flexibility and inserted inside the first conduit along longitudinal direction, and
an attachment flange member configured to attach the plurality of working tools to the distal end of the wrist,
wherein a first wire body for one of the working tools is disposed so as to extend longitudinally through the second conduit,
wherein a second wire body for another one of the working tools is disposed so as to extend longitudinally through a space between the first conduit and the second conduit,
a distal end of the first conduit is engaged with a hole formed in the wrist in a movable manner along the first axis, and
wherein the wire body processing structure comprises a movement limiting unit that limits movement of the first conduit along the first axis so as to prevent the first conduit from protruding toward the attachment flange member beyond a distal-end surface of the wrist.

US Pat. No. 10,423,145

NUMERICAL CONTROLLER CAPABLE OF CHANGING MACHINING CONDITION IN ACCORDANCE WITH MACHINING INFORMATION

Fanuc Corporation, Yaman...

1. A numerical controller for controlling a machine equipped with a tool, based on a program including an instruction block that instructs a movement of the tool, comprising:a processor configured to read out the instruction block and obtain machining information that is information indicating a feature of a tool path instructed by the instruction block;
a memory accessible by the processor configured to store a machining condition that is a condition related to the movement of the tool in association with the machining information, wherein the machining condition includes a cutting-feed/rapid-traverse condition;
wherein the processor is further configured to:
analyze the machining information obtained together with the instruction block to determine the feature of the tool path instructed by the instruction block;
change the machining condition in the movement of the tool instructed by the instruction block, based on the machining information and the machining condition; and
generate movement data for controlling the movement of the machine equipped with the tool according to the changed machining condition.

US Pat. No. 10,414,600

SUPPLY CONTROL DEVICE AND SUPPLY CONTROL METHOD

FANUC CORPORATION, Yaman...

7. A supply control method, for controlling a circulation device that causes an article to circulate in a system that includes the circulation device, and a robot that retrieves the article during circulation on the circulation device, the supply control method comprising the steps of:detecting the article circulating on the circulation device and a position of the article;
measuring a number of the articles in a predetermined region of the circulation device, based on detection results of the step of detecting;
controlling a speed of circulation of the circulation device according to the number of the articles in the predetermined region measured in the step of measuring, and
wherein, in the step of controlling, a number of articles in the predetermined region measured by the measurement unit is corrected based on notification received from the robot that the robot retrieved an article in the predetermined region, and the speed of circulation of the circulation device is controlled according to the number of articles in the predetermined region after correction.

US Pat. No. 10,416,651

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. 10,406,644

MACHINING SYSTEM

Fanuc Corporation, Yaman...

1. A machining system comprising:a machine tool for machining a workpiece by rotating a tool attached to a main spindle;
a robot including a robot arm for conducting a change of the workpiece for the machine tool or an inspection of the workpiece after machining;
a sensor supporter which is attached to a distal end portion of the robot arm, the sensor supporter comprising:
a base section supported by the distal end portion of the robot arm so that the base section is capable of independent rotation, around a first axis extending in a vertical direction, relative to the distal end portion of the robot arm;
an arm supported by the base section so that the arm is capable of independent rotation, around a second axis extending in a horizontal direction, relative to the base section;
a force sensor unit supported at a distal end portion of the arm in a manner capable of rotating around an axis extending in a horizontal direction, wherein the force sensor unit comprises a contact section that is attached to the sensor supporter via a force sensor;
a base section servo motor for rotating the base section relative to the distal end portion of the robot arm;
an arm servo motor for rotating the arm relative to the base section; and
a control unit, wherein the control unit is configured to conduct:
a measurement process of controlling the robot arm, the base servo motor, and the arm servo motor such that the contact section is positioned at a predetermined measurement position where the contact section comes into contact with a side surface of the tool or a side surface of a tool holder for attaching the tool to the main spindle, and obtaining detection values of the force sensor over a predetermined period of time in a state where the main spindle is rotating; and
a determination process of determining an attached state of the tool or the tool holder based on the detection values obtained over the predetermined period of time.

US Pat. No. 10,406,680

INDUSTRIAL ROBOT

FANUC CORPORATION, Yaman...

1. An industrial robot comprising: a first arm; a second arm that is provided, at the distal end of the first arm that is pivotable about a first axis, in a pivotable manner about a second axis parallel to the first axis; and a wrist that is disposed at the distal end of the second arm that has a plurality of wrist elements, including a first wrist element provided in a rotatable manner about the longitudinal axis of the second arm disposed at a position offset with respect to the second axis, wherein a motor that drives a wrist element other than the first wrist element of the wrist is accommodated in a space inside the first wrist element; the second arm is provided, in the vicinity of the second axis, with a hollow portion that communicates with the space; and a cable to be wired to the motor is wired into the hollow portion from the outside of the second arm via a through-hole that penetrates through a wall section of the second arm and is relayed by a connector fixed to the wall section at the position of the through-hole;wherein the connector is accommodated in a concave portion that is formed on an outer surface of the second arm; and
wherein the concave portion is formed between ribs that are disposed on the outer surface of the second arm with a gap therebetween in the direction along the second axis.

US Pat. No. 10,396,699

ANOMALY DIAGNOSING DEVICE AND ANOMALY DIAGNOSING METHOD

FANUC CORPORATION, Yaman...

1. An anomaly diagnosing device for diagnosing an anomaly in a single motor driven by a plurality of motor drive units, wherein the motor drive units calculate a plurality of voltage command values based on a position command or a velocity command given by a numerical control device, and supply AC currents to a plurality of multi-phase windings of the motor, based on the calculated voltage command values, thereby driving the motor, comprising:a power consumption calculator configured to calculate power consumption of each of the multi-phase windings;
a power difference calculator configured to calculate a difference in power consumption between the multi-phase windings or a difference between average power consumption of the multi-phase windings and the power consumption of each of the multi-phase windings; and
a determination unit configured to determine that an anomaly is occurring when an absolute value of the difference has exceeded a threshold for a predetermined period of time.

US Pat. No. 10,394,943

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller comprising:a processor configured to:
control a display device to display image data including a machining program code for controlling a machine tool, the image data associated with a screen identifier;
perform debugging of the machining program code;
control a memory device to store the image data displayed on the display device;
receive a plurality of memo data and add the plurality of memo data to the image data during the debugging, each of the plurality of the memo data associated with a respective memo identifier and an under-execution position of the machining program code during the debugging;
record, in the memory device, the plurality of memo data;
associate the plurality of memo data and each respective memo identifier with the screen identifier;
display the plurality of memo data, the under-execution position of the machining program code during the debugging and each respective memo identifier in a state where they are associated with the screen identifier; and
control the machine tool based on the machining program code.

US Pat. No. 10,394,217

MOTOR DRIVING APPARATUS

FANUC CORPORATION, Yaman...

1. A motor driving apparatus for driving a motor, the motor driving apparatus comprising:an amplifier circuit for receiving a signal corresponding to a sine wave from a detector and amplifying the signal with a set amplification factor, the detector outputting information including a position and a speed of the motor as the signal;
a frequency detecting part for detecting a frequency of the signal by calculating using a number of the signals each corresponding to the sine wave output by the detector per rotation of the motor and a motor rotational speed command value from a numerical control unit to the motor driving apparatus; and
an amplification factor setting part for changing setting of the amplification factor of the amplifier circuit according to the frequency detected by the frequency detecting part.

US Pat. No. 10,394,219

NUMERICAL CONTROLLER OPERATING FROM TABLE-FORMAT DATA

FANUC Corporation, Minam...

1. A numerical controller that performs a machining operation on a workpiece by controlling a drive motor of a machine tool based on table-format data, the numerical controller comprising:a table management unit that selects a plurality of tables of table-format data to be used for the machining operation;
a table readout unit that sequentially reads out the selected plurality of tables of table-format data;
a distribution processing unit that
updates one or more reference values specified by each of the tables of table-format data, the one or more reference values including one or more of (i) a period of time, (ii) a position of an axis of the machine tool, and (iii) a position of a spindle of the machine tool,
generates, for each of the tables of table-format data, distributed interpolation data for controlling a corresponding control axis of the machine tool on the basis of the updated one or more reference values specified by the respective tables of table-format data, and
sets selection and superimposition conditions for the distributed interpolation data generated for the tables of table-format data, the selection and superimposition conditions specifying, for each table of table-format data, whether the corresponding distributed interpolation data is to be superimposed with distributed interpolation data corresponding one or more other tables of table-format data;
a selection and superimposition unit that selects and superimposes, for each control axis of the machine tool, the distributed interpolation data generated by the distribution processing unit based on the selection and superimposition conditions; and
a motor control unit that controls a position of each control axis of the machine tool on the basis of the superimposed distributed interpolation data.

US Pat. No. 10,350,749

ROBOT CONTROL DEVICE HAVING LEARNING CONTROL FUNCTION

FANUC CORPORATION, Yaman...

1. A robot control device configured to control an operation of a robot mechanism part driven by a servomotor, the robot control device comprising:a learning control unit configured to perform learning control so as to calculate a learning correction amount for correcting a position of a leading end of the robot mechanism part when the robot mechanism part is operated by a position command;
a position storage unit configured to store the position of the leading end of the robot mechanism part at a predetermined time interval while the learning control is performed;
a speed storage unit configured to store a speed of the leading end of the robot mechanism part at the predetermined time interval while the learning control is performed;
a positional error calculation unit configured to calculate, while the robot mechanism part is operated by the position command after the learning control, a positional error between an actual position of the leading end obtained at a predetermined time interval and the position of the leading end that corresponds to the actual position and is stored in the position storage unit;
a speed error calculation unit configured to calculate, while the robot mechanism part is operated by the position command after the learning control, a speed error between an actual speed of the leading end obtained at a predetermined time interval and the speed of the leading end that corresponds to the actual speed and is stored in the speed storage unit; and
a learning correction amount application-determination unit configured to determine, while the robot mechanism part is operated by the position command after the learning control, whether the position and the speed of the leading end are in an abnormal state or in a normal state on the basis of the positional error and the speed error, and then switch a determination as to whether or not the learning correction amount is applied to the position of the leading end in accordance with this determination result.

US Pat. No. 10,353,375

MACHINE TOOL CONTROLLER WITH POWER SUPPLY VOLTAGE ABNORMALITY DETECTION

FANUC CORPORATION, Yaman...

1. A machine tool controller comprising:a voltage detection unit which detects voltage values of an input power supply used to drive a machine tool;
a time measurement unit which measures an occurrence time and a duration time of a voltage drop state when the voltage drop state occurs with respect to the voltage values detected by the voltage detection unit;
an abnormality determination unit which determines whether a low voltage abnormality or a power failure occurs with respect to the input power supply based on the voltage values detected by the voltage detection unit and the duration time of the voltage drop state measured by the time measurement unit in accordance with a predetermined low voltage abnormality determination condition and a predetermined power failure determination condition;
a machining management unit which acquires a machining condition command and machining information of the machine tool;
a storage unit which stores the voltage values detected by the voltage detection unit, the occurrence time of the voltage drop state measured by the time measurement unit, and the machining information acquired by the machining management unit when the abnormality determination unit determines that a low voltage abnormality occurs with respect to the input power supply; and
a display unit which displays a voltage waveform of the voltage values detected by the voltage detection unit in association with the machining information acquired by the machining management unit as machining instructions at the corresponding occurrence time of the voltage drop state measured by the time measurement unit,
wherein
the predetermined low voltage abnormality determination condition includes a first voltage threshold value and a first time threshold value which serve as a determination reference as to whether a low voltage abnormality occurs with respect to the input power supply, and the abnormality determination unit determines that the low voltage abnormality occurs with respect to the input power supply when a state in which the voltage values detected by the voltage detection unit are less than the first voltage threshold value continues over the first time threshold value or larger, and
the predetermined power failure determination condition includes a second voltage threshold value and a second time threshold value which serve as a determination reference as to whether a power failure occurs with respect to the input power supply, the second voltage threshold value is smaller than the first voltage threshold value, the second time threshold value is larger than the first time threshold value, and the abnormality determination unit determines that a power failure occurs with respect to the input power supply when a state in which the voltage values detected by the voltage detection unit are less than the second voltage threshold value continues over the second time threshold value or larger.

US Pat. No. 10,347,417

THREE-PHASE AC REACTOR CAPABLE OF REDUCING LEAKAGE OF MAGNETIC FLUX

FANUC CORPORATION, Yaman...

1. A three-phase AC reactor comprising:a peripherally enclosing external core;
at least three core coils being in contact with or connected to an interior of the external core, a side surface and another side surface of each of the core coils extending beyond the external core,
each of the core coils including a core and a coil wound around the core, and the adjoining core coils being magnetically connected through a gap; and
a first magnetic barrier fitted on one end portion of the external core so as to enclose the side surface of the coils;
a second magnetic barrier fitted on other end portion of the external core so as to enclose the another side surface of the coils;
a first cover for covering one of end surfaces of the coils; and
a second cover for covering other end surfaces of the coils;
wherein each of the coils has an output lead portion and an input lead portion, and
wherein the output lead portions pass through through holes of the first cover and the input lead portions pass through through holes of the second cover.

US Pat. No. 10,346,940

ROBOT SYSTEM AND PRODUCTION SYSTEM

FANUC CORPORATION, Yaman...

5. A production system comprising:a conveyor that conveys a plurality of kinds of articles;
a plurality of production apparatuses that supply the plurality of kinds of articles to the conveyor;
an image pickup apparatus that picks up images of the plurality of kinds of articles conveyed by the conveyor;
an article controlling portion that controls time and a position of each of the plurality of kinds of articles being supplied onto the conveyor, to limit kinds of articles to be image-picked-up by the image pickup apparatus in advance;
a detecting portion that detects the plurality of kinds of articles from the images picked up by the image pickup apparatus of the kinds of articles limited in advance by the article controlling portion; and
a robot that is configured to take out the plurality of kinds of articles detected by the detecting portion from the conveyor,
wherein the article controlling portion is configured to transmit information about the limited kinds of articles to the detecting portion.

US Pat. No. 10,328,510

FIXING STRUCTURE OF WIRE BOBBIN AND FIXING METHOD OF THE SAME

FANUC CORPORATION, Yaman...

1. A fixing structure of a wire bobbin to a wire electrical discharge machine comprising:a bolt configured to be inserted into an insertion hole formed in the wire bobbin so as to rotatably support the wire bobbin;
a regulating member provided on a proximal end side of the bolt to stop movement of the wire bobbin to the proximal end side of the bolt; and
a nut having a threaded hole to be screwed onto the bolt, wherein:
the wire bobbin is fixed to the wire electrical discharge machine by the regulating member and the nut so as to be immovable in an axial direction of the bolt but rotatable, in a state where the bolt is inserted in the insertion hole;
the nut comprises:
a through hole formed obliquely to an axis of the threaded hole so as to leave part of the threaded hole, the through hole having an inside diameter greater than an outside diameter of the bolt, and
a tapered portion formed at an end of the nut facing the wire bobbin so that part of the tapered portion is inserted into the insertion hole.

US Pat. No. 10,307,876

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:a table;
a cover that covers (a) the table on which a workpiece is to be placed and (b) a machining area, to prevent chips generated by machining and cutting fluid from scattering around;
a plurality of movable nozzles configured to discharge liquid for washing out chips that have adhered to or accumulated on an inner surface of the cover, wherein a discharge direction of the liquid from each of the plurality of movable nozzles is individually adjustable;
a detection device configured to detect a state of an inside of the cover;
a pre-machining storage configured to store a state of the inside of the cover before start of machining, which is detected by the detection device;
a post-machining storage configured to store a state of the inside of the cover after chips are generated by the machining;
a chip state determination unit configured to compare the state of the inside of the cover before start of machining, which is stored in the pre-machining storage, with the state of the inside of the cover after chips are generated by the machining, which is stored in the post-machining storage, to determine an adhesion or accumulation state of chips; and
a discharge direction calculation unit configured to calculate, based on a result of the determination made by the chip state determination unit, the discharge direction of the liquid from each of the plurality of movable nozzles to wash out chips generated by the machining.

US Pat. No. 10,252,870

STACKING-PATTERN CALCULATING DEVICE AND STACKING SYSTEM

FANUC CORPORATION, Yaman...

6. A stacking system comprising:a control device that is provided with a stacking-pattern calculating device according to claim 1, and that calculates, by the processor, on the basis of the calculated stacking pattern, positions of the boxes inside the accommodating region;
a transferring device that transfers the multiple types of boxes;
a robot that places the transferred boxes inside the accommodating region; and
a detecting device that detects the types of the boxes.

US Pat. No. 10,286,506

TOOL EXCHANGER

FANUC CORPORATION, Yaman...

1. A tool exchanger configured to exchange a tool mounted to a main shaft of a machine tool, the tool exchanger comprising:a turret;
a turret drive source configured to turn the turret, wherein an output of the turret drive source is transmittable to the turret to bring the turret into turning operation for tool indexing;
a load variation mechanism configured to vary a load in an axial direction of the turret drive source in a predetermined phase during the turning operation of the turret; and
a controller configured to
detect the load of the turret drive source varied by the load variation mechanism; and
set a tool indexing reference phase of the turret based on a detection result,
wherein the load variation mechanism comprises:
a fixed member interposed between the turret and the turret drive source;
a first engagement member connected to the fixed member;
a plurality of second engagement members formed in the turret; and
a pressure applying member that applies a pressure to the first engagement member to be engageable with each of the plurality of the second engagement members.

US Pat. No. 10,289,075

MACHINE LEARNING APPARATUS FOR OPTIMIZING CYCLE PROCESSING TIME OF PROCESSING MACHINE, MOTOR CONTROL APPARATUS, PROCESSING MACHINE, AND MACHINE LEARNING METHOD

FANUC CORPORATION, Yaman...

1. A machine learning apparatus that is adapted to determine a processing downtime of a one-cycle processing time comprised of a one-cycle processing operation time and the processing downtime of one processing machine, so that the temperature of a motor for performing repeated processing operations of the processing machine does not exceed a predetermined temperature threshold, comprising a processor configured to:observe, during the repeated processing operations, a state variable including the processing downtime, an actual one-cycle processing time of the processing machine, and an actual temperature of the motor with respect to one processing machine;
learn a value for selecting, based on the state variable and the temperature threshold, the shortest processing downtime, which satisfies the fact that the temperature of the motor does not exceed the temperature threshold when the repeated processing operations are performed;
compute a reward based on the one-cycle processing time and the temperature of the motor of the state variable;
update a value function representing a value for selecting the shortest processing downtime based on the reward; and
decide the processing downtime which is set in a motor control apparatus,
wherein the motor control apparatus controls, based on the processing downtime decided by the processor, the motor for performing repeated processing operation of the processing machine.

US Pat. No. 10,286,513

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 performing a relative rotation between the workpiece and the tool around a central axis of the workpiece, and at least one feed axis for performing a relative feeding between the tool and the workpiece along a generatrix of the outer peripheral surface or the inner peripheral surface of the workpiece, 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; and
a feed axis control part that controls the at least one feed axis according to the position command,
the feed axis control part having 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 the tool intermittently cuts the workpiece at an oscillation frequency which is a positive non-integral multiple of the rotation speed, and the feed axis control part being configured to control the at least one feed axis based on a resultant command obtained by adding the oscillation command to a position deviation, which is a difference between the position command and an actual position of the at least one feed axis,
the feed axis control part further comprising:
a learning controller that obtains a correction amount of the resultant command based on an oscillation phase obtained from the oscillation command and the resultant command and which adds the correction amount to the resultant command; and
a determination part which determines whether or not an oscillation amplitude of the oscillation command is smaller than a predetermined threshold value, and when the oscillation amplitude is smaller than the predetermined threshold value, the determination part turns off the learning controller and sets the oscillation command generated by the oscillation command generating part to zero or only turns off the learning controller.

US Pat. No. 10,254,750

MACHINING MACHINE SYSTEM WHICH DETERMINES ACCEPTANCE/REJECTION OF WORKPIECES

FANUC CORPORATION, Yaman...

1. A machining machine system comprising:a machining machine machines a workpiece by driving an axis by at least one motor;
a numerical control device which generates a command for driving the axis of the machining machine based on a machining program;
an interior information acquisition unit which acquires interior information of the numerical control device;
a tentative determination unit which determines acceptance/rejection of a workpiece as machined by the machining machine based on a comparison result between the interior information acquired by the interior information acquisition unit and a threshold value;
a final determination unit which determines acceptance/rejection of workpieces which are targets of an accuracy inspection which include at least a workpiece as determined to be accepted/rejected by the tentative determination unit based on a measurement result with respect to an accuracy of the workpiece; and
a threshold value update unit which updates the threshold value used for determination processing by the tentative determination unit based on a determination result by the tentative determination unit and a determination result by the final determination unit,
wherein the threshold value update unit sets:
a value obtained by multiplying the threshold value as already set by a first coefficient smaller than one and larger than zero is set as the new threshold value when a determination of acceptance is made by the tentative determination unit and all the workpieces which are targets of an accuracy inspection are determined to be accepted by the final determination unit;
a value obtained by multiplying the threshold value as already set by a second coefficient smaller than the first coefficient and larger than zero is set as the new threshold value when a determination of acceptance is made by the tentative determination unit and the workpieces which are targets of an accuracy inspection contain that as rejected by the final determination unit;
a value obtained by multiplying the threshold value as already set by a third coefficient larger than one is set as the new threshold value when a determination of rejection is made by the tentative determination unit and the workpieces which are targets of an accuracy inspection contain that as accepted by the final determination unit; and
the threshold value as already set is maintained when a determination of rejection is made by the tentative determination unit and all the workpieces which are targets of an accuracy inspection are determined to be rejected by the final determination unit.

US Pat. No. 10,268,764

LADDER PROGRAM EDITING DEVICE CAPABLE OF DISPLAYING NETWORK COMMENT

FANUC CORPORATION, Yaman...

1. A ladder program editing device having a function of displaying a ladder circuit satisfying a search condition for searching ladder data serving as a search target based on the search condition designated by a user, comprising:the ladder data comprising a plurality of ladder circuits and at least one network comment associated with each of the plurality of ladder circuits, wherein each of the plurality of ladder circuits and the corresponding at least one network comment are stored in an order of a program sequence;
a search unit configured to distinguish and identify the at least one network comment from the at least one ladder circuit of the plurality of ladder circuits in the ladder data, extract the at least one ladder circuit satisfying the search condition from the ladder data and obtain the at least one network comment above the at least one extracted ladder circuits in the order of the program sequence as the network comment associated with the extracted ladder circuit; and
a search result display unit configured to display the at least one network comment associated with the at least one extracted ladder circuit when the at least one extracted ladder circuit is displayed on a screen, wherein the search unit extracts a nearest network comment displayed above the at least one ladder circuit on a screen on which the at least one ladder program is displayed as the at least one network comment associated with the at least one ladder circuit.

