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公开(公告)号：US10409266B2
公开(公告)日：2019-09-10
申请号：US15817814
申请日：2017-11-20
Applicant: FANUC CORPORATION
Inventor： Takashi Satou , Takeshi Mochida
IPC: G05B19/4155 , G05B19/402
Abstract: A numerical controller is provided with an axis motion control unit configured to control the motions of a table axis and a press axis according to a machining program. The axis motion control unit starts the motion of the press axis for a first block at a first top dead center, if the state of the table axis satisfies a condition adapted for the start of the motion of the press axis for the second block and if the motion of the press axis for the first block is not completed, and the axis motion control unit starts the motion of the press axis for a second block at a second top dead center lower than the first top dead center, thereby overlapping the motions of the press axis for the first and second blocks.
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公开(公告)号：US20190033817A1
公开(公告)日：2019-01-31
申请号：US16039577
申请日：2018-07-19
Applicant: FANUC CORPORATION
Inventor： Takashi Satou , Takeshi Mochida
Abstract: A numerical controller generates movement command data, and performs an interpolation process based on the generated movement command data to generate and output interpolation data. Further, in the case of a state in which a press operation in punch press machining is started from a different position from a position of a preset rising edge, an overlap time is calculated based on a position of a punch head when the press operation is started, and an output timing of interpolation data related to an axis controlling the press operation is controlled based on the calculated overlap time. In this way, even when there is a change in press stroke, a dead time may be prevented from being generated.
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公开(公告)号：US20180161952A1
公开(公告)日：2018-06-14
申请号：US15831971
申请日：2017-12-05
Applicant: FANUC CORPORATION
Inventor： Yihua Gu , Takashi Satou
Abstract: A deburring apparatus including: a robot that uses a deburring tool to deburr an object supported by a support in a machine tool, a visual sensor, a relative movement mechanism for causing relative movement between the visual sensor and the object supported by the support; and a controller, wherein the controller is configured to conduct: an operation process that operates the relative movement mechanism based on a visual sensor relative movement program for controlling an operation of the relative movement mechanism so that a ridge of the object supported by the support is detected by the visual sensor during the relative movement; and a deburring operation program generation process which generates a deburring operation program by using the detected ridge obtained by the visual sensor when the relative movement mechanism is operated based on the visual sensor relative movement program.
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公开(公告)号：US20250058478A1
公开(公告)日：2025-02-20
申请号：US18719397
申请日：2021-12-21
Applicant: FANUC CORPORATION
Inventor： Nobuaki Yamaoka , Takashi Satou
Abstract: This control device includes a control unit which performs mass measurement or force control using a torque sensor that detects a torque acting on a link in a machine; and a torque sensor adjustment unit for adjusting the torque sensor by using an external instrument or by using internal data or external data.
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公开(公告)号：US11654576B2
公开(公告)日：2023-05-23
申请号：US17031899
申请日：2020-09-25
Applicant: FANUC CORPORATION
Inventor： Yihua Gu , Takashi Satou
CPC classification number: B25J13/02 , B25J9/0081 , B25J13/085
Abstract: A robot system causing a robot to operate in response to a handling force, wherein a position of the robot can be adjusted with higher accuracy. In one aspect of the present disclosure, a robot system includes a robot having a handle, a force sensor configured to detect a handling force applied to the handle, and an inching motion execution section configured to execute an inching motion of causing the robot to move by a movement amount determined in response to the handling force detected by the force sensor.
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Patent Agency Ranking
公开(公告)号：US11358287B2
公开(公告)日：2022-06-14
申请号：US16181691
申请日：2018-11-06
Applicant: Fanuc Corporation
Inventor： Yuki Ishii , Takashi Satou , Yihua Gu
Abstract: A compact, intuitively-operable input device for manipulating a robot is provided. Provided is an input device for manipulating a robot. The input device includes: a base; a movable section supported in a three-dimensionally movable manner relative to the base; and a detector that performs detection by resolving an operation amount of the movable section relative to the base into parallel movement amounts along a first axis and a second axis, which extend parallel to a predetermined surface of the base and are orthogonal to each other, and a parallel movement amount along a third axis that is orthogonal to the first axis and the second axis.
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公开(公告)号：US20190033823A1
公开(公告)日：2019-01-31
申请号：US16039836
申请日：2018-07-19
Applicant: FANUC CORPORATION
Inventor： Takashi Satou , Takeshi Mochida
IPC: G05B19/4061 , G05B19/4155 , G05B19/414
CPC classification number: G05B19/4061 , G05B19/4141 , G05B19/4155 , G05B2219/50112
Abstract: The numerical controller determines a possibility of interference between a tool and an obstacle on a workpiece and, based on the determination result, switches the end point position of the rising motion of the tool in command data to a retreat position from a rising edge or stops the movements of X/Y axes by a next command block until rising motion of a press axis of the machine tool by the command data is completed. In this way, wasteful deceleration is prevented from occurring when interference between the tool and the obstacle is avoided during machining.
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8.发明授权公开(公告)号：US11712801B2
公开(公告)日：2023-08-01
申请号：US16903381
申请日：2020-06-17
Applicant: FANUC CORPORATION
Inventor： Mikito Hane , Takashi Satou
CPC classification number: B25J9/163 , B25J9/1633 , B25J11/0065 , B25J13/085 , G06N20/00
Abstract: A machine learning apparatus that can determine the state of a tool from a force applied from the tool to a robot while the robot performs a work using the tool. A machine learning apparatus for learning a state of a tool used for a work by a robot includes a learning data acquisition section that acquires, as a learning data set, data of a force applied from the tool to the robot while the robot causes the tool to perform a predetermined operation, and data indicating the state of the tool during the predetermined operation, and a learning section that generates a learning model representing a correlation between the force and the state of the tool, using the learning data set.
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公开(公告)号：US20200180143A1
公开(公告)日：2020-06-11
申请号：US16701837
申请日：2019-12-03
Applicant: Fanuc Corporation
Inventor： Gu Yihua , Takashi Satou
Abstract: A controller of a robot includes an operation device for an operator to perform an operation of manually changing a position and an orientation of the robot. The operation device includes a movable part configured to perform a pushing operation, a pulling operation, and a tilting operation in a predetermined direction, and an operation detection unit configured to detect the operation of the movable part. The processing device includes a manual control unit that controls an inching operation that changes the position and the orientation of the robot by a predetermined minute amount. The manual control unit determines whether or not the inching operation is performed based on the magnitude of the force with which the movable part is operated.
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公开(公告)号：US10528035B2
公开(公告)日：2020-01-07
申请号：US15386759
申请日：2016-12-21
Applicant: FANUC CORPORATION
Inventor： Hiroki Hokazono , Takashi Satou , Takeshi Mochida
IPC: G06F19/00 , G05B19/416 , B30B15/26
Abstract: A numerical controller of the present invention includes a parameter setting unit which accepts settings of punch press parameters, an NC parameter calculating unit which calculates an axis control parameter in punch pressing based on the punch press parameters, a parameter storage unit which stores the punch press parameters and the axis control parameter, a command analyzing unit which analyzes a command block in the program to generate movement command data, an interpolating unit which generates interpolation data based on the movement command data, and an accelerating and decelerating unit which calculates a linear acceleration and deceleration time constant and a bell-shaped acceleration and deceleration time constant for use in axis control based on the punch press parameters, the axis control parameter, and a feed rate specified by the command block and performs post-interpolation acceleration or deceleration processing based on each of the calculated acceleration and deceleration time constants.
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