The purpose of the present invention is to provide a robot control device capable of efficiently adjusting a parameter. This robot control device comprises: a first application unit that applies a setting parameter to a first safety parameter for verification in a verification mode; a first update unit that updates, on the basis of the first safety parameter, first safety information related to the robot in a verification function in the verification mode; a copy unit that copies the setting parameter; a second application unit that, after switching from the verification mode to the safety mode by a switch unit, applies the setting parameter copied by the copy unit to a second safety parameter; and a second update unit that updates, on the basis of the second safety parameter, second safety information related to the robot in a safety function in the safety mode.
Provided are a control device and a control method that make it possible to greatly simplify the work of a user in creating a search program for generating teaching points. The control device includes: a teaching unit that teaches the search start position and search end position of a work line by means of a sensor; a program generation unit that generates a search program for determining a teaching point corresponding to a position on the work line on the basis of the search start position and the search end position, and generates a work program including a teaching point on the basis of the result of executing the search program; and a specification unit configured to specify, at the time of generating the search program, whether to execute tracking with the sensor for correcting the position of the robot during the execution of the work program.
In order to precisely measure a gravitational torque and precisely diagnose a brake, a brake diagnosis method for a robot includes: acquiring, in a state in which a brake of a motor that drives a second member with respect to a first member is released, a movement-time torque generated by the motor during a movement of the second member with respect to the first member by the operation of the motor; calculating a brake diagnosis torque on the basis of the acquired movement-time torque; and using the calculated brake diagnosis torque to determine presence or absence of an abnormality of the brake.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
4.
SHAPE RESTORATION DEVICE AND COMPUTER-READABLE STORAGE MEDIUM
This shape restoration device comprises: an acquisition unit that acquires processing information indicating a condition when a processing surface is processed by a tool, trajectory information indicating a trajectory when the processing surface is processed by the tool, and processing surface data indicating the state of the processing surface; a filter generation unit that generates a filter on the basis of the processing information; an adjustment unit that, on the basis of the trajectory information, executes adjustment of the direction of filter processing using the filter for the processing surface data or adjustment of the coefficient of the filter; and a filter processing unit that executes filter processing on the basis of an adjustment result by the adjustment unit.
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
This robot control device comprises a force control unit for executing force control on the basis of a detection value of an external force and a prescribed force control parameter, a contact detection unit that is configured so as to be capable of detecting contact between the robot and the external environment, and that executes a prescribed control of the robot when contact is detected, and a force control parameter adjustment unit for adjusting the prescribed force control parameter by executing a plurality of movements of the robot by means of force control, wherein the force control parameter adjustment unit adjusts the prescribed force control parameter while adjusting the sensitivity of the contact detection carried out by the contact detection unit.
A robot power transmission mechanism according to the present invention is provided with a strain wave gearing reducer including: a wave generating member including an elliptical cam; an elastic cylindrical member having first teeth; and an annular member having second teeth that mesh with the first teeth. A shaft that transmits the rotational force of an electric motor has a spline shaft part having protrusions formed on the outer circumferential surface thereof. The wave generating member includes insertion holes having a recessed shape corresponding to the shape of the protrusions of the spline shaft part. Between the spline shaft part and the insertion holes, there is a gap having a size sufficient to allow the wave generating member to align through movement made possible by the elasticity of the elastic cylindrical member.
A method for machine tool natural frequency detection which requires no accelerometers or other data acquisition equipment to be attached to the machine tool. A simple hammer or other impact device is used to strike the machine tool, and sound data from the resulting vibration is collected and analyzed. FFT analysis of the sound data reveals natural frequencies of vibration. Data from multiple impacts may be aggregated, and other data processing techniques such as spectral subtraction are employed to reduce the prominence of false peaks in the FFT results and improve the natural frequency prediction accuracy. Workpiece natural frequencies may be predicted in the same manner. The natural frequency information is used to tune machining conditions-in particular, to select a spindle speed resulting in a cutting frequency which has a specified relationship to the identified natural frequencies.
A method and system for robot skill learning applicable to challenging manipulation tasks. A diffusion model neural network is used to control the robot. The diffusion model is configured with sub-task segmentation to overcome cumulative drifting error over a long-horizon operation. Fixed and robot-arm-mounted cameras provide global and local visual input to the diffusion model through a vision encoder, along with robot gripper pose data. The diffusion model controller is first pre-trained in an offline mode using human demonstration data. A step-wise de-noising network included in the diffusion model is trained by adding noise to the demonstration trajectory record and training the denoise network to remove the added noise in steps. The diffusion model controller is then deployed in inference mode with the trained de-noising network, where a short-horizon robot trajectory is predicted at each step and then a next short-horizon trajectory is computed in a feedback loop.
A control device (10) for controlling an industrial machine (1) and a touch panel (5) that displays an operation region for entering a command into the industrial machine (1), the control device (10) comprising at least one processor (30), wherein the processor (30) acquires state information including at least one of information relating to an operation being executed by the industrial machine (1) and information relating to display on the touch panel (5), and adjusts, on the basis of the state information, a threshold used for determining whether or not the operation region has been selected due to contact or approach of an object to the touch panel (5).
G05B 19/409 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panelNumerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control panel details or by setting parameters
10.
POWER CONVERSION DEVICE FOR SWITCHING CONTROL SCHEMES ACCORDING TO INPUT VOLTAGE
This power conversion device comprises: a rectifier circuit that rectifies an AC voltage inputted from an AC power source and outputs a first DC voltage; a power-factor improvement circuit that has a step-up/down chopper circuit; a control unit that executes power-factor improvement control on the power-factor improvement circuit when the input to the power-factor improvement circuit is the first DC voltage, and executes chopper control on the power-factor improvement circuit when the input to the power-factor improvement circuit is a second DC voltage which is provided from a DC voltage supply source and is different from the first DC voltage; and a DC-DC converter that converts a third DC voltage outputted from the power-factor improvement circuit into a different voltage magnitude and outputs the same to a load side.
Provided is a machining program editing device 1 capable of appropriately displaying candidates for commands that can be executed correctly. The machining program editing device 1 comprises: a machining program acquisition unit 11 that acquires a machining program; a command insertion position acquisition unit 12 that acquires a command insertion position in the acquired machining program; a command candidate determination unit 21 that determines whether a G-code or a subprogram is executable at the command insertion position, on the basis of at least one of a tool selection command, a machining cycle, and a command defining a material shape; and a command candidate display unit 30 that displays at least one of a G-code and a subprogram that are determined, by the command candidate determination unit 21, to be executable.
G05B 19/4093 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
B23Q 15/00 - Automatic control or regulation of feed movement, cutting velocity or position of tool or work
A laser processing head 1 comprises: a housing 10 which is hermetically sealed, which includes therein at least one optical member 20, and which is provided with a laser emission port 12 from which laser light is emitted by means of the optical member 20; an intake valve 111 that opens in accordance with the pressure inside the housing 10 and thereby draws in air from the outside of the housing 10 to the inside of the housing 10; and an exhaust valve 121 that opens in response to the pressure inside the housing 10 and thereby exhausts air from the inside of the housing 10 to the outside of the housing 10.
A hanging jig for a robot includes: an accessory plate fixed to a bottom surface of a base of the robot; and a frame member that is detachably attached to the accessory plate with the robot fixed thereto and that surrounds at least a part including a center of gravity of the robot. The accessory plate includes an attachment surface with which the bottom surface is in close contact and an installation surface fixed to a mounting surface on which the robot is installed. The frame member includes at least one hook part to which a suspension member is hooked such that the accessory plate with the frame member attached thereto and the robot are suspensible at an installation angle other than 0°.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
A robot system includes: a robot that has two or more joints; a sensor that is capable of detecting a physical amount for measuring or estimating an external force acting on the robot; and a diagnostic device that diagnoses the robot, wherein the diagnostic device calculates a force that acts on each joint in at least one direction other than the direction in which each joint operates, on the basis of the external force measured or estimated from the physical amount detected by the sensor.