US Pat. No. 10,247,549

SHAFT ACCURACY MEASURING DEVICE FOR MEASURING ACCURACY OF OUTPUT SHAFT OF MOTOR

FANUC CORPORATION, Yaman...

1. A shaft accuracy measuring device comprising:a measurement unit including a light projecting unit that projects a measurement light and a light receiving unit that receives the measurement light projected by the light projecting unit;
a motor installation unit that installs a motor (M) such that an output shaft of the motor is disposed between the light projecting unit and the light receiving unit so that the light projecting unit directly faces the light receiving unit;
a calculation unit that calculates at least one of axial run-out, center run-out, and face run-out of the motor based on a measurement result of the measurement unit, and
a driving unit that rotates the motor installation unit relative to the measurement unit and rotates the output shaft of the motor;
wherein while the driving unit rotates the motor installation unit relative to the measurement unit and rotates the output shaft of the motor, the calculation unit measures the center run-out of the output shaft based on the measurement result of the measurement unit.

US Pat. No. 10,232,480

NUMERICAL CONTROLLER OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A numerical controller for controlling a machine tool including a spindle motor formed of an induction motor and a feed axis driving motor, the numerical controller comprising:a magnetic flux amount acquisition means that acquires a present magnetic flux amount of the spindle motor; and
a speed change means that changes a speed of the feed axis driving motor on the basis of the magnetic flux amount.

US Pat. No. 10,232,513

ROBOT CONTROL DEVICE, ROBOT SYSTEM AND METHOD OF CONTROLLING ROBOT WHICH CARRIES OBJECT IN COOPERATION WITH PERSON

FANUC CORPORATION, Yaman...

1. A robot control device for controlling a robot to carry an object in cooperation with a person, the robot control device comprising:a force acquisition part configured to acquire a force applied from the object to the robot when the robot lifts up the object and before the robot starts an object-carrying operation of carrying the object;
a comparison part configured to compare a force component in a gravity direction of the force acquired by the force acquisition part with a first threshold value predetermined with respect to the force component;
a stop command part configured to maintain the robot in a stopped state so as not to start the object-carrying operation in response to the force component being greater than the first threshold value; and
an operation command part configured to, in response to the force component being smaller than or equal to the first threshold value, generate an operation command to the robot for carrying the object and transmit the operation command to the robot so as to start the object-carrying operation,
wherein, after the operation command part starts the object-carrying operation,
the force acquisition part is configured to acquire a new force applied from the object to the robot,
the comparison part is configured to compare a force component in the gravity direction of the new force acquired by the force acquisition part with the first threshold value, and
the stop command part is configured to stop the object-carrying operation in response to the force component of the new force being greater than the first threshold value.

US Pat. No. 10,232,518

ROBOT PIVOT SHAFT STRUCTURE

FANUC CORPORATION, Yaman...

1. A robot pivot shaft structure comprising:a base;
a revolving drum that is supported at an upper portion of the base so as to rotate about a vertical axis and that has a hollow portion in the vicinity of the vertical axis;
a drive motor that rotates the revolving drum; and
a speed reduction mechanism that transfers rotation of the drive motor to the revolving drum after reducing the rotational speed of the revolving drum,
wherein the speed reduction mechanism is provided with a small gear that is fixed to a shaft of the drive motor, a large gear that is meshed with the small gear, an input hypoid gear that is fixed to the large gear, and an output hypoid gear that is formed of a ring gear and that is meshed with the input hypoid gear;
the output hypoid gear is fixed to the revolving drum and is disposed in the base;
the input hypoid gear and the large gear are supported at a side portion of the base so as to rotate about a horizontal axis; and
the drive motor is fixed to the base and disposed at a position below the revolving drum, the position being shifted in the horizontal direction from a portion vertically below the hollow portion,
wherein the input hypoid gear and the large gear are rotatably supported by the base by means of a support bearing; and
the large gear is disposed between a tooth section of the input hypoid gear and the support bearing.

US Pat. No. 10,209,697

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

FANUC CORPORATION, Yaman...

1. A controller of a machine tool, the controller being configured to control a synchronized operation of a spindle axis and a feed axis of the machine tool, the controller comprising:a hardware configured as:
a numerical control section configured to prepare a spindle-axis command and a feed-axis command based on a tapping program;
a spindle-axis control section configured to control a rotational motion of the spindle axis in accordance with the spindle-axis command;
a rotation detecting section configured to detect a rotational position of the spindle axis; and
a feed-axis control section configured to control a feed motion of the feed axis in accordance with the feed-axis command, based on the rotational position;
the numerical control section comprising:
a spindle-axis command outputting section configured to obtain, from the tapping program, a total rotation amount and a maximum rotation speed of the spindle axis during a period when the spindle axis operates from a starting position to a target position, and to send the total rotation amount and the maximum rotation speed as the spindle-axis command to the spindle-axis control section;
the spindle-axis control section comprising:
an initial-motion control section configured to make the spindle axis perform an accelerated rotation at maximum capacity from the starting position, by a velocity control in which the maximum rotation speed is set as a target value;
a maximum-acceleration detecting section configured to detect a maximum acceleration of the spindle axis during the accelerated rotation at maximum capacity, based on the rotational position;
a residual rotation-amount detecting section configured to detect a residual rotation amount of the spindle axis during a period when the spindle axis operates from a current position to the target position, based on the total rotation amount and the rotational position;
a current-speed detecting section configured to detect a current speed of the spindle axis based on the rotational position;
a decelerating-motion control section configured to execute a velocity control for making the spindle axis perform a decelerated rotation so as to reach a predetermined intermediate speed, based on the residual rotation amount and the current speed, after the accelerated rotation at maximum capacity;
a positioning-motion control section configured to execute a position control for making the spindle axis perform a decelerated rotation at a maximum deceleration corresponding to the maximum acceleration so as to reach the target position, based on the residual rotation amount and the current speed, after the spindle axis reaches the intermediate speed; and
a torque-command limiting section configured to limit a fluctuation of a torque command of the position control, instructed from the positioning-motion control section to the spindle axis, to a predetermined range over a time period from a point when the spindle axis reaches the intermediate speed to a point when a predetermined elapse condition is satisfied.

US Pat. No. 10,209,700

MACHINE TOOL CONTROLLER HAVING FUNCTION OF CHANGING OPERATION ACCORDING TO MOTOR TEMPERATURE AND AMPLIFIER TEMPERATURE

FANUC CORPORATION, Yaman...

1. A machine tool controller for controlling a spindle and a feed axis, comprising:a processor configured for:
obtaining the winding temperature of a spindle motor from a temperature sensor and outputting the winding temperature as a motor temperature;
obtaining unit for obtaining the temperature of an inverter to drive the spindle motor and outputting the temperature as an inverter temperature;
comparing the outputted motor temperature with an overheat temperature for the motor;
comparing the outputted inverter temperature with an overheat temperature for the inverter; and
for comparing the difference between the motor temperature and the overheat temperature for the motor to the difference between the inverter temperature and the overheat temperature for the inverter; and
for controlling, based on the comparison, output of the spindle motor according to the smaller one of the of:
the difference between the motor temperature and the overheat temperature for the motor, and
the difference between the inverter temperature and the overheat temperature for the inverter.

US Pat. No. 10,201,923

INJECTION MOLDING MACHINE INCLUDING MOLD ROTATING DEVICE

FANUC CORPORATION, Yaman...

1. An injection molding machine, comprising:a motor having a rotation amount detection unit;
a mold rotating device driven by the motor and having a rotary table on which a mold is to be mounted;
a detected portion provided in the rotary table;
a distance detection unit configured to detect a distance to the detected portion;
a first rotation controller configured to perform rotation control of the rotary table by feedback control based on a rotation amount detected by the rotation amount detection unit;
a second rotation controller configured to perform rotation control of the rotary table by the feedback control based on the distance detected by the distance detection unit;
a control device configured to, at a predetermined rotation angle of the rotary table between a rotation start and a rotation end of the rotary table, switch from the rotation control by the first rotation controller to the rotation control by the second rotation controller; and
a reference correction unit configured to make reference corrections of distance detection by the distance detection unit based on a positional relationship of the mold when the mold is closed.

US Pat. No. 10,151,327

MOTOR DRIVE DEVICE HAVING FAN MAINTENANCE STRUCTURE WITH GOOD OPERABILITY

FANUC CORPORATION, Yaman...

1. A motor drive device comprising:a mounting member in which a mounting hole is formed;
a fan unit having a fan that can be arranged through the mounting hole, and a fan fixing member that supports the fan; and
a regulating member that is disposed to the mounting member, and regulates movement of the fan fixing member in a direction distancing from the mounting hole,
wherein the fan fixing member includes:
a cover that covers the mounting hole; and
a support part that extends in a horizontal direction from the back side of the cover and supports the fan,
wherein the mounting member includes:
a first insertion part that is disposed above the mounting hole, and through which the regulating member can be inserted, and
a second insertion part that is disposed in parallel with the first insertion part in a vertical direction below the mounting hole, and through which the regulating member can be inserted,
wherein a recess corresponding to the cover is formed, and the mounting hole is formed in the recess, and
wherein the fan unit is fixed to the mounting member by the regulating member, which is a bar in which a locking part that extends in a horizontal direction is formed in a top part thereof, being inserted into the second insertion part in a state penetrating the first insertion part, and being retained by a front face of the mounting member without breaking through downward by the locking part.

US Pat. No. 10,120,367

NUMERICAL CONTROLLER PERFORMING REPETITIVE MACHINING

FANUC Corporation, Minam...

1. A numerical controller that performs a repetitive machining operation on a workpiece by controlling a drive unit of a machine tool based on a machining program, the numerical controller including a processor configured to perform a method comprising:outputting a machining operation start command;
in response to outputting the machining operation start command, starting a machining operation based on the machining program;
outputting an execution completion notification when the machining operation is completed;
in response to outputting the execution completion notification, determining whether the machining operation based on the machining program can be started based on (i) a current temperature of the drive unit, (ii) a temperature of the drive unit detected at the start of the most recently completed machining operation based on the machining program and (iii) a maximum temperature of the drive unit detected during the most recently completed machining operation based on the machining program, wherein determining whether the machining operation based on the machining program can be started includes
calculating a maximum increase in temperature of the drive unit during the most recently completed machining operation based on (i) the temperature of the drive unit detected at the start of the most recently completed machining operation based on the machining program and (ii) the maximum temperature of the drive unit detected during the most recently completed machining operation based on the machining program, and
determining whether a sum of the (i) current temperature of the drive unit and (ii) the calculated maximum increase in temperature of the drive unit during the most recently completed machining operation satisfies a threshold temperature;
outputting the machining operation start command when it is determined that the machining operation based on the machining program can be started; and
in response to determining that that the machining operation based on the machining program cannot be started, delaying outputting of the machining operation start command until the sum of the (i) current temperature of the drive unit and (ii) the calculated maximum increase in temperature of the drive unit during the most recently completed machining operation satisfies the threshold temperature.

US Pat. No. 10,108,152

SERVO CONTROL DEVICE HAVING FUNCTION OF AUTOMATICALLY ADJUSTING CONTROL SYSTEM WITH AUTONOMOUS STABILIZATION

FANUC CORPORATION, Yaman...

1. A servo control device for a transmission mechanism driven by a servomotor, comprising:a speed control loop electrical circuitry in communication with the transmission mechanism, the speed control loop electrical circuitry configured to:
generate a speed command value for the servomotor;
set a speed control gain;
generate a torque command value for the servomotor; and
detect the speed of the servomotor,
wherein the speed control loop electrical circuitry receives inputs from a sinusoidal disturbance input unit and a gain adjustment unit, and
wherein the sinusoidal disturbance input unit generates a sinusoidal wave and performs a sinusoidal sweep on the speed control loop electrical circuitry; and
a frequency characteristic calculation unit that receives an input from the sinusoidal disturbance input unit and estimates gain of speed control loop electrical circuitry when a sinusoidal wave is inputted to the speed control loop electrical circuitry,
the frequency characteristic calculation unit expresses an output of the speed control loop as a Fourier series using a disturbance input frequency from the sinusoidal disturbance input unit as a fundamental frequency,
wherein the frequency characteristic calculation unit calculates the amplitude and phase of a fundamental component of the Fourier series in order to calculate frequency characteristics online,
wherein the gain adjustment unit determines the adjustment amount of a speed control gain based on the difference between a desired target evaluation function value and an evaluation function value by an actual sweep and outputs a signal to the speed control loop electrical circuitry to adjust the speed control gain online, and
wherein when the speed control loop electrical circuitry has fallen into an oscillation state and has become unstable owing to an increased speed control gain determined during a sinusoidal sweep by the sinusoidal disturbance input unit, the speed control gain is reduced by the gain adjustment unit and the sinusoidal sweep is temporarily stopped.

US Pat. No. 10,105,848

MACHINE THAT STOPS MOVEMENT OF MEMBER ON DRIVE AXIS DUE TO ABNORMALITY IN BRAKE

FANUC CORPORATION, Yaman...

1. A machine, comprising:a motor that comprises a brake and moves a predetermined member on a drive axis;
a state detector that detects movement of the member on the drive axis; and
a control device that controls the brake and the motor,
wherein, when a state occurs in which an emergency stop is to be performed, the control device is adapted to operate the brake and interrupt power supply to the motor to perform an emergency stop control for maintaining a stopped position of the member, and when the movement of the member on the drive axis is detected based on an output of the state detector during the emergency stop control, the control device is adapted to supply power to the motor to prevent the movement of the member.

US Pat. No. 10,108,171

NUMERICAL CONTROLLER CAPABLE OF SPECIFYING HALT POINT

FANUC CORPORATION, Minam...

1. A numerical controller including a processor configured to perform machining while controlling a machine tool according to a machining program, the processor of the numerical controller configured to:register a plurality of commands which an automatic operation of the machine tool is safely halted;
switch enabling/disabling of the halt based on the plurality of registered commands;
select, as a position at which the automatic operation is halted, any one of a start point of a block by selecting a setting point button and a start point button, an intermediate point of the block by selecting the setting point button and an intermediate point button, and an end point of the block by selecting the setting point button and an end point button based on a command of the plurality of registered commands and based on the selection of the setting button and the selection of the any one of the start point button, the intermediate point button, and the end point button by an operator; and
halt the automatic operation at the selected position when the command of the plurality of registered commands is executed and when switching enabling/disabling of the halt based on the plurality of registered commands.

US Pat. No. 10,103,589

ROTOR MEMBER FIXED TO ROTARY SHAFT OF ELECTRICAL ROTATING MACHINE, ROTOR, ROTARY ELECTRIC MACHINE AND METHOD FOR DISASSEMBLING ROTOR

FANUC CORPORATION, Yaman...

6. A rotor member fixed to a rotary shaft of a rotary electric machine, comprising:a magnet mounting member having a first end at an axially first side and a second end at an axially second side;
a plurality of magnets arranged radially outside of the magnet mounting member; and
a tubular holding member arranged radially outside of the plurality of magnets so as to surround the plurality of magnets, wherein
the magnet mounting member includes a slit extending through the magnet mounting member in the radial direction, the slit extending over a predetermined axial-direction section which includes at least one of the first end and the second end, wherein the slit extends over the axial-direction section which includes the second end and which excludes the first end.

US Pat. No. 10,095,222

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

FANUC CORPORATION, Yaman...

1. A controller of a machine tool, configured to control a synchronized operation of a spindle axis and a feed axis, the controller comprising:a numerical control section configured to prepare a spindle-axis command and a feed-axis command based on a tapping program;
a spindle-axis control section configured to control a rotational motion of the spindle axis in accordance with the spindle-axis command;
a rotation detecting section configured to detect a rotational position of the spindle axis; and
a feed-axis control section configured to control a feed motion of the feed axis in accordance with the feed-axis command, based on the rotational position;
the numerical control section comprising:
a spindle-axis command outputting section configured to obtain, from the tapping program, a total rotation amount and a maximum rotation speed of the spindle axis during a period when the spindle axis operates from a starting position to a target position, and to send the total rotation amount and the maximum rotation speed as the spindle-axis command to the spindle-axis control section;
the spindle-axis control section comprising:
an initial-motion control section configured to make the spindle axis perform an accelerated rotation at maximum capacity from the starting position, by a velocity control in which the maximum rotation speed is set as a target value;
a maximum-acceleration detecting section configured to detect a maximum acceleration of the spindle axis during the accelerated rotation at maximum capacity, based on the rotational position;
a residual rotation-amount detecting section configured to detect a residual rotation amount of the spindle axis during a period when the spindle axis operates from a current position to the target position, based on the total rotation amount and the rotational position;
a current-speed detecting section configured to detect a current speed of the spindle axis based on the rotational position;
a decelerating-motion control section configured to execute a velocity control for making the spindle axis perform a decelerated rotation at maximum capacity so as to reach a predetermined intermediate speed, after the accelerated rotation at maximum capacity;
a positioning-motion control section configured to execute a position control for making the spindle axis perform a decelerated rotation so as to reach the target position, after the spindle axis reaches the intermediate speed;
a flux-content predicting section configured to predict an actual motor-flux content at the intermediate speed, based on a motor-flux-content command value for making the spindle axis reach the intermediate speed; and
a deceleration determining section configured to determine a deceleration during the decelerated rotation by the position control, based on the maximum acceleration, the motor-flux-content command value and the motor-flux content;
the positioning-motion control section configured to execute the position control, based on the residual rotation amount, the current speed and the deceleration.

US Pat. No. 10,082,449

NUMERICAL CONTROLLER FOR CONTROLLING STROKE IN TEST OPERATION NEAR STROKE LIMIT

Fanuc Corporation, Yaman...

1. A numerical controller for controlling a machine tool by relatively moving a tool and a workpiece based on an instruction of a machining program, the numerical controller having a test mode of the machining program, the numerical controller comprising:a motor control circuit; and
a processor configured to:
a) set, for each axis, a neighboring distance from a movement prohibition boundary of the tool or the workpiece;
b) control the motor control circuit to temporarily stop, in the course of the test mode, an axis movement at a boundary of a near region determined based on the neighboring distance and the movement prohibition boundary;
c) obtain, for each axis, a movable distance in a direction approaching the movement prohibition boundary in the course of test mode and in an axis movement within the near region, wherein the movable distance is a fraction of the distance to the movement prohibition boundary;
d) determine whether a movement distance of each axis moving in the course of the test mode exceeds the movable distance obtained;
e) control the motor control circuit to stop the axis when the axis reaches the movable distance; and
f) repeat steps (c)-(e) a predetermined number of times, each time steps (c)-(e) are repeated, the motor control circuit incrementally moves the machine tool closer to the movement prohibition boundary by the fraction of the movable distance.

US Pat. No. 10,067,294

BEAM DISTRIBUTOR

FANUC CORPORATION, Yaman...

1. A beam distributor comprising:a housing for passage of a beam;
at least one beam entrance;
two or more beam exits;
a motor;
a position detection device that detects a rotational position about a rotary axis member of the motor;
a controller that controls the rotational position about the rotary axis member of the motor;
a storage that stores the rotational position about the rotary axis member of the motor; and
a beam turning part fixed to the rotary axis member of the motor and changing a direction of a beam input to an inside of the housing through the beam entrance so as to guide the beam being input to one of the beam exits, wherein
a rotary axis of the motor is arranged parallel to an optical axis of the beam input through the beam entrance so as to input the beam to the beam turning part at a constant angle independently of a rotational angle about the rotary axis of the motor,
each of the beam exits is arranged in a direction to which the direction of the beam is changed by the beam turning part in response to rotation of the rotary axis member of the motor, and
the storage stores an angular information recorded in advance about the rotary axis of the motor corresponding to a position of each of the multiple beam exits, wherein
the beam distributor includes a scattered light sensor that detects scattered light of a reflected beam at one of the beam exits changed in direction by the beam turning part, wherein the angular information in the storage is changed so as to minimize a value detected by the scattered light sensor while the reflected beam is output to one of the beam exits.

US Pat. No. 10,061,294

NUMERICAL CONTROLLER PERFORMING SPEED CONTROL THAT SUPPRESSES EXCESSIVE POSITIONING DEVIATION

FANUC Corporation, Minam...

1. A numerical controller which controls a machine on the basis of a machining program, the numerical controller comprising:a program analysis unit that analyzes the machining program to generate command data;
a parameter setting unit that sets a parameter actually used for servo control on the basis of the command data;
a servo control unit that controls a servo motor; and
a speed control unit that obtains a feed speed which is given by a position deviation not exceeding an actually used allowable position deviation amount on the basis of an allowable position deviation amount calculated based on the parameter actually used for servo control, the set parameter, and a predefined allowable position deviation amount, wherein
when a feed speed commanded by the command data is larger than the obtained feed speed, the speed control unit is configured to clamp the feed speed commanded by the command data to be equal to the obtained feed speed, wherein
the servo control unit controls the servo motor based on the feed speed commanded by the command data, and wherein
the speed control unit obtains the feed speed which is given by a position deviation not exceeding the actually used allowable position deviation amount, as a maximum speed which satisfies the expression:
V?ERR×PG/(1??)
where V is the feed speed which is given by a position deviation not exceeding the actually used allowable position deviation amount, ERR is the allowable position deviation amount, PG is a position gain of a servo, and ? is a feedforward coefficient.

US Pat. No. 10,061,307

PRODUCTION ADJUSTMENT SYSTEM USING DISASTER INFORMATION

FANUC CORPORATION, Yaman...

1. A production adjustment system comprising:a cell including a plurality of machines, a plurality of machine control devices for controlling the plurality of machines, and at least one sensor;
a cell control device which is communicably connected to the cell, to control the cell; and
a higher-level management controller which is communicably connected to the cell control device, to acquire disaster information, wherein
the cell control device includes a command unit for issuing commands to the plurality of machines based on state information of the cell, which is acquired from the at least one sensor of the cell, and disaster information acquired from the higher-level management controller;
the cell control device further includes a determination unit for determining the sustainability of production plans for the plurality of machines based on the disaster information;
wherein the command unit issues commands to the plurality of machines based on the sustainability of production plans determined by the determination unit; and
wherein if the determination unit determines that the cell is located within a predetermined distance from a disaster occurring site, the command unit issues production stopping commands to all of the plurality of machines.

US Pat. No. 10,052,762

METHOD OF CONTROLLING ROBOT WITH HAND GRIPPING TWO WORKPIECES AND ROBOT CONTROL APPARATUS

FANUC CORPORATION, Yaman...

