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
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 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
19.
DATA MANAGEMENT SYSTEM, DATA MANAGEMENT SERVER, DATA MANAGEMENT METHOD, DATA MANAGEMENT PROGRAM, AND RECORDING MEDIUM
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
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
26.
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
27.
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 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
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.
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.
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
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.
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.
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 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
A diagnosis device according to one embodiment of the present invention includes: a signal strength acquisition unit that acquires the signal strength of each of a plurality of nodes that divide a touch panel; and a noise level determination unit that determines a noise level on the basis of the state of the signal strengths under a touch detection threshold, among the acquired signal strengths.
Provided is a measuring device which, with respect to a measuring instrument for measuring the length of a cutting tool, measures the distance from a reference position of a machine tool to a tool detection position of the measuring instrument. The measuring device comprises: a movement control unit for controlling movement of a standard tool attached to the machine tool; a detection unit for detecting a detection signal indicating a tool detection position output by pressing-down of the measuring instrument; and an identification unit for identifying the tool detection position of the measuring instrument, on the basis of the position of the tip of the standard tool at the timing of detecting the detection signal. The detection unit detects the detection signal indicating that the tip of the standard tool is present within a tool detectable range including the tool detection position. The movement control unit moves the standard tool in a direction away from the measuring instrument to change the state in which the detection signal is detectable by the detection unit to a state in which the detection signal is not detectable by the detection unit, and then moves the standard tool toward the measuring instrument to change the state to a state in which the detection signal is detectable again by the detection unit. The identification unit identifies the tool detection position, on the basis of the position of the standard tool at the timing of detecting the detection signal again.
B23Q 17/22 - Arrangements for indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
G05B 19/401 - 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 measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
47.
SIMULATION DEVICE USING THREE-DIMENSIONAL POSITION INFORMATION OBTAINED FROM OUTPUT FROM VISION SENSOR
This simulation device comprises a simulation implementation unit that simulates a movement of a robot device, and estimates a movement path of a robot. The simulation device comprises a position information generation unit that generates three-dimensional position information for a surface of a workpiece on the basis of the output of a vision sensor, which has imaged an actual workpiece. A display unit displays the three-dimensional position information for the surface of the workpiece, superimposed on an image of a robot device model, an image of a workpiece model, and the movement path of the robot.
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 display device and a computer program with which it is possible to easily confirm the surface roughness of a workpiece during a turning process. The display device comprises: a surface roughness calculation unit for calculating data pertaining to the surface roughness of a workpiece during a turning process in which the feeding speed for relative cutting between the workpiece and equipment changes, on the basis of the feeding speed in the feeding direction for the relative cutting between the workpiece and the equipment and the shape of the equipment; and a display control unit for performing control, on the basis of the calculated data pertaining to the surface roughness and a display configuration that was configured in advance, such that the data pertaining to the surface roughness of the workpiece is displayed on a display unit.
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
G05B 19/23 - 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 using an incremental digital measuring device for point-to-point control
The objective of the present disclosure is to provide a means capable of performing clamping and unclamping operations at appropriate times. In a machining system 1 provided with a rotary table device 10, a numerical controller 30 according to an embodiment of the present disclosure controls the rotary table device 10 in accordance with a machining program including a plurality of statements, said rotary table device 10 including a table 11, drive mechanisms 12, 13 that rotate and position the table 11 around an axis, and clamping mechanisms 14, 15 that restrain the rotation of the table 11. The numerical controller 30 is provided with: an unclamping addition unit 35 which adds an unclamping operation for releasing the restraint of the table 11 immediately before execution of a table rotation statement that is included in the machining program and that specifies the operation of the drive mechanisms 12, 13; and a clamping addition unit 36 which adds a clamping operation for restraining the table 11 immediately after the execution of the table rotation statement.
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
50.
PROCESSING METHOD AND PROCESSING DEVICE FOR GENERATING CROSS-SECTIONAL IMAGE FROM THREE-DIMENSIONAL POSITION INFORMATION ACQUIRED BY VISUAL SENSOR
A control device according to the present invention comprises a visual sensor and a position information generating unit that generates a distance image of a workpiece. The control device comprises a cutting-plane line setting unit that sets, via an operation performed on the distance image of the workpiece, a cutting-plane line where a surface of the workpiece is cut. The control device comprises a cross-sectional image generating unit that generates a two-dimensional cross-sectional image on the basis of position information, of the surface of the workpiece, that corresponds to the cutting-plane line set by the cutting-plane line setting unit.