This armature unit comprises an armature and a gasket which can be disposed between a machine table and the armature and which has at least one rubber layer and a metal layer
To make it possible to compensate for a gap amount and also compensate for a laser radiation position on a machining target surface. A numerical control device controls a machine tool. The machine tool performs relative movement of a machining nozzle 72 and a workpiece 82, and radiates a laser beam toward a machining surface S of the workpiece 82 from the machining nozzle 72, thereby performing laser machining on the machining surface S. The numerical control device acquires a gap amount G as the shortest distance from the machining nozzle 72 to the machining target surface S. The numerical control device calculates a normal direction sZ of the machining surface S and calculates a normal-direction movement amount V for causing the machining nozzle 72 and the workpiece 82 to relatively move in the normal direction sZ to set the gap amount G to a desired gap amount Go. The numerical control device compensates for the gap amount G to the desired gap amount Go by causing the machining nozzle 72 and the workpiece 82 to relatively move in the normal direction sZ based on the calculated normal-direction movement amount V.
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
17.
CONTROL DEVICE AND COMPUTER-READABLE RECORDING MEDIUM
A control device according to the present disclosure includes: an analysis unit that analyzes instructions by a control program; a corner detection unit that detects, on the basis of the analysis result by the analysis unit, a corner portion at which the direction of a moving route becomes discontinuous; a corner curving processing unit that executes curving by inserting a curve into the corner portion so as to adjust the velocity on the curved moving route; and a respective-direction velocity analysis unit that analyzes change in the velocity along the directional component of the moving route before and after the corner portion when moving on the inserted curve. When fluctuation of change in the velocity in the movement on the curve has been detected as a result of the analysis by the respective-direction velocity analysis unit, the control device instructs the corner curving processing unit to change corner curve processing so as to eliminate the fluctuation of change in the velocity on the curve.
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 are a processing device, program, and processing method which can prevent a tool or the like from causing interference when changing the direction of the tool with respect to an inclined plane. A processing device according to an embodiment comprises a calculation unit and a determination unit. The calculation unit calculates one or more combinations of angles at which the tool is a prescribed angle relative to a plane. In order to set the rotational axes to any one of the combinations calculated by the calculation unit, the determination unit determines in which direction and how many times to rotate each of the plurality of rotational axes in accordance with an instruction indicating in which direction to rotate at least one of the rotational axes, and such that the movement amount or movement time of the rotation of the rotation axes is minimum.
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
19.
ROBOT PROGRAMMING DEVICE AND ROBOT PROGRAMMING SYSTEM
A robot programming device comprises: a robot program teaching unit for executing robot program teaching; and a code converting unit for converting, to code, information for specifying the robot program which was taught.
G06K 7/14 - Methods or arrangements for sensing record carriers by electromagnetic radiation, e.g. optical sensingMethods or arrangements for sensing record carriers by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
20.
ASSISTANCE DEVICE AND ASSISTANCE METHOD FOR GENERATING VARIABLE GROUP
This invention automatically creates or re-creates a variable group, or corrects an existing variable group. This assistance device is connected to a PLC that manages, for each namespace, a sequence program for controlling a machine and variables used in the sequence program, and the assistance device generates a group of PLC variables. The assistance device comprises: a storage unit that stores variables used in the sequence program; an acquisition unit that acquires group generation conditions which include a condition for generating a group of PLC variables, machine configuration information of the machine, and variable dependency relationships which include the dependency relationships among the variables, the group generation conditions, and the machine configuration information; an information analysis unit that, on the basis of the variable dependency relationships, extracts variables corresponding to the group generation conditions and the machine configuration information from among the plurality of variables in the variable dependency relationships; and a group generation unit that generates a group which includes the extracted variables and adds the generated group to the storage unit.
The present invention enables high-speed reading/writing of data even when a robot control device does not have a cache-line function. This robot control device comprises a processor, a volatile memory, and a non-volatile memory. The processor: secures, in the volatile memory, a cache memory area having the same size as a prescribed area of the non-volatile memory; writes data in the prescribed area of the non-volatile memory as well in the case when data is to be written in the cache memory area of the volatile memory by software control; and reads, in the case when data is to be read, the data from the volatile memory.
A position detecting system includes a primary encoder detecting the position of a motor shaft of a motor, and a secondary encoder detecting the position of an output shaft of a reducer. The position detecting system further includes encoder power sources energizing and operating, in a predetermined situation, at least one of the primary encoder and the secondary encoder.
G01D 5/244 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trainsMechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means generating pulses or pulse trains
A teaching device for performing program creation using icons representing functions constituting a control program for an industrial machine includes: a program creating unit for creating a program creation screen on which the icons are arranged and which is used to perform the program creation; and a disabling control unit for disabling the icons arranged on the program creating screen on the basis of an operation performed with respect to the icons.
A teaching device for teaching a robot includes: a storage unit that stores mechanism data for finding a relationship between a tip position of a robot and an angle position at a joint portion of the robot, the mechanism data including a mechanism error parameter of an actual robot; and a virtual robot control unit that controls the operation of a virtual robot on the basis of the mechanism data such that an error in position that occurs in the actual robot due to the mechanism error parameter occurs in the virtual robot.
A wire electric discharge machining device according to an aspect of the present disclosure is for electric discharge machining of an aluminum-based material, wherein a machining fluid used in electric discharge machining contains at least one kind of cation from among potassium ions, calcium ions, sodium ions and magnesium ions and at least one kind of anion from among sulfate ions, sulfite ions, disulfite ions, hydrogen sulfite ions, hydroxide ions, nitrate ions and nitrite ions.
A sensorless method for cutting tool feed speed optimization which computes a feed speed profile where the feed speed is increased at locations in the machining cycle where spindle torque is below a target value. Time-series data is recorded, including position and spindle torque command value, for a reference machining cycle. A spindle torque command target is determined either as a maximum value from the reference machining cycle or based on machine limits. An optimum feed speed profile is computed where, at the tool position for each time step, a new feed speed is determined by multiplying the original feed speed by a ratio of the spindle torque command target to the recorded spindle torque in the reference machining cycle. The optimum feed speed profile is used by a controller in production machining operations. Feedback control may be used in the controller along with the optimum feed speed profile.
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
27.
DEVICE AND METHOD FOR GENERATING SEARCH MODEL, DEVICE AND METHOD FOR TEACHING OPERATION POSITION, AND CONTROL APPARATUS
There is a demand for simplifying an operation for generating a search model since it is necessary to prepare search models of various postures in order to search for a workpiece from image data.
There is a demand for simplifying an operation for generating a search model since it is necessary to prepare search models of various postures in order to search for a workpiece from image data.
This device for generating a search model for searching for a workpiece from image data obtained by imaging the workpiece includes: an input reception unit for receiving an input of a change amount for changing a posture of a workpiece model, which is obtained by modeling the workpiece, in a virtual space; a simulation unit that changes, as a simulation, the posture of the workpiece model in the virtual space; and a search model generation unit that, when the simulation unit changes the posture, generates, on the basis of the workpiece model, a search model representing the shape of the workpiece model viewed from a prescribed viewpoint in the virtual space.