1. A robot control apparatus for controlling a robot, the robot having a hand configured for gripping two workpieces, the robot control apparatus comprising:an upper limit value changing unit for changing at least one of an upper speed limit value and an upper acceleration limit value of the robot depending on a type and number of workpieces gripped by the hand; and
an operation controlling unit for controlling operation of the robot such that at least one of speed and acceleration of the robot does not exceed the upper speed limit value and the upper acceleration limit value changed by the upper limit value changing unit, wherein,
when the hand grips one workpiece, the upper limit value changing unit is configured to set at least one of the upper speed limit value and the upper acceleration limit value as a first upper speed limit value and a first upper acceleration limit value,
when the hand gripping the one workpiece further grips an additional workpiece, the upper limit value changing unit is configured to change at least one of
the upper speed limit value from the first upper speed limit value to a second upper speed limit value smaller than the first upper speed limit value, and
the upper acceleration limit value from the first upper acceleration limit value to a second upper acceleration limit value smaller than the first upper acceleration limit value, and
when the hand releases only the one workpiece while continuing to grip the additional workpiece, the upper limit value changing unit is configured to change at least one of
the upper speed limit value from the second upper speed limit value to the first upper speed limit value or to a third upper speed limit value greater than the first upper speed limit value, and
the upper acceleration limit value from the second upper acceleration limit value to the first upper acceleration limit value or to a third upper acceleration limit value greater than the first upper acceleration limit value.

US Pat. No. 10,027,259

BRAKING APPARATUS HAVING FUNCTION OF DETECTING BRAKE ACTUATION AND RELEASE FAULTS

FANUC CORPORATION, Yaman...

1. A braking apparatus for use in an electrical motor, comprising:a braking unit for keeping position of the electrical motor;
a voltage detection unit positioned between the braking unit and a power supply controlled by a power switch, the voltage detection unit for detecting a voltage applied to the braking unit by the power supply; and
an observing unit for recognizing variation patterns of the voltage, and based on the variation patterns of the voltage, observing released and actuated states of the braking unit, by identifying:
a broken wire between the voltage detection unit and the power supply based on a first pattern of the variation patterns in the detected voltage, the first pattern includes: 1) either a voltage increase or an unchanged voltage when the brake is released, or 2) an unchanged voltage when the brake is actuated,
a broken wire between the voltage detection unit and the braking unit based on a second pattern of the variation patterns in the detected voltage, the second pattern includes either a voltage increase when the brake is released, or a voltage decrease when the brake is actuated, and
a fused state of the power switch based on a third pattern of the variation patterns in the detected voltage, the third pattern includes: 1) either a voltage increase or an unchanged positive voltage when the brake is released, or 2) an unchanged positive voltage when the brake is actuated.

US Pat. No. 10,016,831

WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine comprising:a machining tank having therein a wire electrode movable relative to a workpiece for electric discharge machining of the workpiece as a voltage is applied between the wire electrode and the workpiece;
a dirty tank connected to the machining tank to collect and store machining chips of the workpiece and the wire electrode and machining fluid discharged from the machining tank;
a filtration filter that filters said machining chips of the workpiece and the wire electrode generated by the electric discharge machining from the machining fluid in the dirty tank and supply the filtered machining fluid to a clean water tank;
a sealing portion provided on a sidewall portion of the machining tank to prevent the machining fluid from flowing out of the machining tank through an opening in the machining tank;
a feed water pump that delivers the machining fluid from the clean water tank to the sealing portion to replenish a level of the machining fluid in the machining tank;
a nozzle that jets the machining fluid from the clean water tank against the workpiece during the electric discharge machining;
a machining fluid pump that delivers the machining fluid from the clean water tank to the nozzle;
a valve attached to a duct that extends between the feed water pump and the sealing portion;
a measurement unit that measures a flow rate of the machining fluid delivered to the nozzle; and
a controller comprising:
a flow rate storage unit that stores flow rates of the machining fluid to be delivered through the duct to the sealing portion, wherein each of the stored flow rates correlates with an associated flow rate of the machining fluid delivered to the nozzle as measured by the measurement unit;
a flow rate setting unit that reads the flow rate storage unit and sets a flow rate of the machining fluid delivered to the sealing portion based on the flow rate measured by the measurement unit; and
a flow rate control unit that controls the flow rate of the machining fluid supplied to the sealing portion by controlling the feed water pump and the valve attached to the duct based on the flow rate set by the flow rate setting unit,
wherein the flow rate setting unit sets the flow rate of the machining fluid delivered to the sealing portion, which is stored in the flow rate storage unit, to zero
when the flow rate of the machining fluid delivered to the nozzle is higher than a predetermined flow rate, or
when a pressure of the machining fluid delivered to the nozzle is lower than a predetermined pressure, or
when a flow velocity of the machining fluid delivered to the nozzle is higher than a predetermined flow velocity.

US Pat. No. 10,016,834

WELDING TORCH DETECTOR AND WELDING ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A welding torch detector, comprising:a camera configured to capture images of a welding torch provided at an arm tip part of a welding robot and a welding wire fed from the welding torch from a plurality of directions, and acquire image signals of the welding torch and the welding wire;
an image recognition processor configured to recognize, based on the image signals acquired by the camera, a plurality of welding wire images representing the welding wire seen from the plurality of directions and a plurality of welding torch images representing the welding torch seen from the plurality of directions;
a setting processor configured to set a target point corresponding to a target position of the welding wire on the plurality of welding wire images recognized by the image recognition processor;
a position detection processor configured to detect, based on the plurality of welding wire images recognized by the image recognition processor, a position of the target point in a three-dimensional space;
an inclination detection processor configured to detect, based on the plurality of welding torch images recognized by the image recognition processor, an inclination of the welding torch in the three-dimensional space,
wherein the inclination of the welding torch is represented by a three-dimensional orthogonal coordinate system used for position control of the welding robot at the target point; and
a correction processor configured to, based on the inclination detected by the inclination detection processor, correct a command value for the inclination of the welding torch at the target point.

US Pat. No. 10,020,771

MOTOR CONTROLLER, MOTOR CONTROL METHOD, AND NON-TRANSITORY COMPUTER-READABLE MEDIUM ENCODED WITH MOTOR CONTROL PROGRAM

FANUC CORPORATION, Yaman...

1. A motor controller that drives a motor by way of pulse width modulation, the motor controller comprising:a temperature acquisition unit that acquires a temperature of the motor;
a limiting value determination unit that determines, based on the temperature, a limiting current value for driving the motor; and
a frequency determination unit that determines, based on the limiting current value, a PWM frequency to be generated with an amplifier.

US Pat. No. 10,018,518

OVERHEAT DETECTION DEVICE FOR ELECTRIC MOTOR EQUIPPED WITH MULTIPLE PTC THERMISTORS

FANUC CORPORATION, Yaman...

1. An overheat detection device for an electric motor comprising:PTC thermistors each attached to a U-phase, V-phase and W-phase coil of a three-phase AC electric motor, the PTC thermistors being connected in series,
each PTC thermistor providing an output voltage corresponding to the temperature of its respective coil;
a detector for measuring an electric angle or magnetic phase of the three phase AC electric motor;
an output voltage control unit configured to
receive the measured electric angle or magnetic phase,
determine whether the measured electric angle or magnetic phase corresponds to current concentrating on one of the U-phase, V-phase or W-phase coils, and
amplify the output voltage from the PTC thermistor of one of the U-phase, V-phase or W-phase coil in which current concentrates
an overheat determination unit configured to:
compare the output voltage of the PTC thermistor amplified by the output voltage control unit to a predetermined voltage, and
determine that overheat occurs when the amplified output voltage of the PTC thermistor exceeds the predetermined voltage.

US Pat. No. 10,012,961

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

FANUC CORPORATION, Yaman...

1. A servomotor control device comprising:a velocity command creation part configured to create a velocity command value for driving a servomotor;
a velocity detection part configured to detect velocity of the servomotor; and
a torque command creation part configured to create a torque command value to the servomotor using a difference between a velocity command value created by the velocity command creation part and a velocity detection value detected by the velocity detection part,
wherein a velocity control loop includes the velocity detection part and the torque command creation part,
wherein the torque command creation part includes an integral gain part and a proportional gain part to which the difference is inputted, respectively,
wherein integral gain of the integral gain part and proportional gain of the proportional gain part are obtained by multiplying a value calculated by multiplying an initial value decided in advance for every motor model by a coefficient established using a ratio of load inertia of a machine relative to rotor inertia of the servomotor, by an integral gain magnification and a proportional gain magnification, respectively, and
wherein the integral gain magnification is set to a value smaller than the square of the proportional gain magnification according to a delay time of the velocity control loop.

US Pat. No. 10,011,433

WORKPIECE CONVEYOR SYSTEM

FANUC CORPORATION, Yaman...

1. A workpiece conveyor system, comprising two conveyor devices which alternately convey workpieces from a source area to a destination area,each of said two conveyor devices comprising:
a workpiece holding part which can hold a workpiece, and
a movement mechanism which moves said workpiece holding part back and forth between the source area and the destination area,
said two conveyor devices being arranged so as to match the positions where their respective workpiece holding parts are stopped within the source area,
wherein the respective workpiece holding parts are changed in posture between the destination area and the source area,
the workpiece conveyor system further comprising an abutting member against which the respective workpiece holding parts are struck when being moved from the destination area to the source area,
wherein the respective workpiece holding parts are attached to the respective movement mechanisms so as to be able to rotate about predetermined rotation axes, and
wherein the respective workpiece holding parts are configured to be rotated about said rotation axes when being struck against said abutting member so that the respective workpiece holding parts are changed in posture, wherein
the movement mechanism of each of said two conveyor devices comprises a rail member, and
the rail member of one of said two conveyor devices is inclined at an angle relative to the rail member of the other of said two conveyor devices.

US Pat. No. 9,983,568

NUMERICAL CONTROLLER

FANUC Corporation, Minam...

1. A numerical controller which controls a plurality of machine control axes based on a machining program, whereinpriorities are assigned to operations of the plurality of machine control axes, and
the numerical controller includes
a command analyzing portion which analyzes the machining program and generates command data which controls the plurality of machine control axes; and
a block execution start determining portion which determines whether interference occurs in the operations of the plurality of machine control axes based on the command data and, if a determination of interference occurring is made, adjusts timing with which a command which controls an operation of a machine control axis of lower priority of the plurality of machine control axes which interfere with each other is started to a time at which the interference does not occur and positioning is completed in a shortest time and the timing according to which the machine control axis with a high priority exits an interference region and the timing according to which the machine control axis with a low priority enters the interference region become the same.

US Pat. No. 9,975,288

CONTROL DEVICE OF INJECTION MOLDING MACHINE HAVING RESIN PURGE FUNCTION

FANUC CORPORATION, Yaman...

1. A control device of an injection molding machine, comprising:an injection cylinder;
a screw;
a screw forward/backward movement drive unit;
a screw position detection unit;
a screw rotary drive unit;
a screw rotation number detection unit; and
a resin purge control unit which performs a resin purge operation; wherein
the resin purge operation is performed through a forward/backward movement operation and a rotation operation of the screw, and
the resin purge control unit repeatedly performs the resin purge operation in a predetermined time interval and adjusts an operation mode of the resin purge operation so that a plasticization amount index related to a plasticization amount of resin per unit time in the resin purge operation is approximately accorded with a target plasticization amount index which is set.

US Pat. No. 9,964,931

NUMERICAL CONTROLLER WITH MACHINING CONDITION ADJUSTMENT FUNCTION WHICH REDUCES CHATTER OR TOOL WEAR/BREAKAGE OCCURRENCE

FANUC CORPORATION, Yaman...

1. A numerical controller for controlling at least one of a spindle revolution number and a feed rate of a machine tool and a position of a tool with respect to a workpiece in accordance with a program command to machine the workpiece, the numerical controller comprising:a sensor configured to detect state data representative of a machining state; and
a processor configured for machine learning of a parameter of a machining condition to be adjusted and an adjustment amount of the parameter to be adjusted, wherein the processor is configured as:
a state observation unit that acquires, the state data from the sensor,
a reward condition storage unit that stores reward conditions for at least one of tool chatter, tool wear or breakage, or quality of the machined workpiece,
a reward calculation unit that calculates a positive reward or a negative reward based on the state data and the reward conditions,
a machining condition adjustment learning unit that performs machine learning of adjustment of machining condition, and
a machining condition adjustment unit that determines, as an adjustment action, a parameter of a machining condition to be adjusted and an adjustment amount of the parameter, based on a result of the machine learning of adjustment of machining condition by the machining condition adjustment learning unit and the state data, and adjusts the machining condition in the machining based on the adjustment action,
wherein the machining condition adjustment learning unit is configured to perform machine learning of the adjustment of machining condition based on the adjustment action, the state data acquired by the state observation unit after machining operation based on the adjusted machining conditions outputted, and by maximizing future positive rewards calculated by the reward calculation unit.

US Pat. No. 9,933,345

WELDING INSPECTION ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system for performing welding inspection on a workpiece including a welded part welded thereto, the robot system comprising:a robot including, at a tip of an arm, two claws which are driven by a servo motor;
a position detection part which detects a first relative position of the two claws in which the two claws each contact the welded part, and a second relative position of the two claws in which the two claws apply a load of a predetermined force to the welded part after contacting the welded part;
an amount of change calculation part which calculates an amount of change between the first relative position and the second relative position;
a deviation calculation part which calculates a deviation between the amount of change and a predetermined reference amount of change; and
a determination part which determines that the workpiece is of a good quality when the deviation is not greater than a predetermined threshold value and determines that the workpiece is of a poor quality when the deviation is greater than the threshold value.

US Pat. No. 9,902,067

OFFLINE ROBOT PROGRAMMING DEVICE

FANUC CORPORATION, Yaman...

1. A robot programming device for locating a robot, peripheral equipment and a workpiece in a three-dimensional virtual space,
and for teaching the robot, the robot programming device comprising a controller comprising:
a simulation executing part configured to execute a simulation of a motion of the peripheral equipment and an opening/closing
motion of a hand of the robot, by using a control signal;

a signal setting part configured to set the control signal for executing the simulation of the motion of the peripheral equipment
and the opening/closing motion of the hand of the robot,

with respect to a teaching point or a trajectory between teaching points included in a predetermined robot operation program,
or

with respect to a teaching point or a trajectory between teaching points included in a program template on which the predetermined
robot operation program is described,
wherein the control signal is set as attribute data of each teaching point or each trajectory, and wherein the attribute data
include data indicating whether the workpiece is to be displayed or hidden;
a moving part configured to move the robot to the teaching point or the trajectory between the teaching points; and
a display setting part configured to automatically determine, based on the attribute data, as to whether the workpiece is
displayed or hidden, with respect to the teaching point or the trajectory between the teaching points to which the robot is
moved.

US Pat. No. 9,904,272

NUMERICAL CONTROLLER CAPABLE OF REDUCING MACHINE LOAD

FANUC Corporation, Minam...

1. A numerical controller configured to control a machine in accordance with a machining program, the numerical controller
comprising:
a program analysis unit configured to analyze the machining program and output command data;
an impact analysis unit configured to analyze historical data indicative of the magnitude of an impact produced in the machine
during execution of the machining program and obtain a maximum value of the impact during the execution of the machining program;

a first determination unit configured to determine whether or not the maximum value of the impact analyzed by the impact analysis
unit exceeds a preset first threshold;

an acceleration/deceleration time constant identification unit configured to identify a command block during runtime when
the maximum value of the impact is generated, based on the command data, if it is determined by the first determination unit
that the maximum value of the impact exceeds the first threshold and to identify an acceleration/deceleration time constant
at a point where the maximum value of the impact is generated;

an acceleration/deceleration time constant changing unit configured to change the acceleration/deceleration time constant
by using a preset time constant adjustment value;

a cycle time recalculation unit configured to calculate a cycle time of the machining program based on the acceleration/deceleration
time constant changed by the acceleration/deceleration time constant changing unit; and

an update time constant storage unit configured to determine whether or not the cycle time calculated by the cycle time recalculation
unit is within a preset tact time and store the changed acceleration/deceleration time constant in association with the identified
command block if the cycle time is within the tact time, wherein the numerical controller is configured to control the machine
to perform next and subsequent machining cycles based on the changed acceleration/deceleration time constant when the cycle
time is within the preset tact time.

US Pat. No. 9,906,087

ELECTRIC MOTOR WITH AIR PURGE STRUCTURE

FANUC CORPORATION, Yaman...

1. An electric motor comprising:
a tubular housing which holds a rotor core,
a shaft which is fastened to said rotor core and which has a first end part which projects outward from said housing and a
second end part which is located inside said housing, and

a bearing which is located between said first end part and said rotor core and which supports said shaft to be able to rotate
inside said housing, and

a fan located adjacent to the second end part of the rotor but not in contact therewith, wherein the fan is separated from
the second end part of the rotor by a back cover to create an inside space between the back cover and the second end part
of the rotor, wherein

said housing is provided with an air feed hole to which an air feed source can be connected for feeding compressed air for
an air purge to the inside space where said second end part is located, and

said shaft is provided with a bore which extends from an air inflow port for the compressed air which is formed on said second
end part, to an air outflow port for the compressed air which is formed on a circumferential surface around the rotation axis
of a partial region of said shaft which is located between said first end part and said bearing, wherein the inside space
is isolated from the fan by the back cover so that the fan can operate while compressed air is fed to the air feed hole to
perform an air purge.

US Pat. No. 9,887,514

LASER APPARATUS ENABLING CALCULATION OF EFFECTIVE DRIVING TIME AND REMAINING LIFETIME TAKING ACCOUNT OF DRIVE CONDITIONS INCLUDING TEMPERATURE

FANUC CORPORATION, Yaman...

1. A laser apparatus comprising:
at least one light source that functions as a laser beam source or excitation light source;
at least one power supply unit that supplies driving current to the light source;
at least one optical output detection unit that detects optical output from the light source;
at least one temperature detection unit that detects temperature of the light source or a member that is thermally connected
with the light source;

a first calculation unit that defines, as a standard, a case of a temperature detected by the temperature detection unit or
the temperature of the light source obtained from the temperature detected by the temperature detection unit being a standard
temperature, and optical output from the light source or at least one drive condition value of the light source deciding the
optical output being a standard condition value, and calculates an acceleration factor of lifetime consumption of the light
source which depends on the temperature and the drive condition value;

a second calculation unit that calculates at least one lifetime among a whole lifetime of the light source and a remaining
lifetime of the light source relative to at least one characteristic of the light source, among at least one performance index
of the light source that changes accompanying driving of the light source and can be obtained from an optical output characteristic
of the light source, and a change rate of the performance index;

a computation unit that computes a time integral of the acceleration factor as an effective driving time of the light source;
a recording unit that records the time integral of the acceleration factor from a certain setting time until an arbitrary
time that is later than the setting time, which was computed by the computation unit, as an effective cumulative driving time
until the arbitrary time,

and can record the whole lifetime and the remaining lifetime calculated by the second calculation unit with the optical output
characteristic; and

a control unit that controls each of the units.

US Pat. No. 9,874,866

CONTROL SYSTEM INCLUDING CONTROL APPARATUS FOR CONTROLLING MACHINE HAVING A PLURALITY OF AXES

FANUC CORPORATION, Yaman...

1. A control system, comprising:
a control apparatus configured to control a machine including a plurality of axes driven by a plurality of servomotors, respectively;
identification information storage units disposed in a plurality of servo amplifiers connected to the control apparatus, the
identification information storage units configured to store identification information pieces for identifying each of the
plurality of servo amplifiers;

communication units configured to perform communication between the control apparatus and the plurality of servo amplifiers;
and

an automatic setting unit configured to automatically set axis configuration parameters to assign correspondence relations
between (i) a plurality of control axes recognized by software of the control apparatus and (ii) axes of the plurality of
servo amplifiers based on the identification information pieces acquired from the identification information storage unit
through the communication units; and a type of a servo amplifier corresponding to each of the plurality of control axes recognized
by the software of the control apparatus,

wherein the machine is controlled based on the automatically set axis configuration parameters.

US Pat. No. 9,868,215

OBJECT PICK-UP SYSTEM AND METHOD FOR PICKING UP STACKED OBJECTS

FANUC CORPORATION, Yaman...

6. A method of gripping and picking up stacked objects by a robot hand, the method comprising:
detecting a position and posture of an object;
determining a position and posture of the robot hand when the robot hand grips the object based on the detected position and
posture of the object;

arranging the robot hand at the determined position and posture of the robot hand;
gripping the object by the robot hand so that the object is immovable with respect to the robot hand;
arranging the robot hand at a position and posture in which a moment is generated at the object when the robot hand gripping
the object lifts up the object; and

decreasing a force, by which the robot hand grips the object, after the robot hand is arranged at the position and posture
in which the moment is generated at the object, to rotate the object relative to the robot hand by the action of gravity while
preventing the object from dropping from the robot hand,

wherein
the object is formed with a through hole at a position separated from a center of gravity of the object,
the robot hand includes:
a plurality of claws; and
a claw driver which moves the plurality of claws in directions approaching and separating away from each other,
said determining the position and posture of the robot hand is performed when the plurality of claws is positioned inside
the through hole,

said gripping the object by the robot hand comprises controlling the claw driver so as to move the plurality of claws in directions
separating away from each other to press the plurality of claws against a wall surface which defines the through hole, to
grip the object by the plurality of claws, and

said decreasing the force, by which the robot hand grips the object, comprises controlling the claw driver so as to move the
plurality of claws in directions approaching each other to allow the object to rotate relative to the robot hand, when the
robot hand is arranged at the position and posture in which the moment is generated at the object.

US Pat. No. 9,869,992

THERMAL DISPLACEMENT CORRECTION DEVICE FOR WORKING MACHINE

FANUC CORPORATION, Yaman...

1. A thermal displacement correction device for a working machine that includes a thermal displacement correction amount calculation
unit for calculating a thermal displacement correction amount and configured to correct a thermal displacement amount caused
by heat generated and radiated from the working machine and changing with time by the thermal displacement correction amount,
the thermal displacement correction device for the working machine comprising:
a correction error coefficient storage memory configured to store a correction error coefficient in response to the thermal
displacement correction amount obtained in advance; and

a processor configured to:
calculate the correction precision of the thermal displacement correction amount based on
the thermal displacement correction amount calculated by the thermal displacement correction amount calculation unit and
the correction error coefficient stored in the correction error coefficient storage memory;
check whether a processing operation is performed at predetermined correction precision by comparing the correction precision
with a threshold value of predetermined correction precision;

notify degradation in correction precision in response to a determination that the predetermined correction precision is not
satisfied; and

automatically stop a processing operation when the processor determines that the predetermined correction precision is not
satisfied,

wherein in response to a determination that the predetermined correction precision is satisfied, the processor is further
configured to:

skip the operation of notifying degradation in correction precision and the operation of automatically stopping the processing
operation, and

continue the processing operation by using the calculated thermal displacement correction amount.

