公开(公告)号：US20240360857A1

公开(公告)日：2024-10-31

申请号：US18563524

申请日：2021-06-02

申请人： FANUC CORPORATION

发明人： Satoshi FURUTA

IPC分类号： F16B5/06 ,  F16B5/02

CPC分类号： F16B5/0642 ,  F16B5/025

摘要： This assembly member production method includes a step for disposing a coating agent at the lateral surface of a protruding part of a first member and the lateral surface of a recessed part of a second member so as to be able to be discharged to the outside after the second member is assembled to the first member. The production method includes a step for fitting the protruding part and the recessed part and assembling and fixing the second member to the first member. The production method includes a step for discharging outward the coating agent disposed between the lateral surface of the protruding part and the lateral surface of the recessed part and forming a gap between the protruding part and the recessed part.

公开(公告)号：US20240359322A1

公开(公告)日：2024-10-31

申请号：US18682672

申请日：2021-09-14

申请人： FANUC CORPORATION

发明人： Yu IKEDA ,  Yasuhiro NAITOU

IPC分类号： B25J9/16

CPC分类号： B25J9/1633

摘要： To record the load exerted on a robot according to changes over time without changing the environment and configuration under which the robot is used. A robot system including a robot, a robot control device that controls the robot, and a sensor that is able to detect information about a force exerted on the robot, the robot control device including a record processing unit that stores a first reference load profile in a storage unit, and a determination unit that determines at least the presence or absence of an external force exerted on the robot according to the first reference load profile and the load exerted on the robot detected by the sensor, and the record processing unit storing the load in the storage unit as a second reference load profile depending on the state of the external force.

公开(公告)号：US20240348183A1

公开(公告)日：2024-10-17

申请号：US18291288

申请日：2021-07-30

申请人： FANUC CORPORATION

发明人： Taku SASAKI

IPC分类号： H02P3/18 ,  H02H7/08 ,  H02H7/09 ,  H02P23/14 ,  H02P27/06

CPC分类号： H02P3/18 ,  H02H7/0805 ,  H02H7/09 ,  H02P23/14 ,  H02P27/06

摘要： This motor drive device comprises: a motor drive circuit that drives a synchronous motor by supplying AC power to the synchronous motor via power lines; an overvoltage protection circuit that short-circuits between the phases of the power lines by turning on a semiconductor switch when driving of the synchronous motor by the motor drive circuit is stopped and prevents the occurrence of overvoltage due to a back electromotive force between the terminals of the synchronous motor; and a temperature estimation unit that calculates a temperature estimation value of the semiconductor switch by using a motor constant and a semiconductor switch constant, said motor constant including at least one of the inertia and back electromotive force constants of the synchronous motor, said semiconductor switch constant including the on-resistance, thermal resistance, and thermal time constant of the semiconductor switch.

公开(公告)号：US20240316714A1

公开(公告)日：2024-09-26

申请号：US18574259

申请日：2021-07-21

申请人： FANUC CORPORATION

发明人： Nobuhito OONISHI

IPC分类号： B23Q15/12

CPC分类号： B23Q15/12

摘要： Provided is a technology for enabling optimization of a movement route of an axis in a machine configuration having a high degree of freedom. This movement route determination device is provided with: an evaluation formula calculation unit that calculates an evaluation formula for determining a movement route; a constraint condition calculation unit that calculates, as a constraint condition for determining the movement route, an axis relational formula based on machine configuration data of a machine tool; and a route search unit that searches for the movement route on the basis of the evaluation formula and the constraint condition. The route search unit determines the movement route such that a range where search can be performed by the evaluation formula becomes minimum or maximum.

公开(公告)号：US20240316713A1

公开(公告)日：2024-09-26

申请号：US18261064

申请日：2022-01-17

申请人： FANUC CORPORATION

发明人： Masashi YASUDA

IPC分类号： B23Q15/013 ,  G05B19/4093

CPC分类号： B23Q15/013 ,  G05B19/4093 ,  G05B2219/49313

摘要： Provided are a control device and a computing device capable of adjusting synthetic vibration for a machine tool. This control device, which controls a machine tool, comprises: a vibration command generation unit that generates a vibration command for vibrating an implement of the machine tool or a workpiece; a relative vibration command generation unit that generates a relative vibration command for vibrating the implement and the workpiece relatively; and a vibration phase adjustment unit that adjusts the vibration phase of at least one of the vibration command and the relative vibration command on the basis of the vibration command and the relative vibration command.

