CN100391642C - 模具缓冲机构的碰撞判定装置及碰撞判定系统 - Google Patents

模具缓冲机构的碰撞判定装置及碰撞判定系统 Download PDF

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Publication number
CN100391642C
CN100391642C CNB2006101005455A CN200610100545A CN100391642C CN 100391642 C CN100391642 C CN 100391642C CN B2006101005455 A CNB2006101005455 A CN B2006101005455A CN 200610100545 A CN200610100545 A CN 200610100545A CN 100391642 C CN100391642 C CN 100391642C
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CN
China
Prior art keywords
force
value
command value
slider
speed command
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CNB2006101005455A
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English (en)
Chinese (zh)
Other versions
CN1891370A (zh
Inventor
岩下平辅
置田肇
河村宏之
猪饲聪史
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Fanuc Corp
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Fanuc Corp
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Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of CN1891370A publication Critical patent/CN1891370A/zh
Application granted granted Critical
Publication of CN100391642C publication Critical patent/CN100391642C/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D24/00—Special deep-drawing arrangements in, or in connection with, presses
    • B21D24/10—Devices controlling or operating blank holders independently, or in conjunction with dies
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—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
    • G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37411—Measure contact from force and velocity detection
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37622—Detect collision, blocking, stall by change, lag in position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37624—Detect collision, blocking by measuring change of velocity or torque
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/42—Servomotor, servo controller kind till VSS
    • G05B2219/42123—Position loop then force, current loop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45131—Turret punch press

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Shaping Metal By Deep-Drawing, Or The Like (AREA)
  • Presses And Accessory Devices Thereof (AREA)
CNB2006101005455A 2005-07-04 2006-07-03 模具缓冲机构的碰撞判定装置及碰撞判定系统 Expired - Fee Related CN100391642C (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2005195097A JP2007007716A (ja) 2005-07-04 2005-07-04 ダイクッション機構の衝突判定装置および衝突判定システム
JP2005195097 2005-07-04

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CNA2008100055174A Division CN101261508A (zh) 2005-07-04 2006-07-03 模具缓冲机构的碰撞判定装置及碰撞判定系统

Publications (2)

Publication Number Publication Date
CN1891370A CN1891370A (zh) 2007-01-10
CN100391642C true CN100391642C (zh) 2008-06-04

Family

ID=36822413

Family Applications (2)

Application Number Title Priority Date Filing Date
CNB2006101005455A Expired - Fee Related CN100391642C (zh) 2005-07-04 2006-07-03 模具缓冲机构的碰撞判定装置及碰撞判定系统
CNA2008100055174A Pending CN101261508A (zh) 2005-07-04 2006-07-03 模具缓冲机构的碰撞判定装置及碰撞判定系统

Family Applications After (1)

Application Number Title Priority Date Filing Date
CNA2008100055174A Pending CN101261508A (zh) 2005-07-04 2006-07-03 模具缓冲机构的碰撞判定装置及碰撞判定系统

Country Status (4)

Country Link
US (2) US20070012083A1 (enExample)
EP (2) EP1742127A3 (enExample)
JP (1) JP2007007716A (enExample)
CN (2) CN100391642C (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007005011B4 (de) * 2007-02-01 2012-09-06 Saeta Gmbh & Co. Kg Verfahren und Ziehwerkzeug zum Tiefziehen von Rohlingen aus Blechmaterial zu flanschlosen Formlingen
JP4595017B2 (ja) 2009-02-16 2010-12-08 ファナック株式会社 サーボダイクッションの制御装置
US8947036B2 (en) * 2010-02-17 2015-02-03 Mitsubishi Electric Corporation Parallel drive system
JP6100727B2 (ja) * 2014-04-09 2017-03-22 ファナック株式会社 リードスルー機能を有する人協調型産業用ロボット
CN112735186A (zh) * 2020-12-25 2021-04-30 安徽省安泰科技股份有限公司 一种基于物联网的设备安全预警系统及其实施方法
CN114964836A (zh) * 2021-02-25 2022-08-30 安川电机（中国）有限公司 龙门机构的碰撞检测方法及其装置
CN114964835A (zh) * 2021-02-25 2022-08-30 安川电机（中国）有限公司 龙门机构的碰撞检测方法及其装置
CN113751739B (zh) * 2021-08-03 2023-02-21 南京工大数控科技有限公司 一种数控机床智能防碰撞系统
CN116759226B (zh) * 2023-08-17 2023-10-24 合肥综合性国家科学中心能源研究院(安徽省能源实验室) 一种核聚变环向场超导线圈绕制的多自由度导体落模系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5309138A (en) * 1991-03-19 1994-05-03 Honda Giken Kogyo Kabushiki Kaisha Vehicle collision detecting method employing an acceleration sensor
US5379688A (en) * 1991-12-03 1995-01-10 Ishii; Mitishi Method of and apparatus for automatically controlling pressing force of press machine
CN1146178A (zh) * 1994-12-21 1997-03-26 株式会社小松制作所 液压机压模保护装置
US5692404A (en) * 1993-02-25 1997-12-02 Toyota Jidosha Kabushiki Kaisha Method of diagnosing pressing machine based on detected physical value as compared with reference
US5952589A (en) * 1996-01-11 1999-09-14 Systems, Machines, Automation Components Corporation Soft landing method for probe assembly
CN1438113A (zh) * 2001-12-21 2003-08-27 会田工程技术有限公司 压力机

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4524582A (en) * 1983-03-31 1985-06-25 Cincinnati Incorporated Control system for hydraulic presses
JPH0419093A (ja) * 1990-05-14 1992-01-23 Meidensha Corp ロボットの衝突検出装置
JPH1133799A (ja) * 1997-07-23 1999-02-09 Komatsu Ltd 電動プレスの制御方法及び制御装置
DE19812133A1 (de) * 1998-03-20 1999-09-23 Baltec Maschinenbau Ag Verfahren zum Steuern, Überwachen und Überprüfen eines Umformvorganges einer Umformmaschine, insbesondere Nietmaschine

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5309138A (en) * 1991-03-19 1994-05-03 Honda Giken Kogyo Kabushiki Kaisha Vehicle collision detecting method employing an acceleration sensor
US5379688A (en) * 1991-12-03 1995-01-10 Ishii; Mitishi Method of and apparatus for automatically controlling pressing force of press machine
US5692404A (en) * 1993-02-25 1997-12-02 Toyota Jidosha Kabushiki Kaisha Method of diagnosing pressing machine based on detected physical value as compared with reference
CN1146178A (zh) * 1994-12-21 1997-03-26 株式会社小松制作所 液压机压模保护装置
US5952589A (en) * 1996-01-11 1999-09-14 Systems, Machines, Automation Components Corporation Soft landing method for probe assembly
CN1438113A (zh) * 2001-12-21 2003-08-27 会田工程技术有限公司 压力机

Also Published As

Publication number Publication date
EP1742127A3 (en) 2007-01-24
EP1742127A2 (en) 2007-01-10
CN1891370A (zh) 2007-01-10
US20080245121A1 (en) 2008-10-09
CN101261508A (zh) 2008-09-10
US20070012083A1 (en) 2007-01-18
EP1973019A1 (en) 2008-09-24
JP2007007716A (ja) 2007-01-18

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