CN109676605A - Tool machines integrated control system and its processing method - Google Patents
Tool machines integrated control system and its processing method Download PDFInfo
- Publication number
- CN109676605A CN109676605A CN201811619431.0A CN201811619431A CN109676605A CN 109676605 A CN109676605 A CN 109676605A CN 201811619431 A CN201811619431 A CN 201811619431A CN 109676605 A CN109676605 A CN 109676605A
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- mechanical arm
- tool
- control module
- processed
- machine
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The present invention relates to tools to machine integrated control system, comprising: mechanical arm, to grab a workpiece to be processed on a charging tray or place a finished work；Tool processes machine, to be processed to mechanical arm crawl workpiece to be processed；Setup unit, for setting an at least control parameter；Controller, mechanical arm is controlled in grabbing workpiece to be processed on charging tray according to control parameter, control tool processes machine processes workpiece to be processed, workpiece to be processed is processed into finished work, controller controls mechanical arm and grabs finished work, and finished work is placed on charging tray, controller controls tool processes machine and mechanical arm simultaneously.It integrates mechanical arm and tool processes machine and picks and places two-in-one control and operation to reach processing and workpiece, triggering tool processes machine control module and mechanical arm control module are carried out by G code or M code the numerical value of buffer is read and set, quickly integrate mechanical arm and tool processes machine control effect.
Description
Technical field
The present invention relates to a kind of tool machining integrated control system and its processing methods, more particularly to one kind is for integrating
The control system of the pick-and-place material of tool processes machine and mechanical arm.
Background technique
Currently, toolroom machine takes discharging device to play the part of a very important role when toolroom machine carries out processing operation,
The performance of discharging device is taken to will have a direct impact on accuracy and efficiency that toolroom machine executes processing operation, and conventional tool machine is being arranged in pairs or groups
A tool machine controller and a pick-and-place material Setup Controller are needed when taking discharging device, and are between controller and controller
Carry out exchange message by input and output (Input/Output, IO) or bus communication, or is using tool machine controller
Extra control shaft does the control of mechanical arm, but since tool machine controller and pick-and-place material Setup Controller are not dedicated set
Meter fails to provide the effective setting for picking and placing application function and charging tray in work pieces process.
In addition, having on the tool machine controller of another traditional milling lathe and providing pick-and-place (loader) axis and pick and place
(loader) axis group function, and pick and place axis and pick and place axis group and can be used as pick-and-place control of the mechanical arm on charging tray, however in work
When part is processed, it is not provided with the man-machine interface and function of charging tray setting.
Therefore, how to propose that a kind of toolroom machine takes discharging device to be integrated with system of processing, can be effectively improved existing
The shortcomings that technology, has become an important research topic.
Summary of the invention
The purpose of the present invention is overcoming the shortcomings of the prior art, provide a kind of tool machining integrated control system and
Its processing method.
The purpose of the present invention is achieved through the following technical solutions:
Tool machines integrated control system, and feature is: including
Mechanical arm, to grab a workpiece to be processed on a charging tray or place a finished work；
Tool processes machine, to be processed to mechanical arm crawl workpiece to be processed；
Setup unit, for setting an at least control parameter；
Controller controls mechanical arm in grabbing workpiece to be processed on charging tray according to control parameter, and controls tool processes
Machine processes workpiece to be processed, workpiece to be processed is processed into finished work, controller has controlled mechanical arm crawl
Workpieces processing, and finished work is placed on charging tray, controller controls tool processes machine and mechanical arm simultaneously.
Further, above-mentioned tool machines integrated control system, wherein the controller includes mutually independent work
Have processing machine control module and mechanical arm control module, controller is controlled by tool processes machine control module and mechanical arm
Module controls tool processes machine and mechanical arm respectively.
Further, above-mentioned tool machines integrated control system, wherein tool processes machine control module and manipulator
Arm control module is respectively an axis group, is communicated between axis group with aspect.
Further, above-mentioned tool machines integrated control system, wherein controller includes buffer, buffer
With numerical value, operation of feeding and discharging or process operation of the tool processes machine control module according to Numerical Control tool processes machine, machinery
Arm control module is according to the operation of feeding and discharging and loading or unloading operation of value controlling machinery arm.
Further, above-mentioned tool machines integrated control system, wherein tool processes machine control module and manipulator
Arm control module is read out and sets to the numerical value of buffer.
