In the present invention, a robot control device comprises: a search point calculation unit that calculates the position of a search point on the basis of at least one teaching point; and a command unit that drives a robot such that the position of the robot corresponds to the search point. The robot control device comprises a teaching point setting unit that sets the positions of the teaching points on the basis of a working position detected by a laser sensor. The robot control device sets the positions of a plurality of teaching points arranged along a work line by repeating: the calculation of the position of the search point by the search point calculation unit; the driving of the robot by the command unit; and the setting of the positions of the teaching points by the teaching point setting unit.
In an injection device according to an embodiment, each of a plurality of outer peripheral protrusions of a screw is formed with an outer peripheral protrusion inclined surface, and each of a plurality of inner peripheral protrusions of a through-hole of a bush is formed with an inner peripheral protrusion inclined surface. The injection device advances the bush until a linear-motion torque exceeds a linear-motion torque threshold, and, if a rotation torque exceeds a rotation torque threshold before the linear-motion torque exceeds the linear-motion torque threshold, ends control processing when the linear-motion torque exceeds the linear-motion torque threshold.
A numerical controller includes: a spindle load detection unit that detects time-series data on a load on a spindle when a workpiece is machined; a machining time setting unit that sets a machining time taken in machining the workpiece; a spindle load calculation unit that, based on the time-series data, calculates a load on the spindle applied when the workpiece is machined in the machining time set by the machining time setting unit and when a feed rate of the spindle is controlled so that the load on the spindle is a constant load; and a spindle load output unit that outputs data indicating the load on the spindle calculated by the spindle load calculation unit.
G05B 19/4155 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
A robot interference checking motion planning technique using point sets. The technique uses CAD models of robot arms and obstacles and converts the CAD models to 3D point sets. The 3D point set coordinates are updated at each time step based on robot and obstacle motion. The 3D points are then converted to 3D grid space indices indicating space occupied by any point on any part. The 3D grid space indices are converted to 1D indices and the 1D indices are stored as sets per object and per time step. Interference checking is performed by computing an intersection of the 1D index sets for a given time step. Swept volumes are created by computing a union of the 1D index sets across multiple time steps. The 1D indices are converted back to 3D coordinates to define the 3D shapes of the swept volumes and the 3D locations of any interferences.
This robot system comprises: a display control unit which controls an image to be displayed in a display region of a display unit; and a reference direction setting unit which sets a reference direction for determining the orientation of an image. On the basis of the axial positions of respective joint shafts of the robot and the reference direction, the display control unit controls the orientation of an image shown on the display unit so as to perform display that represents a prescribed postural relation with respect to the reference direction.
A linear motion mechanism is provided with a shaft extending along an axis, a drive mechanism which moves the shaft in the axis direction, a housing which accommodates the drive mechanism and which has an opening allowing one end portion of the shaft to project to the outside so as to be capable of moving backward and forward, and a tubular protective cover of which the two ends are fixed to the housing and the end portion of the shaft. The protective cover encloses the opening and the part of the shaft that projects outward from the opening, expands and contracts in the axis direction with movement of the shaft relative to the housing in the axis direction, and is fixed to the housing in a position in which a part of the drive mechanism including an end surface through which the shaft projects is disposed inside the protective cover.
B25J 9/04 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
7.
MONITORING DEVICE, MONITORING SYSTEM, AND MONITORING METHOD FOR RELAY OUTPUT SIGNAL
A monitoring device monitors an abnormality in number of times of repetition of opening/closing of an output signal of a relay, and identifies a cause of the abnormality if the abnormality in number of times of repetition of opening/closing of the output signal of the relay is detected. This monitoring device includes an output signal monitoring unit that monitors an abnormality in number of times of repetition of opening/closing of an output signal of a relay, and a cause identification unit that identifies a cause based on periodicity of repetition of opening/closing if the output signal monitoring unit has detected an abnormality in number of times of repetition of opening/closing. The relay is opened/closed based on a control signal received from a numerical control device, and the cause identification unit may determine occurrence of an abnormality in the control signal if periodicity of repetition of opening/closing is detected.
A numerical controller includes a region information reception unit configured to receive input of data defining a control region in which a control condition is set in a movement region of an axis of a machine tool, a region setting unit configured to set the control region based on the data received by the region information reception unit, a control condition setting unit configured to set the control condition in the control region, and a command generation unit configured to generate a control command in the control region based on the control condition.
G05B 19/4155 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
G05B 19/19 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
G05B 19/416 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
A draining mechanism according to an embodiment comprises a block in which a through hole is formed therethrough along a direction intersecting the gravity direction. The through hole is provided with a first guide portion and a second guide portion. The block comprises: a gas channel connected to the through hole between the first guide portion and the second guide portion; and a discharge port connected to the through hole between the first guide portion and the second guide portion, extending along the gravity direction, and connected to the outside of the block.
B23H 1/00 - Electrical discharge machining, i.e. removing metal with a series of rapidly recurring electrical discharges between an electrode and a workpiece in the presence of a fluid dielectric
B23H 7/10 - Supporting, winding or electrical connection of wire-electrode
10.
MECHANICAL SYSTEM MAINTENANCE METHOD, MECHANICAL SYSTEM MAINTENANCE PROGRAM, AND MACHINE CONTROL DEVICE
The present invention provides a mechanical system maintenance method that enables easy maintenance of a mechanical system without leading to a decrease in security, safety, or production efficiency. This mechanical system maintenance method involves performing, by using a remote device connected to a WAN, maintenance of a mechanical system that includes a machine and a machine control device that controls the machine. The mechanical system maintenance method further involves using the tethering function of a mobile terminal device to connect the machine control device to the WAN, enabling data transfer between the remote device and the machine control device connected via the WAN, and controlling the machine control device by using the remote device.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
An injection apparatus (12) that is capable of pivoting about a pivot pin (26) with respect to a supporting surface (24s) comprises: a pusher plate (42) which injects a molten resin in a cylinder (32) by moving an injection member (34) inserted into the cylinder in the axial direction of the cylinder; a rear plate (40) which receives a reaction force arising from the movement of the pusher plate; a base member (48) which displaceably supports the rear plate; and a roller (52) which travels on the supporting surface in response to the pivoting of the injection apparatus while supporting the base member.
In a production system according to the present disclosure, a control device for controlling an industrial machine and a terminal used by an approver are connected via a network, and said production system comprises: a permissions information storage unit for storing permissions information relating to operation; a terminal information storage unit for storing terminal information relating to the terminal; an operation reception unit for receiving an operation by an operator; a permissions processing unit for determining whether the operator may execute the operation; and an operation execution unit that executes the operation on the basis of the result of determination by the permissions processing unit. The permissions processing unit determines that the operator may execute an operation only when the operator has permission for the operation or when approval by the approver to execute the operation is obtained.
A robot simulation device includes: an arrangement unit that arranges a robot model, a visual sensor model, and a workpiece model in a virtual space; a calculation unit that, by superimposing three-dimensional position information for a workpiece, acquired by a visual sensor in a workspace and based on a robot or the visual sensor, and shape characteristics of a workpiece model, calculates a position and orientation of the workpiece model based on a robot model or a visual sensor model in the virtual space; and a simulation unit that measures the workpiece model using the visual sensor model and executes a simulation operation in which work is performed on the workpiece model by the robot model. The arrangement unit arranges, in the virtual space, the workpiece model in the position and the orientation calculated by the calculation unit and based on the robot model or the visual sensor model.