A purpose is to reduce a burden of a confirmation operation of a number of weld spots to a workpiece by a worker. A weld spot number management device 10 according to one aspect of the present disclosure includes a reception unit 15 that receives, from a plurality of welding robots, welding information that is generated for each weld spot with respect to components to be welded by a plurality of welding robots 30, and includes component numbers that individually identify each of the components, program information showing programs used in welding of the components, and time and date information, a storage unit 14 that adds robot information identifying the respective welding robots to the welding information and stores the welding information, an aggregation unit 18 that aggregates a total number of weld spots of each of the components based on the welding information, and a display unit 13 that displays a list of the total numbers of weld spots that are aggregated.
B23K 31/12 - Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by any single one of main groups relating to investigating the properties, e.g. the weldability, of materials
An encoder according to the present disclosure comprises: a reflective member that follows an object to be measured and has a plurality of arranged slits; a plate-shaped member; a light-emitting unit that is disposed on the plate-shaped member; a light-receiving unit that is disposed on the plate-shaped member so as to face the light-emitting unit with the reflective member interposed therebetween; a bonding wire that electrically connects the light-receiving unit to a terminal on the plate-shaped member and has a loop shape protruding toward the reflective member from the light-receiving unit to the terminal; and a light-transmissive protective member that covers the light-emitting unit and the light-receiving unit. The protective member has a height lower than the height from the plate-shaped member to the highest point of the bonding wire.
G01D 5/347 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
In one embodiment, this motor drive device comprises a cover member that covers a high-voltage unit, and a fixing mechanism that fixes the cover member in a closed state. This motor drive device comprises: a mechanism drive circuit for driving the fixing mechanism; and a state acquisition unit that acquires information relating to the operating state of an electric motor. This motor drive device comprises a circuit control unit that controls the mechanism drive circuit. The mechanism drive circuit includes a switch member that conducts or cuts off electricity from a control power supply. The circuit control unit controls the operation of the switch member on the basis of the information relating to the operating state.
H02M 7/48 - Conversion of DC power input into AC power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
H02M 5/45 - Conversion of AC power input into AC power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into DC by static converters using discharge tubes or semiconductor devices to convert the intermediate DC into AC using devices of a thyratron or thyristor type requiring extinguishing means using semiconductor devices only
31.
MOTOR DRIVE DEVICE FOR REDUCING LOSS WHEN MOTOR IS LOCKED
This motor drive device comprises: an inverter that generates and outputs an AC current for driving a motor from a DC voltage by on/off operation of a switching element; a lock state determination unit that determines whether the motor electrically connected to the inverter is in a lock state; a PWM command generation unit that generates a PWM command; and a control unit that controls the on/off operation of the switching element on the basis of the PWM command. The PWM command generation unit sets a PWM frequency of the PWM command to a first PWM frequency when the lock state determination unit determines that the motor is not in the lock state, and sets the PWM frequency of the PWM command to a second PWM frequency lower than the first PWM frequency when the lock state determination unit determines that the motor is in the lock state.
H02P 27/08 - Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
The present invention provides a numerical control device that can promote chip discharge appropriately and reduce machining time for hole drilling. The numerical control device comprises: a deep hole machining execution unit that performs deep hole drilling by repeating a cut operation and a return operation, the cut operation being an operation for cutting a workpiece while rotating a cutting tool and the return operation being an operation for retracting the cutting tool while rotating the cutting tool; and a chip discharge time calculation unit that calculates a chip discharge time according to the position of the cutting tool after each cut in the cut operation, wherein the deep hole machining execution unit performs the return operation during the chip discharge time.
G05B 19/18 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
B23B 49/00 - Measuring or gauging equipment on boring machines for positioning or guiding the drillDevices for indicating failure of drills during boringCentring devices for holes to be bored
A robot including an arm, and a controller that controls the arm, wherein the robot is configured to perform a predetermined work on a target portion of an object which is being moved by an object conveying device. The controller is configured to perform a waypoint following control which controls the arm so that a component or a tool supported by a distal end portion of the arm follows the object, which is being moved, at each of one or more waypoints before moving the component or the tool to a work start position; and after executing the waypoint following control, control the arm to place the component or the tool at the work start position and control the arm to perform a work time following in which the component or the tool follows the object.
A robot comprises at the leading end of an arm: a first wrist element rotatably supported about a first axial line; a second wrist element rotatably supported about a second axial line orthogonal to the first axial line with respect to the first wrist element; and a third wrist element rotatably supported about a third axial line orthogonal to the second axial line with respect to the second wrist element. The first wrist element is provided with a first space accommodating a first motor that drives the second wrist element, and a second motor that drives the third wrist element, and second spaces that communicate with the first space and are respectively disposed on the both sides thereof with the first space interposed therebetween along the second axial line. A wire body guided through the arm is guided through at least one of the second spaces into the first space.
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
35.
WELDING MANAGEMENT DEVICE FOR MANAGING WELDING CONDITIONS OF SPOT WELDING
This welding management device manages the welding conditions of spot welding. The welding management device comprises a control device and a calculation processing device. The calculation processing device comprises a storage unit for storing welding conditions master data in which the values of items included in welding conditions are composed of reference values.
This welding management device manages the welding conditions of spot welding. The welding management device comprises a control device and a calculation processing device. The calculation processing device comprises a storage unit for storing welding conditions master data in which the values of items included in welding conditions are composed of reference values.
The control device comprises a history generation unit that creates a change history including the value of an item before a change and the value of the item after the change when the value of an item in the welding conditions is changed. The storage unit stores reference data together with the change history generated by the history generation unit.
A monitoring device according to the present embodiment includes: a first receiving unit for receiving, in accordance with a production program for causing a robot to execute a predetermined production operation, an execution history record including a start date and time and an end date and time of the production operation from a robot control device configured to control the robot; a second receiving unit for receiving a change history record including a date and time when the production program or a variable was manually changed; and a determination unit for determining whether a time at which the production program or the variable was manually changed is during the production operation by comparing the change history record with the execution history record.
The objective of the present invention is to provide a simulation device and a program capable of simulating an operation of a robot, even without a branch determination being made by a human. A simulation device according to an embodiment is provided with a simulation unit which, for an operating program for operating a robot, the operating program including a branch for proceeding to different branch destinations depending on a state of a variable, simulates the operations of the robot when proceeding to each of the different plurality of branch destinations, by causing the state of the variable to vary such that the operating program proceeds to the different branch destinations.
This drive device comprises: an electric motor unit that includes an electric motor; and an amplifier that supplies current to the electric motor. The amplifier includes a plurality of electrical components that are fixed to a substrate. The amplifier is fixed coaxially to an end section of the electric motor unit in the direction of the rotating shaft of the electric motor. The amplifier is formed so as to be capable of being detached from the electric motor unit through manipulation by a worker.
B25J 9/12 - Programme-controlled manipulators characterised by positioning means for manipulator elements electric
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
H02K 11/33 - Drive circuits, e.g. power electronics
This drive device comprises: an electric motor unit that includes an electric motor; and an amplifier that supplies current to the electric motor. The amplifier includes a plurality of electrical components that are fixed to a substrate. The amplifier is fixed coaxially to an end section of the electric motor unit in the direction of the rotating shaft of the electric motor. The amplifier is formed so as to be capable of being detached from the electric motor unit through manipulation by a worker.
This terminal support device comprises an attachment pedestal for detachably attaching a portable communication terminal that commands operation of a robot via wireless communication to a control device of the robot in accordance with teaching operation content, a safety switch that outputs a safety signal for the control device, an interface unit to which is connected an electrical cable comprising a signal line for transmission of the safety signal to the control device and a power source line for transmission of electric power that is supplied from the control device, and a wireless power transmission unit that performs wireless power transmission, to the portable communication terminal, of a portion of the electric power that is received from the control device via the interface unit and the power source line of the electrical cable.
