US Pat. No. 9,787,245

MOTOR CONTROL APPARATUS HAVING PROTECTION OPERATION UNIT, AND MACHINE LEARNING APPARATUS AND METHOD THEREOF

FANUC CORPORATION, Yaman...

1. A machine learning apparatus for learning (i) a power failure detection level, which is a value of a power supply voltage
defined as a criterion for determination as to whether power failure has occurred on an AC power supply side of a motor control
apparatus, and (ii) a power failure detection time, which is a time for which the power supply voltage on the AC power supply
side of the motor control apparatus has been lower than the power failure detection level, in the motor control apparatus
which converts AC power supplied from the AC power supply side into DC power, outputs the DC power to a DC link, further converts
the DC power into AC power for driving a motor, and supplies the AC power to the motor,
the machine learning apparatus comprising:
a DC voltage measuring unit which measures a DC link voltage across two terminals of a DC link capacitor in the DC link;
an AC voltage measuring unit which measures a value of the power supply voltage on the AC power supply side;
an energy amount computation unit which computes an amount of energy stored in the DC link capacitor;
a state observation unit which observes a state variable including
data associated with the measured value of the power supply voltage on the AC power supply side,
data associated with the computed amount of energy stored in the DC link capacitor,
data indicating whether a protective operation for the motor control apparatus is successful, and
data associated with motor output; and
a learning unit which learns the power failure detection level and the power failure detection time, by repeating update of
a function for changing the power failure detection level and the power failure detection time, based on the state variable.

US Pat. No. 9,782,897

ROBOT SYSTEM USING A VISION SENSOR

FANUC CORPORATION, Yaman...

1. A robot system including a robot which is provided in a robot operating section and a robot controller which controls the
operation of the robot in the robot operating section, comprising:
an imaging unit for imaging a predetermined section which includes at least a portion of the robot operating section;
an image processing unit which processes images taken by the imaging unit;
an entry request unit which is to be operated when a person requests to enter the predetermined section; and
a signal output unit which outputs, depending on a processing result of the image processing unit, an entry preparation signal
indicating an entry preparation state for receiving the operation of the entry request unit, and an entry permission signal
indicating that, in a case where the entry request unit has requested the person to enter the predetermined section, the person
is permitted to enter the predetermined section;

wherein if the image processing unit detects that the operation of the robot has been stopped, the signal output unit outputs
the entry preparation signal, and thereafter, if the person requests to enter the predetermined section using the entry request
unit, an instruction to stop the operation of the robot, or an instruction to stop the operation of the robot as well as an
instruction to stop a portion of the robot system which is necessary to enable the person to enter therein, are outputted,
and the signal output unit outputs the entry permission signal.

US Pat. No. 9,787,084

MOTOR DRIVING DEVICE

FANUC CORPORATION, Yaman...

1. A motor driving device, comprising:
a converter that converts alternating current power supplied from an alternating current power source side to output direct
current power;

a DC link capacitor provided for a DC link which is in a direct current output side of the converter;
an inverter that converts direct current power in the DC link to output alternating current power for driving a motor;
an initial charging circuit that is provided for the DC link and charges the DC link capacitor with direct current power output
by the converter;

a potential difference occurrence determination unit that determines whether or not a potential difference occurs between
both ends of the initial charging circuit;

a direct current detecting unit that detects direct current supplied from the converter to the initial charging circuit;
an alternating current detecting unit that detects alternating current supplied from the inverter to a motor; and
an abnormality determination unit that determines that abnormal heat generation occurs in the initial charging circuit when
the direct current detecting unit detects generation of direct current and the alternating current detecting unit detects
generation of alternating current, in a case in which the potential difference occurrence determination unit determines that
a potential difference occurs between both of the ends of the initial charging circuit.

US Pat. No. 9,784,556

ROTATION DETECTOR DETECTING ROTATION OF ROTATING MACHINE AND SYSTEM PROVIDED WITH ROTATION DETECTOR

FANUC CORPORATION, Yaman...

1. A rotation detector for detecting rotation of a rotating machine, comprising:
a moving part including:
a connecting part fastened in contact with a rotating part of the rotating machine;
an output shaft separate from the rotating part, the output shaft being formed integrally with the connecting part so as to
extend from the connecting part to one side in the axial direction;
a first detected part formed at a first outer circumferential surface which has a maximum outside diameter in the connecting
part and the output shaft; and

a fixed part separated from the first outer circumferential surface at the outside in the radial direction, the fixed part
having magnetoresistance elements and detecting a change in a magnetic field which occurs with rotation of the first detected
part.

US Pat. No. 9,737,985

PARALLEL LINK ROBOT CONNECTED BY BALL JOINTS

FANUC CORPORATION, Yaman...

1. A parallel link robot, comprising:
a base part;
a movable part;
three link parts which link said base part and said movable part and respectively have single degrees of freedom with respect
to said base part; and

three actuators configured to drive the respective link parts,
wherein each of said link parts comprises
a drive link which is linked with said base part, and
two driven links which link said drive link and said movable part and are parallel with each other,
wherein the parallel link robot further comprises ball joints which are arranged
between said driven links and said drive link, and
between said driven links and said movable part,
wherein each of said ball joints includes a ball and a one-piece housing which covers a maximum diameter part of said ball,
a first part of a surface of the ball at one side of the maximum diameter part and a second part of the surface of the ball
at another side of the maximum diameter part,

wherein the parallel link robot further comprises
a covering part which seals and covers the area around said ball of said ball joint;
two elongated plates which link said two driven links of said link part;
rotary shafts by which the two elongated plates are linked with said two driven links of said link part; and
two spacers which are arranged between the two elongated plates, and are spaced from each other and from the rotary shafts
along a longitudinal direction of the two elongated plates, and

wherein
the two elongated plates are arranged in parallel with each other by the two spacers between the two elongated plates,
the two elongated plates are pivotable, with respect to the driven links, around the rotary shafts,
the two elongated plates are positioned closer to a linking part between the drive link and the two driven links than the
moveable part,

each of the two elongated plates further comprises an opening elongated in the longitudinal direction of the elongated plate,
the elongated plates are configured to maintain a distance between the driven links constant,
the housing of each of said ball joints has an extended part extending away from the ball of said ball joint, the extended
part has a threaded part engaged with a corresponding threaded part at an end of the corresponding driven link, and the threaded
parts are configured to adjust a center distance between the two ball joints coupled to said driven link, and

the driven links are not connected to each other between the elongated plates and the moveable part.

US Pat. No. 9,737,994

ROBOT HAND FOR HOLDING OBJECT, ROBOT, ROBOT SYSTEM, AND METHOD OF HOLDING OBJECT

FANUC CORPORATION, Yaman...

1. A robot hand for holding an object, comprising:
a hand base;
a first hand arm attached to the hand base, the first arm including a first butting part having a first butting surface extending
in a first direction and a first adsorption part having a first adsorption surface extending in a second direction perpendicular
to the first direction, the first adsorption surface disposed adjacently to the first butting surface, wherein the first butting
surface and the first adsorption surface come into contact with the object and the first adsorption surface is able to adsorb
the object, the first adsorption part including the first absorption surface facing in the first direction;

a second hand arm attached to the hand base, the second hand arm including a second butting part having a second butting surface
extending in the first direction and a second adsorption part having a second adsorption surface extending in the second direction
perpendicular to the first direction, the second adsorption surface disposed adjacently to the second butting surface, wherein
the second butting surface and the second adsorption surface come into contact with the object and the second adsorption surface
is able to adsorb the object; and

a driving mechanism for moving the first hand arm and the second hand arm relative to each other so as to approach each other
or separate from each other.

US Pat. No. 9,766,614

MOTOR CONTROLLING APPARATUS FOR SUPPRESSING VIBRATIONS

FANUC CORPORATION, Yaman...

1. A motor control apparatus for controlling a servo motor, comprising:
a position command generator configured to generate a position command of the motor;
a compensation filter configured to compensate the position command generated by the position command generator; and,
a servo control unit configured to control the movement of the motor based on a position command after compensation which
is the compensated position command by the compensation filter,

wherein the compensation filter includes a filter F(s) having an inertia Jr of a driven part, a stiffness coefficient K of
an elastically deformable part and a damping coefficient C of the elastically deformable part as the elements of filter coefficients,

wherein the filter F(s) included in the compensation filter is represented by F(s)=(JL×s2+C×s+K)/(C×s+K) wherein the position command after compensation is determined by adding a differential compensation amount
for implementation of a filter, F(s)?1=(JL×s2)/(C×s+K), on the position command, to the position command,

wherein the compensation filter includes:
an acceleration command operator configured to calculate an acceleration command from the position command;
a first compensation amount operator configured to multiply the acceleration command output from the acceleration command
operator by a gain JL/K, determined by the inertia JL of the driven part and the stiffness constant K of an elastically deformable part; and,

a second compensation amount operator configured to implement a first order low-pass filter with a time constant of C/K, determined
by the damping constant C of the elastically deformable part and the stiffness constant K of the elastically deformable part,
on a first compensation amount output from the first compensation amount operator,

wherein the filter F(s) is realized by adding a second compensation amount output from the second compensation amount operator,
to the position command,

wherein the gain JL/K is determined by the inertia JL of the driven part and the stiffness constant K of the elastically deformable part,

wherein the time constant C/K is determined by the damping constant C of the elastically deformable part and the stiffness
constant K of the elastically deformable part, and

wherein the gain JL/K and the time constant C/K are input to realize the filter F(s) after being determined by the following equations using
the frequency ? and the vibration attenuation coefficient ?

JL/K=1/?2
C/K<=2?/?.

US Pat. No. 9,752,725

MACHINE TOOL PROVIDED WITH A PROTECTION COVER

FANUC CORPORATION, Yaman...

1. A machining tool, comprising:
a telescopic cover having a plurality of covers sequentially overlapped and telescopic in a moving direction of a movable
portion of the machine tool; and

lubricant supply units configured to supply a lubricant to a surface of the telescopic cover,
wherein
the telescopic cover has
a fixed part, and
a moving part movable in the moving direction relative to the fixed part, and
the lubricant supply units are installed at both the moving part and the fixed part of the telescopic cover.

US Pat. No. 9,756,322

REMOTE DIAGNOSTIC DEVICE FOR COMPUTER-CONTROLLED APPARATUS

FANUC CORPORATION, Yaman...

1. A remote diagnostic device for a computer-controlled apparatus, which diagnoses a fault through a network communication
line from a remote place, the remote diagnostic device comprising:
a camera constructed separately from the computer-controlled apparatus and configured to pick up an image on a display screen
of the computer-controlled apparatus;

a signal conversion adapter; and
a diagnostic computer installed in a remote place,
wherein the signal conversion adapter comprises:
an image output unit configured to convert the image picked up by the camera into a digital signal and output the converted
image signal to the network communication line;

a network signal conversion unit configured to extract, from a network signal, a remote control signal input from the diagnostic
computer through the network communication line;

a control signal conversion unit configured to convert the remote control signal extracted by the network signal conversion
unit into an input/output signal for an actuator of the computer-controlled apparatus; and

a control signal switching unit configured to output the input/output signal converted by the control signal conversion unit
to the computer-controlled apparatus, and

wherein the diagnostic computer comprises:
an image display unit configured to display the image signal received through the network communication line; and
a remote control signal output unit configured to output, through the network communication line, the remote control signal
used to operate the computer-controlled apparatus from the remote place.

US Pat. No. 9,720,397

MACHINE TOOL HAVING WARMING-UP FUNCTION

FANUC CORPORATION, Yaman...

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

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

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

US Pat. No. 9,701,014

ROBOT CONTROL DEVICE FOR PREVENTING MISJUDGMENT BY COLLISION JUDGING PART

FANUC CORPORATION, Yaman...

1. A robot system, comprising:
a robot which is provided with a hand configured to grip a workpiece; and
a robot control device for controlling the robot, the robot control device comprising:
a disturbance estimating part which evaluates an estimated value of a disturbance which is applied to the robot,
a transition recognizing part which recognizes the occurrence of a state transition between a state where a load of the workpiece
is not transmitted to the robot and a state where the entire load of the workpiece is transmitted through the hand to the
robot,

a region defining part which defines a region which encompasses the robot and hand at the start time of said state transition
which is recognized by said transition recognizing part, in a state space which expresses the state of the robot and hand,

a position judging part which judges if the robot and hand are located inside said region which is defined by said region
defining part,

a collision judging part which compares said estimated value and a predetermined threshold value to judge if the robot has
collided with an obstacle, wherein said collision judging part compares said estimated value and a first threshold value when
the robot and hand are positioned inside said region, and compares said estimated value and a second threshold value which
is different from said first threshold value when the robot and hand are positioned outside said region, and

an operating instruction generating part which controls movement of the robot corresponding to a result of judgment of the
collision judging part.

US Pat. No. 9,703,069

MOUNTING FIXTURE OF ELASTIC SEAL MEMBER

Fanuc Corporation, Yaman...

1. A mounting fixture used for mounting an O-ring between a ring-shaped side surface of an optical component and a holder
which holds said optical component, comprising
a first abutting surface configured to abut against a top surface of said optical component which intersects said side surface,
a projecting part which is arranged so as to surround said first abutting surface and project out from said first abutting
surface in a direction vertical to said first abutting surface, and

a second abutting surface which is provided at a front end of said projecting part and configured to abut against a top portion
of said O-ring to press said O-ring in the direction vertical to said first abutting surface in a position between the ring-shaped
side surface of the optical component and the holder which is separate from the mounting fixture and holds said optical component,

wherein said projecting part has a projecting height smaller than a height of said side surface of said optical component
such that the second abutting surface, when abutted against the O-ring, is positioned below the top surface of the optical
component and above a bottom surface of the optical component.

US Pat. No. 9,700,982

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

FANUC CORPORATION, Yaman...

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

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

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

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

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

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

US Pat. No. 9,694,493

UMBILICAL MEMBER ARRANGEMENT STRUCTURE OF PARALLEL LINK ROBOT

FANUC CORPORATION, Yaman...

1. An umbilical member arrangement structure for a parallel link robot, comprising:
an umbilical member;
a clamp member;
a base part;
a movable part positioned below the base part; and
three link parts which connect the base part and the movable part, each of the three link parts including one degree-of-freedom
relative to the base part,

wherein each of the three link parts comprises
a drive link connected to the base part, and
a passive link part constituted by a pair of passive links which are parallel to each other and connect the drive link and
the movable part,

wherein an opening is formed on a bottom surface of the base part and exists in one of two spaces defined by a plane including
center axes of the pair of passive links of one of the three link parts,

wherein the umbilical member is withdrawn from the opening, the umbilical member then extends through the space in which the
opening exists, resulting in being parallel with the plane, and then the umbilical member reaches a lateral side portion of
one of the passive link parts while extending, in a plane existing in the space, at an angle of 70 to 110 degrees with respect
to a longitudinal direction of the one of the passive link parts,

wherein the umbilical member is held by the clamp member which is positioned on the lateral side portion of the one of the
passive link parts, and

wherein the clamp member is closer to a joint, which connects the one of the passive link parts to the corresponding drive
link, than to the movable part.