A control device controls a robot in which a sensor is disposed, the control device comprising: a sensor coordinate storage unit for storing coordinate system information of a sensor coordinate system; a sensor setting storage unit for storing setting information; a sensor data receiving unit for receiving sensor data; an axis angle detection unit for detecting an angle of each of a plurality of axes included in the robot; a sensor value estimation unit for estimating a sensor value to be detected; and an anomalous sensor value determination unit for comparing the value of the sensor data and the sensor value estimated by the sensor value estimation unit and determining that the sensor data receiving unit is receiving sensor data from a sensor of another robot if the difference between the value of the sensor data and the estimated sensor value exceeds a preset threshold value.
A time difference setting device is provided with: a speed change acquisition unit that acquires a change in speed of a driving mechanism with respect to a positioning command based on a machining program; a mechanism delay time calculation unit that calculates a mechanism delay time; a laser output calculation unit that uses an oscillator model for simulating the operation of a laser oscillator and calculates a change in output of the laser oscillator with respect to a laser command based on the machining program; a laser delay time calculation unit that calculates a laser delay time; and a command time difference setting unit that, on the basis of the mechanism delay time and the laser delay time, sets a command time difference for an interval in which an emission of laser light is designated in the machining program.
G05B 19/402 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
G05B 19/4093 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
A moving-body monitoring device has a position detection unit that outputs positional information of a moving body, a proximity sensor that detects the moving body, a first storage unit that stores a position when the moving body having moved in a first direction is detected as first positional information, and stores a position when the moving body having moved in a second direction is detected as second positional information, and a calculation unit that calculates a fixed-point position of a detecting region of the proximity sensor during monitoring as fixed-point positional information based on the first and second positional information. The device also has a second storage unit that stores reference fixed-point positional information, and a monitoring unit that, when a deviation between the fixed-point and reference fixed-point positional information goes beyond a stipulated range, determines that a positional deviation amount of the moving body exceeds a tolerance.
A numerical control device according to one aspect of the present disclosure, which can form a two-dimensional code in a relatively short time, controls a processing mechanism that processes a workpiece by means of a plurality of tools, the numerical control device comprising: a configuration information storage unit which stores machine configuration information including information about the tools of the processing mechanism; a code data acquisition unit which acquires code data that identifies the shape of one or a plurality of two-dimensional codes to be formed on the surface of the workpiece; a concurrent process generation unit which generates a plurality of concurrent processes that are allocated to all valid tools one-by-one on the basis of the code data and the machine configuration information and cause all the valid tools to cooperate so that all the two-dimensional codes are formed by being concurrently executed; and a concurrent process execution unit which executes the plurality of concurrent processes.
G05B 19/4093 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
B23Q 15/00 - Automatic control or regulation of feed movement, cutting velocity or position of tool or work
G05B 19/18 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
G05B 19/4097 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using design data to control NC machines, e.g. CAD/CAM
G06K 1/12 - Methods or arrangements for marking the record carrier in digital fashion otherwise than by punching
G06K 19/06 - Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
The present invention reduces a torque command according to a motor control state. A motor control device of a motor for driving the shaft of a machine is equipped with: a command generation unit for generating a motor movement command and determining an operation mode; a detection unit for detecting the location and/or speed of the shaft; a control unit for generating a torque command on the basis of the movement command and location deviation and/or speed deviation calculated from a detected value from the detection unit; and a determination unit for determining it is possible to reduce the torque command when the movement command, the operation mode and the location deviation and/or speed deviation each satisfy established conditions.
A motor control device according to one embodiment of the present disclosure is capable of optimizing control characteristics, and comprises: a torque command creation unit that creates a torque command for driving a motor in accordance with a speed command which is input; an operation command creation unit that, in order to operate the motor, creates an operation command which is the speed command input to the torque command creation unit; a measurement command creation unit that, in order to adjust the torque command creation unit, creates a measurement command which is the speed command input to the torque command creation unit or the torque command for driving the motor; a response characteristic calculation unit that calculates a response characteristic value indicating a response characteristic of a speed detection value of the motor with respect to the measurement command; and an amplitude determination unit that causes the measurement command creation unit to change the amplitude of the measurement command if the response characteristic value does not satisfy a predetermined determination condition.
A diagnosis device according to one embodiment determines the state of a touch panel, on the basis of: a first signal intensity detected at each of a plurality of coordinates provided on the touch panel in a self-capacitance manner; and a second signal intensity detected at each of the plurality of coordinates in a mutual capacitance manner.
Provided is a robot control device that eliminates the need to alternate between a transfer operation executed with a robot teaching operation panel and a confirmation operation executed with a screen of a programmable logic controller. This robot control device is connected to a programmable logic controller and controls a robot, wherein the robot control device is provided with: a transfer unit that transfers a current position of the robot to the programmable logic controller in order to store the current position in a prescribed region within the programmable logic controller; an acquisition unit that acquires, from the programmable logic controller, the current position stored in the programmable logic controller or information related to the current position; and a display control unit that displays the acquired current position or information related to the current position to a screen of a robot teaching operation panel.
G05B 19/045 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using logic state machines, consisting only of a memory or a programmable logic device containing the logic for the controlled machine and in which the state of its outputs is dependent on the state of its inputs or part of its own output states, e.g
An arm-shaped structure includes a pipe-shaped main body and an attachment interface joined to at least one end of the main body and securable to another component. At least a portion of the main body and the attachment interface is formed by resin containing a continuous reinforcement fiber. The main body and the attachment interface are joined to each other in a state where relative movement along a longitudinal axis of the main body and around the longitudinal axis is prevented in accordance with engagement between a recess provided in one of the main body and the attachment interface and a protrusion provided in the other one of the main body and the attachment interface.
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.
A power harness includes: a first connector connectable to a power supply; a second connector connectable to a power connector provided at a single actuator; and a connection cable that connects the first connector and the second connector to each other. At least a lengthwise section of the connection cable is a movable region constituted of a plurality of small-diameter cables arranged parallel to each other. A sum of allowable current values of all the small-diameter cables satisfies an allowable current value of the connection cable.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
A motor monitoring device according to one aspect of the present disclosure comprises: a rotational speed acquisition unit that acquires the rotational speed of one or more motors driven by a plurality of alternatively used windings; an output value acquisition unit that acquires the output value of the motor(s); a winding identification unit that identifies the winding in use; a load characteristic acquisition unit that acquires load characteristic information about the winding identified by the winding identification unit for the motor(s); and a graph display unit that plots a marker indicating a combination of the rotational speed and the output value in a graph area of which one axis is the rotational speed and the other axis is the output value. The graph display unit includes: a graph area setting unit that, with regard to expected combinations of the rotational speed and the output value, divides the graph area into a plurality of load zones with different load levels on the basis of a plurality of the load characteristic information, and displays the plurality of load zones in an identifiable manner; and a plotting unit that plots the marker in the graph area.
Provided is a control device for controlling an industrial machine, wherein the control device comprises: a storage unit that stores execution-history data from when a program is executed, the program causing the industrial machine to perform prescribed work; and a history display unit that displays, on a display screen and as a table, execution-history data, such display being performed on the basis of the hierarchical structure of the execution-history data.