B25J 13/06 - Control stands, e.g. consoles, switchboards
G05B 19/425 - Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
A method for cutting tool feed speed optimization which collects acceleration data for a reference machining cycle, and computes an optimized feed speed profile where the speed is increased at locations in the machining cycle where the acceleration is below a target. An acceleration parameter, computed from the acceleration data, indicates cutting tool force. Time-series data is recorded, including a tool center position and an axial acceleration value, for the reference machining cycle. An acceleration parameter target value is the maximum value from the reference cycle. An optimum feed speed profile is computed where, at the tool position for each time step, a new feed speed is the original feed speed times a ratio of the target value to the acceleration parameter. A controller uses the optimum profile in machining operations. Feedback control may be incorporated into the controller, and feed angle may be factored into the acceleration parameter calculations.
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 19/401 - 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
G05B 19/4069 - Simulating machining process on screen
42.
Learning Visual Force Servo for Robust Robotic Assembly Skills
A system for robotic skill learning using vision-force servoing control. A robot performs an assembly operation and a camera, mounted in the workspace or on the robot arm, provides images of the operation. An image encoder neural network is trained to output a vision signal comprising pose features indicating distance from target location, where the vision signal is greatly reduced in size compared to the images. The vision signal is provided to a second neural network along with force/torque and tool center point velocity data. The second neural network operates as a vision-force servo controller, and is co-trained using offline reinforcement learning pre-training and online human operator correction. A pseudo-random sampling technique is used to improve the training of the vision-force control neural network. The vision-force servo controller outputs a next robot motion which is used by a compliance controller to control motion of the robot during the assembly operation.
A system for dispensing paint from a painting robot. The system includes a common line, a paint manifold including a plurality of valves coupled to a source of paint and the common line, a solvent/air manifold including a plurality of valves coupled to a solvent source or an air source and the common line, and a vacuum manifold including a plurality of valves and a vacuum generator coupled to the common line. A compound pressure sensor is positioned in the common line and measures or detects one or more of the pressure of paint in the common line, the pressure of solvent in the common line, air pressure in the common line, vacuum in the common line and paint/solvent/air leaks at different points in time during operation of the system.
B05B 12/00 - Arrangements for controlling deliveryArrangements for controlling the spray area
B05B 13/04 - Means for supporting workArrangement or mounting of spray headsAdaptation or arrangement of means for feeding work the spray heads being moved during operation
B25J 11/00 - Manipulators not otherwise provided for
G01M 3/26 - Investigating fluid tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors
44.
USER ASSISTANCE DEVICE AND COMPUTER-READABLE STORAGE MEDIUM
A user assistance device according to the present disclosure acquires a query relating to an object, classifies relevant information relating to the object into a subset on the basis of the query, generates a prompt for summarizing at least a portion of the subset, transmits the prompt to an interactive response device, and receives a response generated using the prompt.
The present invention restricts a measurable object according to the authority of a user in the acquisition of measurement data or the like from a machine tool. This measurement device acquires data of a machine tool from a numerical control device, and comprises: a user information input unit for inputting user information; a storage unit for storing a measurable object for each user authority; an authority determination unit for determining the authority of a user; a measurement object deletion unit for narrowing down measurement candidates on the basis of the measurable object; a measurement object selection unit for selecting a measurement object from the measurement candidates; an output unit for outputting information to the outside; and a communication unit for communicating with the numerical control device and for measuring data.
A stator of a three-phase AC motor according to the present invention comprises: a stator core; a plurality of slots arranged in the circumferential direction of the stator core; a coil that is accommodated in each slot and that has two lead wires led out from both ends of a winding wound so as to form a ring; and a crossover wire that, in a coil group composed of coils of the same phase, connects one of the two lead wires of the coil and one of the two lead wires of another coil, wherein a coil group of a second phase is arranged at a position offset from a coil group of a first phase by 120 degrees in the circumferential direction, a coil group of a third phase is arranged at a position offset from the coil group of the first phase by 240 degrees in the circumferential direction, and in a coil group of the same phase, slots from which lead wires respectively connected by the crossover wire are led out are arranged symmetrically about a common axis of symmetry.
Provided is a stator of a three-phase AC motor, the stator comprising: a stator core; a plurality of slots arranged in the circumferential direction of the stator core; coils accommodated in respective slots and each having two lead wires led out from both ends of a winding wound so as to form a ring; and crossover wires connecting, in each coil group composed of the coils of the same phase, one of the two lead wires of a coil and one of the two lead wires of another coil. The coil group of the same phase is composed of a positive-direction coil group and a negative-direction coil group. In the positive-direction coil group of the same phase, the coils are connected in series by the crossover wires in the arrangement order of the coils of this phase along the circumferential direction. In the negative-direction coil group of the same phase, the coils are connected in series by the crossover wires in the arrangement order of the coils of this phase along a direction opposite to the circumferential direction. The coil group of a second phase is disposed at a position shifted by 120 degrees in the circumferential direction from the coil group of a first phase, and the coil group of a third phase is disposed at a position shifted by 240 degrees in the circumferential direction from the coil group of the first phase. In the coil group of the same phase, the slots from which the lead wires electrically connected by the respective crossover wires for the positive-direction coil group are led out and the slots from which the lead wires connected by the respective crossover wires for the negative-direction coil group are led out are arranged in line symmetry with respect to a shared line symmetry axis.
Provided is a control device for controlling a robot, the control device including: an area setting unit that sets, in a work space, a safe movement area that includes a person or an object, such setting performed on the basis of information for identifying the person or the object in the work space; and a movement mode setting unit that sets, for the safe movement area, a movement mode that uses force control.
The present invention facilitates provision of an encoder that enables more backups without depending on rotational speed that can be maintained by a multi-turn data detection element. The encoder includes: a multi-turn data detection element capable of detecting rotational speed of a motor; a memory reset signal generation circuit that generates a reset signal to reset the rotational speed detected by the multi-turn data detection element; a position detection circuit that detects rotational speed and rotational angle of the motor while a main power supply is on; and an operation switching unit that detects whether the main power supply is on or off and switches to backup operation when the main power supply is off. The memory reset signal generation circuit generates a reset signal if the operation switching unit detects that the main power supply is turned off.
G01D 5/244 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trainsMechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means generating pulses or pulse trains
The present invention provides a rotor core provided with a plurality of pairs of magnet slots formed to assume a V shape. A plurality of holes are formed between each pair of magnet slots. A hole includes a general isosceles triangle with the vertex angle directed to the center of the rotor core and an arc connected to the base of the isosceles triangle. At least a part of the arc is positioned, in a radial direction of the rotor core, on an outer side of a first line segment connecting outermost portions of the magnet slots.
Provided is a programing device for creating a measurement program that disposes an industrial machine system model including an industrial equipment model and a measurement object model in a virtual space, and measures a plurality of measurement sites on the measurement object model. The programing device comprises: a measurement site setting unit that sets a plurality of measurement sites on the measurement object model; a distance calculation unit that calculates the distance between respective adjacent measurement sites in a region formed by connecting the plurality of measurement sites; an area calculation unit that calculates the area of the region; a measurement site evaluation unit that evaluates whether or not measurement with a preset and predetermined accuracy or higher is possible at the plurality of measurement sites; and a teaching point generation unit that generates the plurality of measurement sites as teaching points to be measured by an industrial machine.