This device for simulating the operation of a robot comprises: an acquisition unit 341 that acquires the position, relative to a robot 100 having a shaft that can move in a rotational or linear manner as a joint, of a mounting article of the robot 100, the mounting article being mounted on a link that is connected to the joint, and also acquires a constraint for at least one of the speed, acceleration, and acting force generated in the mounting article when the robot 100 operates; a calculation unit 342 that calculates at least one of the speed, acceleration, and acting force anticipated to be generated in the mounting article in accordance with the position of the mounting article relative to the robot 100 when the robot 100 executes an operation; and a comparison unit 342 that compares the constraint and at least one of the speed, acceleration, and acting force calculated by the calculation unit 342.
This numerical control apparatus 5 controls the operation of a machine tool 2 on the basis of a numerical control program, generates, for a robot control device 6 that controls the operation of a robot 3 and a transfer device 4 which moves the robot 3, a robot command for moving a control axis of the robot 3 and a travel axis command for moving a travel axis of the transfer device 4, and inputs the generated commands to the robot control device 6. The numerical control apparatus 5 comprises: a coordinate value management unit 55 that acquires, respectively as additional axis reference coordinate values and robot reference coordinate values, coordinate values of the travel axis of the transfer device 4 and the control axis of the robot 3 acquired by the robot control device 6; and a command generation unit 56 that generates the robot command and the travel axis command on the basis of the numerical control program, the robot reference coordinate values, and travel axis reference coordinate values.
A numerical controller includes a cutting position calculation unit configured to calculate a plurality of cutting positions during execution of a canned cycle based on code for designating a cutting depth included in the canned cycle command, a control information calculation unit configured to calculate a plurality of pieces of control information corresponding to the plurality of cutting positions calculated by the cutting position calculation unit, respectively, and a selection unit configured to select one cutting position from the plurality of cutting positions based on the plurality of pieces of control information calculated by the control information calculation unit.
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
The purpose of the present invention concerns a control command for a machine tool, and is to make it possible to adopt a high-frequency repetitive oscillation command, without restrictions on communication capacity, when acquiring a control command created by superimposing a command with repeatability on a normal move command such as a move command having no repeatability. The purpose can be achieved by: acquiring, from an higher-order control device, only information about the form of a command, and parameter information on numerical information relating to an amplitude, a period, and other feature amount; creating a repetitive movement command that is a command with repeatability only from the parameter information; and superimposing the repetitive movement command on a normal move command such as a move command having no repeatability.
An observation device observes a balance state of a main spindle of a machine tool including the main spindle and a moving body to which the main spindle is rotatably fixed and which moves in a direction orthogonal to the axial direction of the main spindle. The observation device includes a first acquisition unit for acquiring rotation angles of the main spindle during rotation; a second acquisition unit for acquiring movement information indicating a movement state of the moving body when the main spindle is rotating; and an output generation unit for displaying, on a display unit, each of the rotation angles of the main spindle and the movement information in association with each other.
G01M 1/16 - Determining unbalance by oscillating or rotating the body to be tested
G01B 21/22 - Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for testing the alignment of axes
B23Q 17/22 - Arrangements for indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
56.
ADJUSTMENT ASSISTANCE DEVICE, CONTROL SYSTEM, AND ADJUSTMENT ASSISTANCE METHOD
The present invention performs simulation for a case where a plurality of degrees are set for feedforward, and provides assistance in adjustment of an acceleration/deceleration time constant and a feedforward parameter. The present invention is provided with: a mechanical model creation unit that creates mechanical models of a motor and a mechanism portion of a machine tool, a robot, or an industrial machine; a simulation unit that includes the mechanical models and a feedforward processing section and that is for performing simulation of operation of a servo control device for controlling the motor; and an adjustment unit that adjusts an acceleration/deceleration time constant for generating a position command, and a parameter of the feedforward processing section. The adjustment unit adjusts a plurality the acceleration/deceleration time constants and parameters corresponding to when a plurality of degrees has been set for the feedforward processing section.
A SCARA robot comprises: a base: a first arm mounted to the base, and capable of pivotally moving around a first joint axis with respect to the base; a second arm mounted to the first arm, and capable of pivotally moving around a second joint axis parallel to the first joint axis; an end effector mounted to the second arm; and an arm cover that is removably attached to an outer surface of the second arm, defines an outside space of the second arm that does not interfere with the first arm during pivotal movement of the second arm, and forms a storage space for rigging attached to the end effector so as to protrude from the second arm toward the first arm.