A motor monitoring device according to one aspect of the present disclosure comprises: a rotational speed acquisition unit that acquires the rotational speeds of a plurality of motors; an output value acquisition unit that acquires output values of the plurality of motors; a deviation calculation unit that calculates the deviation in the rotational speed and output value among the motors; and a graph display unit that plots a plurality of markers indicating the combination of the rotational speed and the output value for each of the motors in a graph area of which one axis is the rotational speed and the other axis is the output value. The graph display unit includes: a graph area setting unit that, with regard to expected combinations of the rotational speed and the output value, divides the graph area into a plurality of load zones with different load levels on the basis of a plurality of time ratings of the motors, and displays the plurality of load zones in an identifiable manner; a plotting unit that plots the plurality of markers in the graph area; and a connecting line drawing unit that draws connecting lines connecting the markers that correspond with each other in a manner that differs according to the deviation.
When a data provider provides data to the outside, an application not intended by the data provider to use the data is prevented from doing so. A reception-side server comprises a data usage condition information management unit which: when available application information, in which an application name for allowing access to data provided from outside is set, is added to the data, registers data usage condition information; and when an access request for the data is received from any application, allows access to the data only to applications that are authorized to access the data on the basis of the data usage condition information.
A numerical controller includes: a spindle load detection unit that detects time-series data on a load on a spindle when a workpiece is machined; a target load setting unit that sets a target load on the spindle; a machining time prediction unit that, based on the time-series data, predicts a machining time taken when a feed rate of the spindle is controlled so that a load on the spindle matches the target load; and a machining time output unit that outputs data on the predicted machining time.
G05B 19/4155 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
Provided is a PLC programming device that alleviates the burden on the designer. A PLC programming device according to the present invention comprises: a signal information analysis unit that acquires electrical design specification data that includes electrical design specifications related to a signal connected to a numerical control device and is created by an electrical design tool; a numerical control device information acquisition unit that acquires setting information of the numerical control device; a signal control information storage unit that stores signal control information that corresponds to the setting information of the numerical control device and includes a template program for controlling the signal connected to the numerical control device; and a sequence program generation unit that acquires the signal control information from the signal control information storage unit on the basis of signal information connected to the numerical control device and generates a sequence program on the basis of the acquired signal control information, the signal information connected to the numerical control device, and the setting information of the numerical control device.
This positioner (10) comprises: a base (20) having a pair of support parts (21), (22) disposed with a prescribed gap therebetween in a first axis (A) direction; a shaft member (30) that is disposed between the pair of support parts and is supported so as to be able to rotate about the first axis relative to the base; and a disk-shaped rotary table (50) that is supported so as to be able to rotate about a second axis (B) orthogonal to the first axis relative to the shaft member, and has a mounting surface (51) on which a workpiece (W) can be mounted, wherein the rotary table has an outer diameter dimension that fits inward of both ends of the shaft member in the first axial direction and, in a movable range of the rotary table about the first axis, the distance of the mounting surface from the first axis is set to be greater than the distance of the outermost edge about the first axis of at least one support part from the first axis, and the distance of the rear surface of the mounting surface of the rotary table from the first axis is set to be less than the distance of the outermost edge from the first axis.
B23Q 1/01 - Frames, beds, pillars or like members; Arrangement of ways
B23Q 1/54 - Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only two rotating pairs only
B23K 37/047 - Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the other main groups of this subclass for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
The present invention executes, at the same time, actions of a robot by executing a robot program offline, and generating an action path of the robot by automatic path generation. This offline simulation device includes: an offline program execution unit that executes a robot program in an offline simulation environment in which a robot, a plurality of workpieces that are stacked for the robot to extract, and a vision sensor for detecting the plurality of workpieces are disposed in a virtual space, so as to perform simulation of actions of the robot extracting the workpieces; and an automatic path generation execution unit that copies the offline simulation environment, and generates an action path for the actions of the robot in a duplicated offline simulation environment that has been copied; and an adjustment unit that performs editing of the robot program and/or adjustment of parameters of the action path, on the basis of the actions of the robot that have been simulated and the action path that has been generated.
A mounting plate material according to the present disclosure is for mounting a motor drive device to a support section of a control panel, the mounting plate material comprising: a placement section where a plate-securing section that secures the mounting plate material to the support section is placed; and a secured section where a device-securing section that secures the motor drive device to the mounting plate material is secured. The mounting plate material is provided to block at least part of an opening in the support section.
This electric motor comprises: a stator core; a first winding that is wound around the stator core and corresponds to a first phase; a second winding that is wound around the stator core and that corresponds to a second phase which is different from the first phase; a thermistor that is attached to the first winding; and a thermostat that is connected in series with the thermistor, and that is attached to the second winding.
A robot simulation device comprising: a three-dimensional model arrangement part for arranging, in a virtual space, a robot three-dimensional model, a robot-installed hand three-dimensional model, a supply device three-dimensional model, an ejection device three-dimensional model, workpiece three-dimensional models, and a detection device three-dimensional model for detecting a workpiece on the supply device; a gripping workpiece quantity designation part for receiving input designating a quantity of workpiece three-dimensional models to be gripped at once by the hand three-dimensional model; a reference workpiece designation part for receiving input designating a workpiece three-dimensional model to be used as a reference when gripping the workpiece three-dimensional models with the hand three-dimensional model; and a gripping position setting part for setting workpiece three-dimensional model gripping positions for the hand three-dimensional model relative to the workpiece three-dimensional models for when gripping the workpiece three-dimensional models with the hand three-dimensional model, on the basis of the designated quantity of workpiece three-dimensional models to be gripped at once, the reference workpiece three-dimensional model, spacing among the workpiece three-dimensional models on the supply device three-dimensional model, and positions/attitudes of the robot three-dimensional model when moving onto the supply device three-dimensional model.
A technique for robotic grasp teaching by human demonstration. A human demonstrates a grasp on a workpiece, while a camera provides images of the demonstration which are analyzed to identify a hand pose relative to the workpiece. The hand pose is converted to a plane representing two fingers of a gripper. The hand plane is used to determine a grasp region on the workpiece which corresponds to the human demonstration. The grasp region and the hand pose are used in an optimization computation which is run repeatedly with randomization to generate multiple grasps approximating the demonstration, where each of the optimized grasps is a stable, high quality grasp with gripper-workpiece surface contact. A best one of the generated grasps is then selected and added to a grasp database. The human demonstration may be repeated on different locations of the workpiece to provide multiple different grasps in the database.
A temperature protection device includes: a storage unit for storing a temperature protection line defined on the basis of a time during which a current is continuously supplied from an electric motor driver device to an electric motor and the allowable temperatures of the electric motor and electric motor driver device; a temperature computing unit for computing the temperature of the electric motor or electric motor driver device by obtaining the current value of the current supplied from the electric motor driver device to the electric motor; and a determination unit for determining whether the temperature exceeds a temperature protection line.
H02P 29/68 - Controlling or determining the temperature of the motor or of the drive based on the temperature of a drive component or a semiconductor component
41.
OPTICAL COMMUNICATION DEVICE AND OPTICAL COMMUNICATION SYSTEM
An optical communication device according to an embodiment is provided with: a communication circuit for transmitting and receiving a signal using a first communication optical fiber connected to a first port; a tester circuit for transmitting and receiving a test signal using a loop-back optical fiber connected to a second port; a determining unit which, when the amount of optical reception of the test signal is lower than a threshold value, determines that the loop-back optical fiber is degraded; and a notifying unit for notifying a determination result from the determining unit.