US Pat. No. 9,656,416

MANUFACTURING METHOD AND INJECTION MOLDING SYSTEM FOR MULTI-COLOR MOLDED ARTICLE

FANUC CORPORATION, Yaman...

1. A manufacturing method for a multi-color molded article, the method comprising:
multi-color molding performed by a plurality of injection molding machines configured to perform injection molding in a predetermined
order and insert molds removably mounted in molds incorporated in the injection molding machines, respectively, said multi-color
molding comprising:

a first step of injection-molding the molded article by a first one of the injection molding machines;
a second step of taking out the molded article molded in the first step, along with the insert mold fitted with the molded
article, from the mold of the first injection molding machine;

a third step of transporting the insert mold removed in the second step to a second injection molding machine configured to
perform injection molding next to the first injection molding machine;

a fourth step of attaching the insert mold transported in the third step to the mold of the second injection molding machine;
and

a fifth step of performing injection molding by the second injection molding machine, wherein the second to fifth steps are
repeated in the predetermined order for each of the injection molding machines,

wherein, in the third step of transporting, the insert mold being transported is released from hold or attraction at an intermediate
station, on which the insert mold is placed, and is held or attracted again,

wherein the intermediate station is outside the molds, and
wherein injection molding is performed by simultaneously using a plurality of insert molds with different cavity shapes in
molding conditions varied for each of the different cavity shapes.

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. 9,620,926

LASER MACHINING APPARATUS CHANGING OPERATION BASED ON LENGTH OF POWER-DOWN TIME

Fanuc Corporation, Yaman...

1. A laser machining apparatus comprising:
a laser oscillator;
a control device configured to control the laser oscillator;
a power-down detection unit configured to detect a decrease in supply power supplied to the control device and the laser oscillator
from an external power source;

a time measurement unit configured to measure a period of power-down time from when the supply power is decreased under the
predetermined value until the supply power is returned to a predetermined value;

an electricity storage unit configured to supply electric power to the control device when the supply power decreases; and
an inverter provided within the laser oscillator, configure to operate abnormally when the supply power is decreased under
the predetermined value, and to recover from an abnormal operation upon continuation of a state of the supply power being
smaller than the predetermined value in excess of a first predetermined period of time,

wherein the control device stops the laser machining apparatus or the inverter when the power-down time is smaller than the
first predetermined period of time on such an occasion that the supply power returns to a value equal to or larger than the
predetermined value and does not stop the laser machining apparatus or the inverter when the power-down time is equal to or
larger than the first predetermined period of time on such an occasion that the supply power returns to the value equal to
or larger than the predetermined value.

US Pat. No. 9,621,006

ELECTRIC MOTOR WITH SCATTER PREVENTING MEMBER OF BEARING PART

Fanuc Corporation, Yaman...

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

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

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

US Pat. No. 9,604,363

OBJECT PICKUP DEVICE AND METHOD FOR PICKING UP OBJECT

Fanuc Corporation, Yaman...

1. A pickup device configured to pick up by using a robot a target object from a plurality of objects randomly piled up in
a container and configured to place the target object in a predetermined posture at a target location, wherein the robot comprises
a holding unit configured to hold the target object to take the target object out of the container,
the pickup device comprising:
a first visual sensor configured to compute a height distribution of a visible subset of the plurality of objects in the container
visible to the first visual sensor, the height distribution including the calculated heights for each of the objects in the
visible subset;

an approximate position obtaining part configured to obtain information on an approximate position of the target object which
is at a higher position than surrounding objects in the visible subset, based on the information on a height distribution
obtained by the first visual sensor and exclusive of a posture of the target object;

a pickup operation controlling part configured to control the robot so as to allow the holding unit to hold the target object,
based on the information on an approximate position of the target object obtained by the approximate position obtaining part
and exclusive of the posture of the target object;

a second visual sensor configured to obtain information on a position, and the posture of the target object relative to the
holding unit by measuring the target object when the target object is held by the holding unit; and

a placement operation controlling part configured to control the robot so as to bring the target object held by the holding
unit into a predetermined position and the predetermined posture relative to the target location, based on the position and
the posture of the target object relative to the holding unit obtained by the second visual sensor.

US Pat. No. 9,531,241

COOLING DEVICE FOR ELECTRIC MOTOR AND ELECTRIC MOTOR

Fanuc Corporation, Yaman...

1. A cooling device for an electric motor, comprising:
a cover which is detachably attached to the electrical motor and has a cylindrical-shaped main part which houses the electric
motor, and

a fan motor which is attached to said main part so as to blow air to the inside of said main part, and
a connector which is attached to said main part of said cover, and is connected to a power supply source of said fan motor,
wherein

said cover further has an abutting part formed from a vibration absorbing material, which protrudes from an inside surface
of said main part and abuts against the electric motor,

said abutting part forms a gap for blowing air between said main part and said electric motor,
said main part comprises a first component which corresponds to part of the cylindrical shape in the circumferential direction,
and to which said fan motor is attached, and a second component which is detachable from said first component in a detachment
direction perpendicular to an extension direction of a drive shaft of the electric motor, and corresponds to the remaining
part of the cylindrical shape in the circumferential direction,

said abutting part is provided on both said first component and said second component, and is provided on each of four sections
of the main part which are defined by a first plane which includes an axis line of said drive shaft and is parallel to the
detachment direction, and by a second plane which includes said axis line and is perpendicular to said first plane,

said abutting parts are arranged symmetrically with said first plane and with said second plane, and
said main part is fastened to the electric motor only by a contact surface pressure which acts from said abutting parts on
an outside periphery of the electric motor.

US Pat. No. 9,519,279

WAVEFORM DISPLAY DEVICE PROVIDED WITH SEARCH FUNCTION ACCORDING TO SET CONDITION

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:
a numerical control device;
a servo motor controlled by the numerical control device; and
a waveform display device displaying, by a waveform, a time series of physical quantity data changing with time in the machine
tool,

the waveform display device comprising:
a time series data acquisition part coupled to the numerical control device of the machine tool, and acquiring the time series
of physical quantity data from the numerical control device;

a search condition setting part setting a search condition of the physical quantity data;
a data search part searching for physical quantity data satisfying the search condition set by the search condition setting
part, from among the physical quantity data acquired by the time series data acquisition part; and

a search result display part extracting a time series of physical quantity data in a predetermined range including the physical
quantity data searched by the data search part or other physical quantity data corresponding to the physical quantity data
searched by the data search part, from among the physical quantity data acquired by the time series data acquisition part,
and displaying the extracted time series of physical quantity data by a waveform,

wherein, when a plurality of the physical quantity data satisfying the search condition are searched by the data search part,
the search result display part successively displays by waveforms a plurality of time series of physical quantity data in
a predetermined range including the respective searched physical quantity data or other physical quantity data corresponding
to the respective searched physical quantity data, to enable monitoring of an operation state of the machine tool.

US Pat. No. 9,401,669

MOTOR CONTROLLER FOR SYNCHRONOUSLY CONTROLLING MULTIPLE MOTORS

FANUC CORPORATION, Yaman...

1. A motor controller for synchronously controlling at least two motors, the motor controller comprising:
a converter configured to convert an alternating-current power, supplied from a side with an alternating-current power supply,
to a direct-current power and output the direct-current power;

a first inverter connected to a direct-current link provided on a direct-current side of the converter, the first inverter
configured to convert the direct-current power in the direct-current link to an alternating-current power for driving a first
motor and output the alternating-current power, on the basis of a received command;

a second inverter connected to the direct-current link, the second inverter configured to convert the direct-current power
in the direct-current link to an alternating-current power for driving a second motor and output the alternating-current power,
on the basis of a received command;

a power-failure detection unit configured to detect whether or not a power failure has occurred on the side, with the alternating-current
power supply, of the converter; and

a command creation unit configured to
create, for each of the first inverter and the second inverter, a numerical-control-command-synchronization drive command
for synchronously controlling the first motor and the second motor, when the power-failure detection unit does not detect
any power failure, and

create a master drive command for the first inverter and also create, for the second inverter, a slave drive command for synchronously
controlling the first motor and the second motor by using position feedback information of the first motor driven according
to the master drive command, when the power-failure detection unit detects a power failure,

wherein
the command creation unit includes a direct-current-voltage-maintaining-command creation unit for creating, as the master
drive command, a direct-current-voltage maintaining command for controlling the first inverter so that a voltage in the direct-current
link stays within a predetermined range, and

the direct-current-voltage-maintaining-command creation unit is provided in the first inverter.

US Pat. No. 9,400,496

NUMERICAL CONTROLLER WITH INTER-PATH WAITING FUNCTION

FANUC Corporation, Minam...

1. A numerical controller with an inter-path waiting function, having at least two control paths each sequentially pre-reading
and analyzing each block of a machining program recorded in a memory or external storage device, wherein a processor of the
numerical controller executes
pre-read/analysis processes of a code analysis section that analyzes a loaded block to create code analysis data, a function
code determination section that determines a function of the created code analysis data, and an execution data creation section
that creates execution data for carrying out the function determined by the function code determination section are carried
out in a pre-read/analysis process task;

a pre-read/analysis suspend section suspending the pre-read/analysis process when the function code determination section
determines that the block contains an inter-path waiting code;

a specified condition judgment section checking an execution state of a block immediately before the block containing the
inter-path waiting code with the pre-read/analysis process suspended by the pre-read/analysis suspend section, to judge whether
or not a specified condition is met which specifies a condition for carrying out inter-path waiting commanded in the block
containing the inter-path waiting code, the specified condition including at least one of a remaining amount of movement in
the preceding block, a torque around any axis, a specific custom macro variable, an elapsed time from a beginning of the preceding
block, a mechanical coordinate value of any axis, a feed speed resulting from axis movement in the preceding block, and a
specific signal;

an inter-path waiting section allowing suspension of the machining program for a control path targeted for the inter-path
waiting commanded in the block containing the inter-path waiting code when the specified condition judgment section judges
that the specified condition is met, and

an inter-path waiting discard and resumption section determining the inter-path waiting to have been established when the
inter-path waiting is carried out by the control path targeted for the inter-path waiting, using the same inter-path waiting
code, discarding code analysis data created before the pre-read/analysis process is suspended, and immediately pre-reading
the machining program from a block succeeding the block containing the inter-path waiting code to start a pre-read/analysis
process,

wherein processes of the a pre-read/analysis suspend section, the specified condition judgment section, the inter-path waiting
section, and the inter-path waiting discard and resumption section are carried out in the pre-read/analysis process task.

US Pat. No. 9,377,770

NUMERICAL CONTROL SYSTEM USING I/O UNIT FOR TIME MEASUREMENT

FANUC Corporation, Minam...

1. A numerical control system, which comprises a numerical controller and one or more I/O units connected to the numerical
controller and transfers input and output signals between the numerical controller and the I/O units through serial communication,
wherein the I/O unit starts sending back to the numerical controller in the serial communication on receiving data from the
numerical controller, and

each of the I/O units comprising:
a time measurement section configured to start time measurement with an input signal as a trigger; and
a serial communication section configured to transmit a flag indicative of input of the input signal and a measured value
of the time measurement section at the start of sending back by the I/O unit to the numerical controller,

the numerical controller comprising:
an acquisition section configured to acquire the flag and the measured value input through the serial communication;
a timer configured to measure time; and
an input time calculation section configured to calculate the time of input of the input signal based on the time measured
by the timer and the measured value acquired by the acquisition section.

US Pat. No. 9,339,908

MACHINE TOOL WITH COVER STRUCTURE ADAPTED FOR DISCHARGE OF CHIPS

FANUC CORPORATION, Yaman...

1. A machine tool, comprising:
a table on which a workpiece is to be placed;
a column comprising a spindle to which a tool for machining the workpiece is attached;
a bed on which the table and the spindle are disposed; and
covers which include
a front cover provided on a side opposite the column with the table therebetween,
side covers provided on left and right sides, respectively, of the front cover,
a front bottom part connecting a lower end of the front cover to the bed, and
side bottom parts connecting respective lower ends of the side covers to the bed,
wherein each of the side bottom parts connecting the bed to the respective lower ends of the side covers comprises a slope
that is gradually inclined outward from the bed and downward to the respective lower end of the respective side cover.

US Pat. No. 9,339,963

CONTROLLER FOR AN INJECTION MOLDING MACHINE HAVING AN ABNORMALITY DETECTION UNIT

FANUC CORPORATION, Yaman...

1. A controller of an injection molding machine, comprising:
a servomotor for driving an axis;
a drive device for driving the servomotor;
a power supply;
a power supply converter for boosting voltage from the power supply and for supplying electric power to the drive device;
and an electric storage unit coupled between the power supply converter and the drive device, wherein the controller further
includes:

a voltage detection unit for detecting a voltage of the electric storage unit,
an electric energy detection unit for detecting a supply of electric energy from the power supply to the electric storage
unit, and

an abnormality detection unit for detecting abnormality of the voltage detection unit based on
(a) the voltage of the electric storage unit detected by the voltage detection unit,
(b) the supply of electric energy to the electric storage unit detected by the electric energy detection unit, and
(c) an electrostatic capacity of the electric storage unit.

US Pat. No. 9,342,061

WIRE ELECTRIC DISCHARGE MACHINE CONTROLLER FOR CORRECTING MACHINING ROUTE USING PROGRAM COMMANDS

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine controller for correcting a machining route using program commands by creating a machining
route on the basis of a machining program including a plurality of machining blocks and moving a wire electrode with respect
of a workpiece, following the created machining route while machining, the controller comprising:
a machining program storage unit that has stored therein a machining program in which a machining route correction command
for correcting a machining route at a corner formed by two consecutive machining blocks, including a machining block to be
machined first and a machining block to be machined next, is described, wherein an extension distance of the machining block
to be machined first and a removal distance of the machining block to be machined next are specified in the machining route
correction command, whereby the machining route is corrected in a manner such that the end point of the machining block to
be machined first, an extension point obtained by extending the machining block from the end point thereof in a machining
advancing direction by the extension distance, and a new start point obtained by partially removing the machining block to
be machined next by said removal distance from the start point of said next machining block are connected;

a machining program analyzing unit for analyzing the machining program, and reading out said extension distance by which a
machining block for which the machining route correction command is issued is extended from the end point of the machining
block in the machining advancing direction and said removal distance by which the machining block next to said machining block
is partially removed from the start point of the machining block;

a machining route correcting unit for correcting the machining route in a manner such that the end point of the machining
block to be machined first, the extension point obtained by extending said machining block from said end point by the extension
distance read by the machining program analyzing unit, and the new start point obtained by partially removing the machining
block to be machined next by the removal distance read by the machining program analyzing unit are connected; and

a machining route controlling unit for moving the wire electrode with respect to the workpiece on the basis of the corrected
machining route,

wherein the extension point is obtained by linearly extending the machining block from the end point thereof in the machining
advancing direction by the extension distance.

US Pat. No. 9,246,297

GAS LASER OSCILLATOR CONTROLLING ADJUSTED LEVEL OF LASER POWER SUPPLY

Fanuc Corporation, Yaman...