The objective of the present invention is to make it possible to also handle cases in a control device for a machine tool in which the waveform of a repeatable command superimposed on a normal movement command has a free shape that cannot be expressed only by a feature amount when obtaining a control command in which the repeatable command is superimposed on the normal movement command as a control command of the control device. The abovementioned objective is achieved by providing a servo control device with: a repeatable command creation unit that acquires the period of a repeatable command waveform and one period of command data from a higher-level control device, creates a repeatable command, and outputs the result; and a command superimposing unit that acquires a movement command from the higher-level control device and superimposes the repeatable command output by the repeatable command creation unit on the movement command.
Provided is a measuring device capable of flexibly identifying a different tool detection position for each user, for example. This measuring device for measuring a distance from a reference position in a machine tool to a tool detection position of a measuring instrument, for said measuring instrument for measuring the length of a cutting tool mounted in the machine tool, comprises: a speed acquiring unit for acquiring a predetermined feeding speed at which the cutting tool is moved toward the measuring instrument when the length of the cutting tool is being measured; a movement control unit for causing a pressed surface of the measuring instrument to be pressed by a reference tool which has a known length and which is mounted in the machine tool, by moving a tip end of the reference tool toward the measuring instrument at the feeding speed acquired by the speed acquiring unit; a detecting unit for detecting a signal indicating the tool detection position, output as a result of the pressing of the measuring instrument; and an identifying unit for identifying the tool detection position of the measuring instrument on the basis of the position of the tip end of the reference tool at the timing at which the signal was detected.
The three-dimensional measurement system 1 pertaining to a first embodiment of the present disclosure, whereby the three-dimensional shape of a measurement object can be accurately measured regardless of the position of the measurement object, comprises a three-dimensional measurement unit 32 that measures the position and shape of the measurement object using a three-dimensional sensor 20 that measures a distance to the measurement object, a robot 10 that moves the three-dimensional sensor 20 or the measurement object, a distance measurement unit 33 that measures the distance between the three-dimensional sensor 20 and the measurement object, and a measurement orientation setting unit 34 that sets a measurement orientation of the robot 10 such that the distance between the three-dimensional sensor 20 and the measurement object is a prescribed reference distance on the basis of the distance between the three-dimensional sensor 20 and the measurement object, measured by the distance measurement unit 33.
Provided is a robot capable of automatically confirming the accuracy of a three-dimensional sensor and correcting the accuracy. The robot comprises: a three-dimensional sensor; a notification unit for notifying a determination timing for determining a deviation of an optical system of the three-dimensional sensor, on the basis of a change in a physical quantity related to the three-dimensional sensor; and a determination unit for determining whether or not there is a deviation at the optical system of the three-dimensional sensor. The change in the physical quantity includes at least one of acceleration and the number of times of acceleration and deceleration added to the three-dimensional sensor, a change in temperature of the three-dimensional sensor within a certain period, a change in temperature of the three-dimensional sensor within a total operating period, and the number of times of change in temperature of the three-dimensional sensor within the total operating period.
A robot tool deformation amount calculator 300 includes an image acquisition unit 341 which acquires a first image in which a first measurement target 10 positioned at a tool attachment surface 122 of a tip of a robot 100 is captured and a second image in which a second measurement target 20 positioned on a tip 202 of the tool 200 is captured, a first measurement target position calculation unit 342 which calculates a position of the first measurement target 10 based on the first image, a second measurement target position calculation unit 343 which calculates a position of the second measurement target 20 based on the second image, and a tool deformation amount calculation unit 345 which calculates a deformation amount of the tool 2(X) in accordance with a posture of the robot 100 based on the position of the first measurement target 10 and the position of the second measurement target 20.
A robot (10) includes a fixed part (20), a first arm (21), a second arm (22), and a working shaft (25). The second arm (22) is longer than the first arm (21). A protrusion length of the working shaft (25), which is capable of protruding from the second arm (22) toward the fixed part (20) is longer than a distance between the first arm (21) and the second arm (22).
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
A gap detection device includes: a measurement unit measuring the driving torque or current value of a motor when the robot is actually being operated along an arbitrary motion trajectory; a simulation unit setting an arbitrary second gap amount between pairing elements of a plurality of pairing elements, performing a simulation in which the robot operates along the same arbitrary motion trajectory, and estimating the driving torque or the current value of the motor; a feature amount calculation unit calculating a first feature amount indicating fluctuations of a value related to the measured driving torque or current value, and a second feature amount indicating fluctuations of a value related to the estimated driving torque or current value; and a gap calculation unit calculating an index related to a first gap amount on the basis of the first feature amount, the second feature amount, and the second gap amount.