US Pat. No. 9,855,655

ROBOT SYSTEM FOR CONVEYING ARTICLE IN SUSPENDED CONDITION

FANUC CORPORATION, Yaman...

1. A robot system for conveying an article, comprising:
a suspending jig which includes two engaging portions for respectively engaging with two mating portions of the article, and
which suspends the article;

a first robot which supports the suspending jig;
a hand which grasps the article when the article is suspended;
a second robot which supports the hand; and
a control device which performs cooperative control for causing the first robot and the second robot to operate cooperatively;
wherein

the suspending jig includes a base member attached to a distal end of an arm of the first robot,
an engaging portion among the two engaging portions is supported by the base member, engages a mating portion among the two
mating portions, and is rotatable with respect to the base member about an rotation axis extending in the vertical direction
by actuation of a drive device so as to change an orientation relative to the base member,

the other engaging portion among the two engaging portions is configured to move with respect to the base member, and moves
by actuation of a drive device so as to engage the other mating portion among the two mating portions,

the hand grasps the article at a portion which is lower than the mating portions, and
the control device performs cooperative control so that the position of the hand relative to the suspending jig is maintained
constant, and so that the article is conveyed while a condition in which the hand grasps the article is maintained.

US Pat. No. 9,855,656

ROBOT CONTROL DEVICE FOR CONTROLLING MOTOR-DRIVEN ROBOT

FANUC CORPORATION, Yaman...

1. A robot control device for controlling a robot to be driven by a motor, comprising:
a first sensor which can be used in a first range including the entirety of the operating range of the robot;
a first control unit for calculating a first control input to the motor, using a feedback value from the first sensor;
a second sensor which can be used in a second range including at least a part of the operating range of the robot;
a second control unit for calculating a second control input to the motor, using a feedback value from the second sensor or
feedback values from both the first sensor and the second sensor;

a range storing unit for storing a third range included in both the operating range of the robot and the second range;
a ratio setting unit for setting a ratio between the first control input and the second control input with respect to control
inputs to the motor, based on the comparison of the third range stored in the range storing unit and the position and posture
of the robot;

an addition unit for adding the first control input and the second control input together in accordance with the ratio set
by the ratio setting unit; and

a control performing unit for performing feedback control of the motor based on a result of the addition performed by the
addition unit.

US Pat. No. 9,846,190

MOTOR DRIVE DEVICE INCLUDING FUNCTION TO DETECT FAILURE IN INSULATION RESISTANCE DETERIORATION DETECTION UNIT OF MOTOR, AND FAILURE DETECTION METHOD

FANUC CORPORATION, Yaman...

1. A motor drive device having a function to detect a failure in an insulation resistance deterioration detection unit of
a motor, the motor drive device comprising:
a power source unit configured to rectify an AC voltage supplied from an AC power source via a switch to a DC voltage in a
rectification circuit and to smooth the rectified DC voltage by a capacitor;

a motor drive amplification unit configured to drive a motor by converting the DC voltage from the power source unit to an
AC voltage by using upper-arm and lower-arm switching elements;

a power source voltage measurement unit configured to measure the voltage of the power source unit;
an insulation resistance deterioration detection unit having a contact unit configured to connect one end of the capacitor
to the ground and a current detection unit provided between the other end of the capacitor and a motor coil, and configured
to detect the presence/absence of a deterioration in an insulation resistance of the motor based on a detected signal that
is obtained from a closed circuit formed by the contact unit, the capacitor, the motor coil, and the ground by using the current
detection unit after bringing the switch to the off state and the contact unit to the on state; and

a failure detection unit configured to detect the presence/absence of a failure in the insulation resistance deterioration
detection unit based on the detected signal in the insulation resistance deterioration detection unit and a voltage value
measured by the power source voltage measurement unit by changing the contact unit from the on state to the off state and
causing the upper-arm or lower-arm switching elements of the motor drive amplification unit to perform switching arbitrarily.

US Pat. No. 9,846,414

SERVOMOTOR CONTROL DEVICE AND PRODUCTION SYSTEM EQUIPPED WITH THE CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A servomotor control device comprising:
an inverter for driving a servomotor by converting a direct current into an alternating current and supplying a converted
alternating current to the servomotor;

a power source disconnect circuit for disconnecting supply of the direct current to the inverter;
a servomotor control circuit for controlling the inverter such that the alternating current is supplied to the servomotor
when receiving a safety signal, and for controlling the inverter such that the alternating current is not supplied to the
servomotor when not receiving the safety signal; and

a servomotor monitoring circuit for stopping the servomotor by stopping transmission of the safety signal to the servomotor
control circuit when determining to stop the servomotor so as to secure the safety of a worker in a common area that is an
area in which a movable range of a mechanical unit that mounts the servomotor and a working range wherein the worker works
overlap, and for stopping the servomotor by disconnecting the supply of the direct current to the inverter with the power
source disconnect circuit and stopping the transmission of the safety signal to the servomotor control circuit when determining
that at least one of the power source disconnect circuit and the servomotor control circuit is not normal.

US Pat. No. 9,825,502

ELECTRIC MOTOR HAVING AIR PURGE FUNCTION

FANUC CORPORATION, Yaman...

1. An electric motor comprising:
a rotor which is rotatably supported by a first bearing which is provided at a first end part on an output shaft side and
a second bearing which is provided at a second end part opposite to said first end part;

a stator which is provided with a winding and which surrounds said rotor;
a front housing part which supports said first bearing and which forms a winding accommodation space which accommodates said
winding; and

a rear housing part which supports said second bearing;
wherein the front housing part further comprises an air feed port to which pressurized air is fed; and
an air flow path which linearly extends from said air feed port through an inside of the front housing part to a space surrounding
said first bearing and communicates with a terminal end of a front of said winding accommodation space.

US Pat. No. 9,815,132

WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine configured to apply a voltage to a machining gap between a wire electrode and a workpiece
and generate electric discharge to machine the workpiece, the wire electric discharge machine comprising:
a DC power supply;
a first switching element disposed in series between the DC power supply and the machining gap;
a variable DC power supply;
a second switching element disposed in series between the variable DC power supply and the machining gap; and
a controller configured
to control the first and second switching elements,
to output a control signal to the variable DC power supply, and
to cause the variable DC power supply to output
a first output voltage for a normal machining operation; and
a second output voltage for a welding operation, the second output voltage being lower than the first output voltage,wherein the controller is further configured,
(a) during the normal machining operation when the variable DC power supply is controlled to output the first output voltage,
(1) to control the first switching element to induce electric discharge in the machining gap, and
(2) upon detection of the electric discharge, to control the second switching element to turn on for a time period, and
(b) during the welding operation when the variable DC power supply is controlled to output the second output voltage
(1) to control the first switching element to induce electric discharge in the machining gap, and
upon detection of the electric discharge, to control the second switching element to turn on for a time period longer than
the time period in the normal machining operation, to reduce the gradient of a current rise in the machining gap relative
to the normal machining operation to deposit constituents of the wire electrode between the workpiece and a portion to be
cut off from the workpiece to bond the workpiece and the portion to be cut off.

US Pat. No. 9,796,026

MACHINING PROGRAM CREATING DEVICE FOR KEYWAY MILLING FOR WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A machining program creating device for a wire electric discharge machine, configured to create a machining program for
machining a keyway on a side surface of a round hole in a workpiece, the machining program creating device comprising:
a keyway defining section configured to define a shape of the keyway to be machined; and
a machining program creating section configured to measure a center position and a diameter of the round hole by bringing
a wire electrode into contact with the workpiece and create the machining program for machining the keyway, based on the measured
center position and diameter of the round hole and the shape of the keyway defined by the keyway defining section.

US Pat. No. 9,778,646

ROBOT CONTROLLER FOR CONTROLLING ROBOT WHICH SUPPLIES AND DISCHARGES WORKPIECE

FANUC CORPORATION, Yaman...

1. A robot controller for controlling a robot which supplies and/or discharges a workpiece to and/or from each of at least
one machine tool, the robot controller comprising:
a data communicating part which obtains data representing an operation state of the machine tool at predetermined timing by
communication with the machine tool;

a motion pattern storing part which stores a plurality of motion patterns of the robot for the machine tool; and
a motion controlling part which
automatically selects a motion pattern from the plurality of motion patterns stored in the motion pattern storing part when
an abnormality occurs in the machine tool or when an operation state of the machine tool satisfies a predefined condition,
and

operates the robot based on the selected motion pattern,
wherein the selected motion pattern is associated with an operation state of the machine tool when the abnormality occurs
in the machine tool or when the operation state of the machine tool satisfies the predefined condition,

wherein the motion controlling part
obtains the data representing the operation state of the machine tool at predetermined time intervals, and
operates the robot so as to exchange a tool of the machine tool, when an accumulated operating time of the tool reaches a
predetermined life length of the tool.

US Pat. No. 9,776,351

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system, comprising:
an injection molding machine having a machine stool;
a peripheral device; and
a rack on which the peripheral device is to be mounted, wherein
the rack includes
a fixing unit for removably fixing the rack to the machine stool, and
a moving unit for making the rack movable autonomously with respect to the machine stool.

US Pat. No. 9,744,608

WIRE ELECTRIC DISCHARGE MACHINE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine for machining a workpiece into a desired shape by changing a relative position between
a wire electrode and the workpiece while causing discharge by applying a voltage to a machining gap between the wire electrode
and the workpiece, the wire electric discharge machine comprising:
a secondary power supply including a DC power supply and a switching element, wherein the secondary power supply is configured
to apply an AC pulse voltage;

a primary power supply including a DC power supply, a switching element, and a discharge capacitor, wherein the discharge
capacitor and the DC power supply are configured to be connected with each other and to be disconnected;

a voltage detection unit disposed between the wire electrode and the workpiece; and
a numerical controller,
wherein the numerical controller includes a storage unit storing, in advance, a voltage value assumed when a dielectric breakdown
occurs between the wire electrode and the workpiece,

wherein the numerical controller is configured to compare a detected voltage value detected by the voltage detection unit
with the voltage value stored in the storage unit, and

wherein the numerical controller is configured to, as a result of the comparison, when the detected voltage value is smaller
than the voltage value stored in the storage unit,

determine that a dielectric breakdown has occurred between the wire electrode and the workpiece, and
cause a pulse current to be supplied using the discharge capacitor of the primary power supply.

US Pat. No. 9,740,196

NUMERICAL CONTROLLER FOR CONTROLLING DRILLING OPERATION

FANUC Corporation, Minam...

1. A numerical controller that controls a drilling operation of drilling a workpiece by controlling a spindle rotating a rotation
tool and a feed shaft moving the rotation tool, the numerical controller comprising:
a deceleration maintaining section that selects, when the feed shaft is decelerated from a constant speed state to a stop
state during the drilling operation, a bell-type deceleration mode from the constant speed state to a first linear part in
which the feed shaft is decelerated at a constant rate, and maintains a linear deceleration at the constant rate in a second
linear part as in the first linear part in an area from a start of the second linear part to the stop state, wherein the second
linear part is started when a current speed of the spindle reaches deceleration mode switching speed;

a deficient-movement-amount calculation section that obtains, when the feed shaft is decelerated from the second linear part
to the stop state, a deficient movement amount corresponding to a difference between a movement amount achieved when the linear
deceleration is carried out from the start of the second linear part to the stop state and a movement amount achieved when
the bell-type deceleration mode is applied from the start of the second linear part to the stop state; and

an accuracy compensation section that compensates machining accuracy by instructing the deficient movement amount to be inputted
into the deceleration maintaining section before the bell-type deceleration mode is carried out from the constant speed state
to maintain the linear deceleration of the feed shaft at the constant rate in the second linear part to reach the stop state.

US Pat. No. 9,762,171

MOTOR DRIVE DEVICE HAVING INSULATION RESISTANCE DETECTING FUNCTION AND METHOD OF DETECTING INSULATION RESISTANCE OF MOTORS

FANUC CORPORATION, Yaman...

1. A motor drive device comprising:
a converter unit having a rectifier circuit configured to rectify AC voltage supplied from an AC power supply via a first
switch into DC voltage;

a power supply unit configured to smooth the DC voltage rectified by the rectifier circuit through a capacitor;
a plurality of inverter units configured to convert the DC voltage from the power supply unit to AC voltage to drive multiple
motors, respectively, by switching operation of semiconductor switching elements in an upper arm, connected between a positive-side
terminal of the capacitor and a motor coil as well as semiconductor switching elements in a lower arm, connected between a
negative-side terminal of the capacitor and the motor coil;

a second switch configured to connect one terminal of the capacitor to the earth;
a current detector configured to measure current flowing between the one terminal of the capacitor and the earth;
a voltage detector configured to measure voltage between both ends of the capacitor; and,
an insulation resistance detector configured to detect insulation resistance which is resistance between a motor coil of a
motor selected as a target for measurement and the earth, based on current and voltage measured in a condition that operation
of the motors is stopped, the first switch is turned off, the second switch is turned on, wherein at least one of the semiconductor
switching elements connected between the positive side terminal of the capacitor and the motor coil of the motor selected
as a target for measurement is turned on, and wherein at least one of the semiconductor switching elements connected between
the negative terminal of the capacitor and the motor coil of the motor other than the motor to be measured is turned on.

US Pat. No. 9,701,052

FIXED PLATEN OF INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A fixed platen of an injection molding machine, secured to a base frame and capable of supporting a fixed mold, the fixed
platen comprising:
a mold mounting surface capable of being fitted with a mold;
a tie-rod insertion part at a corner through which a tie rod is configured to be passed for fixation;
a first leg protruding at a substantially central portion of a lower part and secured to the base frame; and
a second leg protruding near the tie-rod insertion part at the lower part and secured to the base frame,
wherein the second leg comprises a thin portion thinner than the fixed platen along the axis of the tie rod and respective
thickness-direction centers of the thin portion and the fixed platen are substantially coincident along the axis of the tie
rod.

US Pat. No. 9,703,273

SERVO CONTROL APPARATUS HAVING FUNCTION OF OPTIMIZING CONTROL GAIN ONLINE USING EVALUATION FUNCTION

FANUC CORPORATION, Yaman...

1. A servo control apparatus for a machine tool including a feed axis driven by a servomotor comprises:
a speed command generation unit configured to generate a speed command value for the servomotor;
a torque command generation unit configured to generate a torque command value for the servomotor;
a speed detection unit configured to detect a speed of the servomotor;
a speed control loop comprising the speed command generation unit, the torque command generation unit, and the speed detection
unit;

a speed control loop gain setting unit configured to set a control gain for the speed control loop;
a sinusoidal disturbance input unit configured to apply a sinusoidal sweep to the speed control loop;
a frequency characteristic calculation unit configured to estimate a gain and a phase of a speed control loop input/output
signal from output of the speed control loop when a sine wave is input to the speed control loop;

a reference characteristic generation unit configured to generate a frequency characteristic for the feed axis; and
a gain adjusting unit configured to adjust the speed control loop gain,
wherein the gain adjusting unit uses the frequency characteristic generated by the reference characteristic generation unit
and an actually measured frequency characteristic calculated by the frequency characteristic calculation unit to calculate
an evaluation function value for each frequency sweep to the actually measured frequency characteristic, and adjusts online
the speed control loop gain to achieve a desired evaluation function value.

US Pat. No. 9,636,827

ROBOT SYSTEM FOR PERFORMING FORCE CONTROL

FANUC CORPORATION, Yaman...

1. A robot system which performs a machining process for a workpiece by using a machining tool the robot system comprising:
a robot configured to separately hold one of the machining tool and the workpiece,
wherein the robot holds one of the machining tool and the workpiece and operates such that the machining tool and the workpiece
are moved relative to each other;

an actuator with one or more degrees of freedom, the machining tool or the workpiece being mounted on the actuator, the actuator
changing a position of an acting point of the machining tool or the workpiece in cooperation with the robot; and

a control device that controls an operation of the robot,
wherein the control device comprises:
a robot control unit that operates the robot along a predetermined motion trajectory;
a force detection unit that detects a force acting between the machining tool and the workpiece;
a position detection unit that detects a current position of the acting point of the machining tool or the workpiece mounted
on the actuator;

a force control unit that obtains a target position of the acting point of the machining tool or the workpiece mounted on
the actuator such that the force detected by the force detection unit approaches a predetermined force value; and

a position correction unit that calculates a position correction amount of the predetermined motion trajectory of the robot
and a position correction amount of the actuator in response to the target position of the acting point of the machining tool
or the workpiece;

wherein the position correction amount of the predetermined motion trajectory of the robot, which is calculated by the position
correction unit for each unit time, is limited to be equal to or less than a predetermined position correction amount.

US Pat. No. 9,568,340

OPTICAL ENCODER INCLUDING STATIONARY SLIT PART HAVING ELASTIC STRUCTURE

Fanuc Corporation, Yaman...

1. An optical encoder comprising:
a light emitting part for emitting light;
a stationary slit part and a rotational slit part which allow part of the light emitted from the light emitting part to pass
therethrough;

a light receiving part for detecting the light passing through the stationary slit part and the rotational slit part; and
a support for supporting the stationary slit part,
the stationary slit part comprising:
a patterned portion in which a plurality of slits for allowing light to pass therethrough are formed;
a fixed portion fixed to the support; and
an elastic structure which is elastically deformable more easily than the patterned portion and the fixed portion, and provided
between the patterned portion and the fixed portion.

US Pat. No. 9,522,470

HUMAN-COOPERATIVE INDUSTRIAL ROBOT WITH LEAD-THROUGH FUNCTION

FANUC CORPORATION, Yaman...

1. A human-cooperative industrial robot configured to share a work space with an operator, comprising:
a lead-through implementation part configured to implement a lead-through operation in which a position and posture of the
robot are changed in response to an operation force applied on the robot by the operator;

an operation force detection part configured to detect an operation force applied to the robot when the lead-through operation
is implemented;

a lead-through switch configured to enable the lead-through operation when a pressing force is applied on the lead-through
switch and disable the lead-through operation when the pressing force is released from the lead-through switch;

a contact force detection part configured to detect a contact force applied to the robot when the operator and the robot come
in contact with each other; and

a contact force monitoring part configured to stop the robot or make the robot retreat in a direction in which the contact
force is reduced when the contact force exceeds a predetermined threshold value,

wherein when the lead-through operation is enabled, the contact force monitoring part is disabled, and when the lead-through
operation is disabled, the contact force monitoring part is enabled.

US Pat. No. 9,448,552

NUMERICALLY-CONTROLLED MACHINE TOOL AND SPINDLE ERROR COMPENSATING METHOD THEREOF

FANUC CORPORATION, Yaman...

1. A numerically-controlled machine tool comprising:
a linear moving axis for moving a spindle;
two or more linear moving axes for moving a table;
a rotary table for fixing a workpiece, installed on said table and having two or more rotary axes; and
a numerical controller for machining said workpiece by controlling said spindle, said linear moving axes, and said rotary
axis, wherein

the numerically-controlled machine tool further comprises:
a spindle error measurement jig which is a member to be measured, attached to the spindle and provided with a spindle center
position measurement hole having an inner surface which is a surface to be measured parallel to a spindle axis and a spindle
angular deviation measurement end-face which is a surface to be measured perpendicular to said spindle axis;

a probe installed on said table and detecting said spindle center position measurement hole of the spindle error measurement
jig and said end face of spindle angular deviation measurement;

a spindle angular deviation calculation unit for attaching said spindle error measurement jig to said spindle and calculating
a spindle angular deviation from a result of measurement of the inner surface and the end face of said spindle error measurement
jig by said probe;

a compensation amount calculation unit for calculating a compensation amount for compensating positions of said table and
said rotary table from the calculated spindle angular deviation; and

a position compensation unit for moving said linear moving axis and said rotary table on the basis of the compensation amount.

US Pat. No. 9,339,905

TOOL CHANGER FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A tool changer for a machine tool,
the machine tool including:
a turret that is provided with a plurality of grips and is capable of holding a tool with each of the grips;
a spindle that is capable of holding the tool;
a rotation shaft as an axis of rotation of the turret;
a turret mechanism unit for rotating the turret; and
a swing shaft as an axis of swinging of a whole turret structure consisting of the turret and the turret mechanism unit,
wherein
the tool changer is configured to exchange the tool between the turret and the spindle, and
the turret is capable of moving toward and away from the spindle through a swinging movement about the swing shaft,
the tool changer comprising:
a calculation unit configured to calculate, for each phase of the swinging movement of the turret, force applied to the turret
mechanism unit based on a sum of gravity force, centrifugal force, and inertial force from acceleration or deceleration applied
to the turret mechanism unit, obtained on the basis of gravity center position of the whole turret structure, whole weight
of the turret, and an angular velocity and an angular acceleration in the swinging movement of the turret;

a turret swinging movement pattern determination unit configured to determine an angular velocity and an angular acceleration
for each phase of the swinging movement of the turret as a swinging movement pattern of the turret such that the force applied
to the turret mechanism unit in the swinging movement of the turret does not exceed a preset limit value of the force applied
to the turret mechanism unit; and

a control device configured to cause the turret to make the swinging movement, on the basis of the swinging movement pattern
determined by the turret swinging movement pattern determination unit.

US Pat. No. 9,304,507

TOOL PATH DISPLAY APPARATUS HAVING DISPLAY UNIT FOR ACCELERATION OR JERK OF TOOL TIP POINT

FANUC CORPORATION, Yaman...

1. A tool path display apparatus of a machine tool, the tool path display apparatus configured for displaying a path of a
tip point of a tool of the machine tool, the machine tool configured for controlling a position and posture of at least one
of the tool and a workpiece by a plurality of drive axes using a numerical control apparatus, the tool path display apparatus
comprising:
a command generation unit configured to generate position commands for the plurality of drive axes per predetermined control
cycle;

position detectors that are attached to each of the plurality of drive axes and configured to detect a position of each of
the plurality of drive axes per predetermined control cycle;

a position data acquiring unit configured to
aquire the position commands generated by the command generation unit per predetermined control cycle, as commanded value
time series data, and

aquire position detected values detected by the position detectors per predetermined control cycle, as detected value time
series data;

a tool coordinate value calculation unit configured to
calculate a tool commanded coordinate value of the tip point of the tool, in association with the commanded value time series
data, based on the commanded value time series data and a structure of the machine tool, and

calculate a tool actual coordinate value of the tip point of the tool, in association with the detected value time series
data, based on the detected value time series data and the structure of the machine tool;

an acceleration calculation unit configured to
calculate an acceleration or a jerk of the tip point of the tool using at least three pieces of data of the tool commanded
coordinate values, and

calculate the acceleration or the jerk of the tip point of the tool using at least three pieces of data of the tool actual
coordinate values; and

a display format selection unit configured to select display formats of the accelerations or the jerks of the tool commanded
coordinate values and the tool actual coordinate values constituting the path of the tip point of the tool, wherein

the display format selection unit is configured to perform at least one of:
vector display to display the accelerations or the jerks as acceleration vectors or jerk vectors on the path of the tip point
of the tool; and

connection display to display a connection that connects between end points of neighboring acceleration vectors or jerk vectors,
and

the tool path display apparatus further comprises a display unit configured to display the accelerations or the jerks, with
the path of the tip point of the tool, in accordance with the display formats selected by the display format selection unit.