Further, above-mentioned tool machines integrated control system, wherein the numerical value reading of buffer passes through with setting
G code or M code are triggered.
Further, above-mentioned tool machines integrated control system, wherein the control parameter includes a pick-and-place axis
Control, a mechanical arm moving reference point, a Coordinate Setting and/or charging tray setting.
Inventive article machine-tooled method, feature are:
Controller includes a tool processes machine control module and a mechanical arm control module；
Mechanical arm, controller control mechanical arm by mechanical arm control module；
Tool processes machine, controller control tool processes machine, the control of tool processes machine by tool processes machine control module
Module and mechanical arm control module are respectively an axis group, are communicated between axis group with aspect；
An at least control parameter is set using a setup unit；
Mechanical arm is controlled in grabbing a workpiece to be processed, and same time control on a charging tray according to control parameter using controller
Tool processes machine processed processes workpiece to be processed, then after workpiece to be processed is processed into a finished work, controller control
Mechanical arm processed grabs finished work, and finished work is placed on charging tray, and controller is controlled by tool processes machine
Module and mechanical arm control module simultaneously and independently control the operation of tool processes machine and mechanical arm.
Further, above-mentioned tool machine-tooled method, wherein controller includes a buffer, and buffer has number
Value, operation of feeding and discharging or process operation of the tool processes machine control module according to Numerical Control tool processes machine, mechanical arm control
Molding root tuber according to value controlling machinery arm operation of feeding and discharging and loading or unloading operation.
Further, above-mentioned tool machine-tooled method, wherein the control parameter includes pick-and-place an axis control, a machine
Tool arm moving reference point, a Coordinate Setting and/or charging tray setting.
The present invention has significant advantages and beneficial effects compared with prior art, embodies in the following areas:
The present invention integrates mechanical arm and tool processes machine and picks and places two-in-one control and operation to reach processing and workpiece,
Triggering tool processes machine control module is carried out by G code or M code to read and set with numerical value of the mechanical arm control module to buffer
It is fixed, mechanical arm and tool processes machine control effect can be integrated quickly with this.
Other features and advantages of the present invention will be illustrated in subsequent specification, also, partly be become from specification
It is clear that by implementing specific embodiment of the invention understanding.The objectives and other advantages of the invention can be by institute
Specifically noted structure is achieved and obtained in specification, claims and the attached drawing write.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1: the system architecture diagram of inventive article machining integrated control system；
Fig. 2: the tool processes machine flow chart of inventive article machining integrated control system；
Fig. 3: the mechanical arm flow chart of inventive article machining integrated control system.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, those skilled in the art are not doing
Every other embodiment obtained under the premise of creative work out, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, directional terminology and ordinal term etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
As shown in Figure 1, inventive article machines integrated control system, it include mechanical arm 1, charging tray 2, tool processes machine
3, controller 4, setup unit 5 and display unit 6, mechanical arm 1 is for grabbing workpiece 212 to be processed or placing on charging tray 2
Machined workpiece 212, and the workpiece 212 to be processed of crawl is placed in tool processes machine 3, in addition, mechanical arm 1 can
For one or more mechanical arms, when mechanical arm 1 is multiple, mechanical arm can operate simultaneously and then increase the effect picked and placed
Rate；And charging tray 2 is for placing multiple a workpiece 212 1 or multiple machined workpiece to be processed
212, and charging tray 2 can be racetrack charging tray, tilt tray, single-point charging tray or matrix charging tray.
Tool machine the controller 4 of integrated control system also comprising mutually independent tool processes machine control module 41 with
Mechanical arm control module 42, controller 4 are controlled by tool processes machine control module 41 with mechanical arm control module 42 respectively
Tool processes machine 3 processed and mechanical arm 1.Wherein, tool processes machine control module 41 is respectively with mechanical arm control module 42
One axis group, is communicated between axis group and axis group with aspect.
The controller 4 that tool machines integrated control system also includes buffer 43, and buffer 43 has numerical value, and tool adds
Work machine control module 41 is controlled according to the operation of feeding and discharging or process operation and mechanical arm of Numerical Control tool processes machine 3
Module 42 is according to the operation of feeding and discharging and loading or unloading operation of value controlling machinery arm 1.Meanwhile tool processes machine control module 41 with
Mechanical arm control module 42, which is read out with setting the numerical value of buffer 43, to be triggered by G code or M code.