H04B 10/075 - Arrangements for monitoring or testing transmission systems; Arrangements for fault measurement of transmission systems using an in-service signal
A state classification device according to the present invention comprises: a feature amount acquisition unit that acquires a feature amount set pertaining to a prescribed physical quantity detected during operation of industrial machinery; a state sensing unit that, on the basis of the acquired feature amount set, senses that the industrial machinery has transitioned out of a prescribed state; a clustering unit that executes a clustering process using a plurality of feature amount sets from when the transition of the state of the industrial machinery has been sensed to create a cluster; a label assignment assistance unit that assists in work performed by a user to assign a label to the cluster; a model-updating unit that, by using the feature amount sets belonging to the labeled cluster, updates a classification model used in classifying the state of the industrial machinery; a state classification unit that carries out a process for classifying the state of the industrial machinery using the classification model; and a classification result output unit that outputs the result of the classification process.
B23Q 17/09 - Arrangements for indicating or measuring on machine tools for indicating or measuring cutting pressure or cutting-tool condition, e.g. cutting ability, load on tool
A machine tool according to an aspect of the present disclosure is capable of appropriately performing a setup task and comprises: a processing device that processes a workpiece by using a tool; one or a plurality of tag readers that are each attached to an article, which is removable and includes the tool, and read a tag that records unique ID information; and a control device which has a setup display unit that displays task information of the setup task to be performed by a worker in accordance with the ID information read by the tag reader.
In this electric motor (10), two or more coils (16) of the same phase are arranged adjacent to each other in the circumferential direction of a stator core (12), and ventilation holes (18) are formed elsewhere besides the stator core (12) between teeth (14) around which coils (16) of different phases that are adjacent in the circumferential direction of the stator core (12) are wound.
The present invention provides a mobile operation device, a machine system, and a memory control program for the mobile operation device that are capable of suppressing an increase in memory usage and a decrease in processing speed while maintaining reliability of the system. The mobile operation device is a portable device for operating a machine, and comprises a memory with a plurality of storage units, a code assigning unit that assigns an error-correcting code to data in the memory, and an encoding region specifying unit that specifies a region to which the data assigned with the error-correcting code is to be stored.
G05B 19/409 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form - characterised by control panel details, by setting parameters
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
Provided are a display control device and program with which it is easier than the past to understand a 3D model that has prescribed relevance to a 3D model that is currently selected. A display control device according to an embodiment comprises a setting unit and a display control unit. The setting unit sets whether a first 3D model has the prescribed relevance with a second 3D model. The display control unit puts: the appearance of the first 3D model, which is currently selected, in a first display state; the appearance of the second 3D model, which is not currently selected, in a second display state that is different from the first display state when the first 3D model is currently selected and the second 3D model is set to have the prescribed relevance to the first 3D model; and the appearances of the first 3D model, which is not currently selected, and the second 3D model, which is not currently selected, in a third display state that is different from the first and second display states when the second 3D model is not set to have the prescribed relevance to the first 3D model.
Provided is the technology that enables accurate assessment as to whether chip shredding is possible in oscillation cutting, even if machining conditions change, and that also facilitates adjustment of the machining conditions. A machine tool control device 1 comprises: a condition acquisition unit 11 that acquires, as preconditions, one or two items of information from among three items of information that are a feed amount F, an oscillation frequency multiplier I, and an oscillation amplitude multiplier K; an air cut amount acquisition unit 12 that acquires a designated air cut amount that indicates the degree of air cutting in a direction of oscillation; and a machining control unit 13 that, on the basis of the preconditions, determines the item(s) of information among the three items of information not acquired by the condition acquisition unit 11 so that an air cut amount based on an amount between n rotation passes and rotation passes subsequent to n rotations will be a designated air cut amount and performs machining control.
B23Q 15/00 - Automatic control or regulation of feed movement, cutting velocity or position of tool or work
B23B 1/00 - Methods for turning or working essentially requiring the use of turning-machines; Use of auxiliary equipment in connection with such methods
B23Q 17/00 - Arrangements for indicating or measuring on machine tools
G05B 19/4093 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
48.
MOTOR DRIVE DEVICE AND MOTOR WINDING DIAGNOSIS METHOD
This motor drive device comprises an inverter unit that applies voltage to windings between each phase of a three-phase AC motor, and a command unit that generates commands to control the voltage applied to the windings between each phase by the inverter unit, where the inverter unit applies an impulse voltage for diagnosing the state of the windings of the motor to the windings between each phase according to the command of the command unit.
This printed substrate (10) is provided with a pad (16) having a plurality of solder-coated regions (18) that are defined in advance for the purpose of mounting electronic components. A solder paste that is applied to each of the plurality of solder-coated regions (18) forms a first gap region (20) that extends in a first direction (D1), a second gap region (22) that extends in a second direction (D2), and an intersection region (24). The pad (16) has a notch (26) that extends from the intersection region (24) to an edge (16E1) of the pad (16).
H05K 3/34 - Assembling printed circuits with electric components, e.g. with resistor electrically connecting electric components or wires to printed circuits by soldering
50.
END EFFECTOR ATTACHMENT APPARATUS, END EFFECTOR, AND ROBOT ARM MECHANISM
An end effector attachment apparatus is an apparatus to be attached to an end effector of a robot. The end effector attachment apparatus includes a base plate, a mount plate on which the end effector is mounted, an attraction mechanism for attracting the mount plate to the base plate, and a bellows coupling the mount plate to the base plate. The front and rear edges of the bellows are sealed to the base plate and the mount plate to secure a sealed space inside the bellows.
B25J 15/04 - Gripping heads with provision for the remote detachment or exchange of the head or parts thereof
B25J 15/06 - Gripping heads with vacuum or magnetic holding means
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
A machine tool according to one embodiment of the present disclosure that is capable of highly precisely ascertaining power consumption comprises: a plurality of power verification targets; a single power meter provided in an electrical circuit that supplies power to all of the power verification targets; and a control device that controls the plurality of power verification targets. The control device includes a measurement control unit that operates the power verification targets one at a time and acquires detected values from the power meter during operation of the power verification targets, thereby measuring a reference power consumption of each of the power verification targets.
This laser machining device and laser machine method irradiate a plate-shaped workpiece with a laser beam to machine a welding groove in the workpiece. The laser processing device includes: a laser oscillator for emitting a laser beam; a machining head for guiding the laser beam such that the laser beam irradiates the workpiece perpendicular to the surface thereof; an air supply mechanism for supplying compressed air to the machining head as an assist gas; a workpiece holding mechanism for holding and moving the workpiece relative to the machining head; and a control device for controlling the operation of the components of the laser machining device. When a groove is machined, the control device outputs a beam-mode change command signal for changing the intensity distribution of the laser beam in accordance with the shape of the groove.
A measurement device according to the present disclosure comprises: a coordinates value calculation unit for calculating, on the basis of a signal inputted from a measurement instrument, a coordinate value of a position at which the shape of a measurement surface of an object under measurement changes; a measurement information recording unit for recording measurement information concerning the time interval at which the shape of the measurement surface of the object under measurement changes; and a speed improperness determining unit for determining, if the time interval at which the shape of the measurement surface of the object under measurement changes as recorded by the measurement information recording unit is shorter than a prescribed first threshold defined in advance, that the relative speed between the measurement surface of the object under measurement and the measurement instrument is improper. Upon determining that the relative speed is improper, the measurement device communicates that the evaluation of the measurement surface of the object under measurement is not being correctly carried out.