US Pat. No. 9,240,665

GAS LASER APPARATUS CARRYING OUT IMPROVED STARTUP PROCESS

FANUC CORPORATION, Yaman...

1. A gas laser apparatus comprising:
a receptacle in which a laser gas is enclosed;
a laser oscillator configured to emit a laser beam with a laser gas serving as an excitation medium;
a pressure detecting unit configured to detect pressure of a gas inside the receptacle;
an exhausting unit configured to discharge a gas from the receptacle;
a feeding unit configured to supply a laser gas into the receptacle;
a pressure storing unit configured to store the pressure detected by the pressure detecting unit and retain stored information
even when a power supply is shut off;

a comparing unit configured to compare pressure of a gas inside the receptacle which is obtained when the gas laser apparatus
has stopped suddenly and is stored by the pressure storing unit, with pressure of a gas inside the receptacle which is detected
by the pressure detecting unit and obtained when the gas laser apparatus is restarted after a sudden stoppage; and

a determining unit configured to determine whether or not a gas should be discharged from the receptacle and whether or not
the laser gas should be supplied into the receptacle based on a result of a comparison by the comparing unit.

US Pat. No. 10,741,988

LASER MACHINING DEVICE

FANUC CORPORATION, Yaman...

1. A laser machining device comprising:an oscillating portion that generates a machining laser beam;
an enclosure portion in which a first gas is enclosed, the first gas being supplied to the enclosure portion from a first gas cylinder; and
an exhausting portion that exhausts the first gas together with a dirt generated in the enclosure portion in association with an operation of the oscillating portion, wherein
the exhausting portion includes:
a dry pump connected to a valve portion, the valve portion being connected to an inlet side of the dry pump;
a first line that connects the enclosure portion and the valve portion;
a second line that supplies a second gas having a higher pressure than the first gas to the valve portion;
the valve portion opens or closes the first line and the second line and allows only either one of the first line or the second line to be in communication with the dry pump; and
a control unit that controls opening or closing of the valve portion to open or close the first line and the second line, such that
the second line is opened to purge the dry pump during a standby state of the laser machining device.

US Pat. No. 10,714,994

ROTOR AND ROTARY ELECTRIC MACHINE

FANUC CORPORATION, Yaman...

1. A rotor comprising:a rotor core configured to rotate together with a rotor shaft;
a first slot and a second slot penetrating through the rotor core, in a direction of a rotation axis of the rotor core, and as viewed in the direction of the rotation axis of the rotor core, the first slot and the second slot each having a substantially rectangular shape, and provided in a V-shape pattern in a manner that outer circumferential sides of the first slot and the second slot are positioned remotely from each other, and inner circumferential sides of the first slot and the second slot are positioned closely to each other;
a first permanent magnet and a second permanent magnet, as viewed in the direction of the rotation axis of the rotor core, the first permanent magnet and the second permanent magnet each having a substantially rectangular shape, the first permanent magnet being inserted into the first slot, and the second permanent magnet being inserted into the second slot;
a first contact part, as viewed in the direction of the rotation axis of the rotor core, the first contact part being formed in an outer circumferential short side of each of the first slot and the second slot, and forms the boundary of each of the first slot and the second slot, to contact each of the first permanent magnet and the second permanent magnet;
a second contact part, as viewed in the direction of the rotation axis of the rotor core, the second contact part being formed in the outer circumferential short side of each of the first slot and the second slot, and forms the boundary of each of the first slot and the second slot, to contact each of the first permanent magnet and the second permanent magnet;
a first flux barrier, as viewed in the direction of the rotation axis of the rotor core, the first flux barrier being provided between the first contact part and the second contact part, and the first flux barrier being formed in the outer circumferential short side of each of the first slot and the second slot, to protrude toward an outer circumferential side; and
a second flux barrier, as viewed in the direction of the rotation axis of the rotor core, an outer circumferential wall of the second flux barrier being continuous with the first contact part, and the second flux barrier being formed to protrude from an inner long side of each of the first slot and the second slot, wherein a length of the second flux barrier in a direction protruding from the inner long side of each of the first slot and the second slot is larger than a length of the second flux barrier in a width direction.

US Pat. No. 10,715,059

MOTOR DRIVING DEVICE AND FAILURE DETECTING METHOD

FANUC CORPORATION, Yaman...

1. A motor driving device for controlling braking of a plurality of motors each having a braking device by using a single brake power supply, wherein the braking device includes: an electromagnetic brake having a brake coil and configured to release braking of a rotary shaft of the motor by energizing the brake coil; a conductive disk configured to rotate together with the rotary shaft and connected in series with the brake coil; and a plurality of resistors provided on a surface of the disk so that the brake coil is periodically connected in series with each of the resistors, instead of the disk, as the disk rotates, the motor driving device comprising:a current detector configured to detect a current value of a brake current flowing from the brake power supply to the multiple brake coils; and
a failure identifying unit configured to identify a failed braking device of the braking devices, based on rotational positions of the rotary shafts of the multiple motors and the detected current value, wherein the failure identifying unit is configured to determine whether or not the current value is greater than a threshold value, and when the current value is greater than the threshold value, identify the failed braking device, based on the rotational positions of the rotary shafts of the multiple motors.

US Pat. No. 10,710,204

NOZZLE CONTROLLER OF MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A nozzle controller of a machine tool comprising: a tool which is gripped in a spindle of the machine tool;a nozzle in which an angle and/or a position thereof with respect to the tool can be changed and which emits a fluid to the tool;
a nozzle drive unit which drives the angle and/or the position of the nozzle;
a contact acquisition unit which acquires contact between the tool and a work; and
a control unit which controls the nozzle drive unit,
wherein the control unit stores, as a surface coordinate of the work, a coordinate in the direction of the spindle when the contact acquisition unit detects the contact, and further determines that the tool is raised or lowered when the stroke of the feed axis in the direction of the spindle is increased or decreased after the detection of the contact by the contact acquisition unit and a stroke in a direction orthogonal to the direction of the spindle is not produced, and
the nozzle drive unit drives the nozzle such that an emitting port of the nozzle is directed to the surface coordinate when the control unit determines that the tool is raised or lowered.

US Pat. No. 10,710,251

ROBOT LINEAR OBJECT HANDLING STRUCTURE

FANUC CORPORATION, Yaman...

1. A linear object handling structure of a robot, comprising:a rotational drum supported above a base in a rotatable manner about a vertical axis line, and a plurality of operation shafts supported by the rotational drum, the base having a plate disposed on one side thereof, wherein:
a ring gear included in a hypoid gear set is fixed below the rotational drum;
a first linear object group including cables for driving the operation shafts and a second linear object group for a peripheral device supported by any one of the operation shafts are wired so as to be separately movable from each other inside a space obtained inside the ring gear, the second linear object group being collectively covered by a flexible conduit pipe, and,
the second linear object group penetrates through a second linear object group through-hole provided on the base to extend out of the base, wherein the first linear object group further comprises a connector fixed to the plate and has a relay connection via the connector, and wherein the second linear object group does not include a connector fixed to the plate and does not have a relay connection inside the space and the base.

US Pat. No. 10,688,576

DIELECTRIC WORKING FLUID CENTRALIZED MANAGEMENT SYSTEM

FANUC CORPORATION, Yaman...

1. A dielectric working fluid centralized management system comprising:a dielectric working fluid adjustment apparatus configured to adjust at least one quality of a dielectric working fluid utilized by a plurality of wire electrical discharge machines;
a dielectric working fluid delivery and reception control member configured to control delivery and reception of the dielectric working fluid between a plurality of dielectric working fluid storage tanks disposed corresponding respectively to the plurality of wire electrical discharge machines, and in which the dielectric working fluid is stored, and the dielectric working fluid adjustment apparatus; and
a dielectric working fluid quality controller configured to receive dielectric working fluid information from the plurality of wire electrical discharge machines and to control the dielectric working fluid delivery and reception control member, or both the dielectric working fluid delivery and reception control member and the dielectric working fluid adjustment apparatus,
wherein the dielectric working fluid quality controller is configured to control the dielectric working fluid delivery and reception control member, so as to connect the dielectric working fluid storage tank of a first of the wire electrical discharge machines to the dielectric working fluid adjustment apparatus and not connect the dielectric working fluid storage tank of the other of the wire electrical discharge machines to the dielectric working fluid adjustment apparatus, in order to not mix the dielectric working fluids of the other of the plurality of wire electrical discharge machines with the first wire electrical discharge machines wherein the dielectric working fluid adjustment apparatus comprises at least one dielectric working fluid adjustment device selected from among a fluid supplying device configured to supply a new dielectric working fluid, a deionizing device configured to adjust an electrical conductivity of the dielectric working fluid, a sludge removal device configured to remove sludge generated in the dielectric working fluid due to electrical discharge, a drainage device configured to drain the dielectric working fluid, and a fluid temperature adjusting device configured to adjust the temperature of the dielectric working fluid.

US Pat. No. 10,675,802

INJECTION MOLDING SYSTEM

FANUC CORPORATION, Yaman...

1. An injection molding system, comprising:a servo motor;
a transmission mechanism configured to convert a rotational motion of the servo motor into a linear motion;
a transmission mechanism photographing unit configured to photograph the transmission mechanism;
a position calculation unit configured to analyze image data photographed by the transmission mechanism photographing unit and calculate a position of the transmission mechanism;
a position detector provided in the servo motor and configured to detect a rotation position of the servo motor; and
a comparison unit configured to compare
(1) a first position coordinate obtained by converting the rotation position of the servo motor into a position of the transmission mechanism, the rotation position being detected by the position detector, with
(2) a second position coordinate calculated by the position calculation unit by analyzing the image data photographed by the transmission mechanism photographing unit.

US Pat. No. 10,658,105

REACTOR HAVING IRON CORES AND COILS

FANUC CORPORATION, Yaman...

1. A reactor, comprising:a core body, wherein
the core body comprises an outer peripheral iron core composed of a plurality of outer peripheral iron core portions, at least three iron cores arranged inside the outer peripheral iron core, each of the at least three iron cores are coupled to a respective one of the plurality of outer peripheral iron core portions at a location midway between two ends of the respective one the plurality of outer peripheral iron core portions, and coils which are wound around the at least three iron cores,
the radially inner end of each iron core converges toward the center of the outer peripheral iron core,
gaps are formed between one of the at least three iron cores and another iron core adjacent thereto through which gaps the iron cores are magnetically connectable, a point of intersection of the gaps is positioned in the center of the core body, and the core body is rotationally-symmetrically formed about the center thereof, and
the reactor further comprises a single temperature detection part arranged in the center of the core body at the point of intersection of the gaps.

US Pat. No. 10,656,097

APPARATUS AND METHOD FOR GENERATING OPERATION PROGRAM OF INSPECTION SYSTEM

FANUC CORPORATION, Yaman...

1. An apparatus configured to generate an operation program for workpiece-surface inspection of an inspection system,the inspection system including
an imaging device configured to image a workpiece, and
a movement mechanism configured to position the workpiece and the imaging device relative to each other by moving the workpiece or the imaging device,
the apparatus comprising at least one processor configured to:
acquire drawing data of the workpiece,
receive designation of a surface to be inspected in the drawing data,
evenly divide the surface to be inspected into a plurality of non-overlapping sections,
acquire, as a target position, a position of the movement mechanism for each of the plurality of non-overlapping sections when the workpiece and the imaging device are positioned such that said each of the plurality of non-overlapping sections to be inspected is within a field of view of the imaging device, and
generate an operation program configured to, during actual inspection of the workpiece, control a movement of the movement mechanism and an imaging of the imaging device, based on the acquired target position,
wherein the generated operation program includes an instruction causing, during the actual inspection of the workpiece, the movement mechanism to be arranged at the acquired target position at which the imaging device is caused to image the workpiece for the actual inspection.

US Pat. No. 10,632,628

ROBOT

Fanuc Corporation, Yaman...

1. A robot comprising one or more joints, whereinat least the one joint includes:
a first joint member and a second joint member disposed so as to be relatively rotatable around a predetermined axis;
a reducer that relatively rotatably supports the first joint member and the second joint member around the axis on one side in a direction of the axis of the first joint member; and
a bearing that supports the first joint member and the second joint member relatively rotatably around the axis and relatively movably in a direction along the axis on another side in the direction of the axis of the first joint member,
the first joint member and the second joint member include respective flange surfaces perpendicular to the axis and facing each other in the direction of the axis, and each of the flange surfaces includes a screw hole or a through hole for closely adhering the flange surfaces by fastening of a bolt.

US Pat. No. 10,637,311

ROTOR AND MOTOR

FANUC CORPORATION, Yaman...

1. A rotor comprising: a tube-shaped rotor core which is formed by stacking disc-shaped electromagnetic steel plates in layers, which is fixed to a rotary axis and which includes a plurality of through holes that are spaced in a circumferential direction of the rotor core and that penetrate along an axis direction of the rotary axis; andtie rods which are respectively press-fitted into the through holes,
wherein the tie rods are formed with a plurality of rod-shaped members which are arranged in series along the axis direction, each of the through holes contains a same number of rod-shaped members, and the number of rod-shaped members in any through hole is either two or three, and
there is no possibility that positions of slits in the axis direction between the rod-shaped members adjacent in the axis direction coincide with each other in all the tie rods.

US Pat. No. 10,635,079

MOTOR CONTROL DEVICE, CONTROL SYSTEM, AND MOTOR CONTROL METHOD

FANUC CORPORATION, Yaman...

1. A motor control device comprising:a command receiving unit adapted to receive movement commands and first control periods of the movement commands from each of a plurality of numerical controllers;
a command generating unit which, on the basis of the plurality of different first control periods and a plurality of different second control periods in accordance with each of the plurality of different first control periods, is adapted to generate movement commands of the plurality of different second control periods from the movement commands of the plurality of different first control periods; and
a motor control unit adapted to control a motor, in accordance with the plurality of movement commands generated by the command generating unit.

US Pat. No. 10,632,554

WIRE ELECTRICAL DISCHARGE MACHINE, WIRE ELECTRICAL DISCHARGE MACHINING SYSTEM AND JIG

FANUC CORPORATION, Yaman...

1. A wire electrical discharge machine for performing electrical discharge machining on a workpiece by applying voltage across an electrode gap between a wire electrode stretched between an upper nozzle and a lower nozzle and the workpiece to generate electrical discharges, comprising:a lifting mechanism configured to move the workpiece in a travelling direction of the wire electrode;
a lifting mechanism control unit configured to control the lifting mechanism; and
a drop information acquisition unit configured to acquire information indicating that a core formed in machining the workpiece has fallen into the lower nozzle,
wherein the lifting mechanism control unit is configured to control the lifting mechanism so as to move the workpiece toward the upper nozzle in a case where the information that the core has fallen in the lower nozzle is acquired by the drop information acquisition unit.

US Pat. No. 10,627,802

BEARING LIFE-SPAN PREDICTION DEVICE

FANUC CORPORATION, Yaman...

1. A bearing life prediction device that predicts a life of a pair of bearings that rotatably supports a rotating shaft portion of a motor used in a machine tool, through which a coolant liquid can be passed, the rotating shaft portion being connected to a coolant delivery unit via a rotary joint at one end in a rotating shaft direction and connected to a spindle capable of discharging the coolant liquid via a connecting portion at the other end, the bearing life prediction device comprising:a pressure measuring unit that measures a pressure in the rotating shaft direction applied to a front bearing disposed on the other end side in the rotating shaft direction of the pair of bearings;
a coolant pressure measuring unit configured to measure a pressure of the coolant liquid as information of a change in a pre-load applied to the pair of bearings;
a motor state detecting unit that measures or predicts a rotation number of the motor and a temperature of the pair of bearings;
a motor information storage unit that stores model information for specifying respective motor models and motor specification information which is specification information of each motor model and includes at least specification information of the pair of bearings in correlation;
a motor model specifying unit that inputs or selects model information for specifying the motor model;
a bearing life prediction unit that predicts the life of the pair of bearings on the basis of the motor specification information including the specification information of the pair of bearings stored in the motor information storage unit in correlation with the model information input or selected by the motor model specifying unit, pressure information of the coolant liquid measured by the coolant pressure measuring unit, pressure information in the rotating shaft direction applied to the front bearing measured by the pressure measuring unit, rotation number information of the motor measured or predicted by the motor state detecting unit, and temperature information of the pair of bearings;
a machining operation unit that drives and moves the motor in a predetermined machining cycle and delivers the coolant liquid to the coolant delivery unit, the machining operation unit being configured to cause the motor and the coolant delivery unit to execute a first machining cycle operation in a state in which an actual machining operation is not performed, and the bearing life prediction unit being configured to predict a first bearing life of the pair of bearings on the basis of various pieces of information measured in the first machining cycle operation; and
an extension instruction unit that outputs an instruction on extension of the predicted first bearing life of the bearing and an extension period, the bearing life prediction unit being configured to calculate a coolant pressure for changing the first bearing life to a third bearing life that is a sum of the first bearing life and the extension period instructed by the extension instruction unit.

US Pat. No. 10,627,807

MOTOR CONTROLLER

FANUC CORPORATION, Yaman...

1. A controller of a motor that drives a driven body, the controller comprising:a command generating unit that generates a movement command for the motor;
an inertia estimating unit that (i) receives a feedback signal from the motor, the feedback signal including feedback information related to the motor, and iii) estimates an inertia, using the feedback information, on the basis of a predetermined estimation equation, wherein the inertia estimating unit calculates a first estimation result and a second estimation result, the first estimation result being calculated before machining of the driven body is performed, and the second estimation result being calculated after the machining of the driven body is performed;
a difference computing unit that computes a change in the inertia due to the machining of the driven body, the change in the inertia being computed based on the movement command of the command generating unit; and
a comparing unit that compares (i) a difference between the first estimation result and the second estimation result calculated by the inertia estimating unit, and (ii) the change in the inertia computed by the difference computing unit, wherein
the estimation equation used by the inertia estimating unit is corrected on the basis of a comparison result of the comparing unit so that the difference between the first estimation result and the second estimation result matches the change in the inertia computed by the difference computing unit.

US Pat. No. 10,625,386

EMERGENCY STOP SYSTEM

FANUC CORPORATION, Yaman...

1. An emergency stop system for stopping an operation of a machine in an emergency, comprising:an emergency stop switch for issuing an instruction of emergency stop to the operation of the machine;
an acceleration sensor that detects an acceleration of the emergency stop switch; and
a control unit, wherein
the control unit includes:
a fall detection unit that detects falling of the emergency stop switch on the basis of a detection value obtained by the acceleration sensor;
a shock detection unit that detects shock after the falling of the emergency stop switch on the basis of the detection value of the acceleration sensor;
a switch state detection unit that detects an ON-OFF state of the emergency stop switch; and
a signal output unit that outputs an emergency stop signal to the machine regardless of the ON-OFF state of the emergency stop switch when the switch state detection unit has detected switching of the ON-OFF state of the emergency stop switch within a predetermined period after the fall detection unit detected the falling and the shock detection unit detected the shock.

US Pat. No. 10,615,609

SELECTION APPARATUS FOR SELECTING MOTOR SYSTEM AND NETWORK SYSTEM

FANUC CORPORATION, Yaman...

1. A selection apparatus for selecting a motor system, the selection apparatus comprising:a storage unit configured to store a start-up condition of the selection apparatus and specification data representing performance of each of a plurality of the motor systems;
an information reception unit configured to receive input start-up information and machine condition;
a start-up determination unit configured to determine that start-up can be performed when the start-up information received by the information reception unit is coincident with the start-up condition stored in the storage unit and determine that start-up cannot be performed in the case of noncoincidence thereof;
a selection unit configured to, when the start-up determination unit determines that start-up can be performed, collate the machine condition received by the information reception unit with the specification data stored in the storage unit and execute selection processing for selecting the motor system conforming to the relevant machine condition from among a plurality of the motor systems and, when the start-up determination unit determines that start-up cannot be performed, the selection unit selects a motor conforming to the machine condition received by the information reception unit from a part of motors among the plurality of the motors by collating the machine condition received by the information reception unit with the motor specification data and
selects an amplifier capable of driving the selected motor from a part of amplifiers among the plurality of the amplifiers with reference to the amplifier specification data; and
an information output unit configured to output a processing result by the selection unit.

US Pat. No. 10,606,234

CONTROLLER FOR A PLURALITY OF MOTORS BASED ON PROVIDED TORQUE

FANUC CORPORATION, Yaman...

1. A controller for a drive mechanism which is driven by a plurality of motors, the controller comprising:a position command calculation unit which calculates a position command value for driving the drive mechanism;
a position detection unit which detects a position of each of the motors;
a speed command calculation unit which calculates a speed command value based on a position error value determined from the position command value calculated by the position command calculation unit and a position detection value detected by the position detection unit;
a speed detection unit which calculates a speed detection value from the position detection value detected by the position detection unit;
a torque command calculation unit which calculates a torque command value from a speed error value determined from the speed command value calculated by the speed command calculation unit and the speed detection value detected by the speed detection unit; and
a preload torque superimposition unit which superimposes a set preload torque on the torque command value,
wherein, when a shift occurs from a state where an output of the motors is zero to a state where the output is non-zero such that the preload torque is provided by the preload torque superimposition unit, at least one of the motors forms a contact portion between the drive mechanism and the motor by speed control based on the speed detection value detected in the speed detection unit such that the preload torque is provided, and
wherein, when a shift occurs from the state where the output of the motors is zero to the state where the output is non-zero such that the preload torque is provided by the preload torque superimposition unit, position control is performed on at least one of the motors based on the position detection value detected in the position detection unit and the speed control is performed on at least one of the motors so as to form the contact portion, and in a state where the contact portion is formed, the preload torque is provided by the preload torque superimposition unit.

US Pat. No. 10,606,238

SERVO CONTROLLER

FANUC CORPORATION, Yaman...