A device including a position acquisition unit that acquires the current position of a robot; a direction setting unit that determines a first direction toward the outside and a second direction orthogonal to the first direction on the basis of the current position acquired by the position acquisition unit and a boundary of an allowable operation range close to the current position; a command generation unit that, in order to move the robot, generates a first movement command for moving the robot in the first direction determined by the direction setting unit and a second movement command for moving the robot in the second direction determined by the direction setting unit; and a movement restriction unit for restricting the movement of the robot according to the first movement command while permitting the movement of the robot according to the second movement command.
Provided is a dynamic brake device having a structure in which vibration of a switch part is not easily transmitted to a resistance part. This dynamic brake device is connected between a motor, and a motor drive device that drives the motor. The dynamic brake device comprises: a resistance unit that is attached to a first attachment surface and converts rotational energy of the motor into thermal energy; and a switch unit that is attached to a second attachment surface and switches the flow direction of current so as to cause a short circuit between the terminals of the motor via the resistance part. The first attachment surface and the second attachment surface are not positioned on the same plane.
H02P 3/22 - Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor by short-circuit or resistive braking
A numerical control device according to one aspect of the present invention is capable of shortening the machining time, and is for controlling a machining device that machines a workpiece with a machining head using a gas, in accordance with a machining program including a plurality of instructions. The numerical control device comprises: a settling time acquisition unit that acquires a settling time required from the start of supplying the gas until the supply state of the gas reaches a required state; a prefetch unit that prefetches the instructions of the machining program; a gas supply decision unit that, on the basis of the instructions prefetched by the prefetch unit, decides a start timing to start supplying the gas so that a specific instruction which requires the supply of the gas is executed after the settling time elapses from the start of supplying the gas; and a gas supply control unit that causes the gas to be supplied to the machining device at the start timing decided by the gas supply decision 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
B23K 26/14 - Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beamNozzles therefor
A program verification device according to the present disclosure comprises: an acquisition unit that acquires a control program including a command for controlling an industrial machine controlled by a control device, and verification data including, as a verification condition, the range of the position or time derivative of the position of each control axis pertaining to the industrial machine controlled by the control device; a determination unit that determines whether or not there is a time at which a calculation result obtained by time-integrating acceleration/deceleration data, including the time derivative of the position of each control axis described in the control program and the change time thereof, from an operation start time of the control axis is included in the range of the verification condition; and an output unit that outputs the determination result.
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
B23Q 15/00 - Automatic control or regulation of feed movement, cutting velocity or position of tool or work
Provided is a screw tightening device that has a small load capacity and is highly versatile. This screw tightening device comprises: a first torque generating mechanism that rotates about a screw tightening rotation axis and generates a first torque for tightening a screw; a second torque generating mechanism that includes the first torque generating mechanism and generates a second torque for tightening the screw; and a screw engaging part that engages with the screw and tightens the screw by using the first torque and the second torque. The second torque generating mechanism is a manipulator comprising the first torque generating mechanism as an end effector. The first torque generating mechanism generates the first torque in order to temporarily tighten the screw. The second torque generating mechanism generates the second torque in order to fully tighten the temporarily tightened screw.
B23P 19/06 - Screw or nut setting or loosening machines
B23P 19/04 - Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformationTools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
The present invention ensures an operator's safety even when an operator, during teaching work, commands a robot to perform an action that would cause entanglement of the operator due to carelessness. This robot system comprises: a robot teaching operation panel provided with communication equipment for acquiring position information; a robot provided with communication equipment for acquiring position information; and a robot control device that uses the robot teaching operation panel and the robot, detects at least the position information of the robot teaching operation panel, and controls an action of the robot on the basis of the position information of the robot teaching operation panel.
A program editing device includes a mist amount acquiring unit that acquires a mist amount; a period detecting unit that detects a first period during which a mist collector is operating while the mist amount is smaller than a first threshold; and a program editing unit that automatically edits a machining program so that the mist collector does not operate in the first period.
G05B 19/408 - 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 data handling or data format, e.g. reading, buffering or conversion of data
B23Q 11/10 - Arrangements for cooling or lubricating tools or work
59.
MECHANICAL SYSTEM MAINTENANCE METHOD, MECHANICAL SYSTEM MAINTENANCE PROGRAM, AND MACHINE CONTROL DEVICE
The present invention provides a mechanical system maintenance method that enables easy maintenance of a mechanical system without leading to a decrease in security, safety, or production efficiency. This mechanical system maintenance method involves performing, by using a remote device connected to a WAN, maintenance of a mechanical system that includes a machine and a machine control device that controls the machine. The mechanical system maintenance method further involves using the tethering function of a mobile terminal device to connect the machine control device to the WAN, enabling data transfer between the remote device and the machine control device connected via the WAN, and controlling the machine control device by using the remote device.
Provided is an image processing device comprising: an image acquisition unit that acquires, from a visual sensor, image information obtained as a result of the visual sensor capturing an image within a field of view; a detection unit that performs a detection process to detect an object from the image information on the basis of information representing object features; a blob extraction unit that uses the image information as a basis for extracting a region identified as a blob; an area calculation unit that calculates the area of the object detected by the detection unit as a first area and calculates the area of the region identified as the blob as a second area; and a determination unit that determines whether or not an undetected object that was not detected in the detection process is present in the image information, on the basis of a comparison of the first and second areas.
A distribution amount determination device for determining the distribution amount of the thermal displacement correction amount of a machine tool includes: an emphasized machining information acquisition unit that acquires information including information relating to surface quality in machining, information relating to dimensional accuracy in machining, and/or a machining program analysis result; and a condition storage unit that stores a condition for emphasizing the surface quality, a condition for emphasizing the dimensional accuracy, and/or a condition for machining program analysis result and a distribution amount when at least one condition is satisfied. The device also includes a distribution amount determination unit that determines the distribution amount based on the information including the at least one item acquired by the emphasized machining information acquisition unit and at least one condition and the distribution amount when this condition is satisfied which are stored in the condition storage unit.
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
62.
DEVICE AND METHOD FOR ATTENUATING NOISE OR VIBRATION OF FAN, DEVICE AND METHOD FOR SETTING OPERATION CONDITION OF FAN, AND COMPUTER PROGRAM
There is a demand for technology for achieving attenuation of noise or vibration generated from a plurality of fans through simpler control. A device 60 for attenuating noise or vibration generated by a plurality of fans 30 comprises a fan control unit 62 that changes the rotational phase of a fan 30A with respect to another fan 30B by rotating the fan 30A at the same rotation speed as the other fan 30B after rotating the fan 30A at a different rotation speed than the other fan 30B, and is configured to achieve attenuation by means of the change in the rotational phase made by the fan control unit 62.
A machine start-up assistance device according to the present disclosure comprises: a machine information acquisition unit that acquires machine information, which is information pertaining to an industrial machine that is to be started up and is controlled by a control device; a prompt creation unit that creates, on the basis of the machine information, a first prompt including an instruction to create system configuration data indicating a system configuration pertaining to the control device and the industrial machine; a transmission unit that transmits the first prompt to an interactive response device; a reception unit that receives a first response from the interactive response device; a post-processing unit that extracts the system configuration data from the first response and creates a drive parameter on the basis of the extracted system configuration data; and an output unit that outputs the drive parameter created by the post-processing unit.
G05B 19/18 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
G05B 19/05 - Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
64.