G01B 21/20 - Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
The present invention can estimate the respective priorities of a plurality of evaluation items forming an overall evaluation and interpret the overall evaluation. This processing surface evaluation device is provided with: an evaluation data / evaluation value acquisition unit that acquires evaluation values of a plurality of evaluation items and a plurality of pieces of evaluation data for a processing surface; an estimation question generation unit that, on the basis of the plurality of pieces of evaluation data and the evaluation values of the plurality of evaluation items, generates estimation questions for estimating the respective priorities of the plurality of evaluation items; an estimation question response acquisition unit that acquires responses for the estimation questions; and a priority analysis output unit that analyzes the responses and estimates and outputs the priorities of the plurality of evaluation items.
B23Q 17/20 - Arrangements for indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
B23Q 17/24 - Arrangements for indicating or measuring on machine tools using optics
G05B 19/18 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
55.
MACHINE TOOL CONTROL DEVICE AND MACHINE TOOL DISPLAY DEVICE
Provided is a technology capable of reliably carrying out air cutting during oscillation machining for threading regardless of oscillation phase differences. This machine tool control device 1 comprises: a condition acquisition unit 11 for acquiring, as a precondition, one or two pieces of information among three pieces of information, namely, an oscillation phase difference, information regarding a workpiece radial cut depth, and information regarding a radial oscillation amplitude of the workpiece; an air cut amount acquisition unit 12 for acquiring a specified air cut amount indicating the degree of air cut in the oscillation direction; and a machining control unit 13 for determining (a) piece(s) of information not acquired by the condition acquisition unit 11 among the three pieces of information on the basis of the precondition and carrying out machining control such that an air cut amount based on the interval between the n-th threading path and a threading path subsequent to the n-th path matches the specified air cut amount.
B23Q 15/00 - Automatic control or regulation of feed movement, cutting velocity or position of tool or work
B23G 1/02 - Thread cutting; Automatic machines specially designed therefor on an external or internal cylindrical or conical surface, e.g. on recesses
B23Q 17/00 - Arrangements for indicating or measuring on machine tools
G05B 19/4093 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
A numerical controller includes a reading analysis unit that reads a CNC program and additional information, a path generation unit that determines a movement path of a tool, and a velocity control unit that determines a velocity for moving the tool according to the movement path of the tool, and machining errors, deterioration of a machined surface quality, or an increase in a cycle time are reduced without increasing a CNC program size and a calculation time associated with control more than necessary.
G05B 19/402 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
This stator comprises: a housing which includes a core, a plurality of coils that are wound around the core, at least two support columns that contact an end surface of the core, and a bridge that mutually links the at least two support columns; and resin which covers the core, the plurality of coils, and the housing.
Provided is a feature with which it is possible to precisely achieve a desired surface roughness even if a cutting tool is replaced after the start of processing or if the shape of a blade edge of the cutting tool has changed, to improve the readability of a processing program, and to reduce the time and effort required in creating the processing program. Specifically, provided is a control device 1 for a machine tool that processes a workpiece W while moving the workpiece W relative to a cutting tool T, the machine tool control device 1 comprising: a surface roughness acquisition unit 11 that acquires, from a processing program, a target surface roughness set for a workpiece W being processed; a tool surface roughness information acquisition unit 12 that acquires tool surface roughness information relating to the surface roughness of the cutting tool T; and a feeding amount control unit 14 that, on the basis of the tool surface roughness information, determines feeding amount information relating to a feeding amount per relative rotation of the cutting tool T and the workpiece W such that the surface roughness of the workpiece W reaches the target surface roughness.
B23Q 15/00 - Automatic control or regulation of feed movement, cutting velocity or position of tool or work
B23Q 15/013 - Control or regulation of feed movement
G05B 19/18 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
G05B 19/4093 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
An armature of a linear motor includes a winding wire; a core which is formed by laminating electromagnetic steel sheets and on which the winding wire is wound; and a binding member which is inserted into the core and which binds the core to a prescribed place. The binding member includes a locking part locked to the core, and a binding hole that does not penetrate the binding member and that is exposed from the core.
This robot control device for controlling a robot comprises: a storage unit that stores a first imaging position for performing, by means of a visual sensor mounted to the robot, a stereoscopic measurement on a subject installed in a work space, and a second imaging position for performing a stereoscopic measurement on the subject by means of the visual sensor, the second imaging position having a larger parallax than that of the stereoscopic measurement performed at the first imaging position; a first measurement unit that performs the stereoscopic measurement on the subject at the first imaging position and acquires a first deviation amount of the robot with respect to the work space; a correcting unit that, on the basis of the first deviation amount, corrects the position of the robot during the stereoscope measurement at the second imaging position; a second measurement unit that performs the stereoscopic measurement of the subject at the second imaging position and acquires a second deviation amount of the robot with respect to the work space; and an action control unit that corrects an action of the robot on the basis of the second deviation amount.
An image generation device according to the present disclosure generates images for ascertaining the state of an industrial machine, the image generation device comprising: a merging unit that merges first image data pertaining to the state of the industrial machine and data indicating an internal state of the industrial machine as image data; a first data storage unit that stores the image data merged by the merging unit, in association with a date and time at which the first image data was acquired or a date and time at which the data indicating the internal state of the industrial machine was acquired; a second data storage unit that stores second image data pertaining to a different state of the industrial machine than that of the first image data, in association with a date and time at which the second image data was acquired; and an output unit that, in response to an external request, outputs the image data that is stored in the first data storage unit or the second image data that is stored in the second data storage unit.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
B23Q 41/08 - Features relating to maintenance of efficient operation
62.
LASER PROCESSING APPARATUS AND LASER PROCESSING METHOD
The present invention provides a laser processing apparatus which performs processing while changing the beam profile of a laser beam being applied to a workpiece and which comprises a laser oscillator that emits a laser beam, a processing head that guides the laser beam so as to be applied to the workpiece, a workpiece holding mechanism that holds the workpiece and moves the workpiece relative to the processing head, and a control device that controls the operation of each component of the laser processing apparatus. The processing head includes at least a wedge prism on the optical path of the laser beam, the wedge prism causing the focus point of the laser beam on the workpiece to pivot about a predetermined pivot axis. The control device further comprises a pivot angle control unit that controls the pivot angle of the focus point and an output control unit that controls the output of the laser beam in accordance with the pivot angle.
The present invention provides a technology for enabling intuitive grasp of a change in processing state due to a change in input values of processing conditions and oscillation conditions in oscillating cutting processing. A display device 1 for a machine tool that processes a workpiece W while oscillating a cutting tool T and the workpiece W relative to each other comprises a condition input unit 11 that receives at least one input of the processing conditions and oscillation conditions by input means 30 (slider bars 31, 32, 35, 36) with which input values can be changed continuously, a processing state calculation unit 12 that calculates the processing state according to the input of the processing conditions and oscillation conditions, and a display unit 13 that displays the calculated processing state.
G05B 19/409 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form - characterised by control panel details, by setting parameters
B23B 1/00 - Methods for turning or working essentially requiring the use of turning-machines; Use of auxiliary equipment in connection with such methods
B23Q 17/00 - Arrangements for indicating or measuring on machine tools
64.
TEACHING DEVICE AND TEACHING METHOD FOR TEACHING OPERATION OF LASER PROCESSING DEVICE
A teaching device is provided with a processor. The processor generates a path image showing a moving path MP on which a laser processing device moves laser light with respect to a workpiece in laser processing, generates an input image for inputting a data set of a progress parameter indicating progress of the laser processing and a laser parameter of the laser light, and displays on the path image a position corresponding to the progress parameter on the moving path MP.