公开(公告)号：US20240316666A1

公开(公告)日：2024-09-26

申请号：US18578824

申请日：2021-07-21

申请人： FANUC CORPORATION

发明人： Masashi MASUDA ,  Akiyoshi KAWAHARA ,  Yasuo NAKASHIMA

IPC分类号： B23H7/26

CPC分类号： B23H7/26

摘要： A remaining amount estimation device estimates the remaining amount of wire on a wire bobbin on which a wire electrode has been wound and comprises: an acquisition unit that acquires a first rotational position for the wire bobbin and a second rotational position for a delivery roller that delivers the wire electrode; and a first estimation computation unit that estimates the remaining amount of wire using the ratio of the rotation amount of the wire bobbin and the delivery roller at each of a start time and an end time of a prescribed time period and the total rotation amount that the delivery roller has rotated during the prescribed time period.

公开(公告)号：US12097619B2

公开(公告)日：2024-09-24

申请号：US17935293

申请日：2022-09-26

申请人： FANUC CORPORATION

发明人： Hsien-Chung Lin ,  Yu Zhao ,  Tetsuaki Kato

IPC分类号： B25J9/16

CPC分类号： B25J9/1633 ,  B25J9/163 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1651 ,  B25J9/1664

摘要： A method and system for robot motion control using a model predictive control (MPC) technique including torque rate control and suppression of end tooling oscillation. An MPC module includes a robot dynamics model which inherently reflects response nonlinearities associated with changes in robot configuration, and an optimization solver having an objective function with a torque rate term and inequality constraints defining bounds on both torque and torque rate. The torque rate control in the MPC module provides an effective means of controlling jerk in robot joints, while accurately modeling robot dynamics as the robot changes configuration during a motion program. End tooling oscillation dynamics may also be included in the MPC objective function and constraints in order to automatically control end tooling vibration in the calculations of the MPC module.

公开(公告)号：US20240310807A1

公开(公告)日：2024-09-19

申请号：US18261560

申请日：2022-01-25

申请人： FANUC CORPORATION

发明人： Kenji KAIHARA

IPC分类号： G05B19/18 ,  B23Q15/22

CPC分类号： G05B19/182 ,  B23Q15/22 ,  G05B2219/45215

摘要： Provided is a numerical value control device capable of easily setting an effective diameter for a machined circle. The numerical value control device is equipped with a command unit which prescribes a machined circle standard or a proportion of the tolerance class to the machined circle tolerance in a machining program for machining a circle using a machine tool, and also equipped with a setting unit for setting a correction amount for the effective diameter of the machined circle on the basis of the machined circle standard or the proportion of the tolerance class to the machined circle tolerance.

公开(公告)号：US12090664B2

公开(公告)日：2024-09-17

申请号：US16520186

申请日：2019-07-23

申请人： Fanuc Corporation

发明人： Fumikazu Warashina ,  Yuta Namiki ,  Kyouhei Kokubo

IPC分类号： B25J9/16 ,  B25J9/10 ,  B25J13/08 ,  B25J19/02 ,  G01B11/14 ,  G05B19/4061 ,  G05B19/408

CPC分类号： B25J9/1666 ,  B25J9/10 ,  B25J9/1676 ,  B25J9/1697 ,  B25J13/089 ,  B25J19/021 ,  G01B11/14 ,  G05B19/4061 ,  G05B19/4086 ,  G05B2219/39022 ,  G05B2219/40317 ,  G05B2219/40476

摘要： An interference avoidance device is provided with: a three-dimensional sensor that is attached to a tip portion of a robot arm and acquires a distance image of an area around a robot; a position data creating portion that converts coordinates of a nearby object in the distance image to coordinates on a robot coordinate system and creates the position data of the nearby object based on the coordinates of the nearby object on the robot coordinate system; a storage portion that stores the position data; and a control portion that controls the robot based on the robot coordinate system; and the control portion controls the robot to avoid interference of the robot with the nearby object, based on the position data stored in the storage portion.

公开(公告)号：US12076869B2

公开(公告)日：2024-09-03

申请号：US17456771

申请日：2021-11-29

申请人： FANUC CORPORATION

发明人： Chiara Landi ,  Hsien-Chung Lin ,  Tetsuaki Kato

IPC分类号： B25J9/16 ,  B25J13/08 ,  G06T7/00 ,  G06T7/13 ,  G06T7/50

CPC分类号： B25J9/1697 ,  B25J9/1607 ,  B25J9/1666 ,  B25J13/089 ,  G06T7/0004 ,  G06T7/13 ,  G06T7/50 ,  G06T2207/20024 ,  G06T2207/20192 ,  G06T2207/20224 ,  G06T2207/30196

摘要： A method and system for calculating a minimum distance from a robot to dynamic objects in a robot workspace. The method uses images from one or more three-dimensional cameras, where edges of objects are detected in each image, and the robot and the background are subtracted from the resultant image, leaving only object edge pixels. Depth values are then overlaid on the object edge pixels, and distance calculations are performed only between the edge pixels and control points on the robot arms. Two or more cameras may be used to resolve object occlusion, where each camera's minimum distance is computed independently and the maximum of the cameras' minimum distances is used as the actual result. The use of multiple cameras does not significantly increase computational load, and does require calibration of the cameras with respect to each other.