1. A gas laser oscillator comprising
a plurality of discharge tubes through which a laser gas circulates,
a plurality of main discharge electrodes which are arranged corresponding to the plurality of discharge tubes and which make
main discharge start for discharge excitation of said laser gas,

a plurality of auxiliary electrodes which are arranged adjoining the plurality of main discharge electrodes and which make
auxiliary discharge start in said laser gas in a state lower than the output by which said main discharge starts,

an output mirror which outputs a laser which is oscillated at said plurality of discharge tubes, and
a mechanical shutter which cuts off the laser output from the output mirror, wherein
a base command for maintaining said auxiliary discharge in the state where the laser output is zero is set to a first command
value when said mechanical shutter is closed, and is set to a second command value smaller than said first command value when
said mechanical shutter is opened.

US Pat. No. 9,233,475

UMBILICAL MEMBER ATTACHMENT DEVICE OF ROBOT

FANUC CORPORATION, Minam...

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

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

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

US Pat. No. 9,071,182

MOTOR DRIVE DEVICE WITH ALARM LEVEL SETTING UNIT

FANUC CORPORATION, Yaman...

1. A motor drive device, comprising:
a converter which converts AC power supplied from an AC power supply side into DC power to output to a DC side, and converts
the DC power supplied from the DC side into AC power at the time of deceleration of a motor to output to the AC power supply
side;

an inverter which converts the DC power supplied from a DC side into AC power for driving the motor to output to an AC motor
side, and converts regenerated AC power from the AC motor side into DC power to output to the DC side at the time of deceleration
of the motor;

a DC link unit which connects the DC side of the converter and the DC side of the inverter, and which has a DC link capacitor
which is capable of accumulating DC power;

a voltage detecting unit which detects a DC voltage value of the DC link capacitor;
an alarm level setting unit which sets an overvoltage alarm level for the DC voltage value of the DC link capacitor;
an alarm determining unit which determines whether or not the DC voltage value detected by the voltage detecting unit exceeds
the overvoltage alarm level set by the alarm level setting unit; and

an alarm reporting unit which, when the alarm determining unit determines that the DC voltage value detected by the voltage
detecting unit exceeds the overvoltage alarm level set by the alarm level setting unit, instructs the inverter to stop conversion
operation,

wherein the alarm level setting unit comprises:
a forecasting calculating unit which performs forecasting calculation of an increase of the DC voltage value of the DC link
capacitor during time required for the inverter to stop the conversion operation after the alarm determining unit determines
that the DC voltage value exceeds the overvoltage alarm level, based on a first parameter which is time required for the inverter
to stop the conversion operation after the alarm determining unit determines that the DC voltage value exceeds the overvoltage
alarm level, a second parameter which is an amount of the DC power generated by converting by the inverter regenerated AC
power generated at the time of deceleration of the motor, a third parameter which is an amount of the DC power used to generate
the AC power to be returned to the AC power supply side by the converter at the time of deceleration of the motor, and a fourth
parameter which is capacitance of the DC link capacitor; and

a setting unit which sets the overvoltage alarm level based on the increase when the DC voltage value of the DC link capacitor
at a time when the inverter stops the conversion operation, which is calculated from the increase, is greater than a predetermined
threshold set based on a withstand voltage of the DC link capacitor and a withstand voltage of each element in the converter
and the inverter, and sets the predetermined threshold as the overvoltage alarm level when the DC voltage value of the DC
link capacitor at the time when the inverter stops the conversion operation is smaller than the predetermined threshold.

US Pat. No. 11,129,317

REEL HOLDER, TAPE SUPPLY DEVICE, ROBOT HAND, ROBOT, AND PART MOUNTING SYSTEM

FANUC CORPORATION, Yaman...


1. A reel holder holding a plurality of tape reels each having a tape wound therearound, the reel holder comprising:a disk-shaped rotating plate;
at least three reel support portions evenly arranged in a circumferential direction about the center of the disk-shaped rotating plate and supporting the plurality of tape reels such that each of the plurality of tape reels is rotatable about the center thereof;
a rotating plate support portion including an attachment portion that is attached to the center of the disk-shaped rotating plate and supports the disk-shaped rotating plate such that the disk-shaped rotating plate is rotatable about the center of the disk-shaped rotating plate;
wherein the rotating plate support portion includes a pair of bars parallel to each other and a pair of hooks, the pair of bars extending from the attachment portion in a radial direction of the disk-shaped rotating plate to an outside of the disk-shaped rotating plate, the pair of hooks being provided on a tip end of the pair of bars respectively; and
wherein the disk-shaped rotating plate is arranged vertically by hooking the pair of hooks onto a pair of horizontal bars provided outside of the reel holder.

US Pat. No. 10,710,240

PROGRAMMING DEVICE FOR WELDING ROBOT AND PROGRAMMING METHOD FOR WELDING ROBOT

FANUC CORPORATION, Yaman...

1. A programming device for a welding robot, the programming device comprising:a processor comprising hardware, the processor being configured to:
obtain a three-dimensional model of the welding robot and three-dimensional models of two workpieces to be welded together by a tool of the welding robot;
specify a welding line along which the two workpieces are to be welded together, as well as an origin on the welding line, on the basis of the three-dimensional models of the two workpieces;
accept an operation;
calculate an angle made at the origin by the two workpieces to be welded together as an angle projected onto a plane perpendicular to the welding line and set a target angle of the tool by using the calculated angle or that sets the target angle on the basis of the operation accepted via the accepting unit;
set an advance angle of the tool on the basis of the operation accepted via the accepting unit;
set a tentative coordinate system defined with reference to the origin and a tool coordinate system in accordance with the tool on the basis of the tentative coordinate system;
set a welding position of the tool on the basis of the newly set tool coordinate system;
create an operating program for the welding robot to weld the two workpieces together with reference to the newly set tool coordinate system; and
detect, by using the three-dimensional robot of the welding robot and the three-dimensional models of the two workpieces in a virtual space, interference that occurs between the welding robot and the two workpieces in the case where welding is performed along the welding line with the set welding position, wherein
three axes constituting the tentative coordinate system include a first axis set on the basis of the welding line, a second axis perpendicular to the first axis and parallel to a face of one of the workpieces to be welded together, and a third axis perpendicular to both the first axis and the second axis,
the tool coordinate system is a coordinate system set by rotating the tentative coordinate system about the first axis of the tentative coordinate in accordance with the target angle and about the third axis of the tentative coordinate in accordance with the advance angle, and
in the case where the interference is detected, the setting of the welding position of the tool sets a new welding position that resolve the interference by rotating the tool coordinate system about at least one of the first axis, the second axis, and the third axis.

US Pat. No. 10,710,248

ROBOT

FANUC CORPORATION, Yaman...

1. A robot comprising:a driving mechanism that drives a movable member with respect to a base; and
a cooling fan that cools the driving mechanism,
wherein the driving mechanism is provided with a motor and a reducer that is disposed between the base and the movable member and that moves the movable member with respect to the base by reducing the speed of the rotation of the motor,
the motor and the reducer are disposed on opposite sides of a securing plate that is secured to the base,
the cooling fan is disposed on an opposite side from the securing plate, with the motor interposed between the cooling fan and the securing plate, and generates an airflow that is circulated along a surface of the motor,
a mounting base secured to the base is provided with an accommodating space formed as a hole in the base with a circular lateral cross section, one end of the accommodating space is closed off by the securing plate, the reducer is disposed inside the accommodating space, and a space in which a surface of the reducer is exposed is formed between an outer circumferential surface of the reducer and an inner circumferential surface of the accommodating space, and
the securing plate is provided with a vent that is connected to the space by passing through the securing plate in a thickness direction thereof, and through which the airflow generated by the cooling fan passes into the accommodating space,
wherein an airflow-guiding portion is formed by strip-shaped plate members and is disposed so as to surround the motor and the vent at positions that are radially further outside than the vent, and blocks the airflow that is circulated along the surface of the motor and guides the airflow to the vent and into the accommodating space.

US Pat. No. 10,714,899

SEMICONDUCTOR LASER MODULE AND LASER OSCILLATOR

FANUC CORPORATION, Yaman...

1. A semiconductor laser module comprising:a semiconductor laser element that emits laser light, and
a mirror that includes a first surface which reflects laser light and which transmits visible light and a second surface which transmits the laser light and which reflects the visible light;
wherein the laser light is applied to the first surface of the mirror,
the laser light has a wavelength of from 900 nm to 1000 nm, and
the first surface and the second surface further transmit light whose wavelength is longer than a wavelength of the laser light applied by the semiconductor laser element.

US Pat. No. 10,647,001

CALIBRATION DEVICE, CALIBRATION METHOD, AND COMPUTER READABLE MEDIUM FOR VISUAL SENSOR

FANUC CORPORATION, Yaman...

1. A calibration device that associates a robot coordinate system at a robot and an image coordinate system at a camera by placing a target mark at the robot, controlling the robot so as to move the target mark, and detecting the target mark at multiple points in a view of the camera, the calibration device comprising:a memory configured to store a program; and
a processor configured to execute the program and control the calibration device to:
set an image range in the image coordinate system; and
measure a calibration range as an operation range for the robot corresponding to the image range before implementation of calibration by controlling the robot to move the target mark and detecting the target mark by determining whether or not the target mark is detectable in the image range that was set in the image coordinate system by moving the target mark and detecting the target mark repeatedly, thereby measuring a calibration range as an operation range for the robot corresponding to the set image range, wherein
during implementation of the calibration, the robot is controlled so as to move the target mark in the calibration range.

US Pat. No. 10,625,453

CLAMPING DEVICE OF INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A clamping device of an injection molding machine comprising:a stationary platen;
a rear platen;
a tie bar supported by the stationary platen and the rear platen while extending through the stationary platen and the rear platen, and provided parallel to a center axis of the clamping device;
a moving platen configured to advance and retreat under guidance by the tie bar;
a toggle mechanism connected to both the rear platen and the moving platen and used for making the moving platen advance and retreat;
a guide rod having one end fixed to the rear platen and the other end extending toward the moving platen;
a guide rod support including a supported part and a supporting part, supported by the tie bar at the supported part, and supporting the guide rod at the supporting part; and
a crosshead configured to advance and retreat under guidance by the guide rod, the advance and retreat of the crosshead expanding and contracting the toggle mechanism to make the moving platen advance and retreat, wherein
the guide rod support is provided in such a manner that the supported part is arranged closer to the rear platen than the supporting part along the center axis.

US Pat. No. 10,630,218

MOTOR CONTROL DEVICE

Fanuc Corporation, Yaman...

1. A motor control device that controls an induction motor which drives a spindle of a machine tool, the motor control device comprising:an operation control part that generates a torque command based on an operation command, and controls a rotational position and/or rotational speed of the spindle;
a current control part that generates an excitation current command to control secondary magnetic flux of the induction motor, and a torque current command to control torque of the induction motor based on the torque command, and performs vector control on the induction motor;
a change detection part that detects a change in operation command requiring increasing the secondary magnetic flux of the induction motor;
a magnetic flux amplification part that performs magnetic flux amplification to temporarily increase the excitation current command or a magnetic flux command for generating the excitation current command in the current control part, in a case of a change in the operation command being detected by the change detection part; and
a gain change part that changes gain of the operation control part when performing magnetic flux amplification by the magnetic flux amplification part,
wherein the gain change part decreases the gain of the operation control part, when performing magnetic flux amplification by the magnetic flux amplification part.

US Pat. No. 10,625,415

ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A robot system comprising:a conveying apparatus that conveys an article;
a robot that performs processing on the article;
a camera that captures, at an upstream side of the robot in the conveying direction, images of the article being conveyed by the conveying apparatus and a mark being moved by the conveying apparatus;
a conveying-velocity calculating portion that calculates at least one of a position of the article and a velocity at which the article is conveyed on the basis of the plurality of images captured by the camera; and
a control unit that controls the robot on the basis of at least one of the position and the conveying velocity calculated by the conveying-velocity calculating portion,
wherein the control unit determines whether or not the article and the mark are present in the images acquired by the camera, and, controls the robot on the basis of at least one of the position and the conveying velocity calculated by the conveying-velocity calculating portion when the article and the mark are absent, and
wherein the conveying-velocity calculating portion outputs, in the form of the conveying velocity, an average of the velocities calculated for at least two of the articles.

US Pat. No. 10,625,420

MACHINING SYSTEM

Fanuc Corporation, Yaman...

1. A machining system comprising:a machine tool which processes a work positioned on a machining table;
a numerical controller which stores a machining program and which moves the machining table according to the machining program;
a robot which performs a predetermined process on the work which are processed by the machine tool;
a robot control unit which controls the robot;
wherein the numerical controller is configured to obtain current position coordinates of the machining table, and calculates prefetched position coordinates of the machining table at a prefetching time by prefetching the machining program and carrying out an acceleration and deceleration interpolation while the machining table is moving, and which sends, to the robot control unit, the current position coordinates, the prefetched position coordinates, and information of times which respectively correspond to the current position coordinates and the prefetched position coordinates; and
wherein the robot control unit createstracking data for making a distal end portion of the robot follow movement of the machining table that moves from the current position coordinates to the prefetched position coordinates of the prefetching time by using the current position coordinates, the prefetched position coordinates calculated by the numerical controller, and the information of the times, which the robot control unit receives from the numerical controller, and the robot control unit controls the robot so that the robot follows the movement of the machining table by using the tracking data.

US Pat. No. 10,607,337

OBJECT INSPECTION SYSTEM AND OBJECT INSPECTION METHOD

FANUC CORPORATION, Yaman...

1. An object inspection system comprising:an imaging section configured to image a first object and a second object which have a common outer shape;
a movement machine configured to move the first object or the second object and the imaging section relative to each other;
a positional data acquisition section configured to acquire first positional data of the movement machine when the movement machine disposes the first object and the imaging section at a first relative position, and acquire second positional data of the movement machine when the movement machine disposes the second object and the imaging section at a second relative position;
an image data acquisition section configured to acquire a first image of the first object imaged by the imaging section at the first relative position, and acquire a second image of the second object imaged by the imaging section at the second relative position; and
an image registering section configured to register the first image and the second image with each other in an image coordinate system of the imaging section, using the first positional data, the second positional data, and a known positional relation between the image coordinate system and a movement machine coordinate system of the movement machine,
wherein the object inspection system is configured to inspect whether or not there is a visually recognizable error in the second object with respect to the first object, based on the first image and the second image that are registered with each other.

US Pat. No. 10,603,797

MACHINE LEARNING DEVICE, ROBOT SYSTEM, AND MACHINE LEARNING METHOD FOR LEARNING MOTION OF ROBOT ENGAGED IN TASK PERFORMED BY HUMAN AND ROBOT IN COOPERATE WITH EACH OTHER

FANUC CORPORATION, Yaman...