1. A servo controller for controlling a servomotor in accordance with a movement amount determined by a command received from a host controller in a predetermined control cycle, the servo controller comprising:a processor programmed to
in a control cycle (n) in which a command cannot be received from the host controller, calculate an alternative movement amount according to
jerk calculated with reference to amounts of movement used for controlling the servomotor in former control cycles before the control cycle (n), and
a movement amount used for controlling the servomotor in a previous control cycle (n?1) before the control cycle (n), and
control movement of the servomotor by use of the alternative movement amount in the control cycle (n) in which the command cannot be received from the host controller,
wherein the processor is further programmed to
calculate a command movement amount upper limit of a movement amount of the servomotor in each control cycle in accordance with a predetermined rate of acceleration and a movement amount used for controlling the servomotor in a previous control cycle,
calculate a remaining movement amount based on a remainder movement amount adjusted by the processor in said each control cycle,
output the calculated remaining movement amount in a following control cycle,
limit, to the command movement amount upper limit, a movement amount obtained by adding the remaining movement amount to a movement amount determined by a command received from the host controller said in each control cycle so as to use the limited amount for controlling the servomotor in said each control cycle, and
output a rest of the movement amount limited to the command movement amount upper limit as a remainder movement amount adjusted by the processor.

US Pat. No. 10,600,551

REACTION HAVING OUTER PERIPHERAL IRON CORE

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 coupled to inner surfaces of the plurality of outer peripheral iron core portions, and coils wound around the at least three iron cores, radially inner ends of each of the at least three iron cores being arranged in the vicinity of a center of the outer peripheral iron core and converging toward the center of the outer peripheral iron core; wherein
gaps, which can be magnetically coupled, are formed between one of the at least three iron cores and another iron core adjacent thereto, and the radially inner ends of the at least three iron cores are spaced from each other via the gaps, which can be magnetically coupled; the reactor further comprising:
a fixture which extends, through the interior of the outer peripheral iron core in a region between the outer peripheral iron core and the gaps to fasten opposite ends of the at least three iron cores to each other in the axial direction of the core body.

US Pat. No. 10,594,194

ROTOR AND ROTARY ELECTRIC MACHINE

FANUC CORPORATION, Yaman...

1. A rotor comprising:a rotary member;
a plurality of permanent magnets disposed in an outer circumference of the rotary member;
a holding member that is provided on an outer circumferential surface of the permanent magnets to hold the permanent magnets, the holding member having a cylindrical shape formed of a fiber reinforced plastic; and
cover members that cover the holding member, wherein
the holding member is divided into a plurality of holding members along a longitudinal direction of the rotary member,
the cover members are provided on outer circumferential surfaces of both end portions in a longitudinal direction of the divided holding members and provided on outer circumferential surfaces of connection portions of the divided holding members, and
each cover member is positioned to be separate from one another along the longitudinal direction of the holding members, and is not directly provided on the outer circumferential surface or a side surface of the permanent magnets.

US Pat. No. 10,591,901

MOTOR CONTROLLER

FANUC CORPORATION, Yaman...

1. A controller of a motor that drives a driven body, the controller comprising:a command generating unit that generates a movement command for the motor;
an inertia estimating unit that (i) receives a feedback signal from the motor, the feedback signal including feedback information related to the motor, and iii) estimates an inertia, using the feedback information, on the basis of a predetermined estimation equation, wherein the inertia estimating unit calculates a first estimation result and a second estimation result, the first estimation result being calculated before machining of the driven body is performed, and the second estimation result being calculated after the machining of the driven body is performed;
a difference computing unit that computes a change in the inertia due to the machining of the driven body, the change in the inertia being computed based on the movement command of the command generating unit; and
a comparing unit that compares (i) a difference between the first estimation result and the second estimation result calculated by the inertia estimating unit, and (ii) the change in the inertia computed by the difference computing unit, wherein
the estimation equation used by the inertia estimating unit is corrected on the basis of a comparison result of the comparing unit so that the difference between the first estimation result and the second estimation result matches the change in the inertia computed by the difference computing unit.

US Pat. No. 10,571,887

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller configured to rotate, during a tool selection, a turret, which holds a plurality of tools on an outer peripheral portion thereof, thereby moving a selected one of the plurality of tools selected by a command to a selected position, the numerical controller comprising:a processor configured to:
hold a partial area of the outer peripheral portion of the turret as a passage-prohibited area, the turret is prohibited from rotating in a rotational direction that results in the passage-prohibited area passing through the selected position;
prior to rotating the turret in the rotational direction to move the selected one of the plurality of tools to the selected position, determine whether or not the selected one of the plurality of tools is present in the passage-prohibited area and whether or not the passage-prohibited area passes through the selected position as the turret is rotated in the rotational direction to move the selected one of the plurality of tools to the selected position during the tool selection;
rotate the turret in the rotational direction to move the selected one of the plurality of tools to the selected position when it is determined that the selected one of the plurality of tools is not present in the passage-prohibited area and the passage-prohibited area does not pass through the selected position as the turret is rotated in the rotational direction to move the selected one of the plurality of tools to the selected position;
prohibit the turret from rotating in the rotational direction when it is determined that the selected one of the plurality of tools is present in the passage-prohibited area or when it is determined that the passage-prohibited area will pass through the selected position as the turret is rotated in the rotational direction; and
in response to prohibiting the turret from rotating in the rotational direction, rotate the turret in a rotational direction opposite the rotational direction to move the selected one of the plurality of tools to the selected position.

US Pat. No. 10,564,210

LIFE DETERMINATION DEVICE FOR DC CAPACITOR CONNECTED TO DC SIDE OF RECTIFIER

FANUC CORPORATION, Yaman...

1. A life determination device for a DC capacitor connected to a DC side of a rectifier, the life determination device comprising:a current detecting unit that detects a current outputted from the rectifier;
a voltage detecting unit that detects a voltage applied to the DC capacitor;
an initial charging unit that performs initial charging of the DC capacitor up to a predetermined voltage value with the current outputted from the rectifier;
a current integrating unit that integrates, during a period of initial charging by the initial charging unit, the current detected by the current detecting unit and outputs the integrated current as a current integration value;
a capacitance estimating unit that calculates an estimated capacitance of the DC capacitor from the current integration value, the predetermined voltage value and the voltage of the DC capacitor detected by the voltage detecting unit prior to the initial charging; and
a life determination unit that determines whether the DC capacitor is at the end of its life based on a pre-measured initial capacitance value of the DC capacitor in an unused state and the estimated capacitance calculated by the capacitance estimating unit, wherein the current detecting unit is operatively coupled to an AC power supply by the rectifier and the initial charging unit performs initial charging of the DC capacitor with current supplied directly from the AC power supply through the rectifier to the initial charging unit until the DC capacitor reaches the predetermined voltage value.

US Pat. No. 10,549,422

ROBOT CONTROLLER, MACHINE LEARNING DEVICE AND MACHINE LEARNING METHOD

FANUC CORPORATION, Yaman...

9. A machine learning method for learning an operation start condition for a storing motion for at least one article placed on an operating carrier device by means of a robot for grasping the at least one article placed on the operating carrier device and storing the article to a predetermined position, the machine learning method comprising the steps of:observing operation start condition data that shows the operation start condition and conveyance state data that shows a state of the article placed on the operating carrier device, as state variables indicating a current state of an environment;
acquiring judgment data that shows an appropriateness judgment result of the storing motion; and
learning the operation start condition in association with the conveyance state data, using the state variables and the judgment data.

US Pat. No. 10,543,599

ROBOT SYSTEM EQUIPPED WITH VIDEO DISPLAY APPARATUS THAT DISPLAYS IMAGE OF VIRTUAL OBJECT IN SUPERIMPOSED FASHION ON REAL IMAGE OF ROBOT

FANUC CORPORATION, Yaman...

1. A robot system comprising:a control apparatus for controlling a robot; and
a video display apparatus connected to the control apparatus,
the video display apparatus including:
a display unit configured to display, in real time, an image of a real space containing the robot taken by a camera;
a camera position and orientation estimating unit configured to estimate a relative position and an angle between the robot and the camera based on comparison between the image of the real space and prerecorded image models;
an augmented reality image processing unit configured to cause a virtual image of an end effector attached to the robot to be displayed on the display unit in superimposed fashion on a real image of the robot taken by the camera, the virtual image being generated based on the relative position and the angle estimated by the camera position and orientation estimating unit,
wherein the augmented reality image processing unit is configured to cause the virtual image to be displayed on the display unit while moving the virtual image, based on position and orientation data of the robot being controlled by the control apparatus.

US Pat. No. 10,540,633

FACILITY MANAGEMENT UNIT THAT REPLENISHES MULTIPLE MANUFACTURING FACILITIES WITH SUPPLIES, AND PRODUCTION SYSTEM

FANUC CORPORATION, Yaman...

1. A facility management unit for managing manufacturing of parts in a plurality of manufacturing facilities, the facility management unit comprising:at least one communication device configured to communicate with the manufacturing facilities configured to manufacture the parts,
a storage facility configured to store supplies including tools for manufacturing the parts in the manufacturing facilities, and
a transport facility configured to transport the supplies between the storage facility and the manufacturing facilities;
a memory configured to store a transport status, obtained in real time, including information on
a current position of the transport facility, and
presence or absence of at least one of the tools on the transport facility: and a processor configured to
collect supply information on consumption statuses of the tools for the manufacturing facilities in real time,
determine, based on the supply information collected on the manufacturing facilities, whether the manufacturing facilities require tool replenishment with the tools stored at the storage facility,
determine an order of tool replenishment for all the manufacturing facilities that require tool replenishment,
acquire inventory information on the tools from the storage facility,
confirm, based on the inventory information, whether the storage facility contains the tools for the manufacturing facilities judged to require tool replenishment and
indicate to the transport facility, a transport path along which the tools are sequentially transported from the storage facility to the manufacturing facilities in the determined order of tool replenishment in response to a determination that the storage facility contains the tools for the manufacturing facilities,
wherein the processor is configured to
determine, based on the transport status, whether or not the transport facility is transporting the tools for the manufacturing facilities that require tool replenishment and
(i) indicate, to the transport facility, the transport path along which the transport facility sequentially moves from the current position to each manufacturing facility according to the determined order of tool replenishment, in a response to a determination that the transport facility has tools for replenishment of the manufacturing facilities, and
(ii) indicate, to the transport facility, the transport path along which the transport facility moves from the current position to the each manufacturing facility through the storage facility, in a response to a determination that the transport facility does not have tools for replenishment of the manufacturing facilities,
wherein the supply information includes information on
a number of tools stored in each of the manufacturing facilities,
a number of lost tools at each of the manufacturing facilities, and
a consumption rate of the tools in each of the manufacturing facilities, and
wherein the processor is configured to determine
the order of tool
replenishment based on
the number of parts to be manufactured in each of the manufacturing facilities,
the number of tools stored in each of the manufacturing facilities,
the number of lost tools at each of the manufacturing facilities,
and the consumption rate of the tools in each of the manufacturing facilities.

US Pat. No. 10,537,964

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

FANUC CORPORATION, Yaman...

1. A laser machining method executed in a laser machining apparatus that outputs a laser beam from a cutting head to a workpiece and performs laser machining while controlling reflected light of the output laser beam, the laser machining method comprising the steps of:outputting the laser beam to the workpiece for a setting time at a laser power low enough not to melt or oxidize the workpiece to measure reflected light of the output laser beam before performing laser machining on the workpiece;
comparing a measured value of the reflected light to a predetermined reference value, wherein the predetermined reference value is based on a type of the workpiece, and is associated with a laser power suitable for melting or oxidizing the workpiece;
selecting the laser power suitable for melting or oxidizing the workpiece associated with the predetermined reference value based on the comparison;
determining whether or not the workpiece can be melted or oxidized based on the selected laser power suitable for melting or oxidizing the workpiece;
when the determining indicates that the workpiece can be melted or oxidized, outputting a laser beam to the workpiece for a setting time at a laser power high enough to melt or oxidize the workpiece;
outputting again a laser beam to the workpiece for a setting time at the low laser power to measure reflected light of the output laser beam; and
checking whether or not the workpiece has been melted or oxidized based on a measured value of the reflected light to determine whether or not to start the laser machining.

US Pat. No. 10,532,460

ROBOT TEACHING DEVICE THAT SETS TEACHING POINT BASED ON MOTION IMAGE OF WORKPIECE

FANUC CORPORATION, Yaman...

1. A teaching device of a robot for setting a teaching point of a robot that grips and moves a workpiece, the teaching device comprising:a motion image generating unit that generates a three-dimensional motion image in which the workpiece is moved;
a position detecting unit that detects a grip position in which a hand attached to the robot grips on the workpiece displayed in the motion image; and
a teaching-point setting unit that sets the teaching point; wherein
a relationship between the grip position on the workpiece and the teaching point is determined in advance,
the position detecting unit detects the grip position on the workpiece when the motion image generating unit moves the workpiece in the motion image, and
the teaching-point setting unit sets the teaching point based on the grip position.

US Pat. No. 10,507,990

ARTICLE TRANSPORT SYSTEM AND TRANSPORT SYSTEM CONTROLLER

FANUC CORPORATION, Yaman...

1. An article transport system comprising:a conveyor configured to transport a plurality of articles;
a conveyor sensor configured to obtain conveyance operation information of the conveyor;
an arrival sensor configured to sense an arrival of each of the plurality of articles;
an image capturing apparatus configured to capture an image of each of the plurality of articles transported on the conveyor;
a position detection processing section configured to detect each of the plurality of articles from the image captured by the image capturing apparatus, and carry out a detection process identifying a position of each of the plurality of articles;
a movement distance designation section configured to designate a first movement distance determined, based on a velocity of the conveyor and a time required for the detection process, and a second movement distance determined, based on the velocity of the conveyor, a time required for an image capturing process of the image capturing apparatus, and the time required for the detection process;
an image capturing control section configured to control the image capturing apparatus to capture an image of each of the plurality of articles upon the conveyor advancing the first movement distance after the arrival of the article has been sensed, and then, to capture an image of each of the articles each time the conveyor advances the second movement distance; and
a number designation section configured to designate a maximum number of times for the image capturing process to be carried out by the image capturing apparatus,
wherein the position detection processing section sequentially carries out the detection process for the images obtained by the image capturing apparatus after the image capturing apparatus has completed the image capturing process a number of times, a maximum of the number of times being the maximum number of times, and aborts the detection process at a point in time when the detection process has succeeded.

US Pat. No. 10,502,563

MEASUREMENT DEVICE

FANUC CORPORATION, Yaman...

1. A measurement device that measures a target to be machined by a machine tool as a measurement target, comprising:an ultrasonic vibrator that emits an ultrasonic wave to the measurement target, which is reflected and/or diffracted from the measurement target,
an acoustic lens that focuses the reflected and/or diffracted wave,
a sound-receiving element unit that converts the ultrasonic wave focused by the acoustic lens to an analog electrical signal;
an A/D converter unit that converts the analog signal from the sound-receiving element unit to a digital signal;
a calculator connected to the A/D converter unit;
a numerical controller that gives a command about a machining shape; and
a driving mechanism that makes the ultrasonic vibrator, the acoustic lens, and the sound-receiving element unit move and tilt relative to the measurement target in response to the machining shape acquired from the numerical controller, wherein
the calculator stores information in chronological order acquired by the sound-receiving element unit through scanning irradiation with the ultrasonic wave, converts the information stored in chronological order to space information, and acquires an acoustic intensity distribution.

US Pat. No. 10,496,762

MODEL GENERATING DEVICE, POSITION AND ORIENTATION CALCULATING DEVICE, AND HANDLING ROBOT DEVICE

FANUC CORPORATION, Yaman...

1. A model generating device for generating a three-dimensional model of an object, the model generating device comprising:a three-dimensional measuring machine configured to obtain measurement data by three-dimensionally measuring a plurality of objects each disposed at a given orientation in a three-dimensional space; and
a controller configured to:
create a set of model measurement data for one object by using the measurement data of each object of the plurality of objects simultaneously measured by the three-dimensional measuring machine as virtual measurements of the one object measured from a plurality of virtual measurement positions,
extract model measurement data corresponding to the plurality of virtual measurement positions, and
integrate the extracted model measurement data, to generate a three-dimensional model of each object among the plurality of objects,
wherein positions of the plurality of the objects are calculated based on the correspondence between the generated three-dimensional model and the measurement data obtained by the three-dimensional measuring machine,
wherein the controller is further configured to:
output the measurement data on a teaching screen on which
images of the plurality of objects captured by the three-dimensional measuring machine are displayed, and
the measurement data are superimposed on the displayed images,
set a region surrounding the one object selected from the plurality of objects on the teaching screen on which the measurement data are output,
generate a temporary model based on
measurement data which are present within the set region, and
the model measurement data measured from the virtual measuring positions corresponding to the object, and
detect positions and orientations of the remaining objects of the plurality of objects using the temporary model, wherein the positions and orientations of the remaining objects correspond to the virtual measuring positions, and
wherein the controller is further configured to:
define a triangle patch, by a general triangle patch generating method, from three three-dimensional points acquired as the measurement data for an object among the plurality of objects,
define a triangular pyramid from four points including the three-dimensional measuring machine and the three three-dimensional points, and
in response to a model measurement datum being found within the triangular pyramid,
determine that the model measurement datum is incorrect included in the model measurement data, and
removing the incorrect model measurement datum from the model measurement data.

US Pat. No. 10,488,841

PROGRAMMABLE CONTROLLER

FANUC CORPORATION, Yaman...

1. A programmable controller configured to execute a plurality of sequence programs, comprising:a first data storage unit in which there are stored in association with each other state values, and identifiers of signal memories defined in a first sequence program;
a second data storage unit in which there are stored in association with each other state values, and identifiers of signal memories defined in a second sequence program that differs from the first sequence program;
a rule setting unit configured to set access rules relating to permission or denial of access to the first data storage unit during execution of the second sequence program, wherein the rule setting unit sets the access rules by which permission attributes for access to the state values associated with the identifiers are granted to each of the identifiers that are commonly defined in the first sequence program and the second sequence program; and
a program executing unit configured to execute the first sequence program while accessing the first data storage unit, and to execute the second sequence program while accessing the first data storage unit and the second data storage unit in accordance with the access rules,
wherein the program executing unit invalidates updating of the state values associated with the identifiers to which a write permission attribute was granted in accordance with the access rules, the updating being performed by executing the first sequence program during execution of the first sequence program,
wherein the program executing unit modifies a write instruction of the first sequence program that updates the state values associated with the identifiers to which the write permission attribute was granted in accordance with the access rules, to a write instruction that designates an identifier for identifying an unused area inside the first data storage unit.

US Pat. No. 10,486,240

NUMERICAL CONTROLLER HAVING CUTTING CONTROL FUNCTION THROUGH TURRET ROTATION

Fanuc Corporation, Yaman...

1. A numerical controller that controls a machine which carries out machining of a rotating workpiece by pressing a tool attached to a turret against the rotating workplace, based on a program command, the numerical controller comprising:a processor configured to:
generate movement command data by analyzing the program command, when the movement command data is a movement command data for moving the tool in a direction of a first straight axis orthogonal to an axis of rotation of the rotating workpiece indicating a depth of a cut into the rotating workpiece, determine that a command value based on the program command for the movement of the tool in the direction of the first straight axis commands a diameter value or radius value of the rotating workpiece,
convert the command value based on the program command for the movement of the tool in the direction of the first straight axis into a command value for a rotation angle of the turret that positions the tool to cut the rotating workpiece to the depth based on the determined command value of the diameter value or the radius value of the rotating workpiece, and
control a position of the tool by rotating the turret based on the command value for the rotation angle of the turret, without moving the turret in the direction of the first straight axis,
wherein the processor is incapable of moving the turret in the direction of the first straight axis.

US Pat. No. 10,483,835

LINEAR MOTOR

FANUC CORPORATION, Yaman...

1. A linear motor comprising:a magnet plate on which magnets of different polarity are alternately arranged along a movement direction; and
an armature having a core serving as a main body and a coil attached to the core,
wherein the magnet plate and the armature are made to relatively move along an arrangement direction of the magnets, by way of thrust produced between the magnet plate and the armature,
wherein the magnet plate has a non-thrust region that extends along an arrangement direction of the magnets, and does not contribute to the thrust, and
wherein the core of the armature includes a plurality of main teeth to which the coil is attached and an auxiliary tooth provided between the main teeth which are adjacent to each other, wherein the main teeth and auxiliary tooth are not provided in a region opposing the non-thrust region of the magnet plate.

US Pat. No. 10,473,783

LASER PROCESSING DEVICE AND LASER PROCESSING SYSTEM

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,474,131

NUMERICAL CONTROLLER HAVING FUNCTION OF AUTOMATICALLY SELECTING PARAMETER BASED ON SIZE OF MACHINING AREA

Fanuc Corporation, Yaman...

1. A numerical controller which controls a machine performing machining of a workpiece in a machining area, the numerical controller comprising:a parameter setting storage unit in which a setting value of a parameter used for control of the machine is set; and
a processor configured as:
a machining area estimation unit that estimates a three dimensional size of the machining area based on the setting value of the parameter that is set in the parameter setting storage unit, the machining area is a three dimensional area in which movement of the machine is limited based on stroke limits of the machine;
a data table including a registered plurality of three dimensional sizes of the machining area and a registered plurality of setting values of the parameter influenced by the three dimensional size of the machining area, each of the three dimensional sizes corresponding to a respective one of the setting values, and each of the setting values includes a motor number identifying a respective motor corresponding to a size of a spindle motor;
a machining area determination unit that determines whether data corresponding to the three dimensional size of the machining area, which is estimated by the machining area estimation unit, is registered on the data table;
a parameter setting value automatic selection unit that acquires a setting value of the parameter corresponding to the three dimensional size of the machining area from the data table so as to set the acquired setting value of the parameter in the parameter setting storage unit in a case where the machining area determination unit determines that data corresponding to the three dimensional size of the machining area is registered on the data table; and
a spindle attachment determination unit that determines whether or not a setting value of a motor number identifying the motor is set in the parameter setting storage unit; wherein
in the case where the spindle attachment determination unit determines that a setting value of the motor number of the spindle motor is set in the parameter setting storage unit, the machining area estimation unit estimates the three dimensional size as one of the three dimensional sizes of the machining area registered in the data table that corresponds to the motor number of the spindle motor registered in the data table, and
wherein the processor is further configured to control the machine to perform machining of the workpiece in a machining area based on the setting value of the parameter corresponding to the three dimensional size of the machining area.

US Pat. No. 10,464,180

MACHINE TOOL SYSTEM

FANUC CORPORATION, Yaman...

1. A machine tool system comprising:a machine tool main body configured to machine a workpiece supported on a table by using a tool detachably attached to a spindle; and
an information processing apparatus, wherein,
the machine tool main body includes:
a rotary tool magazine in which a plurality of grips each configured to hold the tool to be attached to the spindle are provided along a circumferential direction of the rotary tool magazine; and
an image pickup device arranged in the tool magazine independent of the tool to be attached to the spindle to machine the workpiece and configured to take an image of multiple members including at least the workpiece in a machining area of the machine tool main body; and
the information processing apparatus includes a geometric feature calculating unit configured to calculate shapes of the multiple members located in the machining area and an arrangement state thereof, based on image data of the image taken by the image pickup device before machining of the workpiece wherein the image pickup device remains arranged in the tool magazine during machining.

