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1. 发明申请

US20230138652A1 SPEED ADJUSTMENT SUPPORT DEVICE 有权
公开(公告)号：US20230138652A1
公开(公告)日：2023-05-04
申请号：US17912049
申请日：2021-03-16
申请人： FANUC CORPORATION
发明人： Yoshiaki NOGUCHI
IPC分类号： G05B19/416
摘要： A speed adjustment support device calculates a jerk per unit time based on a difference in acceleration for each axis of an industrial machine between control cycles, compares the calculated jerk with an allowable jerk for each axis stored in advance, produces exceedance information including at least an exceeding state and an improvement means in a case of jerk exceedance as a result of the comparison, and supports work of adjusting a parameter related to speed of the industrial machine based on the exceedance information.

2. 发明申请

US20230138649A1 FOLLOWING ROBOT 有权
公开(公告)号：US20230138649A1
公开(公告)日：2023-05-04
申请号：US17918400
申请日：2021-05-14
申请人： FANUC CORPORATION
发明人： Kentaro KOGA
IPC分类号： B25J9/16 , B25J13/08
摘要： A following robot including an arm, at least one visual sensor, a feature-value storage unit that stores, as target data for causing the visual sensor to follow a follow target, first feature values related to at least the position and the orientation of the follow target, a feature-value detecting unit for detecting, by using an image acquired by the visual sensor, second feature values related to at least current position and orientation of the follow target, a movement-amount computing unit computing a movement instruction based on differences between the second feature values and the first feature values and adjusting the movement instruction by using at least feedforward control, a movement instructing unit which moves the arm based on the movement instruction, and an input-value storage unit that stores a signal acquired when a specific motion of the follow target is started and an input value for the feedforward control.

3. 发明申请

US20230130360A1 ASSISTANCE DEVICE 有权
公开(公告)号：US20230130360A1
公开(公告)日：2023-04-27
申请号：US17759899
申请日：2021-02-01
申请人： FANUC CORPORATION
发明人： Takashi MIYOSHI
IPC分类号： G05B19/4069
摘要： Provided is an assistance device which can reduce a work load when executing a simulation. The assistance device is provided with: a detection unit which detects a change in a simulation condition for executing a simulation; a working relationship information storage unit which stores working relationship information indicating an influence of a change in a simulation condition on a working simulation result by an industrial machine; a determination unit which determines, from among a plurality of forms of simulation, a form of simulation in which the change in the simulation condition influences the result of the working simulation, on the basis of the change in the simulation condition and the working relationship information; and a selection unit which selects, on the basis of the determination result from the determination unit, the simulation form in which the change in the simulation condition influences the working simulation result.

4. 发明申请

US20230129918A1 ROBOT SYSTEM 有权
公开(公告)号：US20230129918A1
公开(公告)日：2023-04-27
申请号：US17913321
申请日：2021-04-23
申请人： FANUC CORPORATION
发明人： Yuta NAMIKI
IPC分类号： B25J9/16 , B25J19/00
摘要： A robot system including: a robot that grips one of a first and second workpiece that are disposed adjacent to each other; an illumination device that radiates light beam onto surfaces of the first workpiece and the second workpiece on either side of a border between the workpieces along a plane that intersects the border; a camera that captures an image containing a first line image of the light beam formed on the surface of the first workpiece and a second line image of the light beam formed on the surface of the second workpiece; and a robot controller that operates the robot based on a misalignment amount and direction of the second line image with respect to the first line image in the image acquired and that performs a correction of a level difference between the surface of the first workpiece and the surface of the second workpiece.

5. 发明申请

US20230127155A1 STATOR HAVING COIL STRUCTURE OF DISTRIBUTED WINDING, AND THREE-PHASE AC ELECTRIC MOTOR COMPRISING SAID STATOR 有权
公开(公告)号：US20230127155A1
公开(公告)日：2023-04-27
申请号：US17905641
申请日：2021-04-21
申请人： FANUC CORPORATION
发明人： Takashi ITO
IPC分类号： H02K3/28 , H02K3/12 , H02K1/16
摘要： A three-phase AC electric motor in which the value obtained by dividing the number of slots by the number of poles is an irreducible fraction, wherein there is implemented a stator having a lap-winding coil structure of a distributed winding that can be wound automatically. A stator of a fractional-slot-type three-phase AC electric motor in which the number of slots of slots positioned in the circumferential direction is more than 1.5 times the number of poles, and in which the value obtained by dividing the number of slots by the number of poles is an irreducible fraction, the stator being such that each of two or three coils having the same coil pitch comprises a plurality of sets of coils that are offset for each slot pitch and that are positioned inside the slots, and each of the plurality of sets of coils is positioned at a location mutually offset by 60 degrees in the circumferential direction.