1. A robot system, comprising:a robot configured to perform a task in cooperation with a human;
a robot control unit controlling a motion of the robot;
a machine learning device for learning the motion of the robot engaged in the task performed by the human and the robot in cooperation with each other, the machine learning device comprising:
a state observation unit configured to observe a state variable indicating a state of the robot when the human and the robot cooperate with each other and perform the task;
a reward calculation unit configured to calculate a reward based
(1) on control data and the state variable for controlling the robot, and
(2) on a reaction of the human to the robot in response to the motion of the robot when the task is performed by the human and the robot cooperating with each other; and
a value function update unit configured to update an action value function for controlling the motion of the robot, based on the reward and the state variable, wherein the machine learning device is configured to learn the motion of the robot by analyzing a distribution of feature points or workpieces after the human and the robot have cooperated with each other and performed the task; and
a task intention recognition unit configured to receive outputs of at least one of a camera, a force sensor, a tactile sensor, a microphone, or an input device, and recognize an intention regarding the task,
wherein the state variable inputted to the state observation unit of the machine learning device is an output of the task intention recognition unit,
wherein the task intention recognition unit is configured to
convert a positive reward based on the reaction of the human into a state variable set for the positive reward and output the state variable to the state observation unit, and
convert a negative reward based on the reaction of the human into a state variable set for the negative reward and output the state variable to the state observation unit, and
wherein the reaction of the human is received by at least one of the camera, the force sensor, the tactile sensor, the microphone, or the input device, during a time when the task is being performed by the human and the robot cooperating with each other.

US Pat. No. 10,591,888

CONTROL SYSTEM FOR DISTRIBUTING DATA

Fanuc Corporation, Yaman...

1. A control system that distributes information from a control device to a reception device, the control system comprising:a read request transmission unit configured to transmit a read request to the control device to read the information from the control device;
an information generation unit configured to generate the information from the control device in response to the read request;
an information transmission unit configured to transmit the generated information to the reception device; and
a distribution cycle computation unit configured to compute a distribution cycle based on a generation interval of the read request, the information transmission unit being configured to transmit the information in accordance with the distribution cycle computed by the distribution cycle computation unit.

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. 10,543,575

MACHINE TOOL AND AXIAL MOVEMENT CONTROL METHOD

FANUC CORPORATION, Yaman...

1. A machine tool configured to perform machining on a workpiece using a tool, comprising:a motor configured to cause axial movement of the tool or the workpiece;
an imaging device configured to capture an image of the tool or the workpiece at a specified imaging magnification;
a display unit configured to display the image captured by the imaging device;
a command position calculating unit configured to, in a case that the imaging magnification is changed, calculate a movement command position of the tool or the workpiece based on the imaging magnification before and after having been changed, so as to maintain a relative positional relationship between a specified point of the tool or the workpiece in the image, and an imaging center position in the image before and after the change in the imaging magnification; and
a motor control unit configured to control the motor in a manner so that the tool or the workpiece is axially moved based on the movement command position.

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. 10,437,227

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. 10,423,145

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. 10,408,878

CONTROLLER OF ROTARY SWITCH

FANUC CORPORATION, Yaman...

1. A controller for a rotary switch, the controller configured to (i) receive, via a contact receiver, signals from a plurality of fixed contacts of the rotary switch that is configured to rotate a movable contact to connect the movable contact to any of the plurality of fixed contacts, and (ii) output a command based on an output code of the rotary switch formed of the received signals, the controller comprising:a failure detector configured to monitor a transition of the output code received from the contact receiver, and determine that a failure has occurred in the rotary switch in response to the failure detector detecting the transition that does not match a transition pattern of the output code of a case where the rotary switch operates normally;
a timer configured to measure a time during which a voltage of an output signal of the contact receiver is in a predetermined voltage range;
a failure portent detector configured to output a signal indicating a portent of the failure when a time value measured by the timer reaches a predetermined time; and
a chattering removal circuit configured to
remove a chattering from the output code of the rotary switch by neglecting the output code that continues for a time period shorter than a maximum value of a chattering time of the rotary switch, and
output the output code having the chattering removed for the failure detector to monitor the transition of the output code,
wherein the failure detector is configured to
monitor the transition of the output code from which the chattering has been removed, and
determine that the failure has occurred when the failure detector detects the transition that does not match the transition pattern of the output code from which the chattering has been removed of the case where the rotary switch operates normally, and
the predetermined voltage range is between
a first voltage higher than a first threshold voltage for a failure detection and lower than an off-voltage with which each of the plurality of fixed contacts is in OFF state, and
a second voltage lower than a second threshold voltage, lower than the first threshold voltage, for the failure detection and higher than an on-voltage with which said each of the plurality of fixed contacts is in ON state.

US Pat. No. 10,404,327

ROBOT CONTROL SYSTEM PROVIDED WITH FUNCTIONS OF EMITTING WARNINGS AND STOPPING MACHINE BASED ON DISTANCE OF MACHINE FROM PORTABLE WIRELESS OPERATION PANEL

FANUC CORPORATION, Yaman...

1. A robot control system, comprising:a control device configured to control a machine;
a portable wireless operation panel configured to perform wireless communication with the control device to control the machine;
a distance measuring unit configured to measure a distance between the machine and the portable wireless operation panel;
a warning generator-configured to emit a warning to an operator or stop the machine in response to the distance between the machine and the portable wireless operation panel exceeding a predetermined threshold value; and
a three-dimensional camera configured to take an image of the portable wireless operation panel or the machine or both,
wherein the distance measuring unit is configured to use the distance measured by the three-dimensional camera between the three-dimensional camera and, the portable wireless operation panel, and/or the machine to measure the distance between the machine and the portable wireless operation panel, and
wherein the three-dimensional camera is provided for the portable wireless operation panel to take an image of the machine and thereby measure the distance between the machine and the portable wireless operation panel.

US Pat. No. 10,401,826

NUMERICAL CONTROLLER FACILITATING MEASURE TO BE TAKEN AFTER DETECTION OF INTERFERENCE

Fanuc Corporation, Yaman...

1. A numerical controller which controls driving of at least one axis installed in a machine based on an instruction of a program such that when predictive detection of occurrence of interference between a movable part moved by the driving of the axis and another object is made, the numerical controller decelerates and stops movement the movable part, the numerical controller comprising:an attribute change processing part which changes a display attribute of information display relating to the axis based on an operation state of the axis which is being driven when predictive detection of occurrence of interference is made; and
an axis information display processing part which displays information on the axis according to the display attribute that is changed by the attribute change processing part,
wherein the display attribute indicates a moving direction of the machine irrespective of the information on the axis.

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. 10,252,383

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. 10,252,418

LOAD PARAMETER SETTING METHOD AND LOAD PARAMETER SETTING DEVICE

FANUC CORPORATION, Yaman...

1. A load parameter setting device for setting a load parameter of a workpiece gripped by a robot including a plurality of motors that drive a plurality of motion axes respectively, the load parameter setting device comprising:a storage unit that stores a plurality of load parameters corresponding to a plurality of types of workpieces to be gripped by the robot respectively;
an index calculation unit that:
produces a plurality of theoretical torques by calculating, for each of the plurality of load parameters stored in the storage unit, a theoretical torque output by at least one of the robot motors based on a current position and a current orientation of the robot detected by motor position sensors;
calculates an actual torque output by the at least one of the robot motors based on feedback information including electrical currents supplied to the robot motors by motor power circuitry; and
a selection unit that:
compares the theoretical torque for each load parameter to the actual torque, and
selects one of the load parameters of the workpiece from among the plurality of load parameters stored in the storage unit, the one of the load parameters is selected based on the theoretical torque among the plurality of theoretical torques indicated by the comparison to be closest to the actual torque.

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. 10,247,549

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. 10,232,468

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. 10,228,686

ROBOT PROGRAMMING DEVICE FOR TEACHING ROBOT PROGRAM

FANUC CORPORATION, Yaman...

1. A robot programming device for offline teaching a motion program in which a workpiece is processed by a tool mounted on a robot, the robot programming device comprising:a three-dimensional model locating part configured to locate three-dimensional models of the robot having the tool mounted thereon and the workpiece in a virtual space;
a shape feature extracting part configured to extract shape features from the three-dimensional model of the workpiece, the shape features including at least one of (i) an outline or (ii) a surface of a basic shape including a circle and a polygon, or a combined shape constituted by combining a plurality of the basic shapes;
a first reference position setting part configured to automatically set shape feature reference positions of the shape features;
a second reference position setting part configured to automatically set a robot reference position of the robot;
a movement order determining part configured to determine a movement order of the robot in which the robot is moved between the shape features, based on the shape feature reference positions and the robot reference position; and
a motion program generating part configured to generate the motion program of the robot so that the robot moves the tool along the shape features and so that the robot is moved between the shape features according to the movement order.

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. 10,175,676

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. 10,171,013

SERVOMOTOR CONTROL DEVICE

FANUC CORPORATION, Yaman...

1. A servomotor control device comprising:a position control loop for feedback controlling a position of a servomotor;
a speed control loop for feedback controlling speed of the servomotor;
a position command creation part that creates a position command value for the servomotor;
a stop determination part that determines whether or not the servomotor is stopped;
a static-friction correction amount calculation part that calculates a static-friction correction amount of the servomotor; and
a static-friction correction amount modification part that performs a predetermined modification on the static-friction correction amount calculated by the static-friction correction amount calculation part, in a case of the servomotor stopping, and then starting to operate in the same direction as prior to stopping,
wherein the static-friction correction amount modification part performs the predetermined modification based on the command acceleration of the servomotor and a second-order derivative of the position command value created by the position command creation part.

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.

US Pat. No. 10,160,119

ROBOT SYSTEM

Fanuc Corporation, Yaman...

1. A robot system comprising:a robot having a hand attaching/detaching mechanism at a distal end of a wrist thereof;
a controller for controlling the robot; and
a hand stand on which several types of hands to be voluntarily attached to the hand attaching/detaching mechanism of the robot are put and which includes a ground circuit that electrically grounds the hands put on the hand stand to the ground,
wherein a first electrode to which detection voltage is applied is fixed to the distal end of the wrist of the robot,
wherein each of the hands has a reference position to be a reference when the hand is attached to the hand attaching/detaching mechanism, and is provided with a second electrode so that distance from the reference position to the second electrode differs for each hand,
wherein the robot system further comprises a current detecting unit for detecting electric current flowing into the ground circuit of the hand stand,
wherein the controller includes: a hand selecting unit for selecting one of the hands; a storage unit that stores the types of the hands and positions of the second electrodes so that the types are associated with the positions, and a hand identifying unit that makes the robot operate to move the first electrode toward each one of the hands put on the hand stand and identifies whether or not the hand is a selected hand selected by the hand selecting unit on the basis of whether or not the electric current is detected by the current detecting unit when the first electrode has been moved to a position corresponding to the position of the second electrode of the selected hand.

US Pat. No. 10,124,457

MACHINE TOOL HAVING INSPECTION FUNCTION FOR DETERIORATED STATE OF SPINDLE

FANUC CORPORATION, Yaman...

1. A machine tool having an inspection function for a deteriorated state of a spindle, the machine tool comprising:a spindle configured to hold a tool for machining work, the spindle being rotatably supported by a bearing,
a motor configured to drive the spindle,
an encoder configured to measure a rotation angle position of the spindle or the motor, and
a processor configured to
calculate rotating speed of the spindle or the motor from an output of the encoder,
rotate the spindle or the motor at predetermined speed and thereafter interrupt power of the motor to rotate the spindle with inertia,
measure, after the power of the motor is interrupted, an inertial rotation time until the calculated rotating speed reaches set target speed,
set the measured inertial rotation time or a value calculated based on the measured inertial rotation time as a value for comparison with a threshold set in advance, and determine whether the value for comparison is equal to or smaller than the threshold; and
output an alarm when the value for comparison is larger than the threshold.

US Pat. No. 10,120,365

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

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,122,316

MOTOR DRIVE APPARATUS HAVING FUNCTION FOR DETERMINING ABNORMALITY OF MAIN POWER SUPPLY VOLTAGE

FANUC CORPORATION, Yaman...

1. A motor drive apparatus in which a main power supply used for motor drive is supplied via a magnetic contactor, the motor drive apparatus comprising:a monitoring unit electrically connected to no more than a single power supply,
the single power supply consisting of a single three-phase AC power supply,
the monitoring unit comprising three leads, each lead being coupled to a corresponding phase of the three-phase AC power supply on the AC power supply input side, each of the three leads being configured to measure the phase voltage of a corresponding phase of the three-phase AC power supply such that every phase of the three-phase AC power supply is monitored by the monitoring unit at the three-phase AC power supply of the magnetic contactor in a state in which contacts of the magnetic contactor are opened;
a determination unit in electrical communication with the monitoring unit, the determination unit determining whether the main power supply voltage monitored by the monitoring unit is normal; and
a magnetic contactor control unit in electrical communication with the determination unit and the contacts of the magnetic contactor, the magnetic contactor control unit outputting a command that controls opening and closing of the contacts of the magnetic contactor based on whether the main power supply voltage is abnormal as determined by the determination unit, wherein when it is determined by the determination unit that the main power supply voltage is abnormal, the magnetic contactor control unit maintains an output of an open command that controls such that the contacts of the magnetic contactor are opened.

US Pat. No. 10,099,415

INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

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

US Pat. No. 10,095,222

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. 10,088,815

WIRE ELECTRIC DISCHARGE MACHINE PERFORMING MACHINING WHILE ADJUSTING MACHINING CONDITION

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine which controls a machining power source and a machining fluid in accordance with a machining condition set by a machining condition setting unit, applies a voltage between a wire electrode stretched between upper and lower nozzles and a workpiece so as to generate electric discharge, and relatively moves the wire electrode and the workpiece so as to machine the workpiece, the wire electric discharge machine comprising:an environment information storage unit which stores environment information representing an environment related to the machining; and
a machining condition adjustment device which performs machine learning of an adjustment object parameter of the machining condition and an adjustment amount of the adjustment object parameter, wherein
the machining condition adjustment device includes
a state observation unit which acquires state data, the state data being information representing a machining state in the machining,
a reward condition storage unit which stores a reward condition,
a reward calculation unit which calculates a reward based on the state data and the reward condition,
a machining condition adjustment learning unit which performs machine learning the machining condition adjustment, and
a machining condition adjustment unit which determines an object parameter of the machining condition adjustment and an adjustment amount thereof as an adjustment action based on a machine learning result of the machining condition adjustment obtained by the machining condition adjustment learning unit, the state data, and the environment information and adjusts a machining condition set by the machining condition setting unit based on the adjustment action so as to output an adjusted machining condition,
the wire electric discharge machine controls the machining power source in accordance with the outputted adjusted machining condition to perform a machining action, and
the machining condition adjustment learning unit performs machine learning for the machining condition adjustment based on
the adjustment action,
the state data acquired by the state observation unit after the machining action in accordance with the outputted adjusted machining condition, and
the reward calculated by the reward calculation unit.

US Pat. No. 10,065,217

SCRAPING DEVICE AND SCRAPING METHOD USING ROBOT

FANUC CORPORATION, Yaman...