Provided is a robot programming device capable of improving the teaching efficiency of a motion program for a fitting work performed by a robot. This robot programming device comprises: a model placement unit for placing a robot model, a first work object model, and a second work object model; a feature acquisition unit for acquiring shape features of the first work object model and the second work object model; a teaching point setting unit for setting, a teaching point for fitting the axis of the first work object model into the hole of the second work object model by the robot model; and a program creation unit for creating a motion program for the robot to perform fitting work for fitting the axis of the first work object model into the hole of the second work object model, using the set teaching point.
An image generation device, a robot control device and a computer program are provided which enable widening the range of pixel values in a composite image. This image generation device, for generating a composite image by combining images, is provided with: an image capture number setting unit which sets the number of captured images captured of a subject; an exposure time setting unit which sets the exposure time of the captured images; a brightness range setting unit which sets the brightness range of the subject; an imaging control unit which performs control such that the imaging unit images the subject on the basis of the aforementioned number of captured images and exposure time; and an image combining unit which combines the aforementioned captured images on the basis of the brightness range and generates a composite image.
H04N 23/73 - Circuitry for compensating brightness variation in the scene by influencing the exposure time
H04N 23/741 - Circuitry for compensating brightness variation in the scene by increasing the dynamic range of the image compared to the dynamic range of the electronic image sensors
H04N 23/72 - Combination of two or more compensation controls
H04N 23/71 - Circuitry for evaluating the brightness variation
A brake control device for controlling a brake device of the non-excitation-actuated type includes: a power supply; a brake control unit outputting a brake control signal; an opening/closing unit opening and closing a circuit between the power supply and brake device according to the brake control signal; a state detection unit outputting a state detection signal indicating an electric potential state of a circuit between the opening/closing unit and the brake device; an abnormality detection unit detecting whether an abnormality is absent or present based on a content of the brake control signal and a content of the state detection signal; a brake lock switch connected between input terminals of the brake device to be connected in parallel with the brake device; and a brake lock switch control unit closing the brake lock switch when the abnormality is detected by the abnormality detection unit.
H02P 3/04 - Means for stopping or slowing by a separate brake, e.g. friction brake or eddy-current brake
F16D 65/18 - Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together
A robot system is provided with a robot including a free cart and a manipulator mounted on the free cart, and a control device for controlling the manipulator. The control device controls the manipulator to execute a predetermined task, and also controls the manipulator to move the robot itself.
A robot system includes a robot configured to move a scraper configured to scrape the surface, and a control device configured to control the robot. The control device is configured to execute the scraping process by moving the scraper in a direction along the surface while pressing the scraper against the surface by the robot, and during the execution of the scraping process, repeatedly increase and decrease a depth of scraping the surface by controlling a position of the robot so as to repeatedly increase and decrease a pressing force by which the robot presses the scraper against the surface.
B26D 5/00 - Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
B26D 3/08 - Making a superficial cut in the surface of the work without removal of material, e.g. scoring, incising
B25J 11/00 - Manipulators not otherwise provided for
70.
CENTRAL MANAGEMENT DEVICE, AND METHOD FOR CONTROLLING CENTRAL MANAGEMENT DEVICE
A central management device for managing operation states, including an abnormal state, of injection molding machines, includes a plurality of the injection molding machines respectively connected to shared appliances of the same kind, and includes: an operation state acquisition unit for acquiring data relating to the operation states of the respective injection molding machines; an individual information acquisition unit for acquiring data relating to connection states between the injection molding machines and the shared appliances; and a display control unit that controls a display unit so as to simultaneously display, on the display unit, the operation states between the respective injection molding machines and the shared appliances.
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)
An injection device according to one embodiment of the present invention monitors the linear torque of a linear motor and the rotary torque of a rotary motor using a first detection unit for detecting the linear torque and a second detection unit for detecting the rotary torque while controlling the linear motor and the rotary motor so that a bush is spline-fitted to a screw.
A wire-breakage position estimation device comprising: a torque acquisition unit which acquires a torque of a take-up motor; a determination unit which determines whether or not a rear end of a wire electrode has passed a take-up roller; a rotation angle acquisition unit which acquires a rotation angle of the take-up motor; and a wire-breakage position estimation unit which estimates a wire-breakage position in the wire electrode on the basis of the rotation angle acquired from when wire-breakage has occurred in the wire electrode to when the rear end has been determined to have passed the take-up roller.