6. 发明授权

US11633866B2 Robot casing and robot 有权
公开(公告)号：US11633866B2
公开(公告)日：2023-04-25
申请号：US17061935
申请日：2020-10-02
申请人： FANUC CORPORATION
发明人： Kazutaka Nakayama
IPC分类号： B25J17/00 , B25J9/00 , B25J19/00 , B25J18/00
摘要： A robot casing includes, in a hollow resin body portion, two attachment openings and one work opening that communicate between an inside and an outside of the body portion. The two attachment openings are respectively provided in both end portions of the body portion; a metal member constituting an attachment surface is embedded in a resin constituting the body portion at a periphery of the attachment opening; the metal member is provided with attachment holes that allow attachment screws, which are used for attachment to the attachment surface, to penetrate therethrough or to be fastened thereinto, and is also embedded in the resin in a state in which the attachment surface is exposed; and components can be respectively attached to the two attachment openings by utilizing the work opening.

7. 发明申请

US20230116068A1 NUMERICAL CONTROLLER 有权
公开(公告)号：US20230116068A1
公开(公告)日：2023-04-13
申请号：US17904930
申请日：2021-03-04
申请人： FANUC CORPORATION
发明人： Hiroki SAWAOKA
IPC分类号： G05B19/402 , B23Q15/12
摘要： Provided is a numerical controller that can suppress a sudden change in the angle of a rotary axis in the vicinity of a singular point and can also be compatible with any machine configuration. A numerical controller for numerically controlling a designated direction of an axis of a movement axis member by two or more rotary axes. The numerical controller comprises a singular point distance calculation unit for calculating each singular point distance from a rotary axis direction of each of the two or more rotary axes and the designated direction based on an operation command, a rotary axis extraction unit for extracting a control rotary axis for controlling the designated direction based on the singular point distance calculated by the singular point distance calculation unit, and a pulse generation unit for generating a pulse for driving the control rotary axis based on the control rotary axis extracted by the rotary axis extraction unit. The rotary axis extraction unit compares the singular point distances with a preset threshold to extract, as the control rotary axis, the rotary axis exceeding the threshold, or comparing the singular point distances with each other to extract the rotary axis having a larger singular point distance as the control rotary axis.

8. 发明授权

US11625842B2 Image processing apparatus and image processing method 有权
公开(公告)号：US11625842B2
公开(公告)日：2023-04-11
申请号：US16575388
申请日：2019-09-19
申请人： FANUC Corporation
发明人： Yuta Namiki
IPC分类号： G06T7/33 , G06T7/73 , G06T3/20 , G06T7/00
摘要： An image processing apparatus includes: a model pattern storage unit that stores a model pattern composed of a plurality of model feature points; an image data acquisition unit that acquires a plurality of images obtained through capturing an object to be detected; an object detection unit that detects the object to be detected from the images using the model pattern; a model pattern transformation unit that transforms a position and posture such that the model pattern is superimposed on an image of the object to be detected; a corresponding point acquisition unit that acquires a corresponding point on image data corresponding to each of the model feature points; a corresponding point set selection unit that selects a set of corresponding points on the plurality of images; and a three-dimensional position calculation unit that calculates a three-dimensional position of the image of the object to be detected.

9. 发明授权

US11619922B2 Numerical control system of machine tool 有权
公开(公告)号：US11619922B2
公开(公告)日：2023-04-04
申请号：US16843741
申请日：2020-04-08
申请人： FANUC CORPORATION
发明人： Gaku Isobe , Yoshihiro Watanabe , Hideaki Adachi
IPC分类号： G05B19/4063
摘要： An object is to provide a numerical control system of a machine tool which can check a parameter that needs to be adjusted for each of a spindle and a motor. A numerical control system of a machine tool includes a parameter check function unit for checking a drive control parameter of a spindle, and the parameter check function unit includes: an acceleration/deceleration time measurement unit which measures an acceleration/deceleration time that elapses after the spindle receives an acceleration command and/or a deceleration command until the completion of acceleration and/or the completion of deceleration; an acceleration/deceleration time specified value storage unit which stores a specified value of the acceleration/deceleration time that is previously determined for each specification of the machine tool; and a determination unit which compares the acceleration/deceleration time measured with the acceleration/deceleration time measurement unit and the specified value stored in the acceleration/deceleration time specified value storage unit so as to determine whether or not the drive control parameter of the spindle is proper.

10. 发明授权

US11618161B2 Robot hand controller, robot system, and robot hand control method 有权
公开(公告)号：US11618161B2
公开(公告)日：2023-04-04
申请号：US16898882
申请日：2020-06-11
申请人： FANUC CORPORATION
发明人： Mizuki Tago
IPC分类号： B25J9/16 , B25J15/00 , G06T1/00 , B25J13/08 , G06V20/68 , G06V20/10
摘要： A robot hand controller includes an air supply unit configured to supply air into fingers of a robot hand and configured to discharge air in the fingers, and a controller configured to control the air supply unit, where the air supply unit includes two or more air passages respectively connected to the different fingers, the air passages capable of supplying the air into the fingers and discharging the air in the fingers independently from each other, and the controller controls supply and discharge of the air through each of the two or more air passages in response to a shape of the workpiece and an object in a vicinity of a transport destination of the workpiece.

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