1. A scraping device for carrying out a scraping process of a metallic surface, the scraping device comprising:a scraping tool having a cutting edge vibrated by a vibrator;
a robot configured to grip the scraping tool;
a camera attached to the robot, configured to capture an image of the metallic surface;
a force sensor, provided to the robot, configured to detect a reactive force applied to the scraping tool during the scraping process;
a screen configured to display a virtual model of an object to be processed having the metallic surface; and
a processor configured to:
generate a measuring motion program for measuring the metallic surface of the object;
process the image of the metallic surface obtained by the camera to detect a position and orientation of the metallic surface and a position of a concavo-convex portion on the metallic surface; and
execute the scraping process by controlling the robot to position the scraping tool to come into contact with the detected concavo-convex portion on the metallic surface, and controlling the robot to vibrate the scraping tool until the reactive force detected by the force sensor is below a threshold.

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. 10,046,407

WIRE ELECTRIC DISCHARGE MACHINE FOR TAPER-MACHINING TILTED WORKPIECE

FANUC CORPORATION, Yaman...

1. A wire electric discharge machine which is provided with a table having a flat surface and a coordinate system based on two orthogonal axes and adapted to carry a workpiece thereon and which performs electric discharge machining while relatively moving a wire electrode and the workpiece according to a machining program for taper machining, the wire electric discharge machine comprising:a mounting unit configured to mount the workpiece at an angle to the flat surface;
a tilt angle setting unit configured to set a tilt angle of the workpiece, mounted at an angle to the flat surface, with respect to the flat surface;
a coordinate system transformation unit configured to transform the coordinate system by tilting the coordinate system based on the tilt angle; and
a machining command value correction unit configured to correct a machining command value commanded by the machining program, based on the transformed coordinate system.

US Pat. No. 10,025,295

MOTOR POWER INTERRUPTING DEVICE OF INJECTION MOLDING MACHINE

FANUC CORPORATION, Yaman...

1. A motor power interrupting device of an injection molding machine, the injection molding machine comprising:n servo motors configured to actuate movable portions, wherein n?2;
m servo amplifiers configured to drive the n servo motors, wherein m?n; and
a controller configured to control the m servo amplifiers, wherein the controller is configured to interrupt power of the servo motors by requesting power interruption to the servo amplifiers,
wherein the controller comprises:
a memory which stores used/unused information indicating whether each servo amplifier among a maximum number of servo amplifiers controllable by the controller is used or unused; and
a processor programmed to
output a common interruption request signal requesting power interruption to a plurality of servo amplifiers among the m servo amplifiers,
receive, from the plurality of servo amplifiers that have received the common interruption request signal, a power interruption confirmation signal confirming that the power of the servo amplifiers corresponding to the maximum number of servo amplifiers controllable by the controller is interrupted, and
determine, on the basis of (a) the interruption request signal, (b) the interruption confirmation signal and (c) the used/unused information, whether or not the power interruption is normally operated,
wherein
the processor is programmed to determine that a first abnormality exists when
the used/unused information corresponding to a servo amplifier among the maximum number of servo amplifiers controllable by the controller indicates that said servo amplifier is used, and
the interruption request signal sent to said servo amplifier is ON, and
the interruption confirmation signal returned from said servo amplifier in response to the interruption request signal is OFF.

US Pat. No. 10,022,876

JOINT STRUCTURE FOR ROBOT

FANUC CORPORATION, Yaman...

1. A joint structure of a robot, comprising:a hollow first arm;
a second arm rotatably attached to the first arm;
a power transmission mechanism provided outside of the first arm so as to be adjacent to the first arm, the power transmission mechanism including an inner space in which a lubricant is filled;
a booster section configured to increase a pressure in an interior of the first arm to be higher than an outside pressure; and
a one-way communication section configured to fluidly connect the interior of the first arm to the inner space so as to be in fluid communication with each other,
the one-way communication section having a one-way communication valve that allows a gas in the interior of the first arm to flow into the inner space, while the one-way communication section prevents the lubricant in the inner space from flowing out to the interior of the first arm.

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. 10,016,890

ROBOT TRAVELING SYSTEM PROVIDED WITH CABLE TRACK, ROBOT SYSTEM, AND MACHINING SYSTEM

FANUC CORPORATION, Yaman...

1. A robot traveling system comprising:a rail;
a carriage movable along the rail and supporting a robot;
a drive mechanism driving the carriage; and
a cable track connected to the carriage and housing a cable having a connecting end connected to the robot, the cable track being laid along the rail at a lower side of the rail,
wherein the drive mechanism includes a belt for moving the carriage, and wherein the cable track is connected to the carriage at a location beneath the belt.

US Pat. No. 10,018,992

NUMERICAL CONTROL DEVICE

FANUC Corporation, Minam...

1. A numerical control device configured to stop a machining operation without damage to a machine before a designated time arrives, when the designated time to stop the machining operation is designated, during the machining operation performed by controlling the machine based on a machining program, the numerical control device including a processor configured to execute the method comprising:receiving the designated time;
predicting a machining time of the machining program based on an order of execute blocks of the machining program and an execution time for acceleration and deceleration by a drive unit of the machine of each block of the machining program;
predicting an executing block of the machining program at the designated time, the executing block of the machining program predicted to be executing at the designated time, based on the predicted machining time of each block of the machining program;
designating a stop block for the machining operation to be stopped without damage to the machine before the designated time, by searching from the executing block at the designated time in reverse order of the order of execute blocks of the machining program; and
controlling stopping of the machining operation at the designated stop block.

US Pat. No. 10,005,191

HOLDING APPARATUS FOR ROBOT

Fanuc Corporation, Yaman...

1. A holding apparatus for a robot comprising:two or more finger sections disposed opposite to each other so as to face toward a holding center;
a work pressing section on which a work abuts when the work is inserted between the finger sections; and
a driving unit that moves distal ends of the two or more finger sections toward the holding center;
wherein each finger section of the two or more finger sections includes a finger section main body and a reinforcing member, each finger section main body comprising at least two elastic bodies, each reinforcing member being disposed along an outer surface of a respective finger section main body and joined to a distal end of the respective finger section main body, each reinforcing member having a higher rigidity than each respective finger section main body; and
wherein each reinforcing member is swingably provided around an axis perpendicular to a longitudinal direction of each finger section main body and parallel to a surface of each finger section main body.

US Pat. No. 9,985,409

LASER DEVICE CAPABLE OF USING SMALL-SIZED CHILLER

FANUC CORPORATION, Yaman...

1. A laser device, for use with a chiller that is a circulation-type coolant supply device, the laser device cooling at least heat emanating from a laser oscillator using the chiller, the laser device comprising:at least one laser oscillator;
a power supply unit that supplies electric power for laser oscillation to the laser oscillator;
an output light detection part that detects laser beam output from the laser oscillator;
a laser optical system for outputting a laser beam from the laser device;
at least one temperature detection part that detects temperature of coolant or a component for which temperature rises by heat generation from at least the laser oscillator;
an input unit;
a display unit;
a recording part that records characteristics of the laser device including optical output characteristics of the laser oscillator, and characteristics of the chiller;
a calculation part that calculates a state of the laser device; and
a control unit that controls each part of the laser device,
wherein the calculation part calculates, according to a command from the control unit, the state of the laser device based on (i) cooling capacity of the chiller and tank volume of the chiller, (ii) at least a heat generation amount from the laser oscillator, and (iii) heat capacity of a cooled part of the laser device to be cooled by the coolant, which are recorded in the recording part, relative to laser machining conditions including (a) at least one set of output command data among optical output command data to the laser oscillator and (b) power output command data for the laser oscillator to the power supply unit, which were inputted through the input unit or set,
wherein the control unit predicts whether the temperature of the coolant or the component will exceed predetermined respective allowed temperatures, in a case of assuming that machining has been performed at the laser machining conditions that have been inputted or set, by referencing the state of the laser device calculated by the calculation part, and
wherein the control unit has at least one function, among (i) function of displaying on the display unit a warning of excessive temperature rise and (ii) a function of recording a warning of excessive temperature rise in the recording part, prior to starting laser machining, in a case that the control unit has predicted the temperature of the coolant or the component exceed the predetermined respective allowed temperatures.

US Pat. No. 9,969,085

ROBOT CONTROL DEVICE AND METHOD OF CONTROLLING SAME

FANUC CORPORATION, Yaman...

1. A robot control device comprising:a speed calculator that calculates a speed of at least one target point of a robot operating according to an operation program, on the basis of a speed command value written in the operation program;
a limitation direction specifier that specifies a direction in which the speed of the at least one target point is limited;
a speed limit component calculator that calculates, out of the speed of the at least one target point calculated by the speed calculator, a speed component in the direction specified by the limitation direction specifier; and
a speed limiter that limits, only upon motion exceeding a prespecified speed limit, a motion speed of the robot such that the speed component calculated by the speed limit component calculator is less than or equal to the prespecified speed limit.

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. 9,937,645

INJECTION MOLDING MACHINE HAVING TIE-BAR BALANCE ADJUSTMENT FUNCTION

FANUC CORPORATION, Yaman...

1. An injection molding machine, comprising:a rear platen;
a stationary platen; and
a die-height adjustment system, comprising:
a plurality of tie-bars;
a plurality of die-height adjusting nuts, wherein
an end portion of each of the tie-bars has an external thread threadedly engaged with a corresponding one of the die-height adjusting nuts,
the die-height adjusting nuts are rotatably attached to four corners of the rear platen, and
the die-height adjusting nuts are also axially immovably attached to the four corners of the rear platen; and
a die-height controller programmed to adjust a clearance between the stationary platen and the rear platen by rotating the die-height adjusting nuts to change effective lengths of tie-bars, wherein
at least two of the die-height adjusting nuts are rotatable independently of each other under control of the die-height controller,
the die-height controller is programmed to independently change the effective lengths of the tie-bars,
the die-height controller is programmed to rotate the die-height adjusting nuts
to a position where a movable platen surface and a stationary platen surface maintain a parallelism, before mold closing and after release of mold clamping, and
to a position where a clamping force produced by each of the tie-bars during mold clamping is in a balance, between said mold closing and said release of mold clamping.
the injection molding machine further comprising:
a storage unit in which positions of the die-height adjusting nuts at which the movable and stationary platen surfaces maintain the parallelism and positions of the die-height adjusting nuts at which the clamping force produced by each of the tie-bars during mold clamping is in the balance are stored in advance, wherein
the die-height controller is programmed to move the die-height adjusting nuts to the positions stored in the storage unit.

US Pat. No. 9,910,421

CONTROL DEVICE FOR MACHINE TOOL HAVING A PLURALITY OF AXES

FANUC CORPORATION, Yaman...

1. A control device for a machine tool for cutting an outer peripheral surface or an inner peripheral surface of a rotationally-symmetric
workpiece by a tool, comprising:
a main motor for relatively rotating the workpiece and the tool around the axis of rotation of the workpiece;
at least one auxiliary motor for relatively feeding the tool and the workpiece along a bus line of the outer peripheral surface
or the inner peripheral surface of the workpiece;

a machining command making unit for making a machining command for the at least one auxiliary motor based on rotation speeds
of the workpiece and the tool and feed rates of the tool and the workpiece;

an oscillation command making unit for making an oscillation command for the at least one auxiliary motor, based on the rotation
speeds and the feed rates, so that the oscillation command is asynchronous with the rotation speed of the workpiece around
the axis of rotation, and so that the tool intermittently cuts the workpiece;

an addition unit for adding the oscillation command to the machining command; and
a control unit for controlling the at least one auxiliary motor based on the machining command to which the oscillation command
has been added, wherein

the control unit performs learning control based on the rotation speeds and an oscillation frequency of the oscillation command.

US Pat. No. 9,903,698

OBJECT POSTURE CALCULATION SYSTEM

FANUC CORPORATION, Yaman...

1. An object posture calculation system which calculates a relative posture between a first object and a second object or
calculates a relative position and posture between the first object and the second object, the system comprising:
the first object and the second object comprising a combination of an object comprising a projecting portion and an object
comprising a recessed portion, wherein the projecting portion and the recessed portion are configured to come into contact
with each other at three contact points, the three contact points in the recessed portion are located on an edge defining
a hole of the recessed portion, and upon defining, as a projecting portion central axis, an axis which is set for the projecting
portion and is not perpendicular to a plane comprising the three contact points, a minimum distance between each of the contact
points and the projecting portion central axis takes a constant value or a minimum distance between each of the contact points
and the projecting portion central axis is determined on the basis of a distance between a point of intersection of a perpendicular
dropped from each of the contact points to the projecting portion central axis with the projecting portion central axis, and
a point other than the point of intersection on the projecting portion central axis;

at least one driving unit which moves the first object and the second object relative to each other and holds and drives at
least one of the first object and the second object;

a force measuring unit which measures a force acting between the first object and the second object; and
an object posture calculation unit which uses the driving unit to move the first object and the second object relative to
each other to bring the first object and the second object into contact with each other, and calculates a relative posture
between the first object and the second object or calculates a relative position and posture between the first object and
the second object on the basis of the minimum distance and the force measured by the force measuring unit when the first object
and the second object come into contact with each other at the three contact points.

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. 9,874,866

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. 9,869,992

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. 9,856,095

SYSTEM CAPABLE OF IMMEDIATELY PERFORMING OPERATION ON WORKPIECE

FANUC CORPORATION, Yaman...

1. A system, comprising:
a device configured to perform work on a workpiece;
a robot configured to convey the workpiece to an area where the device performs the work;
a cover that covers the device and the robot;
a partition cover that partitions a space covered by the cover into a first space where the robot is installed and a second
space where the device is installed;

a door provided in the partition cover;
a first controller configured to control an operation of the door to open the door when a temperature inside the first space
falls within a predetermined value range;

a first air conditioner configured to control the temperature inside the first space to a constant temperature, wherein
the first air conditioner includes a vent hole configured to blow temperature-controlled air into the first space,
the first air conditioner further includes a duct extending into the first space,
the duct penetrates a wall of the first space, and
the vent hole is provided at an end of the duct in the first space; and
a workpiece conveyor provided within the first space and in front of the vent hole of the first air conditioner,
wherein,
the workpiece is one among a plurality of workpieces conveyed by the workpiece conveyor to be sequentially machined by the
work performed by the device,

a second controller to control the robot to rearrange the plurality of workpieces on the workpiece conveyor in a manner that,
among the plurality of workpieces on the conveyor, a workpiece to be machined earliest is located closest to the vent hole,
and

the first air conditioner is configured to blow, through the vent hole, the temperature-controlled air directly against the
workpiece arranged by the robot and disposed in the first space closest to the vent hole.

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. 9,829,874

NUMERICAL CONTROL DEVICE

FANUC CORPORATION, Minam...