A machining condition adjustment device includes a simulation unit that performs a simulation of a wire electric discharge machine based on a predetermined machining content, a required specification, and a predetermined machining condition, an update unit that updates a calculation model of the simulation unit, and a calculation unit that calculates a machining state in the simulation. In a predetermined machining state, a model obtained by learning, by machine learning, an adjustment action of the machining state suitable for bringing the machining state close to a reference value of the machining state under the reference condition is stored, an adjustment action of a machining state using the stored model is predicted, and a machining condition to be used for simulation processing is adjusted based on the prediction.
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 11/00 - Auxiliary apparatus or details, not otherwise provided for
This observation device includes a command output unit that rotates a rotation part and stops a moving body; a first acquisition unit that acquires the rotation angle of the rotation part; a second acquisition unit that acquires the positional deviation of the moving body; a correction unit that corrects the rotation angle on the basis of an angle difference; a second storage control unit that establishes a correspondence between the rotation angle and the positional deviation; and a display control unit that displays, on a display unit, a graph indicating the correspondence between the rotation angle and the positional deviation.
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
G01M 1/16 - Determining unbalance by oscillating or rotating the body to be tested
B23Q 17/22 - Arrangements for indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
This observation device includes a command output unit that rotates a rotating body and stops a moving body; a first acquisition unit that acquires the rotation angle of the rotating body; a second acquisition unit that acquires the positional deviation of the moving body; and a display control unit that displays, on a display unit, the current rotation angle and a graph showing the correspondence relationship between the rotation angle and the positional deviation, said relationship being corrected on the basis of a first angle difference between a prescribed operation position and an operation position.
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
G01M 1/16 - Determining unbalance by oscillating or rotating the body to be tested
B23Q 17/22 - Arrangements for indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
A numerical control system 1 comprises a robot control device 6 that controls an action of a robot 30, and a numerical control device 5 that is communicably connected to the robot control device 6, and controls an action of a machine tool 2. The robot control device 6 comprises: a storage unit 61 that stores a plurality of robot programs determined for each operating action with respect to a target of an operation, the target of the operation being the machine tool 2 and the numerical control device 5; a data transmission and reception unit 69 that acquires a state of the target of the operation; a program selection and activation unit 63 that, among the plurality of programs stored in the storage unit 61, selects and activates a program according to an analysis result: and an action control unit 64 that controls the action of the robot 30 on the basis of the activated robot program.
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
B23Q 15/12 - Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
An electronic device according to one embodiment of the present disclosure is capable of continuously ensuring heat conduction by a heat conductive connection body and comprises: a semiconductor element; a heat dissipation member; a heat conductive connection body for connecting the semiconductor element and the heat dissipation member to each other in a heat conductive manner; a power detection unit for detecting power consumption of the semiconductor element; an element temperature detection unit for detecting the temperature of the semiconductor element; an ambient temperature detection unit for detecting the ambient temperature of the heat dissipation member; and a heat resistance calculation unit for calculating heat resistance of the heat conductive connection body on the basis of a detection value of the power detection unit, a detection value of the element temperature detection unit, and a detection value of the ambient temperature detection unit.
A device for determining the positions of a plurality of recessed portions to be formed on a surface of a workpiece by means of scraping, in which a robot uses a scraper to shave the surface of the workpiece to make the same flat, is provided with: an input accepting unit for accepting input of shape information of the surface and pattern information of the plurality of recessed portions on the surface; and a position determining unit for automatically determining the position of each recessed portion on the surface on the basis of the shape information and the pattern information accepted by the input accepting unit.
A robot includes a base part; a pair of scrapers provided to the base part so as to face each other, the pair of scrapers each having a proximal end connected to the base part and a distal end for cutting a surface, and the pair of scrapers extending so as to approach or recede from each other progressively from the proximal end toward the distal end; and a movement mechanism unit for rotating the base part between a first orientation in which one of the pair of scrapers is closer to a workpiece than the other scraper, and a second orientation in which the other scraper is closer to the workpiece than the one scraper.
B26D 5/00 - Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
B25J 11/00 - Manipulators not otherwise provided for
B26D 3/08 - Making a superficial cut in the surface of the work without removal of material, e.g. scoring, incising
A linear motion apparatus has a linear motion mechanism having a long shaft member and a connecting member attached to the shaft member, wherein at least one of the shaft member and the connecting member moves in a longitudinal direction of the shaft member; and an antirust member attached to the linear motion mechanism, wherein the antirust member contains an antirust material having a higher ionization tendency than a material for the linear motion mechanism and is electrically connected to the linear motion mechanism.