US Pat. No. 10,442,088

HAND-HELD ROBOT TEACHING DEVICE

FANUC CORPORATION, Yaman...

1. A hand-held robot teaching device having an enable switch therein, comprising:a main body including a holding portion configured to be held by one hand; and
an enable switch operating section provided at the holding portion and configured to be operated by a reference switching motion by a hand holding the holding portion at a reference position,
wherein the enable switch operating section includes:
a base provided at the main body so as to be pressed; and
a moving portion provided on an end face of the base facing to the outside so as to be movable in a direction intersecting a pressing direction of the base,
wherein the moving portion is movable between a first position, at which a finger of a left hand can touch the moving portion when the left hand holds the holding portion and carries out the reference switching motion, and a second position, at which a finger of a right hand can touch the moving portion when the right hand holds the holding portion and carries out the reference switching motion.

US Pat. No. 10,444,718

PROGRAM GENERATOR HAVING FUNCTION OF OPTIMIZING MACHINING SEQUENCE

FANUC CORPORATION, Yaman...

1. A program generator for controlling a machine tool based on a machining program, the program generator comprising:a machining process analysis unit configured to extract at least one machining process from the machining program, analyze the at least one machining process, and generate information regarding the machining process;
a machining process scoring unit configured to give the machining process a score based on the information regarding the machining process; and
a machining sequence determination unit configured to determine a sequence of the machining process based on the score given to the machining process by the machining process scoring unit,
wherein the machine tool is configured to perform the machining process on a workpiece in the sequence based on the score,
the information regarding the machining process includes a machining shape to be formed by the machining process, and
the machining process scoring unit is configured to give the machining process the score based on the machining shape to be formed by the machining process, the machining shape including at least one of
a balance of the machining shape including a proximity of the machining shape to a circle,
a size of the machining shape, or
a position of the machining shape on the workpiece.

US Pat. No. 10,444,728

NUMERICAL CONTROLLER PERFORMING POSITIONING FOR AVOIDING INTERFERENCE WITH WORKPIECE

Fanuc Corporation, Yaman...

1. A numerical controller that drives a plurality of axes to relatively move a tool and a workpiece to control a machine that performs machining on the workpiece based on a program command, the numerical controller comprising:a command analysis unit that analyzes the program command to generate move command data; and
a path correction unit that, when a command from the program command is a non-linear positioning command of the tool, generates a correction path bent in a direction going away from the workpiece with respect to a current straight-line path from a start point toward a commanded position commanded by the move command data such that the path correction unit changes the current straight-line path of the tool to the correction path to prevent the tool from contacting the workpiece, wherein the numerical controller controls the axes based on the correction path, and
wherein the path correction unit is configured to calculate a moving time for each of a plurality of axes that are moved based on the move command data, among the axes, and generate the correction path by delaying a move start timing of an axis other than an axis having the longest moving time such that when the axis other than the axis having the longest moving time moves in a direction causing the tool to approach the workpiece, the axis other than the axis having the longest moving time finishes moving at a same time as the axis having the longest moving time.

US Pat. No. 10,439,460

ROTOR OF ELECTRIC MOTOR AND ITS MANUFACTURING METHOD

FANUC CORPORATION, Yaman...

1. A method of producing a rotor of an electric motor, comprising:providing a rotor core including a cutout formed to be recessed radially inside from an outer circumferential face of the rotor core, the cutout extending in an axial direction from a first end face of the rotor core in one direction of the axial direction toward a second end face of the rotor core in the other direction of the axial direction, the rotor core also having a recess for each of a plurality of magnets, the recess located on an outer circumferential face of the rotor core wherein each recess is flanked by a projection to retain each magnet in its respective recess and the cutout is located between a projection of adjacent recesses;
arranging the plurality of magnets in their respective recess;
arranging a cover tube so as to surround the plurality of the magnets;
arranging a gate of an injection molding machine for injecting a filler so as to face an inner space of the cutout; and
injecting filler into the inner space of the cutout through the gate by the injection molding machine and filling the cutout and a gap between an exterior surface of the magnets located on the rotor core and an inner circumferential surface of the cover tube with the filler so as to expand the entirety of the inner circumferential surface of the cover tube is separated away from the exterior surfaces of the plurality of magnets due to a pressure of the injected filler.

US Pat. No. 10,434,652

WORKPIECE PICKING SYSTEM

Fanuc Corporation, Yaman...

1. A workpiece picking system comprising:a robot;
a hand attached to a hand tip portion of the robot, for picking workpieces;
a three-dimensional sensor attached to the hand tip portion of the robot, for acquiring positional information of a three-dimensional point group in a partial region in a container;
a workpiece state calculation unit which calculates a position and posture of a workpiece based on positional information of a three-dimensional point group in a first partial region acquired by the three-dimensional sensor;
a data acquisition position calculation unit which calculates a robot position corresponding to a second partial region where positional information is to be acquired next, based on the positional information of the three-dimensional point group in the first partial region acquired by the three-dimensional sensor; and
a control unit which controls the robot and the hand based on the position and the posture of the workpiece calculated by the workpiece state calculation unit and based on the robot position corresponding to the second partial region calculated by the data acquisition position calculation unit.

US Pat. No. 10,427,298

ROBOT SYSTEM DISPLAYING INFORMATION FOR TEACHING ROBOT

FANUC CORPORATION, Yaman...

1. A robot system, comprising a robot controller that controls a robot, a teach pendant including an orthogonal jog operation section for manually operating the robot with respect to each direction or a resultant direction of three orthogonal axes of a robot coordinate system fixed to the robot, and an information display device that displays information for teaching the robot,the robot controller comprising:
a sampling point calculation section that calculates, at predetermined cycles, a plurality of positions on the robot coordinate system through which a hand tip section of the robot can pass in a movement direction specified by the orthogonal jog operation section and sets the plurality of positions as sampling points;
a determination section that performs a first determination process to determine whether or not each of the sampling points is within a range of motion of the hand tip section, and a second determination process to determine whether or not each of the sampling points is in a vicinity of a singularity of the robot; and
a notification section that notifies the information display device of the positions of the sampling points and determination result information indicating results of the first determination process and the second determination process for the sampling points,
the information display device comprising:
a camera that photographs the robot;
a display section that displays an image of the robot photographed by the camera; and
a display processing section that generates, using the positions of the sampling points and the determination result information, a graphical image to show a linear trajectory passing through the sampling points, and to visually distinguish, in the linear trajectory, portions inside the range of motion of the hand tip section, portions outside the range of motion of the hand tip section, and portions near the singularity, and performs a process to overlay the graphical image on the image of the robot.

US Pat. No. 10,421,187

ROBOT PROGRAM MODIFICATION DEVICE, ROBOT CONTROL DEVICE, ROBOT SIMULATION DEVICE, AND ROBOT PROGRAM MODIFICATION METHOD

FANUC CORPORATION, Yaman...

1. A robot control device, wherein the robot control device is configured to:store an operation program for a robot;
execute the stored operation program;
estimate, at each operation position of the robot during execution of the operation program, a stop position of the robot in a case of cutoff of power, based on a movement speed of the robot;
determine whether the estimated stop position is in a predetermined region or not; and
modify, in a case where the stop position is determined to be outside the region, a set speed in the operation program such that a movement speed at the operation position corresponding to the stop position is reduced;
perform a stop operation in which an alarm is issued and power to the robot is cut off in a case where the stop position is determined to be outside the region; and
switch the stop operation to invalid at a time of execution of the operation program for modification of the set speed.

US Pat. No. 10,423,170

MOTOR CONTROL DEVICE, MOTOR CONTROL METHOD, AND NON-TRANSITORY COMPUTER READABLE MEDIUM RECORDING A MOTOR CONTROL PROGRAM

Fanuc Corporation, Yaman...

1. A motor control device for correcting backlash between a movable part that is driven by a motor, and a driven part that is driven by the movable part, the device comprising:a first position detection part that detects a first position which is a position of the movable part;
a second position detection part that detects a second position which is a position of the driven part;
a positional error calculation part that calculates positional error, which is deviation between a converted first position detected value arrived at by converting a first position detected value detected by the first position detection part into a value of a position of the driven part according to a rotation ratio between the movable part and the driven part; and a second position detected value detected by the second position detection part;
a position command creation part that creates a position command;
a reversal detection part that detects reversal of the position command;
a positional error variation calculation part that calculates an absolute value for variation of the positional error since reversal was detected;
a determination part that determines whether the absolute value for the variation of the positional error has exceeded a predetermined reference value;
a backlash correction part that adds a backlash correction amount to the position command based on the positional error;
a control unit that calculates a speed command or a torque command from a position command after the backlash correction amount was added; and
a backlash acceleration part that adds a backlash acceleration amount to the speed command or the torque command,
wherein the backlash correction part starts addition of the backlash correction amount if an absolute value for variation of the positional error exceeds a first reference value designated in advance, and the backlash acceleration part starts addition of the backlash acceleration amount if the absolute value for the variation of the positional error exceeds a second reference value designated in advance.

US Pat. No. 10,406,688

OFFLINE PROGRAMMING APPARATUS AND METHOD HAVING WORKPIECE POSITION DETECTION PROGRAM GENERATION FUNCTION USING CONTACT SENSOR

FANUC CORPORATION, Yaman...

1. An offline programming apparatus which automatically generates a machining program based on a machining line or point designated on a three-dimensional model of a workpiece to be machined by a robot and automatically generates a workpiece position detection program to detect a position of the workpiece in order to correct the machining program in accordance with the position of the workpiece detected based on a contact sensor arranged at a distal end of the robot, the apparatus comprising:a storage unit which stores therein the three-dimensional model of the workpiece,
a contact point designation part which causes an operator to designate a plurality of contact points at which the contact sensor contacts the workpiece on the three-dimensional model of the workpiece,
a detection starting point addition part which automatically adds a plurality of detection starting points in the operations of the robot which approaches each of the plurality of contact points in directions of movement along coordinate axes of a reference coordinate system with reference to which the operation of the robot to detect the position of the workpiece is performed, at positions where no interference occurs between the robot and the workpiece in a virtual space,
an interference avoidance point addition part which detects the presence or absence of interference between the robot and the workpiece on the movement path of the robot which moves between the plurality of detection starting points, and if there is interference, automatically adds an interference avoidance point in the virtual space in order to avoid the interference, and
a workpiece position detection program generation part which automatically generates the workpiece position detection program to repeat the operations of the robot which moves between the detection starting points and the contact points in a direction of movement along the coordinate axis of the reference coordinate system, and if there is an interference avoidance point, moves from one detection starting point through the interference avoidance point to another detection starting point.

US Pat. No. 10,406,689

ROBOT SIMULATION APPARATUS THAT CALCULATES SWEPT SPACE

FANUC CORPORATION, Yaman...

1. A simulation apparatus for performing simulation of a robot while three-dimensional models of the robot and a work tool attached to the robot are located in the same space, the simulation apparatus comprising:a programmed processor that:
acquires a weight of the work tool,
acquires a position in each drive axis of the robot at a set point set for each minute section of a motion path of the robot when an operation program of the robot is executed,
acquires an operating speed in each drive axis at the set point,
estimates a stop position where the robot is stopped after moving by inertia in each drive axis, based on the position in each drive axis of the robot, the operating speed in each drive axis, and the weight of the work tool, when an emergency stop of the robot is performed at the set point,
adds a further set point between (i) the set point where the emergency stop of the robot is performed and (ii) the stop position, and
calculates a swept space of the three-dimensional models of the robot and the work tool based on the operation program, the stop position and the further set point; and
a display that displays the calculated swept space around the three-dimensional models of the robot and the work tool, wherein the displayed calculated swept space includes:
an area through which the robot and the work tool move when driven based on the operation program, and
an additional area through which the robot and the work tool move from the set point where the emergency stop of the robot is performed, through the further set point, to the stop position where the robot is stopped.

US Pat. No. 10,406,691

OFFLINE PROGRAMMING DEVICE AND POSITION-PARAMETER CORRECTING METHOD

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,401,835

NUMERICAL CONTROLLER PERFORMING TABLE-FORMAT-DATA-BASED OPERATION

FANUC CORPORATION, Yaman...

1. A numerical controller configured to use table format data for specifying a position of each controlled axis with respect to a reference value based on time, an axis position, or a spindle position to control the position of the controlled axis in synchronization with the reference value, the numerical controller comprising:a reading unit configured to read command blocks from the table format data, analyze the command blocks to acquire a reference value and a coordinate value of a control point, and output the reference value and the coordinate value;
a segment distinction unit configured to divide a movement path of the controlled axis from a current point to the control point into
(1) an acceleration segment at a start of the movement path,
(2) a constant speed segment subsequent to the acceleration segment, and
(3) a deceleration segment subsequent to the constant speed segment at an end of the movement path, based on
(a) the reference value and the coordinate value of the control point acquired from the reading unit, and
(b) an acceleration time constant set in advance for the acceleration segment and a deceleration time constant set in advance for the deceleration segment;
a feed speed calculation unit configured to calculate a feed speed in the constant speed segment, which occurs between the acceleration segment and the deceleration segment, based on the reference value of the control point acquired from the reading unit and the acceleration time constant and the deceleration time constant; and
a distribution process unit configured to calculate a travel of an axis controlled by the table format data for each control cycle based on the reference value and the coordinate value of the control point acquired from the reading unit,
wherein
the feed speed calculated by the feed speed calculation unit is a feed speed for correcting, within the constant speed segment, a delay in the coordinate value with respect to the reference value, wherein
the delay is a sum of a first delay produced as a result of acceleration control in (1) the acceleration segment and a second delay produced as a result of deceleration control in (3) the deceleration segment, and
the feed speed is determined such that a first travel between command blocks in the table format data in a first case where no acceleration control and no deceleration control are performed is equal to a second travel between the command blocks in the table format data in a second case where at least one of the acceleration control or the deceleration control is performed,
the segment distinction unit is configured to determine whether a segment currently under control is the acceleration segment, the constant speed segment, or the deceleration segment based on a current value of the reference value acquired for each control cycle, and
the distribution process unit is configured to calculate the travel for each control cycle based on a result of the determination made by the segment distinction unit by
using acceleration based on the acceleration time constant in the acceleration segment,
using the feed speed calculated by the feed speed calculation unit in the constant speed segment, and
using deceleration based on the deceleration time constant in the deceleration segment, and
the numerical controller is configured to control the position of the controlled axis based on the travel calculated by the distribution process unit.

US Pat. No. 10,394,214

NUMERICAL CONTROLLER TEMPORARILY STOPPING FOR A PROGRAM CALL AND NUMERICAL CONTROL METHOD THEREOF

FANUC Corporation, Minam...

1. A numerical controller comprising:a controller configured to control a machine tool by analyzing and executing blocks of a machining program to machine a workpiece, wherein the controller has at least one of a macro call function and a sub program call function that enables an operation check to be performed on the machining program by temporarily stopping the machining program from machining the workpiece by the machine tool, and wherein the controller is configured to perform the method including:
analyzing the machining program;
determining whether a command of the analyzed machining program is at least one of a macro call and a sub program call;
determining a type of call and a number of times of the call, wherein the type of call includes a macro call or a sub program call;
determining whether the command of the analyzed program is one of a first call, a second call, or a call thereafter;
stopping execution of the machining program immediately after the at least one of the macro call and the sub program call when the determined command is the first call and when the determined command includes the at least one of the macro call and the sub program call; and
continuing execution of the machining program to machine the workpiece when the determined command includes the second call and the call thereafter and when the determined command includes the at least one of the macro call and the sub program call.

US Pat. No. 10,343,245

LIQUID DRAINAGE MECHANISM AND MACHINE TOOL EQUIPPED WITH LIQUID DRAINAGE MECHANISM

FANUC CORPORATION, Yaman...

1. A liquid drainage mechanism for draining liquid from a moving member that moves along a predetermined path, comprising:a flow passage provided in the moving member and configured to flow the liquid of the moving member;
an ejector configured to move integrally with the moving member and eject the liquid flowing through the flow passage; and
a fixed member provided on a side of the moving member so as to extend parallel to the predetermined path, wherein
the ejector is disposed at a position that is close to but not in contact with the fixed member, the ejector being configured to discharge the liquid so that the liquid reaches the fixed member before the liquid drops on a surface located below the ejector,
the moving member includes a rotary mechanism having a rotor and a stator configured to rotatably support the rotor, and
the liquid is oil that is supplied between the rotor and the stator to thereby form a static pressure bearing.

US Pat. No. 10,312,769

MOTOR HAVING AIR PATH OF STATOR, OR FAN CLEANABLE, AND CLEANING SYSTEM OF MOTOR

FANUC CORPORATION, Yaman...

1. A motor comprising:a stator having a proximal end and a distal end;
a housing which holds the stator, the housing having a proximal end and a distal end;
a fan arranged outside the stator near the stator's distal end, the fan generating a cooling gas flow that flows in a direction from the proximal end of the stator to the distal end of the stator;
a fan cover mounted on the distal end of the housing so as to house the fan;
an air path provided at the stator or the housing, and including an inlet located at the proximal end of the stator or the housing and an outlet located at the distal end of the stator or the housing for the cooling gas flow, the air path having an air path axial centerline passing through the inlet and the outlet;
a first cleaning hole formed at the stator, the housing, or the fan cover, and extending axially from a first opening which faces the outlet at a position downstream of the cooling gas flow to a second opening which opens to an outside, the first cleaning hole including a portion extending axially from the first opening, the portion having a center line parallel to the air path axial centerline; anda removable plug located in the first cleaning hole which can be removed in order to provide compressed air into the first cleaning hole to perform a cleaning operation.

US Pat. No. 10,303,143

NUMERICAL CONTROLLER

Fanuc Corporation, Yaman...

1. A numerical controller for performing numerical control on a machine based on a program, the numerical controller comprising:a motor controller configured to control a motor of the machine; and
a multi-core processor having a plurality of central processing unit (CPU) cores, the multi-core processor configured to:
assign importance in advance to each of a plurality of processes related to the numerical control,
perform load distribution by allocating the respective processes to the plurality of CPU cores based on the assigned importance,
allocate at least the program instruction analysis process and an interpolation process among the plurality of processes to different ones of the CPU cores,
perform the program instruction analysis process and the interpolation process using the different CPU cores, and
control the motor controller to control the motor of the machine based on the performed program instruction analysis process and the interpolation process.

US Pat. No. 10,300,645

INJECTION DEVICE AND AXIAL-CENTER POSITION ADJUSTING METHOD

FANUC CORPORATION, Yaman...

5. An axial-center position adjusting method of adjusting axial-center positions of a spline shaft and a spline nut of an injection device, the injection device including the spline shaft configured to rotate a screw inserted into a cylinder, and the spline nut fitted on the spline shaft, wherein:the injection device further includes:
a first supporting member attached to a pressure plate that supports the screw rotatably but immovably in an axial direction, and configured to support the spline shaft or the spline nut rotatably but immovably in the axial direction;
a second supporting member attached to a fixed plate that supports an injection motor and receives a reaction force of the pressure plate, the injection motor being configured to move the pressure plate in the axial direction, and configured to support the spline nut or the spline shaft rotatably but immovably in the axial direction;
a rotary motor attached to the fixed plate and configured to rotate the screw via the spline shaft and the spline nut;
a first torque transmitting mechanism configured to transmit a torque of the rotary motor to the spline nut or the spline shaft supported by the second supporting member attached to the fixed plate; and
a second torque transmitting mechanism configured to transmit a torque that is generated on the spline shaft or the spline nut supported by the first supporting member attached to the pressure plate, to the screw,
the first supporting member is provided with a first positioning mechanism configured to adjust a mounting position of the first supporting member with respect to the pressure plate,
the second supporting member is provided with a second positioning mechanism configured to adjust a mounting position of the second supporting member with respect to the fixed plate,
the first supporting member and the second supporting member include holes formed therein for axial-center checking, rods being inserted through the holes, and
the holes are formed in a manner that the rods smoothly pass through the holes when an axial center of the spline nut and an axial center of the spline shaft coincide with each other, and the rods do not smoothly pass through the holes when the axial center of the spline nut and the axial center of the spline shaft do not coincide with each other,
the method comprising the step of:
in mounting the first supporting member and the second supporting member, adjusting the mounting positions of the first supporting member and the second supporting member by use of the first positioning mechanism and the second positioning mechanism in a manner that the rods are inserted through the holes formed in the first supporting member and the second supporting member.

US Pat. No. 10,305,343

WATERPROOF STRUCTURE FOR ELECTRIC MOTOR

FANUC CORPORATION, Yaman...

1. A waterproof structure for an electric motor that molds an insert component of a stator with a mold resin, disposes a sealing member at an end region of the stator including a joint between the insert component and the mold resin, and fixes the sealing member to the end region by way of an end flange,wherein the sealing member comprises:
a first sealing part that is disposed more to a side of the insert component than the joint, and seals an end of the insert component;
a second sealing part that is disposed more to a side of the mold resin than the joint, and seals an end of the mold resin; and
a connecting part that is separated from the ends of both the insert component and the mold resin, and connects the first sealing part and the second sealing part, and
wherein the sealing member includes an innermost annular surface that extends to a first curved portion extending in a direction towards the insert component, and to a second curved portion extending in a direction away from the insert component.

US Pat. No. 10,298,141

MOTOR DRIVE DEVICE

FANUC CORPORATION, Yaman...

1. A motor drive device that inputs AC power from a power supply to drive a motor, the motor drive device comprising:a converter that converts the AC power from the power supply into DC power;
a DC/DC converter that generates DC power produced by stepping-up, stepping-down, or stepping-up and stepping-down the DC power from the converter;
an inverter that converts the DC power from the DC/DC converter into AC power and supplies to the motor; and
an electrical storage capacitor that is provided between the DC/DC converter and the inverter,
wherein the DC/DC converter restricts an output current to no more than a predetermined maximum output current value, or restricts a regeneration current to a predetermined maximum regeneration current value.

US Pat. No. 10,252,383

BOLTING TOOL AND BOLT MOUNTING JIG

FANUC CORPORATION, Yaman...