1. A numerical control device including: a Central Processing Unit (CPU) for numerical control configured to perform numerical
control; a CPU for Human Machine Interface (HMI) configured to execute an operating system and an application software for
conducting HMI function, and output command for displaying graphic data;
a display circuit configured to perform display on a display unit based on display command from the CPU for HMI; and
a restarting circuit configured to restart the CPU for HMI using the CPU for numerical control;
the CPU for numerical control configured to monitor operation condition of display task by the CPU for HMI;
the CPU for numerical control configured to determine an abnormality of the operation condition of the display task by the
CPU for HMI,

the numerical control device further comprising: a restarter configured to restart the CPU for HMI according to a command
issued to the restarting circuit based on a determination result of the abnormality has occurred by the CPU for numerical
control; and

a motion flag implemented in interface region, the interface region being accessible from both the CPU for numerical control
and the CPU for HMI, wherein

the CPU for HMI is configured to set the motion flag at each motion of the display task, and
the CPU for numerical control is configured to periodically monitor state of the motion flag, clear the motion flag when the
motion flag is set, and determine that the display task by the CPU for HMI has stopped when the motion flag is not set for
predetermined time.

US Pat. No. 9,825,501

ROTOR WITH END RING AND ELECTRIC MOTOR

FANUC CORPORATION, Yaman...

1. A rotor of an electric motor, comprising:
a shaft extending along an axis of rotation of the rotor, the shaft including:
a first outer circumference;
a second outer circumference adjoining the first outer circumference in a first direction of the axis; and
a groove formed between the first outer circumference and the second outer circumference so as to divide the first outer circumference
and the second outer circumference in the axis-direction;

a rotor core fixed radially outside of the first outer circumference, and having a first end face in the first direction and
a second end face opposite the first end face;

a plurality of conductors arranged at the rotor core, each of the plurality of conductors extending from the first end face
to the second end face; and

an end ring arranged adjacent to the first end face, the end ring short-circuiting the plurality of conductors with each other;
and

a reinforcing member including:
an inner ring part fitted over the second outer circumference of the shaft; and
an outer ring part connected to the inner ring part and fitted over an outer circumference of the end ring,
wherein the inner ring part has a first inner circumference contacting the second outer circumference of the shaft the shaft,
the outer ring part has a second inner circumference contacting the outer circumference of the end ring, and
the second outer circumference of the shaft, the outer circumference of the end ring, the first inner circumference of the
inner ring part, and the second inner circumference of the outer ring part are concentric with each other about the axis.

US Pat. No. 9,821,467

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. 9,819,139

GAS LASER OSCILLATOR HAVING AUXILIARY ELECTRODES

FANUC CORPORATION, Yaman...

2. A gas laser oscillator comprising:
a plurality of laser gas circulation paths including a first path and a second path;
a first discharge tube provided in the first path;
a second discharge tube provided in the second path;
a laser power supply for supplying a first high frequency power to the first discharge tube and supplying a second high frequency
power having a different phase from the first high frequency power to the second discharge tube; and

a matching unit including a first coil and a first capacitor to be used for impedance matching with a discharge load in the
first path, and a second coil and a second capacitor to be used for impedance matching with a discharge load in the second
path,

wherein each value of the first coil, the first capacitor, the second coil, and the second capacitor is determined such that
the difference between the peak value of a voltage applied to the first discharge tube and the peak value of a voltage applied
to the second discharge tube falls within a predetermined range, and

wherein an auxiliary electrode is provided in the vicinity of only one of the first discharge tube and the second discharge
tube to which the voltage having the higher peak value is applied.

US Pat. No. 9,815,125

MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A machine tool comprising:
a linear movement axis for moving a main spindle;
at least two linear movement axes for moving a table;
a rotation table including at least one rotation movement axis, the rotation table being placed on the table; and
a numerical controller for controlling the main spindle, the linear movement axes, and the rotation movement axis according
to a machining program in which tool orientation is fixed, and for machining a workpiece fixed to the rotation table,

wherein the numerical controller includes
a tool shape information storage section for storing tool shape information to be used,
a reference machining orientation tool diameter storage section for storing a reference machining orientation tool diameter
of a tool to be used in execution of the machining program in which tool orientation is fixed,

a tool orientation change waveform storage section for storing a tool orientation change waveform pattern and the number of
repetitions for periodically changing a tool orientation of the tool to be used in execution of the machining program,

a machining direction vector storage section for storing a machining direction vector instructed by the machining program,
a movement axis instruction storage section for reading the machining program and storing movement axis instructions for the
linear movement axes and the rotation movement axis,

a total machining height calculation section for calculating a total machining height for changing the tool orientation from
the machining direction vector and the movement axis instruction,

a movement axis instruction value calculation section for calculating, by a tool center point control function, a movement
axis instruction value for each of the linear movement axes and the rotation movement axis, which are movement axes, based
on the movement axis instruction,

a movement axis instruction value addition amount calculation section for calculating an addition amount to each movement
axis instruction value for changing the tool orientation, based on the tool shape information, the reference machining orientation
tool diameter, the tool orientation change waveform, and the total machining height,

a movement axis instruction value adding section for adding the addition amount calculated by the movement axis instruction
value addition amount calculation section to each movement axis instruction value calculated by the movement axis instruction
value calculation section, and

a control section for performing operation according to each movement axis instruction value to which the addition amount
is added by the movement axis instruction value adding section.

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. 9,806,878

CONTROL SYSTEM

FANUC CORPORATION, Minam...

1. A control system comprising:
a controller having a serial communication function; and
a plurality of input/output units having a re-clock function, the controller and the input/output units being daisy-chained,
wherein each input/output unit includes:

a phase detection circuit detecting a phase of a rising or falling edge of serial data received through serial communication
and outputting a phase difference between the phase of the rising or falling edge of the serial data and a phase of a reference
clock as phase difference data;

a phase determination circuit determining whether the phase difference data output from the phase detection circuit exceeds
a predetermined range and outputting a determination signal when determined that the phase difference data exceeds the predetermined
range; and

a first recording memory unit recording a frequency of the determination signal output by the phase determination circuit,
and

wherein the controller is configured to:
acquire the frequency of the determination signal of each of the input/output units recorded by the first recording memory
unit of the respective input/output unit by the serial communication function;

specify a noise mixture route based on the acquired frequency of the determination signal of each of the input/output units;
and

notify the specified noise mixture route.

US Pat. No. 9,798,316

MOTION CONTROLLER CAPABLE OF SPECIFYING PROGRAM EXECUTION PACE

FANUC CORPORATION, Yaman...

1. A motion controller that sequentially executes a preregistered program formed of a plurality of blocks,
the motion controller comprising:
a block execution time measuring section that actually measures an execution time of each of the blocks constituting the program;
a program execution time specifying section that specifies an execution time of the entire program;
a positioning time setting section that sets a time immediately after a pulse output for the block is completed until an in-position
state is established;

a calculation section that calculates a speed or an acceleration and deceleration time constant for each block which allows
the program to be executed in the program execution time specified by the program execution time specifying section, on the
basis of the execution time of each block actually measured by the block execution time measuring section, the program execution
time specified by the program execution time specifying section, and the time needed to establish the in-position state and
set by the positioning time setting section; and

an execution section that executes the program in use of the speed or the acceleration and deceleration time constant calculated
by the calculation section.

US Pat. No. 9,796,098

MECHANICAL STOPPER DEVICE HAVING ELASTICALLY DEFORMABLE BODY WITH SLIT, AND MULTI-JOINT ROBOT HAVING THE STOPPER DEVICE

FANUC CORPORATION, Yaman...

1. A mechanical stopper device for a multi-joint robot, the robot having a first arm and a second arm rotatably connected
to the first arm about a rotation axis, the mechanical stopper device being configured to limit a range of a rotation angle
of the second arm relative to the first arm by contacting a portion of the first arm with a portion of the second arm, the
mechanical stopper device comprising an elastic deformable body,
wherein
at least one of the portion of the first arm which contacts the second arm and the portion of the second arm which contacts
the first arm is the elastically deformable body,

the elastically deformable body is a hollow cylindrical member having a slit on an outer circumferential surface of the hollow
cylindrical member and along a longitudinal direction of the hollow cylindrical member,

the slit extends in a direction which intersects a contact direction in which the portion of the first arm contacts the portion
of the second arm,

the elastically deformable body has opposing portions separated by the slit, and the opposing portions are configured to directly
contact each other and slip relative to each other in the longitudinal direction of the hollow cylindrical member when the
elastic deformable body is deformed by an impact force of the at least one of the portion of the first arm which contacts
the second arm and the portion of the second arm which contacts the first arm, and

an angular position of the slit in a radial cross-section of the elastically deformable body is 70 to 110 degrees with respect
to the contact direction in which the portion of the first arm contacts the portion of the second arm upon application of
the impact force to the elastically deformable body.

US Pat. No. 9,787,224

MOTOR CONTROL APPARATUS EQUIPPED WITH PROTECTION OPERATION COMMAND UNIT

FANUC CORPORATION, Yaman...

1. A motor control apparatus comprising:
a rectifier configured to rectify AC power supplied from a three-phase AC input side to output DC power;
an inverter connected to a DC link on a DC output side of the rectifier and configured to convert power between DC power of
the DC link and AC power as drive power or regenerative power of a motor;

an AC voltage detection unit configured to detect an AC voltage value on the three-phase AC input side of the rectifier;
a voltage amplitude calculation unit configured to calculate a power source voltage amplitude value from the AC voltage value;
a power failure recovery detection unit configured to determine that the three-phase AC input side of the rectifier has transitioned
from the power recovery state to a power failure state when the power source voltage amplitude value becomes a value less
than or equal to a power failure detection reference voltage value from a value greater than the power failure detection reference
voltage value in a power recovery state, and to determine that the three-phase AC input side of the rectifier has transitioned
from the power failure state to the power recovery state when the power source voltage amplitude value becomes a value greater
than or equal to a power recovery detection reference voltage from a value less than the power recovery detection reference
voltage value in the power failure state;

a protection operation command unit configured to output a protection operation command to the inverter to output power for
the motor to perform a predetermined protection operation when a protection operation reference time has elapsed from a time
point at which the power failure recovery detection unit determined that the three-phase AC input side of the rectifier had
transitioned from the power recovery state to the power failure state;

a time measurement unit configured to measure an elapsed time from a time point at which the power failure recovery detection
unit determines that the three-phase AC input side of the rectifier has transitioned from the power failure state to the power
recovery state; and

a condition change unit configured to change at least one of the power failure detection reference voltage value and the protection
operation reference time in response to the elapsed time.

US Pat. No. 9,778,641

SERVOMOTOR CONTROL APPARATUS

FANUC CORPORATION, Yaman...

1. A servomotor control apparatus comprising:
one or more servomotors each for driving a movable portion of a machine;
an electromagnetic brake for maintaining the position of the machine;
a position detector for feeding back an actual position signal;
a servo amplifier for driving the servomotor;
a servo feed circuit for supplying electric power to the servo amplifier; and
a central processing unit for commanding and monitoring the servomotor, wherein
the servo feed circuit has an electromagnetic contactor for switching the supply of the electric power to the servo amplifier,
the central processing unit has a motor controller for generating a command position of the servomotor and issuing at least
one of a motor torque command to maintain the position based on the generated command position and a regenerative brake operation
command, an actual position monitor for periodically monitoring an actual position fed back from the position detector, and
a feed circuit controller for controlling the supply of the electric power to the servo amplifier, and

in a state in which the servo amplifier is powered off and the electromagnetic brake is operated to maintain the position,
when the actual position monitored by the actual position monitor is different from the actual position at the time of actuating
the electromagnetic brake by a predetermined value or more, the electromagnetic contactor is closed to supply the electric
power to the servo amplifier and the motor torque command is issued to maintain the position.

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. 9,768,660

PURGE SYSTEM CAPABLE OF CONTROLLING FLOW RATE OF AIR

FANUC CORPORATION, Yaman...

1. An air purges system comprising:
an electric motor having a housing, an output shaft rotatably supported inside the housing, and an air purge device provided
at an end portion of the housing to supply air to a space around an outer peripheral surface of the output shaft;

an information acquisition unit which acquires operation information of the electric motor; and
an air control unit which controls an amount of air supplied from the air purge device in response to the operation information
acquired by the information acquisition unit, wherein

the air control unit increases the amount of the air supplied from the air purge device when deceleration information corresponding
to a deceleration operation of the electric motor is acquired by the information acquisition unit.

US Pat. No. 9,724,801

DEBURRING DEVICE INCLUDING VISUAL SENSOR AND FORCE SENSOR

Fanuc Corporation, Yaman...

1. A deburring device comprising:
a deburring tool for removing burrs from an object;
a robot for moving at least one of the object and the deburring tool relative to each other;
a force sensor for detecting force acting on the deburring tool;
a burr portion shape data storing part for storing expected burr portion shape data which are composed of an expected position
and posture of a burr portion of the object subject to the deburring, based on expected three-dimensional data representative
of a shape of the object;

a deburring posture specifying part for specifying an expected posture and position of the deburring tool relative to the
object, based on the expected burr portion shape data stored by the burr portion shape data storing part;

a robot deburring program creating part for creating a robot deburring program for the deburring tool which includes at least
a plurality of robot operating commands for controlling the robot and the deburring tool, based on the expected posture and
position of the deburring tool specified by the deburring posture specifying part and the expected burr portion shape data;

a visual sensor for detecting an actual position of the burr portion of the object from an image of the object;
a robot deburring program replacing part for replacing the plurality of robot operating commands for the deburring tool in
the robot deburring program individually by moving the robot to the expected posture and position, sensing by the visual sensor
the actual position of the burr portion of the object and correcting the expected posture and position of the robot based
on the actual position of the burr portion of the object, so as to move the deburring tool relative to the object along the
actual position of the burr portion; and

a force control part for controlling the robot based on force acting on the deburring tool detected by the force sensor and
on a predetermined target value of the force, when the robot is operated in accordance with the robot deburring program replaced
by the robot deburring program replacing part,

wherein the visual sensor includes a search area limiting part for limiting the search area in the image of the object based
on the shape data of the burr portion, and is configured to detect the actual position of the burr portion from the limited
search area.

US Pat. No. 9,718,189

ROBOT TEACHING DEVICE FOR TEACHING ROBOT OFFLINE

FANUC CORPORATION, Yaman...

1. A robot teaching device for locating a workpiece and a robot having a tool in a virtual space, and for setting a target
angle, an advance angle and a rotation angle about a longitudinal axis of the tool, the angles being used to determine a posture
of the tool when the robot processes the workpiece, the robot teaching device comprising a robot controller, wherein
the robot controller is configured to
locate three-dimensional models of the robot and the workpiece in the virtual space,
designate a processing portion of the three-dimensional model of the workpiece,
store a combination of shapes of a plurality of predetermined processing portions and the target angle and the advance angle
of the tool associated with each of the processing portions,

select the shape of the processing portion corresponding to the designated processing portion, among the plurality of shapes
of the processing portions stored in the robot controller,

set the target angle and the advance angle of the tool associated with the selected shape of the processing portion, as a
target angle and an advance angle of the tool with respect to the designated processing portion,

rotate the tool about the longitudinal axis of the tool while the target angle and the advance angle of the tool relative
to the processing portion are maintained, and

calculate and set the rotation angle of the tool about the longitudinal axis of the tool, wherein a height of a face plate
of the robot from a horizon plane of the virtual space is maximum at the rotation angle.