According to an aspect of the present disclosure, a water supplying device (16) automatically supplies water to a wire discharge working machine (10), and includes: a first water supplying path (50) for supplying water from outside of the wire discharge working machine (10) to a pure water tank (22) of the wire discharge working machine (10); a first valve (52) for opening/closing the first water supply path (50); a second water supplying path (56) for supplying water from outside of the wire discharge working machine (10) to an ion exchange unit (24); a second valve (58) for opening/closing the second water supply path (56); and a circulation path (40) for sending a working liquid from the ion exchange unit (24) to the pure water tank (22).
A control device according to the present disclosure comprises: a data acquisition unit that acquires process identification data that identifies a plurality of molding processes constituting a molding cycle of an injection molding machine, and time-series data pertaining to a prescribed physical amount as data indicating a state pertaining to the injection molding machine; a feature amount calculation unit that calculates a feature amount of the time-series data acquired in a prescribed molding process among the plurality of molding processes; an operation command item acquisition unit that acquires a setting value pertaining to an operation command item; a correction rule storage unit that stores at least one correction rule that defines a correction condition and correction details; and a correction unit that references the correction rule storage unit, and if the feature amount calculated by the feature amount calculation unit has satisfied the correction condition, the correction unit creates correction information indicating that the setting value pertaining to the prescribed operation command item is to be corrected with the correction details associated with the correction condition.
Provided are a bearing structure for a speed reducer for a robot, an actuator for a robot, and a robot, wherein the rigidity as an actuator that includes a bearing is equal to that of a cross-roller bearing, and a lubricating oil used in the interior of the speed reducer does not leak to the outside. This bearing structure comprises a bearing capable of receiving moment acting in any direction, a plurality of first clamping members for sandwiching an outer ring of the bearing in the axial direction, and a first seal part provided at a location where the plurality of first clamping members oppose one another. At least a portion of the first clamping members is configured from a material having a lower specific gravity than steel.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
A robot apparatus includes: an arm part including a fixed element and a plurality of linear motion elements assembled in multiple stages extendably with respect to the fixed element; a movement drive mechanism for driving movement of a foremost linear motion element among the plurality of linear motion elements; and a position identification unit for identifying a position of at least one linear motion element of the plurality of linear motion elements other than the foremost linear motion element with respect to the fixed element or the foremost linear motion element.
A teaching device for creating a control program for a robot includes: a screen generation unit which generates a program creation screen for creating a program via commands representing functions constituting the control program for the robot; and a related information display control unit which, in accordance with the selection of or an execute instruction for a command disposed in the program creation screen, displays information relating to the command subject to the selection or the execute instruction.
In relation to work performed by a robot, which is an industrial machine, the objective of the present invention is to enable a cause of a processing failure or abnormality to be understood easily from a stored operation history, and to enable problems that may occur in the future to be prevented. This objective can be achieved by means of a robot system configured such that: an execution history of a program for executing work on a workpiece is stored; information from sensors and information about processing results of the work performed on the workpiece are stored in association with the execution of each program block of the program; and parameter information indicating the cause of a failure in the processing results is added to the execution history when a failure occurs in the processing results.
This control device is provided with a processing unit for calculating a permissible value of an external force that is permissible to be applied on a robot, a workpiece, or a hand. The permissible value of load that can be exerted on a constituent member of the robot is determined in advance. The processing unit calculates a permissible value of an external force in an application direction in which the external force is applied, on the basis of the position and attitude of the robot, the position of an application point where the external force is applied, and the permissible value of load of the constituent member of the robot.
A robot installation position measurement device includes a first position information acquisition unit that acquires first position information, which is a three-dimensional command position of a tool center point fixed with respect to a flange at a tip of a robot, in a state in which the robot is positioned in a desired pose, a second position information acquisition unit that acquires, by a three-dimensional measurement instrument installed with a predetermined measurement coordinate system, second position information, which is a three-dimensional actual position of the tool center point in the pose, and a coordinate system correction unit that corrects a robot coordinate system, with which the robot operates, such that a difference between pieces of the first position information and pieces of the second position information acquired in states in which the robot is positioned in multiple different poses becomes small.
B25J 9/04 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
The objective of the present invention is to present a technology that enables the position and/or orientation of a robot to be changed without the introduction of large-scale equipment such as an AGV. A robot device 10 according to one embodiment of the present disclosure comprises a robot arm mechanism 20 mounted on a pedestal 50, and a control device 40 for controlling the robot arm mechanism 20 in order to execute a prescribed task. The control device 40 controls the robot arm mechanism 20 in order to move the pedestal 50.
The present invention provides a technology that can reduce a shock of a machine tool caused by a sharp change in acceleration at the time of oscillation mode switching in oscillation machining. A motor control device 1 comprises: an oscillation command calculation unit 12 that calculates an oscillation command from a movement command and an oscillation condition; an oscillation mode switching determination unit 32 that determines a timing of finishing the oscillation or switching a machining path; a filter time constant/application time setting unit 31 that sets a time constant τ and an application time t0 of a filter; a filter coefficient calculation unit 33 that calculates a filter coefficient K on the basis of the time constant τ set by the filter time constant/application time setting unit 31; and a filter application unit 34 that applies a filter having the filter coefficient K to a command for driving a motor 2 during the application time t0 when the oscillation mode switching determination unit 32 determines that the switching timing has been reached.
H02P 29/20 - Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors for controlling one motor used for different sequential operations
A determination device according to the present disclosure comprises: a data acquisition unit that acquires process identification data identifying a plurality of molding processes forming a molding cycle and time-series data relating to a predetermined physical quantity as data indicating a state of an injection molding machine; a feature calculation unit that uses the process identification data and the time-series data to calculate a first feature by performing statistical processing on the time-series data acquired in a specific molding process among the plurality of molding processes, and a second feature indicating a timing at which the first feature has been detected since start of the specific molding process; a determination unit that determines an operation state of the injection molding machine on the basis of at least the second feature; and an output unit that outputs the determination result.
This terminal support device comprises an attachment pedestal for detachably attaching a portable communication terminal that commands operation of a robot via wireless communication to a control device of the robot in accordance with teaching operation content, a safety switch that outputs a safety signal for the control device, an interface unit to which is connected an electrical cable comprising a signal line for transmission of the safety signal to the control device and a power source line for transmission of electric power that is supplied from the control device, and a wireless power transmission unit that performs wireless power transmission, to the portable communication terminal, of a portion of the electric power that is received from the control device via the interface unit and the power source line of the electrical cable.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
A robot apparatus according to one aspect of the present disclosure includes a robot body and a transfer leg for transferring the robot body. The robot body includes a robot arm mechanism and a sensor device for detecting an external force applied to the robot arm mechanism. The sensor device includes a sensor bottom plate to be installed on a robot installation table, a sensor top plate attached to the bottom surface of a base of the robot arm mechanism, and a sensor body for detecting the displacement between the sensor bottom plate and the sensor top plate. The transfer leg is configured to be able to fix the base or the sensor top plate to a transfer table in such a manner as to prevent the sensor bottom plate from coming into contact with the transfer table.
The stator core according to the present disclosure comprises: a cylindrical circular ring portion; a plurality of tooth portions provided projecting radially outward or radially inward on the circular ring portion; and an insulating portion for insulating between coils provided around the tooth portions adjacent to each other. The insulating portion has a cylindrical holding portion disposed on the circular ring portion and a partition portion that is provided projecting in the radial direction on the holding portion and partitions between the coils adjacent to each other.