NUMERICAL CONTROL SYSTEM AND NUMERICAL CONTROL DEVICE
Provided are a numerical control system and a numerical control device capable of, when a spindle is attached to a robot and machining is to be performed using the spindle, performing machining in which the rotation of the spindle and the feed operation of the feed axis are synchronized. This numerical control system comprises a numerical control device and a robot control device, and controls a robot using a numerical control program in the numerical control device. The robot has a spindle for machining a workpiece, and the numerical control device comprises a second synchronization control unit that, if analyzed data includes an amount of movement of the control point of the robot and an operation start time, commands a servo control unit for controlling the robot to operate the robot on the basis of the amount of movement of the control point of the robot when the operation start time is reached.
G05B 19/18 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
The present invention provides a technology with which the degree of freedom in setting an indexing angle can be increased, within a range in which interference is avoided, in the creation of a program for controlling the operation of a machine tool. A program editing assistance device 10 comprises: an analysis unit 11 that generates, from a program, command data including at least a prescribed position of a prescribed point on a movement path of a tool 20, and a relative indexing angle between the tool 20 and a workpiece W at the prescribed position; a tool shape acquisition unit 12 that acquires shape information of one or more components which constitute the tool 20; a range calculation unit 13 that calculates, on the basis of the command data and the shape information, an indexing angle range in which the workpiece W and the tool 20 do not interfere with each other at the prescribed position; and a presentation unit 14 that outputs the indexing angle range.
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 19/402 - 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 19/409 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panelNumerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control panel details or by setting parameters
This robot control device comprises an operation control unit that controls an operation of a robot. The control device is provided with a storage unit that stores a physical characteristic of an operator, and a region-setting unit that, according to the physical characteristic, sets a specific region which limits the operation of the robot.
This control device for controlling a robot comprises: a force control unit that executes force control on the basis of a detection value of a force detector and a prescribed force control parameter; and a parameter adjustment unit that causes a robot and a machine operating together with the robot to execute a prescribed task by the force control, thereby adjusting the prescribed force control parameter and an operation parameter of the machine, the parameter adjustment unit transmitting a command value of the adjusted operation parameter to the machine.
This robot programming device comprises: a three-dimensional model disposition unit for disposing a robot model, a tool model, and a work model in a virtual space; a biting-depth designation unit for receiving designation of a tolerance for the biting depth of the tool model with respect to the work model; and a teaching-point position-posture adjustment unit for adjusting a position posture of the tool model at a teaching point of the robot program so that the tool model contacts the work model in a state in which the biting depth of the tool model with respect to the work model is equal to the tolerance or less.
Provided is a numerical control device that acquires a variation condition for periodically varying a spindle speed, computes the periodically varying spindle speed on the basis of a variation amplitude ratio and a variation frequency ratio included in the variation condition, acquires the temperature of the spindle, and, when the temperature of the spindle exceeds a predetermined temperature threshold value, reduces at least one of or both of the variation amplitude ratio and the variation frequency ratio.
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
B23Q 15/12 - Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion
This machine tool includes a spindle, a spindle head movable in a vertical direction, an automatic tool changer provided on the front side of the spindle head and configured to change a tool held by the spindle, and a protective member configured to cover a gap between the spindle head and the automatic tool changer from above. An upper surface of the protective member has an inclined surface inclined in a direction orthogonal to the vertical direction and a front-rear direction.
Provided is a diagnosis device comprising: a connection information acquisition unit that acquires connection information with one or more I/O units directly or indirectly connected to a control device provided in an industrial machine; a noise information acquisition unit that acquires noise detection information including position information indicating a noise detection position or indirect position information provided for identifying the noise detection position, on the basis of communication data flowing between the control device provided in the industrial machine and the I/O units or between the plurality of I/O units; a coupling unit that couples the connection information and the noise detection information to generate noise generation information indicating, in association with the connection information, that noise has been generated in the industrial machine; and an output unit that outputs the noise generation information to a display device.
This selection device comprises: a servo amplifier selection unit that selects a servo amplifier corresponding to specifications and operating conditions for at least one motor in a servo system and mechanical conditions of a machine in which the motor is provided; a regenerative energy calculation unit that calculates information pertaining to the regenerative energy that is estimated to be generated when the motor operates under the control of the selected servo amplifier; a determination unit that, on the basis of the information pertaining to the regenerative energy calculated by the regenerative energy calculation unit, determines whether or not it is necessary to provide the servo amplifier with a regenerative resistor for consuming the regenerative energy; and a regenerative resistor selection unit that selects a regenerative resistor corresponding to the information pertaining to the regenerative energy as a selected regenerative resistor when the determination unit determines that it is necessary to provide the servo amplifier with the regenerative resistor.
Provided are: an actuator equipped with a speed reducer in which the inner diameter of a hollow shaft is not limited due to an oil seal; and a robot equipped with said actuator. The actuator comprises: a motor; a first hollow shaft that constitutes the rotary shaft of the motor; a speed reducer that is coupled to the rotary shaft of the motor; a first oil seal that seals the outer circumference of the first hollow shaft; a cylindrical protruding part that extends from an input rotation part of the speed reducer to the axially opposite side from the motor and has an outer diameter larger than that of the first hollow shaft; and a second oil seal that seals the outer circumference of the cylindrical protruding part.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
A robot control device comprising at least one memory, at least one processor, a robot interface connected to a robot, and a peripheral device interface connected to a peripheral device that operates in conjunction with the robot, wherein the at least one memory stores a robot program describing the operation of the robot and stores a peripheral device program describing the operation of the peripheral device, and wherein the at least one processor generates a robot operation command for the robot on the basis of the robot program, outputs the robot operation command via the robot interface, generates a peripheral device operation command for the peripheral device on the basis of the peripheral device program, and outputs the peripheral device operation command via the peripheral device interface.
The purpose of the present invention is to create, from manufacturing data which is time-series data acquired from equipment, manufacturing performance records for each manufacturing management unit on the basis of preset conditions. This manufacturing information management device is provided with: a manufacturing data acquisition unit that acquires manufacturing data including at least manufacturing-related time-series data from equipment; and a manufacturing performance record creation unit that creates, from the manufacturing data, manufacturing data for each arbitrary manufacturing management unit as manufacturing performance records on the basis of preset manufacturing performance record creation conditions.
A robot control device includes a container supply quantity calculation unit, an article supply quantity calculation unit, and a temporary holding unit control information generation unit. The container supply quantity calculation unit calculates the quantity supplied of a plurality of the containers conveyed by the container conveying device, and the article supply quantity calculation unit calculates the quantity supplied of a plurality of the articles conveyed by the article conveying device. The temporary holding unit control information generation unit generates control information for a temporary holding unit having a temporary holding space for temporarily holding at least one article that can be moved by a predetermined amount in a first direction or a second direction opposite to the first direction, on the basis of the output from the container supply quantity calculation unit and the output from the article supply quantity calculation unit.
Provided is a control device (1) configured to communicate with a plurality of peripheral apparatuses (12) over an industrial network (3), the control device (1) comprising a plurality of communication control units (11) and a data storage unit (10) that stores communication data transmitted to and received from the plurality of peripheral apparatuses (12) via the plurality of communication control units (11). Each of the plurality of communication control units (11) comprises: a data processing unit (211) that, on the basis of the communication data for transmission stored in the data storage unit (10), performs data processing for controlling at least one of the plurality of peripheral apparatuses (12); and a data management unit (212) that transfers the data processed by the data processing unit (211) to another communication control unit (11).