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. 9,659,363

WORKPIECE POSITIONING APPARATUS USING IMAGING UNIT

FANUC CORPORATION, Yaman...

1. A positioning apparatus comprising:
an imaging unit that images from above a workpiece fixed to a table of a machine tool;
a moving unit that causes the imaging unit to be positioned at a desired relative position with respect to the table in a
plane parallel with the table;

an image processing unit that processes the image of the workpiece imaged by the imaging unit and detects a position of a
feature point of the workpiece in the image;

a storage unit that stores, as a reference relative position, a relative position of the imaging unit with respect to the
table when a reference workpiece is imaged by the imaging unit, and stores, as a reference point image position, a position
of a feature point of the reference workpiece in the image of the reference workpiece imaged by the imaging unit;

a calculation unit that calculates an amount of deviation between the position of the feature point of the reference workpiece
and the feature point of the workpiece by comparing the relative position of the imaging unit with respect to the table when
the workpiece is imaged by imaging unit with the reference relative position, and comparing the position of the feature point
of the workpiece in the image of the workpiece imaged by the imaging unit with the reference point image position; and

a program changing unit that generates an amount of correction such that the amount of deviation calculated by the calculation
unit becomes zero, and thereby changes a program of the machine tool;

wherein the workpiece and the reference workpiece include at least two feature points, and
wherein the amount of deviation calculated by the calculation unit includes an amount of rotation deviation in a plane parallel
with the table by comparing a direction of a line segment combining the two feature points in the image of the reference workpiece
and a direction of a line segment combining the corresponding two feature points in the image of the workpiece.

US Pat. No. 9,685,758

LASER SYSTEM HAVING FAULT DIAGNOSIS FUNCTION

Fanuc Corporation, Yaman...

1. A laser system comprising a plurality of laser oscillation units and configured to combine laser light emitted from the
plurality of laser oscillation units for emission to the outside, wherein
each of the laser oscillation units includes
a plurality of laser diode module groups each including at least one laser diode module acting as a light source or excitation
light source,

a first optical coupling part combining the laser light emitted from the plurality of laser diode module groups, and
at least one first photodetection part detecting the output power of laser light combined by the first optical coupling part,
the laser system comprises
a second optical coupling part combining the laser light emitted from the plurality of laser oscillation units,
at least one second photodetection part detecting the output of the laser light combined by the second optical coupling part,
power supply parts that are able to supply driving current to the plurality of laser diode module groups independently from
each other,

a recording part recording optical output characteristics showing the relationship between driving current and output power
of laser light at each of the laser diode module groups,

a control part commanding driving conditions showing the driving current to be supplied to each of the laser diode module
groups to the power supply parts,

a judging part judging any fault or deterioration of the components of the laser system, and
an operating part used for setting the driving conditions, and
the judging part is configured to judge, simultaneously for at least two laser oscillation units among the plurality of laser
oscillation units, any fault or deterioration of the components of the laser system based on the results of detection of the
first photodetection part and the second photodetection part when successively driving the plurality of laser diode module
groups included in each of the laser oscillation units so that their drive times do not overlap.

US Pat. No. 9,682,453

TOOL CHANGER FOR MACHINE TOOL

FANUC CORPORATION, Yaman...

1. A tool changer for a machine tool, comprising:
a spindle head supporting a spindle for rotation;
a tool magazine provided with a plurality of grips configured to hold a tool on a periphery of the tool magazine;
a magazine drive motor configured to turn the tool magazine about an indexing axis to index the tool; and
a pivot pin about which the tool magazine pivots toward and away from the spindle head to set the tool magazine in a separated
position and in a proximity position, respectively; wherein

the tool magazine comprises a tool-magazine power transmission unit,
the magazine drive motor comprises a magazine-drive-motor power transmission unit,
the tool-magazine power transmission unit and the magazine-drive-motor power transmission unit are configured to engage with
each other at all times between the proximity position and the separated position relative to the spindle head;

the magazine drive motor is configured to be secured to an immovable portion of the machine tool,
the magazine-drive-motor power transmission unit comprises a magazine-drive-motor-side gear secured to a shaft of the magazine
drive motor,

the tool-magazine power transmission unit comprises a tool-magazine-side gear secured to the tool magazine, said tool-magazine-side
gear comprising a gear tooth surface meshing with the magazine-drive-motor-side gear, and

a cross-section of the gear tooth surface of the tool-magazine-side gear taken along a plane containing the indexing axis
of the tool magazine comprises a circular arc that constitutes a segment of an imaginary circle, wherein the pivot pin is
located inside the imaginary circle.

US Pat. No. 9,634,537

MOTOR PROVIDED WITH TERMINAL BLOCK

Fanuc Corporation, Yaman...

1. A motor, comprising:
a coil that is wound around a stator and a varnish impregnated in the coil; and
a terminal block to which a lead wire of the coil is connected, wherein
the terminal block includes:
a bottom wall;
a first side wall and second side wall extending from the bottom wall so as to face each other;
a terminal part that is provided between the first side wall and the second side wall and a front end of the lead wire is
connected to the terminal part; and

a dam wall that is arranged at a position closer to the coil than the terminal part and the dam wall is formed integrally
with the bottom wall, the first side wall, and the second side wall without clearance, the dam wall being spaced apart from
a rear end part of the terminal block so as to define a reservoir bound by the rear end part, the first side wall, the second
side wall and the dam wall, the reservoir is configured to collect varnish flowing toward the terminal block, wherein

the dam wall includes a lead wire holding part for holding the lead wire.

US Pat. No. 9,579,798

HUMAN COLLABORATIVE ROBOT SYSTEM

FANUC CORPORATION, Yaman...

1. A human-collaborative robot system in which a robot and a human share a working space, comprising:
a detection unit configured to directly or indirectly detect a physical quantity which is changed in response to contact force
applied to the robot when the robot comes in contact with an external environment; and

a stop command unit configured to compare the physical quantity detected by the detection unit with a first threshold value
and a second threshold value greater than the first threshold value, stop the robot according to a predetermined stop method
when the physical quantity is equal to or greater than the first threshold value and is smaller than the second threshold
value, and stop the robot in a shorter period of time as compared with the predetermined stop method when the physical quantity
is equal to or greater than the second threshold value.

US Pat. No. 9,519,280

NUMERICAL CONTROL DEVICE FOR MACHINE TOOL

FANUC Corporation, Minam...

1. A numerical control device for a machine tool, comprising:
a program analysis unit configured to read in and analyze a processing program for processing an object by controlling axes
of the machine tool, the processing program including a command by which the direction of movement of one or more axes is
reversed;

a timing calculation unit configured to calculate a start timing of a post-reverse movement command by which a position, where
a sum of the velocities generated in response to a pre-reverse movement command and the post-reverse movement command becomes
zero, is equal to a position distanced by an in-position width from an end position of the pre-reverse movement command;

a movement command start unit configured to start the post-reverse movement command in accordance with the start timing calculated
by the timing calculation unit,

wherein the numerical control device is configured to drive the one or more axes of the machine tool to process the object
according to the post-reverse movement command.

US Pat. No. 9,405,505

CONTROL DEVICE FOR EXECUTING CONTROL PROGRAM INCLUDING FLOATING POINT OPERATION COMMAND FOR CONTROLLING MACHINE AND METHOD OF CONVERTING FLOATING POINT PARAMETER IN CONTROL PROGRAM

FANUC Corporation, Minam...

1. A control device configured to execute a control program including a floating point operation command for controlling a
machine, the device comprising:
a control program storage memory configured to store the control program;
a floating point data holding memory configured to hold floating point data to be used in the floating point operation command
and floating point data generated by an operation of the floating point operation command;

a first conversion unit configured to convert the floating point data into a numeric string in first format which can be readily
recognized by an operator;

a second conversion unit configured to convert the floating point data into a numeric string in second format which is different
from the first format, the numeric string in second format not including rounding error to the floating point data;

a character string data generation unit configured to generate character string data including the numeric string in the first
format and the numeric string in the second format; and

an output unit configured to output the generated character string data to at least one of an external device and an external
storage medium.

US Pat. No. 9,346,166

APPARATUS AND METHOD OF TAKING OUT BULK STORED ARTICLES BY ROBOT

FANUC CORPORATION, Yaman...

1. An article take-out apparatus, comprising:
a robot having a hand capable of holding an article;
a 3D measuring device measuring surface positions of a plurality of articles stored in bulk in a 3D space so as to acquire
position information of a plurality of 3D points;

a connected set processing unit determining connected sets made by connecting 3D points which are close to each other, from
the plurality of 3D points acquired by the 3D measuring device;

an article identifying unit identifying positions and postures of the articles, based on position information of 3D points
belonging to the connected sets, wherein the article identifying unit determines positions and postures representing the connected
sets, based on positions of 3D points belonging to the connected sets;

a hand position and posture processing unit determining positions and postures of the hand capable of taking out the articles,
the positions and postures of the articles being identified by the article identifying unit, wherein the hand position and
posture processing unit determines the positions and postures of the hand corresponding to the positions and postures determined
by the article identifying unit; and

a robot control unit controlling the robot to move the hand to the positions and postures determined by the hand position
and posture processing unit and take out the articles,

wherein the article identifying unit is configured to identify the positions and postures of the articles, based on the position
information of the 3D points belonging to the connected sets, and without using a model or pattern matching.

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. 9,130,415

ELECTRIC MOTOR WITH BALANCE ADJUSTMENT MECHANISM FOR ROTOR AND MANUFACTURING PROCESS THEREOF

FANUC CORPORATION, Yaman...

1. A process for manufacturing an electric motor, the electric motor comprising an insert member having a cylindrical body
part and positioned in an insert bore extending from at least one end surface of a rotor toward the other end surface and
parallel to a central axis of the rotor,
the body part of the insert member being provided with a cutout portion in a part of the circumference thereof to define a
gap extending parallel to the central axis,

the body part of the insert member further comprising a pair of inner protrusions protruding radially inwardly from the opposite
side edges of the gap,

the process comprising inserting the insert member to the insert bore by using a jig having an outer diameter smaller than
an inner diameter of the body part of the insert member, the jig being provided with a groove capable of receiving the pair
of inner protrusions of the insert member,

wherein the groove of the jig is adapted to receive the pair of inner protrusions by elastically deforming the insert member
so as to have the outer diameter of the body part of the insert member smaller than the diameter of the insert bore.

US Pat. No. 9,068,828

CUTTING DISTANCE CALCULATING DEVICE FOR MULTI-AXIS WORKING MACHINE

FANUC CORPORATION, Yaman...

1. A multi-axis working machine, comprising:
at least three linear axes and two rotation axes;
a tool driven by the at least three linear axes and two rotation axes, the tool having a tool tip point; and
a cutting distance calculating device comprising:
a positional-information acquiring section configured to acquire axis positions at calculation times for the at least three
linear axes and two rotation axes;

a tool-tip-point-position calculating section configured to calculate a tool tip point position of the tool tip point on the
basis of the axis positions acquired by the position-information acquiring section; and

a cutting-distance calculating section configured to accumulate moving distances of the tool tip point on the basis of the
tool tip point position calculated by the tool-tip-point-position calculating section and set an accumulated moving distance
as a cutting distance,

wherein the cutting distance calculating device is configured to predict tool wear based on the cutting distance.

US Pat. No. 10,739,273

INSPECTION APPARATUS AND INSPECTION METHOD

FANUC CORPORATION, Yaman...

1. An inspection apparatus for inspecting an inspection object having a coating layer, comprising:a plurality of light emitters configured to emit light beams each having an annular cross-section onto the coating layer;
an imaging unit configured to take an image of a light beam reflected on the coating layer;
a counter configured to count number of ring- or ellipse-shaped light beam images per unit area in the image taken by the imaging unit; and
a thickness determination unit configured to determine whether or not a thickness of the coating layer is acceptable, based on the number of the ring- or ellipse-shaped light beam images counted by the counter.

US Pat. No. 10,700,573

MOTOR DEVICE

FANUC CORPORATION, Yaman...

1. A motor device comprising: a motor which includes a fixing portion for fixing to a fixing surface with a bolt;a looseness detection sensor which is provided in the fixing portion so as to be adjacent to at least one of the bolts, the looseness detection sensor indirectly detecting looseness of the bolt; and
a control unit which determines occurrence of looseness of at least one of the bolts based on a signal output from the looseness detection sensor,
wherein the looseness detection sensor is formed with a pressure sensor, the pressure sensor being sandwiched between the fixing portion and the fixing surface, and
wherein the control unit detects decrease in pressure between the fixing portion and the fixing surface due to decrease in an axial force of the bolt, based on an output value from the pressure sensor.

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. 10,661,361

MILLING/CUTTING TOOL AND PROCESSING APPARATUS

Fanuc Corporation, Yaman...

1. A milling/cutting tool comprising:a tool main unit that is rotated about an axis;
a plurality of tips that are disposed with spacings therebetween in a circumferential direction about the axis of the tool main unit;
wherein all of the plurality of tips are disposed so that turning rake surfaces thereof face an axial direction;
wherein the milling/cutting tool is configured to perform turning and milling; and
wherein all of the plurality of tips are circular tips, the plurality of circular tips being disposed at a distal-end surface of the tool main unit, and wherein each circular tip of the plurality of circular tips has a truncated-conical shape having a large-diameter surface on a distal-end side and a small-diameter surface on a proximal-end side, the large-diameter surface of each of the circular tips disposed facing a center axis of the tool main unit.

US Pat. No. 10,644,628

MOTOR DRIVE DEVICE INCLUDING CURRENT DETECTOR

FANUC CORPORATION, Yaman...

1. A motor drive device comprising:a power conversion unit configured to supply a drive current to a motor;
a current detector configured to detect a current flowing from the power conversion unit into the motor;
an A/D converter configured to convert the current detected by the current detector into digital data and outputs the digital data;
a motor control unit configured to control the drive current supplied from the power conversion unit to the motor, using the digital data output from the A/D converter; and
a sampling adjustment unit configured to adjust a sampling operation of the A/D converter performed for the current detected by the current detector, in accordance with a response time taken after the current detector detects the current until the A/D converter outputs the digital data of the current,
wherein the A/D converter comprises a successive approximation A/D converter, and
the sampling adjustment unit performs adjustment to change a period in which a sampling timing of the successive approximation A/D converter is set for the current detected by the current detector, in accordance with the response time.

US Pat. No. 10,627,256

ROTATION ANGLE DETECTING DEVICE

FANUC CORPORATION, Yaman...

1. A rotation angle detecting device for detecting a rotation angle of a rotating shaft, comprising:a magnetic rotor rotating integrally with the rotating shaft and including a detected portion used for detecting the rotation angle;
a first detector arranged to oppose the detected portion and configured to detect change of a magnetic flux density caused by rotation of the magnetic rotor in a first detection field over the detected portion and output a first detection signal representing the rotation angle of the magnetic rotor; and
a second detector arranged to oppose the detected portion and configured to detect change of the magnetic flux density caused by rotation of the magnetic rotor in a second detection field located over the detected portion at a position different from the first detection field with respect to the rotating direction of the magnetic rotor and output a second detection signal that is out of phase with the first detection signal but represents the rotation angle of the magnetic rotor,
wherein the second detection field is shorter than the first detection field with respect to a direction perpendicular to the rotating direction of the magnetic rotor.