A program evaluation device for evaluating an operation program for a robot. The operation program is a program that causes the robot to perform processing of a workpiece using a tool, and the robot has a function of correcting a position of the tool in response to an amount of wear of the tool. The program evaluation device includes an operation verification unit that verifies whether the robot will operate correctly in accordance with the operation program with each of a plurality of amounts of wear within a predetermined range.
The objective of the present invention is to provide a technology enabling interference between a robot and a peripheral object to be reliably avoided, while confirming the safety of a generated robot path. A robot control device 3 is provided with: a data transmitting and receiving unit 32 for acquiring a robot path generated in such a way as to avoid interference between a robot 30 and a peripheral object, on the basis of a three-dimensional model of the robot 30 and the peripheral object; an interference determining unit 35 for determining, for each prescribed sector, whether there is a high probability of the robot 30 interfering with the peripheral object when the robot 30 is moved in accordance with the acquired robot path; and an override changing unit 36 for lowering the speed of the robot 30 or stopping the movement of the robot 30 for sectors in which the interference determining unit 35 has determined that the probability of interference is high.
A control device is provided with an instructed path generation unit that generates an instructed path for a movement path of a moving part on the basis of an instruction of a program, an actual forward path prediction unit that predicts an actual forward path from the instructed path using a machine model relating to a transfer characteristic of an industrial machine, an instructed reverse path generation unit that generates an instructed reverse path by reversing the movement direction of an actual forward path, an actual reverse path prediction unit that predicts an actual reverse path from the instructed reverse path using the machine model, and an instructed speed adjustment unit that adjusts an instructed speed based on a movement speed indicated by the instruction of the program so as to reduce an error of the actual reverse path relative to the instructed reverse path, and generates an instructed reverse 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
84.
CONTROL DEVICE, ROBOT CONTROL DEVICE, AND CONTROL METHOD
The present invention improves a vibration-dampening effect produced through learning in a state during production on a user side. This control device, which prepares a correction amount for controlling the operations of a robot, comprises: a learning control unit that has a parameter used in a learning control for preparing the correction amount; a parameter storage unit that stores a parameter set prior to shipment; and a parameter adjustment unit that, during production by the robot, adjusts the parameter stored by the parameter storage unit and sets the adjusted parameter in the learning control unit. The parameter adjustment unit adjusts the parameter on the basis of, e.g., the multiplicative inverse of a frequency response characteristic of the robot. The parameter adjustment unit also adjusts the parameter according to, e.g., a genetic algorithm.
MACHINING SYSTEM PROVIDED WITH MACHINE TOOL, METHOD OF REVISING PARAMETER FOR REVISING PARAMETER IN MACHINING SYSTEM, PROGRAM REVISION SYSTEM FOR REVISING MACHINING PROGRAM, AND METHOD OF REVISING PROGRAM
This machining system comprises: a CAM device for generating, on the basis of three-dimensional shape data, a machining program including an operation code; and a numerical control device for controlling an electric motor of a machine tool. The machining system is provided with a monitoring device for detecting an abnormality of the machine tool on the basis of a drive state of the electric motor. The machining system is provided with a revision device for generating a revision command for revising a parameter for when the CAM device generates the machining program. The revision device transmits the revision command to the CAM device so as to revise the curvature of a tool path and/or the feed rate of a tool for when the abnormality occurred.
G05B 19/4069 - Simulating machining process on screen
G05B 19/4099 - Surface or curve machining, making 3D objects, e.g. desktop manufacturing
G05B 19/4065 - Monitoring tool breakage, life or condition
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
Provided is a wiring error detection device capable of detecting errors in the wiring to a motor controlled by a plurality of amplifiers. A wiring error detection device for detecting errors in the wiring to a motor controlled by a plurality of amplifiers, said wiring error detection device being provided with: a control amplifier selection unit that, in order to control the motor using some of the plurality of amplifiers, determines two or more selection patterns by selecting and combining amplifiers for the control; a command generation unit that generates, for each selection pattern determined by the control amplifier selection unit, a command for causing the motor to perform a predetermined operation; a servo control unit that calculates torque command values for controlling the motor, on the basis of the selection patterns and a command from the command generation unit; and a wiring error checking unit that compares the torque command values or the current feedback values of the motor that correspond to the two or more selection patterns with each other to determine the presence or absence of a wiring error in the system formed by the amplifiers and the motor.