A layout generation device according to one embodiment stores a plurality of items of sample data in which a machine model, a tool model, a workpiece model, and a peripheral equipment model are arranged in a virtual space. Upon acquiring a layout outline of the machine model, the tool model, the workpiece model, and the peripheral equipment model input in a natural language, the layout generation device transmits, to a generative AI device, a prompt instructing generation of the tool model, the workpiece model, and the peripheral equipment model and generation of layout information of the generated tool model, the generated workpiece model, and the generated peripheral equipment model, and the machine model, on the basis of the sample data and the layout outline. The layout generation device receives a response from the generative AI device, and upon acquiring the layout information, arranges and displays each model in the virtual space on the basis of the layout information.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
79.
MEASUREMENT CYCLE DETERMINATION DEVICE AND COMPUTER-READABLE RECORDING MEDIUM
A measurement cycle determination device according to the present disclosure comprises: a machining program acquisition unit that acquires a machining program for machining a desired workpiece shape; a shape model generation unit that performs a machining simulation on the basis of the machining program and generates a shape model indicating the shape of a machined workpiece, which is the result of the machining simulation; a shape model display unit that displays the shape model; a position designation information acquisition unit that acquires position designation information including the designation of at least one position of the displayed shape model; a probe information storage unit that stores probe information that is information pertaining to a probe for measuring the shape of the workpiece; and a measurement cycle determination unit that determines a measurement cycle command for measuring the workpiece shape on the basis of the position designation information and the probe 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
G05B 19/4069 - Simulating machining process on screen
G05B 19/409 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panelNumerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control panel details or by setting parameters
Provided is a technology that enables efficient comparison and analysis of sets of drive control information that produced different results for the same operation in a control device for controlling an industrial machine. A control device 10 comprises: an operation history verification unit 14 that verifies whether an operation performed on an industrial machine 1 is already recorded in a recorded operation history; a drive control information acquisition unit 15 that acquires drive control information including at least one of information relating to the drive of the industrial machine 1 and information relating to the control of the control device 10 during the execution of the operation on the industrial machine 1; and a drive control information difference extraction unit 16 that, if the verification result from the operation history verification unit 14 indicates that the operation is already recorded, compares drive control information recorded in association with the recorded operation with the drive control information acquired by the drive control information acquisition unit 15, and extracts the difference. The control device 10 outputs the difference in drive control information for the same operation as extracted by the drive control information difference extraction unit 16.
G05B 19/408 - 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 data handling or data format, e.g. reading, buffering or conversion of data
This motor control device comprises: an abnormality detection unit (30) that detects an abnormality relating to driving of a motor (M); a position control unit (A) that includes a stopping means for stopping the motor (M) by position control; a speed control unit (B, C) that includes a stopping means for stopping the motor (M) by speed control; a dynamic brake circuit (D) that includes a stopping means for stopping the motor (M) by heat consumption; a braking distance calculation unit (31) that calculates braking distances required for stopping the motor (M) by the position control unit (A), the speed control unit (B, C), and the dynamic brake circuit (D), respectively; and a stopping means selection unit (32) that selects the stopping means that obtains the shortest braking distance. When an abnormality is detected by the abnormality detection unit (30), the motor (M) is stopped by the stopping means that obtains the shortest braking distance.
H02P 3/06 - Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
Provided is a technology with which it is possible to appropriately and efficiently set a threshold for determining an abnormality of a control device in accordance with a hardware configuration. The control device 10 comprises: a proper operation information readout unit 11 that reads out proper operation information preset in individual hardware 20; a threshold calculation unit 12 that calculates a threshold for determining the occurrence of an abnormality in the control device 10 on the basis of a plurality of pieces of the proper operation information; and a comparison determination unit 13 that compares the threshold calculated by the threshold calculation unit 12 with monitoring information read out from a monitoring apparatus 31 to determine the occurrence of an abnormality.
The present invention makes it possible to machine workpieces of various sizes while minimizing the installation area of a machining system and to utilize a vacant space for other uses when machining a small workpiece. This machining system comprises: a carrier vehicle on which a workpiece is mounted and which moves on a floor surface in an unmanned manner; a machining tool that performs machining on the workpiece; a program analysis unit that acquires and analyzes a machining program; a relative-position command creation unit that creates, on the basis of the analysis result, a relative-position command related to the relative position between the workpiece and the machining tool; a relative-position acquisition unit that acquires the relative position between the workpiece and the machining tool; and a drive command unit that issues, on the basis of the relative position and the relative-position command, a command to drive the carrier vehicle and the machining tool. The drive command unit performs machining on the workpiece by using the machining tool while controlling the relative position between the machining tool and the workpiece that is carried by the carrier vehicle.
This monitoring device monitors a network system composed of a plurality of constituent elements including an industrial machine, a server, a peripheral apparatus, and a network apparatus, said industrial machine including at least a robot, and comprises: at least one memory that stores a network diagram indicating the connection condition of the plurality of constituent elements, and data indicating the statuses of the plurality of constituent elements; at least one processor; and a display unit, wherein the at least one processor identifies at least one constituent element among the plurality of constituent elements, monitors the communication status of the identified constituent element on the basis of the data, and if the communication of the identified constituent element is disrupted, displays information indicating the disruption of the communication of the constituent element on the display unit together with the network diagram.
A stator core of an electric motor includes multiple core plates laminated in an axial direction of the stator core, wherein each of the core plates has a polygonal outer shape and a refrigerant hole in a closed area demarcating a flow path through which a refrigerant flows. The multiple core plates comprise a first core plate and a second core plate laminated to the first core plate, wherein the second core plate has a shape in which the first core plate is inverted about a symmetrical axis of the polygon, or the first core plate is rotated about a central axis thereof by a central angle of the polygon. The refrigerant hole of the first core plate extends in a circumferential direction of the stator core, and a portion thereof communicates with the refrigerant hole of the second core plate in the axial direction.
Provided is a robot control apparatus capable of ascertaining at least one of the width, depth, or height of an object to be conveyed, by using at least two holding force values. The robot control apparatus controls an operation of a robot that has a robot hand provided with at least two sensors, each measuring a holding force, and that uses the robot hand to hold an object placed at a first location and place the object at a second location. The robot control apparatus is provided with at least one processor and at least one storage device capable of storing a program to be executed. The at least one processor determines at least one of the width, depth, or height of the object by using at least two holding force values measured by the at least two sensors, on the basis of the program.
The present invention provides a coolant system comprising a separation device and a storage device. The storage device comprises: a storage container which is disposed on a foundation and in which machining debris is stored; and a cover to which the separation device is connected and which covers an opening in the storage container.
B23Q 11/10 - Arrangements for cooling or lubricating tools or work
B23Q 11/00 - Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling workSafety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
88.
PROCESSING PROGRAM MANAGEMENT DEVICE AND COMPUTER-READABLE STORAGE MEDIUM
A processing program management device stores a processing program that is formatted as a series of divided management units, acquires a specific block number for the processing program, reads out block counts for the management units that are additional information about the management units, uses the block counts to search for the management unit that includes the specific block number, calculates a block count in order from the leading block of the management unit that includes the specific block number, and searches for the storage position of the block that corresponds to the specific block number.
A motor control device includes a torque command creation unit which creates a torque command for specifying a drive torque of the motor in accordance with a speed command, a filter unit which decreases the value of a set frequency range of the speed command, an operation command creation unit which creates an operation command, and a measurement command creation unit which creates measurement commands that are each the speed command having a prescribed waveform to adjust the filter unit. The motor control device also includes a response characteristic calculation unit which calculates a frequency response characteristic of a signal downstream of the torque command creation unit and a filter setting unit which uses a resonance frequency corresponding to the frequency response characteristic with respect to at least two of the measurement commands to determine the frequency width of the set frequency range of the filter unit.