US Pat. No. 10,554,165

MOTOR DRIVE APPARATUS INCLUDING SHORT-CIRCUIT JUDGMENT UNIT FOR CAPACITOR OF DC LINK UNIT

FANUC CORPORATION, Yaman...

1. A motor drive apparatus comprising:a converter configured to convert AC power input from an AC power supply into DC power and outputs the DC power;
a DC link unit comprising a plurality of capacitors connected in parallel with a DC output of the converter and connected in series with each other;
an inverter connected in parallel with the DC link unit, and configured to convert the DC power in the DC link unit into AC power for driving a motor, and outputs the AC power; and
a short-circuit judgment unit configured to compare a value of a voltage applied to a positive and negative bipolar terminal of the DC link unit with a predefined first threshold, further compare a value of an input current flowing from the AC power supply into the DC link unit via the converter with a predefined second threshold, and judge that at least one of the plurality of capacitors in the DC link unit has shorted in a case where, when, as a result of comparison, the value of the voltage applied to the positive and negative bipolar terminal of the DC link unit is smaller than the first threshold, the value of the input current flowing from the AC power supply into the DC link unit via the converter is larger than the second threshold.

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. 10,509,397

ACTION INFORMATION LEARNING DEVICE, ACTION INFORMATION OPTIMIZATION SYSTEM AND COMPUTER READABLE MEDIUM

FANUC CORPORATION, Yaman...

1. An action information learning device, comprising:a processor; and
a memory,
wherein the processor is configured to:
acquire state information including an operation pattern of a spindle and a combination of parameters related to machining of a machine tool, wherein the combination of the parameters related to the machining of the machine tool is a combination of an operation pattern including at least any of a cutting feedrate and a dwell causing the spindle to standby for a designated time, and a parameter including at least any of a time constant of acceleration/deceleration and a cutting feedrate override;
output action information including adjustment information for the operation pattern and the combination of parameters included in the state information;
acquire judgment information, which is information for temperature of the machine tool and a machining time related to the machining of the machine tool, and calculate a value of a reward for reinforcement learning based on the judgment information thus acquired;
update a value function by performing the reinforcement learning based on the value of the reward, the state information and the action information,
set the value of the reward as a first negative value in a case of the temperature of the machine tool being at least a predetermined temperature,
set the value of the reward as a positive value in a case of the temperature of the machine tool being less than a predetermined temperature, and a machining time of the machine tool being shorter than a prior machining time, and
set the value of the reward as a second negative value in a case of the temperature of the machine tool being less than a predetermined temperature, and a machining time of the machine tool being longer than a prior machining time.

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. 10,496,074

INFORMATION PROCESSING DEVICE

Fanuc Corporation, Yaman...

1. An information processing device which displays numerical control (NC) machining program including one or more blocks and a physical state of a machine tool operated on the basis of the NC machining program, the information processing device comprising:a processor configured to control the machine tool by executing a block of code in the NC machining program, and acquire, during the execution of the block, a plurality of data indicative of the physical state of the controlled machine tool during a plurality of time points during the execution of the block;
a memory device configured to store a database in which the block being executed and the acquired plurality of data are associated with each other; and
a display screen configured to refer to the database, draw the block using a plurality of colors or color shades according to an intensity of the plurality of data, and display the NC machining program.

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. 10,482,322

MONITOR APPARATUS FOR MONITORING SPATIAL REGION SET BY DIVIDING MONITOR REGION

FANUC CORPORATION, Yaman...

1. A monitor apparatus, comprising:a three-dimensional camera configured to capture a three-dimensional image in a first direction; and
a processor configured to
process an output signal of the three-dimensional camera,
set a part of an image capturing region of the three-dimensional camera as a monitor region for a monitoring operation,
divide the monitor region by a plurality of cutting planes radially extending from the three-dimensional camera serving as a start point, to set a plurality of spatial regions,
set one spatial region of the plurality of spatial regions on one end of the monitor region in a second direction as a first spatial region, the second direction being perpendicular to the first direction, and
set another spatial region of the plurality of spatial regions on the other end of the monitor region in the second direction as a second spatial region.

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. 10,474,131

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. 10,471,604

FORCE DETECTION DEVICE AND ROBOT

FANUC CORPORATION, Yaman...

1. A force detection device comprising:a deforming member to be deformed under an external force, the deforming member including:
a bottom part;
a top part arranged opposite to the bottom part so as to be separate from the bottom part; and
a column extending between the bottom part and the top part; and
a first fixation part which is provided so as to protrude from the bottom part and which is a part fixed to a first attachment to which the force detection device is to be attached,
wherein the first fixation part includes a contact surface which contacts the first attachment,
wherein the contact surface is separated from a base surface of the bottom part in a direction away from the top part, and is laterally separated from a side surface of the bottom part, and
wherein the force detection device is attached, at the top part side, to a second attachment to which the force detection device is to be attached.

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. 10,434,652

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. 10,427,231

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. 10,427,298

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. 10,427,302

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. 10,421,187

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. 10,421,169

CUTTING TOOL HOLDING MECHANISM, CUTTING TOOL HOLDER AND MACHINE TOOL SYSTEM

FANUC CORPORATION, Yaman...

1. A cutting tool holding mechanism provided in a spindle of a machine tool to detachably hold a cutting tool, the spindle and cutting tool holding mechanism together defining a proximal end and an opposite distal end, the cutting tool holding mechanism comprising:a collet chuck configured to clamp and unclamp the cutting tool;
a first elastic part disposed on a distal end side of the collet chuck and configured to elastically urge the collet chuck in a direction from the distal end side of the collet chuck toward a proximal side of the spindle so that the collet chuck clamps the cutting tool;
a piston disposed deeper towards the proximal side of the spindle than the collet chuck is and configured to urge the collet chuck by pressure of fluid supplied from the proximal side of the spindle in the direction from the proximal side toward a distal end side of the spindle so that the collet chuck unclamps the cutting tool;
a spool valve provided in the piston and configured to open owing to centrifugal force caused when the spindle is turned, so as to supply the fluid fed from the spindle to the cutting tool; and
a second elastic part provided in the piston and configured to elastically urge the spool valve in a valve closing direction.

US Pat. No. 10,416,071

CORROSION DETECTION CIRCUIT FOR CIRCUIT BOARD AND MOTOR DRIVE HAVING THE SAME

FANUC CORPORATION, Yaman...

1. A corrosion detection circuit comprising:an insulating board;
a first test chip having a corrodible metal mounted on the surface of the insulating board;
at least a first resistor and a second resistor, and a divided voltage output located between the first and second resistor, the divided voltage output having a high side and a low side, each of the first and second resistors having a higher resistance value than the first test chip after a change due to an environmental factor including contact with the test chip and an adhesion of dust to the first test chip; and
a voltage detection circuit for detecting the output voltage of the divided voltage output point, when a voltage is applied to the corrosion detection circuit,wherein the first and second resistors are connected in series with the first test chip, andwherein, if the first test chip is located on the high voltage side of the divided voltage output point of the divided voltage circuit, the voltage detection circuit detects a break in the first test chip by corrosion when the voltage of the divided voltage output point decreases from a voltage depending on the plurality of resistors and falls below a first threshold; and
wherein, if the first test chip is located on the low voltage side of the divided voltage output point of the divided voltage circuit, the voltage detection circuit detects a break in the first test chip by corrosion when the voltage of the divided voltage output point increases from the voltage depending on the plurality of resistors and exceeds a second threshold.

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. 10,404,127

MOTOR HAVING INTERPHASE INSULATION PAPER AT COIL END, AND METHOD FOR PRODUCING MOTOR

FANUC CORPORATION, Yaman...

1. A motor comprising:a stator core laminated with an electromagnetic steel sheet, and having a plurality of slots; and
windings that are inserted in a winding distribution of three phases into the slots, wherein
interphase insulation papers are inserted into respective ones of coil ends,
the interphase insulation papers each have at least one parting strip in at least one respective end portion, the parting strip partitioning a boundary between windings that are adjacent in a circumferential direction of the stator core when inserted into the respective coil end,
the interphase insulation papers each have a surface that separates respective ones of the windings when viewed from an end surface of the stator core and a sloped surface capable of separating the windings along an axial direction of the stator core,
the parting strips are sandwiched between the windings that are adjacent in a circumferential direction of the stator core, and
the interphase insulation papers are each separated into a respective one of the three phases.

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. 10,395,430

AUGMENTED REALITY SIMULATION DEVICE WHICH DISPLAYS A VIRTUAL OBJECT ON A MACHINE TOOL AND COMPUTER-READABLE MEDIUM

FANUC CORPORATION, Yaman...

1. An augmented reality simulation device comprising: extension information display means for displaying a virtual object so as to be superimposed on a real machine tool; relation information acquisition means for acquiring first relation information which is information that specifies relation between the virtual object and control axes of a numerical controller that controls the machine tool and second relation information which is information that is output from the numerical controller that specifies control settings of the control axes themselves and that also specifies an axis orientation relation between the control axes;conversion means for converting a movement amount in a first coordinate system which is a coordinate system of the control axis to movement information in a second coordinate system which is a coordinate system for allowing the extension information display means to display the virtual object on the basis of the first relation information and the second relation information; and
calculation means for calculating a display position and a display angle of the virtual object on the basis of the movement information in the second coordinate system after the conversion, wherein
the extension information display means displays the virtual object on the basis of a calculation result of the calculation means.

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. 10,394,214

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. 10,286,506

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. 10,286,513

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. 10,289,087

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. 10,286,557

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. 10,291,443

SERIAL COMMUNICATIONS UNIT AND COMMUNICATION METHOD FOR SERIAL COMMUNICATIONS UNIT

FANUC CORPORATION, Yaman...

1. A serial communications unit connected in a daisy chain fashion, comprising:a first conversion unit configured to convert reception serial data into reception parallel data which is synchronized with a reception parallel clock pulse signal;
a memory unit configured to store the reception parallel data converted by the first conversion unit;
a reception delay time calculating unit configured to calculate a reception delay time of a reception start timing at which reception of packets is started, on a basis of a reference parallel clock pulse signal having a same period as the reception parallel clock pulse signal;
a timing control output unit configured to read out the reception parallel data stored in the memory unit in synchronism with a transmission parallel clock pulse signal having the same period as the reception parallel clock pulse signal, and to output transmission parallel data, in which a transmission delay time of a transmission start timing at which transmission of packets is started, on the basis of the reference parallel clock pulse signal, is controlled so that a delay time from the reception start timing and until transmission of packets is started is made constant, in synchronism with the transmission parallel clock pulse signal; and
a second conversion unit configured to convert the transmission parallel data, which is output by controlling the transmission start timing, into transmission serial data.

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. 10,232,513

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. 10,232,536

MOLDING MONITORING APPARATUS

FANUC CORPORATION, Yaman...

1. A molding monitoring apparatus, comprising:a molding image acquisition unit for acquiring an image of a molding molded by an injection molding machine; and
an abnormality occurrence position specifying unit for determining whether abnormality is present in the molding based on the image, and specifying an abnormality occurrence position when the abnormality is present,
wherein the molding image acquisition unit acquires images of at least two moldings,
wherein the abnormality occurrence position specifying unit calculates, for each abnormality occurrence position, the number of abnormality occurrences and/or an abnormality occurrence frequency from the images of the at least two moldings acquired by the molding image acquisition unit,
wherein the molding monitoring apparatus further comprises
a comparison unit for comparing, among the calculated number of abnormality occurrences and/or abnormality occurrence frequency for each abnormality occurrence position, the numbers of abnormality occurrences and/or abnormality occurrence frequencies for each abnormality occurrence position in a plurality of different terms, and
wherein the abnormality occurrence position specifying unit is configured to control a display unit to display a result of the comparing by the comparison unit to indicate a tendency for generation of a molding defect.

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. 10,212,801

MOTOR DRIVING DEVICE

FANUC CORPORATION, Yaman...

1. A motor driving device comprising:a narrow pitch component group made up from a plurality of narrow pitch components having a plurality of terminals, and in which an interval between the plurality of terminals is less than or equal to a predetermined distance;
a heat generating component group made up from a plurality of heat generating components, which are components other than the narrow pitch components, and which are configured to generate heat greater than or equal to a predetermined amount;
a fan configured to blow wind onto the heat generating component group in order to cool the heat generating component group; and
a printed board on which the narrow pitch component group is mounted in a manner so that wind is not blown onto the narrow pitch component group by the fan.

US Pat. No. 10,191,481

NUMERICAL CONTROLLER AND NUMERICAL CONTROL SYSTEM IN WHICH THE CONTROLLER IS CONNECTED BY NETWORK

FANUC CORPORATION, Yaman...

1. A numerical controller having a data acquisition function that acquires trace data of a bus cycle of an internal bus, the numerical controller comprising:a bus trace circuit configured to fetch the bus cycle satisfying preset conditions;
an alarm history;
an alarm data acquisition table in which whether to acquire the trace data is recorded for each alarm; and
a trace circuit setting table in which fetching conditions of the bus cycle of the bus trace circuit are recorded for each alarm,
wherein the numerical controller identifies an alarm for which the trace data is to be fetched from the alarm history and the alarm data acquisition table, reads the fetching conditions of the bus cycle corresponding to the alarm from the trace circuit setting table, and sets the fetching conditions to the bus trace circuit and the bus trace circuit acquires the trace data of the bus cycle based on the fetching conditions that are set.

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. 10,151,327

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. 10,105,840

ROBOT SYSTEM INCLUDING PLURALITY OF CONTROLLERS CONNECTED VIA NETWORK

FANUC CORPORATION, Yaman...

1. A robot system comprising:at least two robot controllers respectively controlling at least two robots,
a network connecting the at least two robot controllers together,
a teaching console that is able to be connected to the network and configured to teach operations of the at least two robots, and
a communicating part selectively determining a destination of communication of the network so that communication is possible between any robot controller selected from the at least two robot controllers and the teaching console, in which robot system,
wherein each of the at least two robot controllers comprises
a phase judging part automatically judging on power-up if the corresponding robot is in an automatic operating phase where it is automatically operated or in a teaching phase where it is taught by the teaching console or in a maintenance phase where a maintenance process is performed,
a notifying part notifying the teaching console of a connect request when it is judged by the phase judging part that the state of the corresponding robot has been switched to the teaching phase or the maintenance phase, and
a connection judging part judging that a connection to the network has been established on power-up and notifying the phase judging part,
wherein the phase judging part judges that the robot corresponding to the robot controller is in a maintenance phase when the connection judging part notified that the connection to the network has been established on power-up, and
wherein the communicating part is configured to respond to the connect request, when a communication has been established with the robot controller that is not the robot controller that sent the connect request, cut the communication with the robot controller being connected, and switch the destination of communication so that the robot controller sending the connect request and the teaching console can communicate with each other.

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.