It is that communication transmitting is carried out with the triggering of M code between tool processes machine control module 41 and mechanical arm control module 42,
Therefore when using M code triggering R1033 to instruct in processing program, and work as the R1033 instruction for the M code triggering that controller 4 is read
When being 1, it is standby to indicate that the mechanical arm 1 of the control of controller 4 at this time is moved to point of safes；And triggered when the M code that controller 4 is read
When R1033 instruction is 2, then it represents that the preparation of mechanical arm 1 is moved to blanking point, as the R1033 for the M code triggering that controller 4 is read
When instruction is 3, the spindle clamping jaw of 3 grabbing workpiece 212 of tool processes machine is decontroled, then, when the M code triggering that controller 4 is read
When R1033 instruction is 4, at this time controller 4 control mechanical arm 1 be prepared to enter into tool processes machine 3 to machined workpiece 212 into
Movement row crawl and placed；When the R1033 instruction for the M code triggering that controller 4 is read is 5, then it represents that tool processes machine 3 is grabbed
The spindle clamping jaw of workpiece 212 is taken to be closed；Then, when the R1033 instruction for the M code triggering that controller 4 is read is 0, mechanical arm 1
Machined workpiece 212 is placed on charging tray 2, then grabs another 212 entering tool of workpiece processing to be processed on charging tray 2
In machine 3.And according to above-mentioned steps, repeat until workpiece 212 to be processed all on charging tray 2 completes processing.
The setup unit 5 of tool machining integrated control system can be used for setting the control parameter of mechanical arm 1, wherein
Control parameter is set comprising picking and placing axis control, the moving reference point of mechanical arm 1, Coordinate Setting and/or charging tray 2, and controller 4
Can the control parameter according to set by setup unit 5 for controlling mechanical arm 1 in grabbing workpiece 212 to be processed on charging tray 2,
And tool processes machine 3 is controlled simultaneously, workpiece 212 to be processed is processed, and after workpiece 212 completes processing, control is mechanical
Arm 1 grabs machined workpiece 212, and machined workpiece 212 is placed on charging tray 2, controls work simultaneously by controller 4
Have processing machine 3 and mechanical arm 1.
For the setting of the pick-and-place of mechanical arm 1 axially controlled, by tool processes machine control module 41 and mechanical arm
Control module 42 controls tool processes machine 3 and mechanical arm 1 respectively, since mechanical arm 1 and tool processes machine 3 are respectively independently
Tool processes machine control module 41 and mechanical arm control module 42, therefore mechanical arm 1 and tool processes machine 3 are in operation
Motion planning can be completely independent, when mechanical arm 1 will not influence tool processes machine 3 during exercise, vice versa.In addition,
For the axial direction control of mechanical arm 1, mechanical arm control module 42 has independent deceleration planning, and mechanical arm controls
Module 42 has independent maximum speed.For example, when mechanical arm 1 and the respective tool processes machine control of tool processes machine 3
The respective axis group of molding block 41 and mechanical arm control module 42 is 6~360,000mm/min in the speed of rectilinear direction, if machine
The respective axis group of tool arm 1 and tool processes machine 3 respective tool processes machine control module 41 and mechanical arm control module 42
When moving in rotary manner, then speed is 6~360,000deg/min.In addition, the mechanical arm control module of mechanical arm 1
42 also include the setting of independent mechanism conversion module, is set for the mechanical arm 1 of various kenels, wherein machine
Tool arm 1 can be six axis joint type mechanical arms or SCARA mechanical arm.
For the setting of man-machine interface, the machinery of each axis of mechanical arm 1 can be monitored by the monitored picture of mechanical arm 1
Coordinate and a variety of machining states, wherein machining state can be current execution movement, operating right, it is current execute processing multiplying power,
Single-piece work time and each axle speed monitor, and this working condition can carry out watching in real time and inquiry by display unit 6.
It then, is by the way that mechanical arm 1 is commonly mobile on 1 moving reference point of mechanical arm and Coordinate Setting
Point is set, and is stored in controller 4, and wherein commonly mobile point is enterprising according to Coordinate Setting to mechanical arm 1
Row setting, and rectangular coordinate system can be used to set, alternatively, it is also possible to pass through coordinate transformation function, in turn in Coordinate Setting
Polar coordinate system is changed to be set.Polar coordinate system is the seat indicated when the more readily understood mechanical arm 1 of user moves
Cursor position, coordinate conversion regime are to have the coordinate (X=0, Y=100) of a rectangular coordinate system to become pole after conversion to sit
The coordinate (X=100, C=90) for marking system, meaning representated by this coordinate position are radiuses 100,90 degree of angle；In addition, charging tray 2
Setting can set according to different needs, wherein charging tray 2 can be racetrack charging tray, tilt tray, single-point charging tray or
Matrix charging tray.
If Fig. 2 inventive article machines the tool processes machine process of integrated control system, as Fig. 3 inventive article machine adds
The mechanical arm process of work integrated control system, firstly, step A01, when workpiece 212 to be processed is in tool processes machine 3, work
The tool starting of processing machine 3 starts to be processed.Then, step B01, when tool processes machine 3 starts to be processed, mechanical arm 1 in
Blowing is carried out on charging tray 2 and takes material.In another embodiment, step A01 and the sequence of step B01 be can be interchanged.Followed by step
Rapid B02, when mechanical arm 1 is after completing blowing and feeding on charging tray 2, it is standby that mechanical arm 1 is moved to point of safes.Then, it walks
Rapid A02 stops the running of tool processes machine 3 and enters standby mode when 3 process finishing of tool processes machine.Subsequently, step
B03, mechanical arm 1 are moved to blanking point and prepare blowing.Next, step A03, by the master of 3 grabbing workpiece 212 of tool processes machine
Axle clamp pawl is decontroled.Then, step B04,1 entering tool processing machine 3 of mechanical arm grab machined workpiece 212, together
When, workpiece 212 to be processed is placed.Then, the spindle clamping jaw of step A04,3 grabbing workpiece 212 of tool processes machine close
It closes.Finally, step B05, it is standby that mechanical arm 1 is moved to point of safes, and according to above-mentioned steps, repeats until on charging tray 2
Until all workpiece 212 to be processed complete processing.
A kind of tool machine-tooled method, provides controller, includes that tool processes machine control module and mechanical arm control
Module；Mechanical arm, and controller can control mechanical arm by mechanical arm control module；Tool processes machine, controller
Tool processes machine is controlled by tool processes machine control module, wherein tool processes machine control module and mechanical arm control mould
Block is respectively axis group, is communicated between those axis group with aspect；Meanwhile at least one control is set using setup unit and is joined
Number, and mechanical arm is controlled in grabbing workpiece to be processed on charging tray according to control parameter using controller, while controlling tool
Processing machine processes workpiece to be processed, then after workpiece to be processed is processed into finished work, and controller is used to control machine
Tool arm grabs finished work, and finished work is placed on charging tray, and controller passes through tool processes machine control module
The operation of tool processes machine and mechanical arm is simultaneously and independently controlled with mechanical arm control module.
In conclusion the present invention, which integrates mechanical arm and tool processes machine, picks and places two-in-one control to reach processing and workpiece
System and operation carry out triggering tool processes machine control module and mechanical arm control module to the numerical value of buffer by G code or M code
It reads and sets, mechanical arm and tool processes machine control effect can be integrated quickly with this.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
The above is only a specific embodiment of the present invention, but scope of protection of the present invention is not limited thereto, any to be familiar with
Those skilled in the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all cover
Within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to protection scope described in claim.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Claims (10)
1. tool machines integrated control system, it is characterised in that: including
Mechanical arm, to grab a workpiece to be processed on a charging tray or place a finished work；
Tool processes machine, to be processed to mechanical arm crawl workpiece to be processed；
Setup unit, for setting an at least control parameter；
Controller controls mechanical arm in grabbing workpiece to be processed on charging tray according to control parameter, and controls tool processes machine pair
Workpiece to be processed is processed, and workpiece to be processed is processed into finished work, it is machined that controller controls mechanical arm crawl
Workpiece, and finished work is placed on charging tray, controller controls tool processes machine and mechanical arm simultaneously.
2. tool according to claim 1 machines integrated control system, it is characterised in that: the controller includes mutual
Independent tool processes machine control module and mechanical arm control module, controller pass through tool processes machine control module and machinery
Arm control module controls tool processes machine and mechanical arm respectively.
3. tool according to claim 2 machines integrated control system, it is characterised in that: tool processes machine control module
It is respectively an axis group with mechanical arm control module, is communicated between axis group with aspect.
4. tool according to claim 2 machines integrated control system, it is characterised in that: controller includes caching
Device, buffer have numerical value, and tool processes machine control module is according to the operation of feeding and discharging or processing of Numerical Control tool processes machine
Operation, mechanical arm control module is according to the operation of feeding and discharging and loading or unloading operation of value controlling machinery arm.
5. tool according to claim 4 machines integrated control system, it is characterised in that: tool processes machine control module
It is read out and sets with numerical value of the mechanical arm control module to buffer.
6. tool according to claim 5 machines integrated control system, it is characterised in that: the numerical value of buffer read with
Setting is triggered by G code or M code.
7. tool according to claim 1 machines integrated control system, it is characterised in that: the control parameter includes one
Pick and place axis control, a mechanical arm moving reference point, a Coordinate Setting and/or charging tray setting.
8. tool machine-tooled method, it is characterised in that:
Controller includes a tool processes machine control module and a mechanical arm control module；
Mechanical arm, controller control mechanical arm by mechanical arm control module；
Tool processes machine, controller control tool processes machine, tool processes machine control module by tool processes machine control module
It is respectively an axis group with mechanical arm control module, is communicated between axis group with aspect；
An at least control parameter is set using a setup unit；
Mechanical arm is controlled in grabbing a workpiece to be processed on a charging tray according to control parameter using controller, and controls work simultaneously
Tool processing machine processes workpiece to be processed, then after workpiece to be processed is processed into a finished work, controller controls machine
Tool arm grabs finished work, and finished work is placed on charging tray, and controller passes through tool processes machine control module
The operation of tool processes machine and mechanical arm is simultaneously and independently controlled with mechanical arm control module.
9. tool machine-tooled method according to claim 8, it is characterised in that: controller includes a buffer, caching
Device has numerical value, operation of feeding and discharging or process operation of the tool processes machine control module according to Numerical Control tool processes machine, machinery
Arm control module is according to the operation of feeding and discharging and loading or unloading operation of value controlling machinery arm.
10. tool machine-tooled method according to claim 8, it is characterised in that: the control parameter includes a pick-and-place axis
Control, a mechanical arm moving reference point, a Coordinate Setting and/or charging tray setting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811619431.0A CN109676605B (en) | 2018-12-28 | 2018-12-28 | Machine tool machining integrated control system and machining method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811619431.0A CN109676605B (en) | 2018-12-28 | 2018-12-28 | Machine tool machining integrated control system and machining method thereof |
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| Publication Number | Publication Date |
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| CN109676605A true CN109676605A (en) | 2019-04-26 |
| CN109676605B CN109676605B (en) | 2020-11-27 |
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| EP1544700A2 (en) * | 2003-12-20 | 2005-06-22 | Bosch Rexroth AG | Method for control of the orientation of a tool in a machine tool, as well as machine tool for controlling the orientation of a tool |
| CN201537815U (en) * | 2009-09-15 | 2010-08-04 | 胜宏达科技股份有限公司 | Processor with mechanical arm |
| CN202006471U (en) * | 2011-04-01 | 2011-10-12 | 宝元数控精密股份有限公司 | Mechanical arm load device |
| CN102689227A (en) * | 2011-03-24 | 2012-09-26 | 财团法人工业技术研究院 | On-line cutting intelligent regulation and control device and method thereof |
| CN203712393U (en) * | 2013-10-30 | 2014-07-16 | 富豪机电股份有限公司 | Double-side door type automatic material taking device |
-
2018
- 2018-12-28 CN CN201811619431.0A patent/CN109676605B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1544700A2 (en) * | 2003-12-20 | 2005-06-22 | Bosch Rexroth AG | Method for control of the orientation of a tool in a machine tool, as well as machine tool for controlling the orientation of a tool |
| CN201537815U (en) * | 2009-09-15 | 2010-08-04 | 胜宏达科技股份有限公司 | Processor with mechanical arm |
| CN102689227A (en) * | 2011-03-24 | 2012-09-26 | 财团法人工业技术研究院 | On-line cutting intelligent regulation and control device and method thereof |
| CN202006471U (en) * | 2011-04-01 | 2011-10-12 | 宝元数控精密股份有限公司 | Mechanical arm load device |
| CN203712393U (en) * | 2013-10-30 | 2014-07-16 | 富豪机电股份有限公司 | Double-side door type automatic material taking device |
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| Publication number | Publication date |
|---|---|
| CN109676605B (en) | 2020-11-27 |
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