A training data generation device generates training data for generating a trained model that takes a two-dimensional image of a robot captured by a camera as well as the distance and tilt between the camera and the robot as inputs, and that estimates angles of a plurality of joint shafts included in the robot when the two-dimensional image was captured and a two-dimensional posture indicating the locations of the centers of the plurality of joint shafts in the two-dimensional image. The training data generation device comprising: an input data acquisition unit for acquiring a two-dimensional image of the robot captured by the camera as well as the distance and tilt between the camera and the robot; and a label acquisition unit for acquiring, as label data, the two-dimensional posture and the angles of the plurality of joint shafts when the two-dimensional image was captured.
A numerical control device comprises: a control unit that servo-controls a motor; and a silencing data management unit that associates and stores in a storage unit information including at least one of position information and speed information of the motor, and sound data of sound in opposite phase to generated sound. When performing second servo control of the motor that operates according to at least one of position information that is the same as said position information and speed information that is the same as said speed information, the control unit outputs the at least one of the position information and the speed information to the silencing data management unit, and the silencing data management unit reads and outputs the sound data of the sound in opposite phase from the storage unit on the basis of the at least one of the position information and the speed information.
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
89.
CONTROL DEVICE, SAFE STOP PROGRAM THEREFOR, AND STORAGE MEDIUM
A control device according to the present invention includes a main control unit configured to control a main operation of a controlled object, a sub-control unit configured to control an operation of an attached device of the controlled object, and a sequence program execution unit configured to transmit and receive a command between the main control unit and the sub-control unit, the sequence program execution unit has a function of transmitting a stop command signal SD to the sub-control unit when receiving a power stop signal PD from outside of the control device, and then transmitting a power stop command signal SP to a power supply unit when receiving a stop confirmation signal SE from the sub-control unit.
G05B 19/406 - 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 monitoring or safety
90.
STATE DETERMINATION DEVICE AND STATE DETERMINATION METHOD
A state determination device includes: a learning model storage unit that stores a plurality of learning models; a statistical condition storage unit that stores statistical conditions including at least specification of the learning models used to determine the state relating to an industrial machine and a statistical function used to convert estimation results by the specified learning models into numerical values to calculate a statistical amount; a data acquisition unit that acquires data relating to a prescribed physical amount as data showing the state relating to the industrial machine; an estimation unit that estimates the state relating to the industrial machine using the plurality of learning models on a basis of the data; and a numerical value conversion unit that converts an estimation result for each of the plurality of learning models into a numerical value to calculate a statistical amount using the statistical function.
A machine-learning device performs machine-learning under machining conditions including at least a waiting time of laser emission for controlling machining of a subject to be machined in a laser machining apparatus, and comprises: an action output unit which selects, as an action, a machining condition from a plurality of machining conditions, and outputs the action to the laser machining apparatus; a state acquisition unit which acquires, as state information, image data obtained by imaging a machined state of the subject that has been machined by the action; a reward calculation unit which calculates a reward on the basis of the waiting time of the laser emission and the machining accuracy of the machining state calculated on the basis of at least the acquired state information; and a learning unit which performs machine-learning on the machining conditions on the basis of the acquired state information and the calculated reward.
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)
92.
CONTROL ASSISTANCE DEVICE, CONTROL SYSTEM, AND FILTER ADJUSTMENT METHOD
The present invention is to determine allocation of filters in such a manner as to satisfy a restriction for the number of filters while realizing suppression of resonance. The present invention provides a control assistance device assisting in setting a plurality of first filters provided in a servo control device controlling a motor, the control assistance device including: a resonance detection unit for detecting a plurality of resonance points in frequency characteristics including input-output gain and input-output phase lag of the servo control device, the frequency characteristics being measured on the basis of an input signal and an output signal having a varying frequency; a filter setting unit for setting a plurality of second filters the number of which is larger than the number of said plurality of filters in order to suppress the plurality of resonance points; and a grouping unit for grouping the plurality of second filters to set the plurality of first filters.
G05B 11/42 - Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
H02P 23/00 - Arrangements or methods for the control of AC motors characterised by a control method other than vector control
93.
NUMERICAL CONTROL DEVICE, AND NUMERICAL CONTROL SYSTEM
A numerical control device 5 is provided with: a program preprocessing unit 54 for generating, on the basis of analysis results for each block of a numerical control program, a block robot instruction recognizable by a robot control device 6, and block information associated with the block robot instruction; a robot instruction storage unit 523 for storing the block robot instruction and the block information generated by the program preprocessing unit 54; a program execution management unit 58 for reading in the block information specified by a program execution instruction and the block robot instruction associated with the block information, from the robot instruction storage unit 523; and a first communication unit 59 for transmitting the block robot instruction read in by the program execution management unit 58 to the robot control device 6.