1. A mounting system including a bolting tool and a bolt mounting jig configured to mount a bolt assembly to the bolting tool, the bolt assembly including a bolt and a nut threaded onto a position along an external threaded portion of the bolt, the bolting tool comprising:a mounting portion configured so that the bolt assembly is mounted thereto; and
a torque transfer portion that transfers tightening torque to the bolt and the nut of the bolt assembly when the bolt assembly is mounted to the mounting portion,
the mounting portion comprises:
a bolt engagement portion engageable with a head of the bolt;
a nut engagement portion engageable with the nut; and
a coupling portion that couples the nut engagement portion to the bolt engagement portion coaxially and with a predetermined spacing therebetween,
the bolt comprises a hexagonal socket head bolt,
the bolt engagement portion comprises a hexagonal bit that is brought into engagement with a hexagonal hole of the bolt by a shift of the bolt along a longitudinal axis of the bolt,
the nut comprises a hexagonal nut,
the nut engagement portion comprises a hexagonal socket that is brought into engagement with an out surface of the nut by the shift of the bolt along with the longitudinal axis of the bolt,
the nut engagement portion and the bolt engagement portion are located at such positions that, when the mounting portion and the bolt assembly are moved relative to each other along the longitudinal axis of the bolt to mount the bolt assembly to the mounting portion, the bolt engagement portion comes into engagement with the bolt before the nut engagement portion comes into engagement with the nut, and
the bolt mounting jig comprises:
a nut restraint member configured to restrain rotation of the nut about the longitudinal axis of the bolt; and
a bolt restraint member capable of switching between restraining and permitting rotation of the bolt about the longitudinal axis of the bolt at a distal end of the bolt.

US Pat. No. 10,286,512

MACHINING SYSTEM INCLUDING ENCLOSURE DEFINING SPACE IN WHICH WORKPIECE IS MACHINED

FANUC CORPORATION, Yaman...

1. A machining system comprising:a machining head configured to machine a workpiece using a cutting fluid;
a first enclosure arranged so as to enclose the machining head, the first enclosure including an opening and defining a first space in which the machining head is installed and the workpiece is machined by the machining head;
a second enclosure arranged adjacent to the first enclosure and defining a second space which is in fluid communication with the first space through the opening, wherein a robot which can advance to and retreat from the first space through the opening is installed in the second space;
a pressure adjustment device configured to adjust a pressure in the second space to be higher than a pressure in the first space, the pressure adjustment device including a gas supply device configured to supply a gas to the second space so as to increase the pressure in the second space;
a temperature sensor configured to detect a temperature in the second space; and
a temperature adjustment device configured to adjust a temperature of the gas supplied by the gas supply device to the second space, based on the temperature detected by the temperature sensor.

US Pat. No. 10,289,087

MOTION CONTROLLER

FANUC CORPORATION, Yaman...

1. A motion controller, comprising:an axis control part that is connected to an amplifier to drive a motor and controls the amplifier based on motor control information;
a communication control part that receives a motor control command and a control function by communication with a higher-level control device, the motor control command serving as a source for updating the motor control information;
a control function storage part that stores the control function received from the higher-level control device by the communication control part;
a control function execution part that performs execution of the stored control function using, as an input, at least one of information of the motor and information of a sensor; and
a control information changing part that changes the motor control information based on a result of the execution of the stored control function at the control function execution part, wherein
the motor control information changed by the control information changing part serves as an input to the axis control part, and
the communication control part receives the control function in a communication cycle different from a communication cycle of the motor control command.

US Pat. No. 10,289,635

CONTROL APPARATUS AND CONTROL SYSTEM AGGREGATING WORKING DATA OF MANUFACTURING CELLS

FANUC CORPORATION, Yaman...

1. A control apparatus, comprising:a receiving part, as a part of a master controller adapted to communicate with a production planning apparatus, that receives working data of at least two manufacturing cells, each of the at least two manufacturing cells including a plurality of components;
a storage part, in communication with the receiving part, that stores the working data;
an item list generation part, in communication with the receiving part and the storage part, that classifies the working data for each of the components of each of the at least two manufacturing cells, extracts at least one data item from the working data classified for each of the components, and generates an existing data item list for each of the at least two manufacturing cells;
an integrated data generation part, in communication with the item list generation part and the storage part, that determines if a new data item list exists in the storage part, compares the existing data item list with the new data item list when it is determined that the new data item list exists in the storage part, reads out detailed data of those data items having the same value from the working data stored in the storage part, and compares the detailed data in the existing data item list with detailed data in the new data item list to generate integrated data obtained by putting together a matching point and a different point;
an aggregated working data generation part, in communication with the integrated generation part and the storage part, that combines the integrated data and data other than the integrated data to generate aggregated working data; and
a transmission part that externally transmits the aggregated working data from the master controller,
wherein a storage size of the aggregated working data is smaller than a combined storage size of the existing data item list and the new data item list.

US Pat. No. 10,286,557

WORKPIECE POSITION/POSTURE CALCULATION SYSTEM AND HANDLING SYSTEM

FANUC CORPORATION, (JP)

1. A workpiece position/posture calculation system for calculating a position and posture of a workpiece, the workpiece position/posture calculation system comprisinga 3D measuring device measuring at least one workpiece arranged in a 3D space and acquiring measurement data including 3D position information of the at least one workpiece,
a 3D model storage part storing a 3D model of the workpiece,
a position/posture calculation data preparation part preparing at least one set of position/posture calculation data to be used when calculating the position and posture of the workpiece,
a workpiece position/posture calculation part using the individual position/posture calculation data to compare the measurement data against the 3D model to calculate the position and posture of the workpiece,
and
a measurement data excluding part excluding part of the measurement data to be used in subsequent calculation by the workpiece position/posture calculation part based on the position and posture of the workpiece calculated by the workpiece position/posture calculation part.

US Pat. No. 10,270,307

ELECTRIC MOTOR HAVING AIR PURGING FUNCTION

FANUC CORPORATION, Yaman...

1. An electric motor comprising:a rotor including a rotary shaft; and
a housing that supports the rotary shaft and that is disposed on one side of the rotary shaft, which is coupled to another member, wherein
the housing includes a cylindrical member, a bearing support member that is secured to the cylindrical member and secures an outer ring of a bearing, and an air discharging member that surrounds the rotary shaft and discharges air toward the rotary shaft,
the air discharging member is opposed to the rotary shaft and formed so as to discharge air to the outside through a clearance between the air discharging member and the rotary shaft,
the housing includes an annular first air chamber formed in the air discharging member, an annular second air chamber formed outside the first air chamber, an air supply path extending in the radial direction so as to supply compressed air to the second air chamber, and a connection flow passage extending in the radial direction so as to cause the first air chamber to communicate with the second air chamber,
the connection flow passage is formed at a position other than a position of the air supply path in the circumferential direction of the housing,
the rotary shaft includes a ring part formed in the circumferential direction,
the air discharging member is secured to the bearing support member and formed so as to be opposed to the ring part,
the first air chamber is formed in the air discharging member and constituted by a recess extending in the circumferential direction and the second air chamber is constituted by a recess formed in the outer peripheral surface of the bearing support member,
the air supply path is constituted by a hole that is formed in the cylindrical member and extends in the radial direction, and
the connection flow passage is constituted by a hole that is formed in the bearing support member and extends in the radial direction, and a hole that is formed in the air discharging member and extends in the radial direction.

US Pat. No. 10,259,063

ROTARY TABLE APPARATUS AND ELECTRIC DISCHARGE MACHINE HAVING THE SAME

FANUC CORPORATION, Yaman...

1. A rotary table apparatus comprising:a rotary table casing;
a face plate which is pivotally supported by the rotary table casing so as to be freely rotatable;
a joint and a flexible tube into which a power cable is inserted for supplying power to rotate the face plate; and
an adaptor arranged between the rotary table casing and the joint, wherein
the adaptor is attachable to and detachable from the rotary table casing in such a manner that the orientation of the attachment of the adaptor relative to the rotary table casing is freely changeable before being fixed.

US Pat. No. 10,260,912

ENCODER THAT DETECTS INFILTRATION OF LIQUID BY LIGHT

FANUC CORPORATION, Yaman...

1. An optical encoder including a light-receiving element unit, a moving slit and a fixed slit,wherein the light-receiving element unit comprises a first pattern for detecting infiltration of a liquid, and
wherein the first pattern for detecting infiltration of the liquid is disposed at an outer side of a position detection pattern for detecting a position on a first slit part.

US Pat. No. 10,250,108

MOTOR DRIVING DEVICE

FANUC CORPORATION, Yaman...

1. A motor driving device, comprising:a printed board;
a plurality of secondary voltage elements mounted on the printed board and configured to be used only with a secondary voltage;
a plurality of primary voltage elements disposed on a surface on a side opposite to a surface of the printed board on which the plurality of secondary voltage elements are mounted, and configured to be used only with a primary voltage that is higher than the secondary voltage; and
a first conductive material extending from an upper portion of the printed board to a command signal input portion of the primary voltage elements, and being configured to transmit command signals from the secondary voltage elements to the primary voltage elements,
wherein a secondary voltage region on the printed board on which the plurality of secondary voltage elements are mounted, and a primary voltage region on the printed board on which the first conductive material is arranged, are separated from each other by a predetermined insulating distance.

US Pat. No. 10,243,429

MOTOR DRIVE DEVICE WHICH COOLS HEAT SINK BY OUTSIDE AIR

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,232,468

ROTARY TABLE DEVICE AND LASER MACHINING SYSTEM

Fanuc Corporation, Yaman...

1. A rotary table device comprising:a table on which a workpiece is loaded;
a rotation mechanism that rotates the table about a predetermined axis;
a motor-driven jig that is fixed to the table and clamps the workpiece;
a photoelectric conversion device that is fixed to the table, converts light energy into electric power, and supplies the electric power to the jig; and
wherein the photoelectric conversion device rotates about the predetermined axis together with the table and the jig.

US Pat. No. 10,226,835

LASER PROCESSING SYSTEM

FANUC CORPORATION, Yaman...

1. A laser processing system comprising:a laser processing apparatus including a laser oscillator, a processing apparatus main body, and a laser nozzle that is provided in the processing apparatus main body and to which a laser beam is supplied from the laser oscillator;
a robot which moves a workpiece to a machining position by the laser nozzle to perform predetermined machining for the workpiece;
an output measurement instrument that is located at a standby position provided in the processing apparatus main body and that is capable of measuring output of the laser beam from the laser nozzle; and
a robot controller for controlling operation of the robot,
wherein the robot controller is configured to control the robot to support the output measurement instrument located at the standby position and to move the output measurement instrument to an irradiation position of the laser beam from the laser nozzle for measurement of the output.

US Pat. No. 10,226,865

GRIPPER AND ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A gripper comprising:a base to be attached to a wrist tip of a robot;
a first-surface suction unit provided on the base and capable of sucking a first surface of a box-shaped package in a first suction direction;
a second-surface support unit configured to contact and support a second surface of the package orthogonal to the first surface; and
a moving mechanism configured to move the second-surface support unit along a plane parallel to the second surface between a position where the second-surface support unit is retracted toward a base end side relative to a leading end of the first-surface suction unit in the first suction direction and a position where the second-surface support unit is placed forward from the leading end of the first-surface suction unit while the first-surface suction unit is sucking the first surface,
wherein:
the box-shaped package is stored in a stack with only the first surface being exposed,
the second-surface support unit is a second-surface suction unit capable of sucking in a second suction direction orthogonal to the first suction direction,
the moving mechanism is configured to rotate the second-surface support unit about an axis orthogonal to the first suction direction, and
the second-surface suction unit is configured to rotate so as to face the second surface exposed from the stack to grip and transfer the box-shaped package after the first-surface suction unit sucks the first surface to pull the box-shaped package, and
the moving mechanism is configured to move the second-surface suction unit to the position where the second-surface support unit is placed forward from the leading end of the first-surface suction unit, and then to move the second-surface suction unit along the second suction direction closer to the second surface.

US Pat. No. 10,216,874

ROBOT SIMULATION DEVICE

FANUC CORPORATION, Yaman...

1. A robot simulation device configured to simulate a behavior of a wire-shaped member arranged on a robot, comprising:a processing unit comprising
a model generation unit which generates a three-dimensional model of the wire-shaped member from a plurality of mass points set along a longitudinal direction of the wire-shaped member so as to define an outer circumferential surface of the wire-shaped member and a plurality of spring elements connecting the plurality of mass points together;
a focus point setting unit which sets, on the three-dimensional model of the wire-shaped member, a plurality of focus points to grasp a torsioned state of the wire-shaped member; and
a simulation unit which performs a simulation of the behavior of the wire-shaped member associated with operation of the robot using the three-dimensional model of the wire-shaped member and executes the simulation so that a position of at least one mass point is changed over time; and
a display unit which displays focus point images representing the focus points, together with wire-shaped member images representing a profile of the wire-shaped member, using time- series position data of the plurality of mass points and time-series position data of the plurality of focus points obtained via the simulation performed by the simulation unit, wherein
the plurality of focus points are part of the plurality of mass points and are set on part in a circumferential direction of the wire-shaped member in line along a longitudinal direction of the three-dimensional model of the wire-shaped member, and
the simulation unit calculates a maximum torsion amount of the wire-shaped member based on the time-series position data of the plurality of focus points, calculates an arrangement orientation of the wire-shaped member so as to decrease the maximum torsion amount of the wire-shaped member to prevent the wire-shaped member from being broken or damaged, and applies the calculated arrangement orientation of the wire-shaped member to control the robot.

US Pat. No. 10,216,163

MANUFACTURING SYSTEM FOR DRIVING PLURAL TYPES OF MANUFACTURING APPARATUSES WITH PROGRAM BASED ON COMMON LANGUAGE SPECIFICATION

FANUC CORPORATION, Yaman...

1. A manufacturing system, comprising:plural manufacturing apparatuses driven by operation programs of which language specifications differ from each other;
a program generation apparatus generating operation programs to be executed in the manufacturing apparatuses;
sending apparatuses sending the operation programs generated by the program generation apparatus to the respective manufacturing apparatuses; and
communication apparatuses carrying out communications among the manufacturing apparatuses, wherein
a language specification common to the manufacturing apparatuses of which the language specifications of the operation programs differ from each other is predetermined,
the program generation apparatus includes
a reading part reading a common program generated based on the common language specification, and
a conversion part converting the common program into the operation programs of the respective manufacturing apparatuses,
the conversion part has a function of automatically adding a command to carry out a communication of information or a signal among the manufacturing apparatuses when the common program is converted into the operation programs of the manufacturing apparatuses, and
the manufacturing system further comprises a simulation apparatus executing a simulation of the common program input to the program generation apparatus.

US Pat. No. 10,191,468

TOOL TRACK DISPLAY DEVICE FOR DISPLAYING TRACK OF TOOL

FANUC CORPORATION, Yaman...

1. A tool track display device which displays a track of a tool of a machine tool wherein a workpiece is machined through reciprocal and relative movement between the tool and the workpiece by at least one drive axle using a numerical control device, comprising;a position information acquisition unit which acquires position information created in the numerical control device at a predetermined control cycle or position information of the at least one drive axle from the position sensor,
a tool coordinate calculation unit which calculates coordinate values of the tool based on the position information of the at least one drive axle and information regarding the mechanical structure of the machine tool,
a display attribute modification unit assigning a display attribute to the position information of the at least one drive axle from the position sensor based on the motion direction of the tool,
a display unit which displays the track of the tool based on the coordinate values of the tool calculated by the tool coordinate calculation unit and the display attribute assigned by the display attribute modification unit;
an inverse position acquisition unit which acquires an inverse position in which the motion direction of the tool is inverted from the numerical control device or an operation program of the machine tool, wherein said display attribute modification unit modifies the display attribute of the tool track in accordance with the inverse position.

US Pat. No. 10,189,131

MOTOR CONTROL DEVICE FOR MACHINE TOOL HAVING PLURALITY OF AXES

FANUC CORPORATION, Yaman...

1. A motor control device for a machine tool equipped with a plurality of axes for machining a workpiece with a tool, the device comprising:a plurality of motor control units that respectively control motors respectively provided for driving the axes;
an abnormality detection unit provided for at least one of the motor control units and configured to output an abnormality detection signal upon detecting an abnormality with respect to the axis driven by the motor controlled by the motor control unit provided with the abnormality detection unit;
a safety operation control unit provided for a motor control unit that is not the motor control unit provided with the abnormality detection unit, the safety operation control unit configured to, upon receiving the abnormality detection signal, control the motor that drives the axis provided with the tool in such a way that the tool comes out of contact with the workpiece; and
a communication unit for communication between the motor control units that transmits the abnormality detection signal outputted by the abnormality detection unit to the safety operation control unit.

US Pat. No. 10,183,369

CUTTING FLUID SUPPLY SYSTEM TO MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A cutting fluid supply system, comprising:a machine tool;
a fluid ejection nozzle configured to eject cutting fluid;
a fluid supply configured to supply the cutting fluid to the fluid ejection nozzle;
a nozzle-moving unit configured to hold and move the fluid ejection nozzle;
a controller,
an imaging device configured to take images of objects existing in the machine tool, the objects including
a table before a workpiece is placed,
a head of a spindle before a tool is attached,
the tool attached to the head of the spindle, and
the workpiece placed on the table;
a processor configured to, when the tool is attached to the head of the spindle and the workpiece is placed on the table, recognize a position and a shape of each of the tool and the workpiece, based on the images of the tool and the workpiece, the image of the table before the workpiece is attached, and the image of the head of the spindle before the tool is attached, and
a further processor configured to specify, as a machining point which is variable depending upon a progress degree of machining the workpiece, a spot where the tool comes into contact with a surface of the workpiece, or a spot where the surface of the workpiece and the tool intersect with each other, based on the recognized position and shape of each of the tool and the workpiece,
wherein the controller is configured to control the nozzle-moving unit to move the fluid ejection nozzle to eject the cutting fluid to the specified machining point.

US Pat. No. 10,186,831

LASER OSCILLATOR FOR IMPROVING BEAM QUALITY

FANUC CORPORATION, Yaman...

1. A laser oscillator comprising:a discharge tube having a discharge area in which laser gas is excited;
an output coupler arranged on a first side of the discharge tube, the output coupler including:
a) a first coating material having a first reflectance between 20%-70% stacked on a first area including a radial center portion of a surface of the output coupler, the first area facing the discharge area, and
b) a second coating material having a second reflectance higher than the first reflectance is stacked on a second area of the output coupler around the first area;
a rear mirror having a front side facing the discharge area and a back side opposite the front side, the rear mirror arranged on a second side of the discharge tube, the rear mirror including:
c) a third coating material stacked on a third area including a radial center portion of a surface of the front side of the rear mirror, the third coating material having a third reflectance, and
d) a fourth coating material stacked on a fourth area of front side of the rear mirror around the third area, the fourth coating material having a fourth reflectance of substantially zero; and
a light detecting sensor arranged on the back side of the rear mirror within the third area exclusive of the fourth area,
wherein a boundary line between the first area and the second area of the output coupler is positioned on a circle around an axial line passing through a center of the discharge tube, and a diameter of the circle is 90% or more and 100% or less of an inner diameter of the discharge tube, and
wherein a boundary line between the third area and the fourth area of the rear mirror is positioned on a circle around an axial line passing through a center of the discharge tube, and a diameter of the circle is 90% or more and 100% or less of an inner diameter of the discharge tube.

US Pat. No. 10,179,368

WIRE ELECTRIC DISCHARGE MACHINE HAVING ESTIMATION FUNCTION FOR FILTER REPLACEMENT TIMING

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine configured to perform electric discharge machining while jetting a machining fluid, the wire electric discharge machine comprising:a filtration device having a filter configured to filter machining chips discharged by the electric discharge machining;
a fluid pressure detection unit disposed in a filter pipe through which the machining fluid is supplied to the filter, and configured to detect a fluid pressure of the machining fluid;
a database storing fluid pressure variation amounts of the filter per unit time together with correlated machining conditions, machining material, machining thickness, wire diameter, wire material, and machining fluid quality;
a fluid pressure variation amount acquisition unit configured to acquire a current fluid pressure variation amount per unit time from the database, based on a current machining condition, machining material, machining thickness, wire diameter, wire material, and machining fluid quality;
a remaining available time calculation unit configured to calculate a remaining available time during which the filter is serviceable, based on the acquired current fluid pressure variation amount per unit time acquired from the database, the current fluid pressure detected by the fluid pressure detection unit, and an upper limit value of the fluid pressure at which the filter is serviceable;
a remaining day/hour calculation unit configured to calculate the number of remaining days and hours before the life of the filter is expired, based on the operation rate of the wire electric discharge machine, the remaining available time acquired by the remaining available time calculation unit, and a current date/time; and
a display unit configured to display the calculated number of remaining days and hours.

US Pat. No. 10,179,384

HOUSING OF ELECTRONIC COMPONENTS DETECTING DEPOSITED CUTTING FLUID AND MOTOR DRIVE SYSTEM INCLUDING HOUSING

FANUC CORPORATION, Yaman...

1. A housing holding electronic components of a motor drive system for driving a machine tool, the housing having a generally box shape with side walls extending upwardly in a vertical direction, the housing comprising:at least one guide part for guiding cutting fluid at a surface of the housing, the at least one guide part formed by a top closing an upwardly facing opening formed by the side walls, and
at least one storage part located about a circumference of the top for collecting cutting fluid guided by the guide part.

US Pat. No. 10,175,676

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

FANUC CORPORATION, Yaman...

1. A servomotor controller comprising:a servomotor;
a driven body configured to be driven by the servomotor;
a connection mechanism configured to connect the servomotor and the driven body and transfer power of the servomotor to the driven body;
a position command generation unit configured to generate a position command value for the driven body;
a motor control unit configured to control the servomotor using the position command value;
a first force estimation unit configured to estimate a first force estimated value which is a drive force acting on the driven body at a connecting unit with the connection mechanism;
a second force estimation unit configured to estimate a second force estimated value serving as a fixed value;
a selection unit configured to compare an absolute value of the first force estimated value and an absolute value of the second force estimated value to output the first, or second force estimated value having the larger absolute value; and
a compensation amount generation unit configured to generate a compensation amount for compensating the position command value generated by the position command generation unit on the basis of the first or second force estimated value output from the selection unit.

US Pat. No. 10,160,073

SCREW-FASTENING ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A screw-fastening device robot system, comprising:a robot having an arm;
a robot screw-fastening device including:
a nut runner attached to a distal end of the arm to fasten screws one by one;
a screw magazine accommodating a plurality of the screws to be fed to the nut runner; and
a magazine inserting-extracting mechanism that inserts and extracts a screw retrieving position of the screw magazine to and from a location below the nut runner; and
a controller controlling the robot and the robot screw-fastening device,
wherein the screw magazine includes a flat support surface with a slit-like opening to contact a bearing surface of each of the screws to support the screws in a hanging state, the slit-like opening allowing an underhead section of each screw to extend therethrough so that the plurality of screws are arranged parallel to each other in a single row,
wherein, when each of the screws is loaded in the screw magazine the controller controls the robot to tilt the screw magazine such that the support surface ascends toward the screw retrieving position; and
wherein, when each of the screws is fed from the screw magazine to the nut runner, the controller controls the robot to tilt the screw magazine such that the support surface descends toward the screw retrieving position.