H02K 3/34 - Windings characterised by the shape, form or construction of the insulation between conductors or between conductor and core, e.g. slot insulation
A plant model generation device according to the present disclosure is provided with: a simulation condition acquisition unit that acquires a simulation condition including at least a sample time; a characteristic parameter acquisition unit that acquires characteristic parameters indicating characteristics of a plant; a stabilization processing unit that adjusts, on the basis of the simulation condition and the characteristic parameters, a prescribed characteristic parameter such that a numerical calculation in a prescribed plant model satisfies a condition for stabilization that results in damped oscillation; and a coefficient calculation unit that calculates a coefficient of the plant model on the basis of the adjusted characteristic parameter of the prescribed plant model.
G05B 13/04 - Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
G05B 17/02 - Systems involving the use of models or simulators of said systems electric
G05B 19/18 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
G05B 19/4155 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
80.
WORK MACHINE CONTROL DEVICE AND WORK MACHINE CONTROL PROGRAM
The purpose of the present invention is to both break down chips and suppress sympathetic vibration in a machine. This work machine control device superposes a swinging command for commanding relative swinging between a workpiece and a cutting tool onto a movement command for commanding relative movement between the workpiece and the cutting tool, thereby generating air cuts in chips from the workpiece to break down the chips. A position information acquisition unit of the work machine control device acquires position information related to the relative positions of the workpiece and the tool. A state assessment unit of the work machine control device assesses that a state of instability is in effect, under the condition that a positional deviation exceeds a threshold value, the positional deviation increasing with increases in the difference between actual relative positions that are based on the position information and command relative positions that are based on the movement command and the swinging command. A swinging switching unit of the work machine control device performs a switching process for switching a swinging condition in relative swinging, under the condition that it is assessed that the state of instability is in effect.
G05B 19/4093 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
B23B 1/00 - Methods for turning or working essentially requiring the use of turning-machines; Use of auxiliary equipment in connection with such methods
B23Q 15/013 - Control or regulation of feed movement
81.
ROBOT SYSTEM, AND DIAGNOSTIC DEVICE, DIAGNOSTIC METHOD, AND DIAGNOSTIC PROGRAM FOR ROBOT
A robot system (100) comprising: a robot (10) that has two or more joints (A1)-(A6); a sensor (S) that is capable of detecting a physical amount for measuring or estimating an external force acting on the robot (10); and a diagnostic device that diagnoses the robot (10), wherein the diagnostic device calculates a force that acts on each joint (A1)-(A6) in at least one direction other than the direction in which each joint (A1)-(A6) operates, on the basis of the external force measured or estimated from the physical amount detected by the sensor (S).
The present invention comprises a control device that is for a robot, a base member that is connected to the control device by wired communication, and a mobile communication terminal that can be attached to or detached from the base member and can wirelessly communicate with an external device, wherein: when the mobile communication terminal is detached from the base member and the wired communication is canceled, update control software is downloaded to the mobile communication terminal from an external server; and when the mobile communication terminal is attached to the base member and is connected to the base member by wired communication, control software for the control device is updated by the downloaded update control software.
B25J 13/06 - Control stands, e.g. consoles, switchboards
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
A robot control device is provided with a camera which images a teaching tool which includes a characteristic area, and a characteristic position detection unit which detects the position of the characteristic area. The robot control device includes a movement instruction generating unit which, when an operator has moved the teaching tool, changes the position and orientation of the robot such that the camera follows the characteristic area. The robot control device includes a calculation unit which, on the basis of the position of the characteristic area, calculates the position and orientation of an auxiliary coordinate system set for the teaching tool. The robot control device includes a setting unit which, on the basis of the position and orientation of the auxiliary coordinate system, sets the position of the teaching point and the orientation of the robot at the teaching point.
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
The present invention addresses the problem of, when an abnormality has occurred in one detector, switching to feedback control based on a detector in which an abnormality has not occurred. This motor control device 100 is provided with a first abnormality detection unit 115 that detects an abnormality in a separate detector 154 as the detector or a feedback cable 1541 thereof, a second abnormality detection unit 116 that detects an abnormality in an encoder 151 of a motor as the detector or a feedback cable 1511 thereof, and a switching unit 111 that switches from full-closed control to semi-closed control, or to control using only the separate detector. When either of the first abnormality detection unit 115 or the second abnormality detection unit 116 has detected an abnormality, the switching unit 111 switches to control using only any detector in which an abnormality has not occurred.
H02P 29/028 - Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
H02P 6/16 - Circuit arrangements for detecting position
H02P 29/032 - Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
Provided are: a rotor provided with a magnetic end plate and a structure for suppressing magnetic flux leakage; and an electric motor having this rotor. The rotor has a rotor core of an approximately cylindrical shape, a plurality of magnets supported by the rotor core, and two end plates arranged at either end surface in the axial direction of the rotor core, the end plates being formed of a magnetic material. Each end plate has an approximately circular shape corresponding to the radial cross-section of the rotor core, and a circumferential portion of the end plate has, as seen in the axial direction, concave portions that partially cover the magnets, and convex portions that are positioned between the plurality of magnets and have larger dimensions in the radial direction than the concave portions.
According to one embodiment, an electrical discharge machine comprises a pump that supplies a liquid and introduction piping that introduces liquid supplied by the pump to a machining tank. The introduction piping has a piping section that is higher than the maximum allowed height for the liquid level in the machining tank. A through hole that passes through the pipe wall of the introduction piping is provided in said piping section.
The present invention makes it possible to easily obtain maintenance information such as a cause of an occurrence of an abnormality and a recovery method even when a display unit of a motor drive device has a simple configuration. Provided is a motor drive device comprising: a diagnosis unit that diagnoses a state of the motor drive device itself; at least one light emitting element; a lighting pattern generation unit that generates a lighting pattern of the light emitting element on the basis of diagnosis data from the diagnosis unit, the lighting pattern being readable by an external device; and a light emitting element control unit that controls the light emitting element to display the lighting pattern.
The present invention is a laser oscillator having a function for monitoring the output of a laser beam emitted from a laser oscillation source, and comprises an excitation light source that outputs an excitation light to the laser oscillation source, a power source unit that supplies a drive electric current to the excitation light source, an oscillation control device that controls an emission condition of the laser beam, an interface unit that relays exchange of a signal between the power source unit and the oscillation control device, and an output detector that detects output of a pulsed laser beam, the oscillation control device creating a corrected command output value by performing corrective computational processing of a command output value while taking into account a time constant that accompanies detection of the output of the laser beam by the output detector, the command output value being computed on the basis of the electric current value of the drive electric current supplied to the excitation light source, and monitoring the output of the laser beam using a difference between the corrected command output value and the actual measured output value detected by the output detector at the same time point.
The purpose of the present invention is to achieve labor saving of inquiry work to the outside that a user performs for resolving an abnormality when the abnormality has occurred in a production machine. An information processing device of the present disclosure is connected in a manner that enables data communication to a production machine such as a robot. The information processing device comprises a monitoring unit that monitors the occurrences of abnormal phenomena of the production machine, and a processing unit that performs an assistance process for assisting inquiries by the user for resolving an abnormality when the occurrence of the abnormality in the production machine is detected.