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
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)
The purpose of the present invention is to easily measure the execution path of a ladder program without manual work by an operator.
The purpose of the present invention is to easily measure the execution path of a ladder program without manual work by an operator.
The present Invention provides an analysis device provided with: a path analysis unit for analyzing each path of a ladder program circuit; a contact point combination acquisition unit for acquiring combinations of contact points for analyzed paths, and a path output unit for outputting a path on the basis of a calculation result of a condition value for each combination.
A vibration diagnosis assistance device of an embodiment acquires, for each of a plurality of predetermined rotational speeds, swing frequency characteristics of a rotating shaft when a movable mechanism swings according to a first swing command signal or a second swing command signal in a state where the rotating shaft rotates according to a rotation command signal, and displays the acquired swing frequency characteristics on a display device.
G05B 19/406 - 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 monitoring or safety
96.
ATTACHMENT STRUCTURE FOR ATTACHING FAN UNIT TO MAIN BODY OF ELECTRICAL EQUIPMENT, CONNECTOR CONNECTING MAIN BODY OF ELECTRICAL EQUIPMENT AND FAN UNIT, AND ELECTRICAL EQUIPMENT
An attachment structure enabling more efficient work in performing maintenance of a fan of a fan unit and a more stable electrical connection between a main body of an electrical equipment and a fan unit. An attachment structure configured to detachably attach a fan unit including a fan and a casing housing the fan to/from a main body of an electrical equipment includes a guide mechanism configured to guide a slide motion of sliding the casing in one direction relative to the main body to dispose the casing at a mounting position, and a retaining mechanism configured to restrict movement of the casing relative to the main body in a direction opposite the one direction when the casing is disposed at the mounting position by the slide motion.
Provided is an imaging condition adjusting device for adjusting an imaging condition for capturing a distance image of an object, the imaging condition adjusting device comprising: an acquiring unit for acquiring from a 3-dimensional camera a distance image including the object disposed in the field of view of the 3-dimensional camera; a reading unit for reading a CAD model of the object; a calculating and processing unit for performing matching between distance images captured by the 3-dimensional camera under a plurality of generated imaging conditions and the CAD model, and for calculating a match between the captured distance images and the CAD model; and an imaging condition optimization unit for setting in the 3-dimensional camera an imaging condition such that the match calculated by the calculating and processing unit becomes greater than or equal to a predetermined value set in advance.
A network relay device that relays communications between industrial machinery and a network on the basis of predefined protocol information. The network relay device comprises a packet analysis unit that analyzes the content of a communication request that is a packet that has been transmitted to the industrial machinery from the network, an information acquisition unit that acquires industrial machinery information from the industrial machinery, the industrial machinery information including at least one of an operating state, configuration information, control information, and environment information for the industrial machinery, a communicability determination unit that determines the communicability of the communication request from the protocol information, the communication request analysis results, and the industrial machinery information, and a communication mediation unit that mediates communication between the industrial machinery and the network from the communicability determination results.
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)
The present invention definitively and efficiently calculates a three-dimensional plane of a workpiece to be measured by automating the mask processing. A mask-setting device which, when obtaining three-dimensional information about a workpiece by using a three-dimensional sensor, sets a mask which makes three-dimensional points outside a measurement target region not usable in the calculation of a three-dimensional plane, said device being equipped with an outline extraction unit for subjecting a two-dimensional image of the workpiece which is captured by a camera to pattern recognition, and extracting an outline of the workpiece therefrom, a height information acquisition unit for acquiring height information about the outline from a distance image among the three-dimensional information acquired by the three-dimensional sensor; and a mask-setting unit for setting a mask in a region outside the workpiece on the basis of the height information.
Provided is a tool path correction device which makes it possible to correct a tool path along which a tool moves so as to make it possible to accurately machine a workpiece into a target shape. A tool path correction device according to one aspect of the present disclosure is equipped with: a tool path acquisition unit which acquires tool path information which specifies, using a plurality of command points through which a tool should pass, a tool path along which said tool, which machines a workpiece, moves; a tool shape acquisition unit for acquiring tool shape information which specifies the shape of said tool; a target shape acquisition unit for acquiring target shape information, which specifies the target shape after the workpiece is machined; and a command point addition unit for adding an additional command point as a new command point in a location near a characteristic change point where the characteristics of the target shape change.
G05B 19/404 - 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 compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
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