H02P 23/04 - Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
A simulation apparatus causes a three-dimensional model representing a robot to operate in a virtual space in accordance with an operation program for causing the robot to operate. The simulation apparatus includes a reception unit configured to receive an input of a parameter relating to the operation program, a physical quantity calculation unit configured to calculate, based on the parameter, a physical quantity applied to a reference point of the robot, and a display unit 4 configured to display the three-dimensional model and one visual element selected, based on the physical quantity, from a plurality of visual elements.
G06F 30/28 - Design optimisation, verification or simulation using fluid dynamics, e.g. using Navier-Stokes equations or computational fluid dynamics [CFD]
A stator according to the present disclosure is provided with: a stator core which is configured in a cylindrical shape by laminating a plurality of electromagnetic steel sheets, and in which a flow path through which a refrigerant flows extends in the axial direction; and gaskets which are respectively disposed between adjacent electromagnetic steel sheets when the orientation of at least one electromagnetic steel sheet among the adjacent electromagnetic steel sheets is reversed in the axial direction, or between adjacent electromagnetic steel sheets when at least one electromagnetic steel sheet among the adjacent electromagnetic steel sheets is rotated in the circumferential direction, in an elastically deformed state so as to contract along the axial direction. The electromagnetic steel sheets have refrigerant holes that define the flow path, and the gaskets have communication holes that allow the refrigerant holes in the adjacent electromagnetic steel sheets to communicate with one another.
A correction amount calculation device according to the present disclosure comprises: a machine state information acquisition unit that acquires machine state information of an industrial machine including at least temperature information and axis position information; a model acquisition unit that acquires a plurality of thermal displacement estimation models each of which estimates a thermal displacement amount in at least one partial processing region among a plurality of partial processing regions obtained by dividing a processing region of the industrial machine into at least two or more; a model determination unit that determines, from among the plurality of thermal displacement estimation models acquired by the model acquisition unit, a thermal displacement estimation model to be used for estimating a thermal displacement amount of a partial processing region including an axis position indicated by the axis position information; a correction amount calculation unit that calculates, on the basis of the machine state information, a correction amount by using the thermal displacement estimation model determined by the model determination unit; and an output unit that outputs the correction amount calculated by the correction amount calculation unit.
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
B23Q 15/18 - Compensation of tool-deflection due to temperature or force
93.
CODE CREATION ASSISTANCE DEVICE AND COMPUTER-READABLE STORAGE MEDIUM
A code creation assistance device according to the present disclosure comprises: a code storage unit that stores a code for displaying collected data on a display screen; a test screen display unit that executes the code and displays a test screen; an instruction sentence input unit that receives an instruction sentence requesting modification of a component constituting the test screen; a prompt creation unit that creates a prompt in which component description information including identification information of the component and information on data displayed on the component is added to the instruction sentence; a transmission unit that transmits the prompt to a generative AI; and a reception unit that receives the code modified by the generative AI on the basis of the prompt.
The purpose of the present invention is to provide a display device 1 and display method whereby the current machining status can be easily confirmed during machining. The display device 1 is disposed in a machine tool 100 and displays a machining simulation for confirming the machining status of the machine tool 100. The display device 1 of the machine tool 100 comprises: a machining simulation data acquisition unit 32 that acquires a machining image or machining video generated in real time by machining simulation based on position information used in the present driving during driving of a mechanism unit 122 of the machine tool 100; and a machining simulation display unit 34 that displays the machining image or machining video acquired by the machining simulation data acquisition unit 32. The machining simulation display unit 34 displays the machining status of a machining workpiece by using the machining image or the machining video.
Provided are a display device 1 and a display method with which it is possible to easily confirm past or future machining status. A display device 1 of a machine tool 100 is disposed in the machine tool 100 to display a machining simulation in order to confirm the machining status of the machine tool 100. The display device 1 comprises: a machining simulation data acquisition unit 32 that acquires a machining image or machining video generated by a machining simulation based on positional information used to drive a mechanism unit 122 of the machine tool 100; and a machining simulation display unit 34 that displays the machining image or machining video acquired by the machining simulation data acquisition unit 32. The machining simulation data acquisition unit 32 acquires the result of a machining simulation that uses current, past, or future positional information, during the driving of the machine tool 100, and the machining simulation display unit 34 displays a machining image or machining video at a point in time prior to or after the present through a prescribed operation.
The present disclosure pertains to a linear motor armature comprising: a core having a plurality of teeth and a plurality of slots; a resin mold; and a sheet-like reinforcement member. The reinforcement member has formed therein a recess part recessed toward the side opposite to the teeth. The recess part is continuous in the lateral surface orthogonal to the thickness direction of the reinforcement member. The recess part is filled with a resin material.
Provided is a tool-replacing device comprising a tool magazine, a detachable device, and a control device. The control device includes: a load acquisition unit that acquires the load of a drive mechanism at a prescribed timing; and a mass estimation unit that estimates the mass of either a first tool or a second tool on the basis of the load acquired by the load acquisition unit. The prescribed timing is any among: a timing after one holding member has received the second tool from the tool magazine and before another holding member receives the first tool from a main shaft; a timing after the one holding member has transferred the second tool to the main shaft and before the other holding member transfers the first tool to the tool magazine; a timing after the one holding member has received the first tool from the main shaft and before the other holding member receives the second tool from the tool magazine; and a timing after the one holding member has transferred the first tool to the tool magazine and before the other holding member transfers the second tool to the main shaft.
This tool exchange device (20, 30) comprises: at least one tool exchange arm 200; a first operation member 230 that is provided to the tool exchange arm 200; a first cam 50 that moves in the tool rotation center direction in conjunction with a movement of a spindle 13 in the tool rotation center direction, and presses the first operation member 230 to cause the tool exchange arm 200 to rotate; a second operation member 240 that is provided to the tool exchange arm 200; and a second cam 60 that abuts the second operation member 240 at least in a state in which the abutment between the first operation member 230 and the first cam 50 is released, and restricts the rotation operation of the tool exchange arm 200 in a direction opposite to the direction in which the first cam 50 causes the tool exchange arm 200 to rotate.
The present invention makes it possible to easily find a desired MDI program to be reused, by displaying an MDI program history corresponding to the status of a machine and/or an operator without displaying an MDI program not to be reused. This control device for an industrial machine stores an MDI program executed in an MDI mode as a history in time series and displays the history. The control device for an industrial machine comprises: a history storage unit that stores, as a history, first identification information which includes information on at least a status or an operator of the industrial machine when the executed MDI program is executed, in association with the MDI program; an acquisition unit that acquires second identification information which includes information on at least the status or operator of the industrial machine when the history is displayed; a comparison unit that compares the first identification information of the stored history with the acquired second identification information; a history extraction unit that extracts a history in which the first identification information and the second identification information match on the basis of a result of the comparison; and a display unit that displays the extracted history.
G05B 19/408 - 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 data handling or data format, e.g. reading, buffering or conversion of data
G05B 19/409 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panelNumerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control panel details or by setting parameters
According to the present invention, a control device for a wire electrical discharge machine that machines a workpiece by discharging electricity across the electrode gap between a wire electrode and the workpiece while moving the wire electrode relative to the workpiece along a machining path comprises a storage unit that stores boundary positions at which the workpiece has different sheet thicknesses, an electrode position detection unit that detects an electrode position for the wire electrode, and a machining control unit that, when the relative distance along the machining path between a boundary position and the electrode position is within a prescribed range, causes the wire electrical discharge machine to machine the workpiece using boundary machining conditions that are different from normal machining conditions that are used when the relative distance is outside the prescribed range.