G05B 19/409 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form - characterised by control panel details, by setting parameters
G06Q 10/20 - Administration of product repair or maintenance
This noise removal circuit that removes the effect of noise from the data output from a sensor circuit comprises: a conductor wire that surrounds an electric cable; a noise detection circuit for generating a noise detection signal indicating the presence or absence of noise in the electric cable on the basis of the electric signal generated in the conductor wire; and a data processing circuit that invalidates data output from the sensor circuit during an invalidation period that includes at least a period in which the noise detection signal indicates that noise has occurred.
The stator according to the present disclosure is inserted into a circular ring member and comprises: a cylindrical stator core; a coil having a coil end projecting axially outward from the end surface of the stator core in the axial direction and provided around the stator core; and a cylindrical covering portion provided so as to cover the coil end and projecting axially outward from the end surface of the stator core in the axial direction. The covering portion has a sealing material attachment portion to which a sealing material for sealing the gap between the circular ring member and the covering portion is attached. The sealing material attachment portion has an annular groove shape formed recessed radially inward on the outer circumferential surface of the covering portion, extends to the end portion of the covering portion on the axially outward side, and is opened.
H02K 9/197 - Arrangements for cooling or ventilating for machines with closed casing and closed-circuit cooling using a liquid cooling medium, e.g. oil in which the rotor or stator space is fluid-tight, e.g. to provide for different cooling media for rotor and stator
H02K 9/24 - Protection against failure of cooling arrangements, e.g. due to loss of cooling medium or due to interruption of the circulation of cooling medium
F16J 15/10 - Sealings between relatively-stationary surfaces with solid packing compressed between sealing surfaces with non-metallic packing
An adjustment support device according to an aspect of the present disclosure is capable of appropriately executing automatic adjustment of a parameter and is an adjustment support device that provides an initial setting value, for automatic adjustment, to an adjustment device that automatically adjusts a parameter of a servo control device, which controls a servo motor, by operating the servo control device in accordance with an automatic adjustment program. The adjustment support device comprises: an initial setting value candidate reading unit that reads, from an external source, an initial setting value candidate that is an initial setting value for the automatic adjustment; an initial setting value approval unit that determines whether use of the initial setting value candidate is to be approved; and an initial setting value transmission unit that transmits, to the adjustment device, the initial setting value candidate approved for use by the initial setting value approval unit.
This coil case is configured to accommodate a coil. The coil case is provided with at least one portion to be cut off. The portion to be cut off is configured to be cut off after the coil case in which the coil is accommodated has been impregnated with an impregnating agent.
H01F 37/00 - Fixed inductances not covered by group
H01F 41/00 - Apparatus or processes specially adapted for manufacturing or assembling magnets, inductances or transformers; Apparatus or processes specially adapted for manufacturing materials characterised by their magnetic properties
This numerical control device is provided with: an internal storage which can store first software; and an external storage installation unit which has a connection part for an external storage. The numerical control device: records a log of the first software stored in the internal storage; and determines, when second software identical with or similar to the first software is stored in the external storage, whether the first software stored in the internal storage is to be loaded or the second software stored in the external storage is to be loaded. The numerical control device comprises a log analysis unit which analyzes the log and determines the presence or absence of an error of the first software identical with or similar to the second software when the second software stored in the external storage is to be loaded. When errors of the first software are recorded in the log, the numerical control device performs operation restriction on the second software.
A numerical controller 10 according to an aspect of the present disclosure does not require excessive speed and acceleration yet suppress errors in movement paths, and in accordance with a machining program containing a plurality of command blocks that each specify a designated speed of a target, controls a machining device having a plurality of driving axes for driving the target. The numerical controller 10 comprises: a synthetic speed calculation unit 16 that, for at least a curve block which designates curve movement and which is from among the plurality of command blocks, calculates a synthetic speed that is revised so that the designated speed is initially accelerated from zero by a prior revision time constant and finally decelerated to zero by the prior revision time constant; and a prior revision speed calculation unit 17 that calculates a prior revision speed of each driving axis for each time to realize the synthetic speed.
G05B 19/402 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
A joint structure includes: a first member having a cylindrical first inner surface extending along a predetermined axis; a second member having a cylindrical outer surface disposed coaxially with the first inner surface; a first seal that seals annular gap between the first inner surface and the outer surface while allowing relative rotation of the first member and the second member about the axis; a third member having a second inner surface disposed coaxially with the first inner surface and detachably attached to the first member on an outer side of a sealing position sealed with the first seal; and a second seal that is press-fitted into the second inner surface and that seals annular gap between the second inner surface and the outer surface while allowing relative rotation of the first member and the second member about the axis.
A rotation speed reduction mechanism according to one embodiment comprises: a fluid passage which allows a pressurized fluid to pass therethrough and is provided such that the pressurized fluid flows toward a shaft; and an elastic member which elastically deforms and comes into contact with the shaft due to the pressurized fluid flowing out from the fluid passage, said elastic member having the base side thereof affixed to a housing, and having a section which extends in an orthogonal direction orthogonal to the direction in which the shaft extends.
The present invention derives a technology for making it possible to more easily set a conveyance device coordinate system to a robot coordinate system (that is, calibration between a robot coordinate system and a conveyance device coordinate system). A device 60 comprises: a first indicator 18; a camera 14 that acquires first image data in which the first indicator 18 is imaged and second image data in which the first indicator 18 conveyed after the imaging by a conveyance device 16 is imaged; a position data acquiring unit 52 that acquires first position data that indicates a three-dimensional position with respect to the camera in a first indicator coordinate system expressed by the first indictor 18 captured in the first image data, and second position data that indicates a three-dimensional position with respect to the camera in a first indicator coordinate system expressed by the first indictor captured in the second image data; a conveyance direction acquiring unit 54 that derives the conveyance direction; and a coordinate system setting unit 56 that sets the conveyance device coordinate system to the robot coordinate system on the basis of the conveyance direction.
This control device comprises: a determination unit that, on the basis of the time required to vacuum a circulating system of a gas laser oscillator and the electrical power of a blower that circulates laser gas in the circulating system, determines the discharge current and gas pressure inside the circulating system when aging discharge is implemented in the gas laser oscillator; and a command unit that outputs an execution command for adjusting the pressure inside the circulating system to the gas pressure determined by the determination unit and implementing aging discharge at the discharge current determined by the determination unit.
H01S 3/032 - Constructional details of gas laser discharge tubes for confinement of the discharge, e.g. by special features of the discharge constricting tube
H01S 3/00 - Lasers, i.e. devices using stimulated emission of electromagnetic radiation in the infrared, visible or ultraviolet wave range
H01S 3/036 - Means for obtaining or maintaining the desired gas pressure within the tube, e.g. by gettering or replenishing; Means for circulating the gas, e.g. for equalising the pressure within the tube
100.
CORE BLOCK FOR MOTOR, AND METHOD FOR PRODUCING CORE BLOCK FOR MOTOR
The present invention provides a core block for a motor and a method for producing the core block, which can be efficiently produced and in which the size of a plastic region with poor properties that is formed on an electromagnetic steel sheet of the core block is reduced. This core block for a motor comprises electromagnetic steel sheets laminated on each other, said core block being obtained by carrying out an edge part forming process using electrical energy or optical energy to form the whole or part of the circumferences of edge parts of the electromagnetic steel sheets of the core block and carrying out press working to punch the electromagnetic steel sheets before or after the edge part forming process that uses electrical energy or optical energy.
H02K 15/02 - Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies
