Abstract: A tool drive device including a motor, a movable part driven by the motor to move a tool, and a bracket used to attach the motor and the movable part to a flange at a wrist tip of a robot. The bracket includes a plate-like first attachment part that is attached to the flange and a plate-like second attachment part to which the motor and the movable part are attached. The movable part is disposed on the opposite side from the flange with the first attachment part therebetween in the plate thickness direction thereof and on the opposite side from the motor with the second attachment part therebetween in the plate thickness direction thereof. The first attachment part is provided with a wiring-body passage that guides a wiring body that has been wired through a hollow hole in the flange, to the motor without being exposed toward the movable part.

Abstract: Provided are a command generation device and a computer program with which a robot numerical value control command can be generated without the need for consideration of coordinate values and configuration information. A numerical value control device 2 is provided with a robot numerical value control command generation unit 22 that generates a robot numerical value control command for a robot in accordance with a numerical value control program. The robot numerical value control command generation unit 22 generates the robot numerical value control command on the basis of: at least one of a motion type of a robot 30, a motion speed of the robot 30, a positioning type of the robot 30, and a coordinate value type of the robot 30; coordinate values at a robot teaching point acquired on the basis of the coordinate value type of the robot 30; and configuration information relating to the robot 30 at the robot teaching point.

Abstract: The present invention is to provide a control device for a machine tool that performs oscillating cutting and that enables loads on a machine tool to be versatilely reduced without depending on the configuration of the machine tool.

Abstract: Provided is a control device for a machine tool capable of stably achieving an effect of suppressing regenerative self-excited chatter vibration. This control device for a machine tool includes a fluctuation command calculation unit configured to calculate a fluctuation command based on a speed command for a main spindle motor of the machine tool and a fluctuation condition for causing a rotation speed of the main spindle motor to periodically fluctuate, and a speed control unit configured to control the rotation speed of the main spindle motor based on the speed command and the fluctuation command. The fluctuation command calculation unit is configured to calculate the fluctuation command by calculating a frequency of the rotation speed that periodically fluctuates of the main spindle motor based on the rotation speed of the main spindle motor based on the speed command and a frequency rate that is the fluctuation condition.

Abstract: An arm-shaped structure includes a pipe-shaped main body and a metallic attachment interface joined to at least one end of the main body and securable to another component. At least a portion of the main body and the attachment interface is formed by casting. The main body and the attachment interface are joined to each other in a state where relative movement along a longitudinal axis of the main body and around the longitudinal axis is prevented in accordance with engagement between a recess provided in one of the main body and the attachment interface and a protrusion provided in the other one of the main body and the attachment interface.

Abstract: A robot includes: a drive link; two parallel passive links coupled to the drive link; and a support mechanism having two shafts. Each shaft is fixed to each of the passive links so that each shaft is engaged with a through-hole at an intermediate position of each of the passive links along a longitudinal axis thereof, and an auxiliary link rotatably attached to the shafts by bearings in which the shafts engage. The through-hole is formed in a direction that is orthogonal to a plane including the longitudinal axis. Each shaft includes a first shaft section engaged with the through-hole and abutting on one end surface, a second shaft section engaged with the through-hole and abutting on another end surface, and a fastening section applying a force in a direction that causes the first shaft section and the second shaft section to approach each other within the through-hole.

Abstract: A parallel link robot includes a base, a movable member, and multiple arms that connect the base and the movable member in parallel. Each of the arms includes: a drive link that is rotationally driven by a motor in the base; two parallel passive links that couple the drive link and the movable member; ball joints between the drive link and the corresponding passive link and between the movable member and the corresponding passive link; and attachment mechanisms that detachably attach the ball joints to the corresponding drive link or the movable member. Each ball joint includes a ball and a fixed part integral with the ball. At least one of the attachment mechanisms includes: a first screw hole in the fixed part; a second through-hole in the drive link or the movable member; and a screw member that is fastened to the first screw hole through the second through-hole.

Abstract: A device includes an input reception unit that receives input of a parameter of a weaving signal, a signal generation unit that generates a weaving signal having the received parameter, a parameter acquisition unit that acquires, as a filtered parameter, the parameter of the weaving signal in a case where the weaving signal is subjected to filtering processing, a condition determination unit that determines whether or not the filtered parameter satisfies a predetermined condition, and a parameter adjustment unit that adjusts the received parameter if the filtered parameter is determined not to satisfy the predetermined condition. The signal generation unit generates a weaving signal having the parameter adjusted by the parameter adjustment unit.

Abstract: A robot control device controls a robot equipped with a sensor capable of measuring force, the robot control device including: a measurement value acquisition unit acquires a first measurement value measured by the sensor when a first tool having a known mass and center-of-gravity position is placed at the tip of the wrist of the robot and the wrist performs a specific motion, and a second measurement value measured by the sensor when a second tool having a known mass and center-of-gravity position is placed and the wrist performs a specific motion; a measurement value storage unit that stores the first measurement value and the second measurement value acquired by the measurement value acquisition unit; and a correction unit that corrects the measurement values from the sensor, on the basis of the first measurement value and the second measurement value stored in the measurement value storage unit.

Abstract: A device capable of acquiring a deviation of a working position of a tool with respect to a target position of a workpiece with higher accuracy in accordance with actual work. A device for acquiring a deviation amount of a working position of a tool with respect to a target position when a work is performed on a workpiece with respect to the target position by the tool, the tool being moved by a movement machine, the device including: a camera arranged in a predetermined positional relationship with respect to the tool and configured to image the target position at a first time point when the tool performs an operation for the work; and a deviation amount acquisition section configured to acquire a deviation amount between the working position and the target position at the first time point, based on a position of the target position in image data imaged by the camera and information indicating a position of the working position in the image data.

Abstract: To make it possible to evaluate quantitatively whether there is a problem on a machining surface. A simulator includes a memory unit that stores machining position data to be used when a machine tool machines a machining-target object, a machining surface simulation unit that uses the machining position data that is stored to perform a simulation of a machining surface, a surface texture calculation unit that calculates a surface texture of the machining surface that is simulated through the simulation of the machining surface, and a machining surface evaluation unit that evaluates the surface texture on the basis of an evaluation condition.

Abstract: A draining mechanism according to an embodiment comprises a block in which a through hole is formed therethrough along a direction intersecting the gravity direction. The through hole is provided with a first guide portion and a second guide portion. The block comprises: a gas channel connected to the through hole between the first guide portion and the second guide portion; and a discharge port connected to the through hole between the first guide portion and the second guide portion, extending along the gravity direction, and connected to the outside of the block.

Abstract: A numerical controller includes a region information reception unit configured to receive input of data defining a control region in which a control condition is set in a movement region of an axis of a machine tool, a region setting unit configured to set the control region based on the data received by the region information reception unit, a control condition setting unit configured to set the control condition in the control region, and a command generation unit configured to generate a control command in the control region based on the control condition.

Abstract: A linear motion mechanism is provided with a shaft extending along an axis, a drive mechanism which moves the shaft in the axis direction, a housing which accommodates the drive mechanism and which has an opening allowing one end portion of the shaft to project to the outside so as to be capable of moving backward and forward, and a tubular protective cover of which the two ends are fixed to the housing and the end portion of the shaft. The protective cover encloses the opening and the part of the shaft that projects outward from the opening, expands and contracts in the axis direction with movement of the shaft relative to the housing in the axis direction, and is fixed to the housing in a position in which a part of the drive mechanism including an end surface through which the shaft projects is disposed inside the protective cover.

Abstract: A numerical controller includes: a spindle load detection unit that detects time-series data on a load on a spindle when a workpiece is machined; a machining time setting unit that sets a machining time taken in machining the workpiece; a spindle load calculation unit that, based on the time-series data, calculates a load on the spindle applied when the workpiece is machined in the machining time set by the machining time setting unit and when a feed rate of the spindle is controlled so that the load on the spindle is a constant load; and a spindle load output unit that outputs data indicating the load on the spindle calculated by the spindle load calculation unit.

Abstract: A machining condition adjustment device adjusts laser beam machining conditions for a laser beam machining device to carry out laser beam machining of a workpiece, produces each of state variables including machining condition data, workpiece data, and plasma generation amount data and determination data including plasma generation amount determination data, and learns adjustment action for the laser beam machining conditions with respect to an amount of plasma generated in the laser beam machining of the workpiece under prescribed laser beam machining conditions, with use of the produced state variables and the produced determination data.

Abstract: A master communication device of this communication system comprises: a generation unit that generates transmission data consisting of consecutive data to all slave communication devices following one header; and a transmission unit that transmits the transmission data generated by the generation unit at the fastest cycle, among communication cycles requested by the plurality of slave communication devices. Each of the plurality of slave communication devices of the communication system comprises: a storage unit that adds information indicating reliability to data received from the master communication device and stores the same; a comparison unit that compares the reliability of subsequently received data and the reliability of the data stored in the storage unit; and a selection unit that selects the data stored in the storage unit if the reliability of the data stored in the storage unit is higher than the reliability of the data subsequently received by the comparison unit.

Abstract: A file management device is a file management device that is connected to a plurality of manufacturing machines or a plurality of robots through a communication network and includes: an input unit to which a user inputs a file deletion command including a file name of files to be deleted; and a file deletion unit that causes the plurality of manufacturing machines or the plurality of robots to delete the files to be deleted with the same file name stored in the plurality of manufacturing machines or the plurality of robots in response to the file deletion command input through the input unit.

Abstract: An optimal timing to perform dressing on a grindstone is detected easily. A machine learning device includes: an input data acquisition unit that acquires input data including an arbitrary grinding condition for an arbitrary work material in a grinding process of an arbitrary grinding machine and grindstone information related to an arbitrary grindstone including at least a degree of necessity of dressing process indicating a degree of necessity of dressing before a grinding process is performed under the grinding condition; a label acquisition unit that acquires label data indicating the degree of necessity of dressing process of the grindstone after the grinding process is performed under the grinding condition included in the input data; and a learning unit that executes supervised learning using the input data acquired by the input data acquisition unit and the label data acquired by the label acquisition unit, and generates a learned model.