CN110052857A - The anti-collision control method of fixture - Google Patents
The anti-collision control method of fixture Download PDFInfo
- Publication number
- CN110052857A CN110052857A CN201910309249.3A CN201910309249A CN110052857A CN 110052857 A CN110052857 A CN 110052857A CN 201910309249 A CN201910309249 A CN 201910309249A CN 110052857 A CN110052857 A CN 110052857A
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- Prior art keywords
- gear
- screw rod
- obstacle avoidance
- motor
- driving device
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000006698 induction Effects 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 7
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 210000003464 cuspid Anatomy 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- 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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of anti-collision control methods of fixture, belong to machinery manufacturing technology field, this method uses a kind of multidirectional anti-collision fixture, which includes lateral obstacle avoidance sensor and the vertical obstacle avoidance sensor between the middle part of bracket and the mounting plate of object to be pressed from both sides of fixture between the collet support column and collet of fixture；Driving device is equipped in the bottom end of the mounting base of fixture；Its anti-collision control method is: when the external impact signal that lateral obstacle avoidance sensor and/or vertical obstacle avoidance sensor incude in real time exceeds the values in controller, after controller handles the external impact signal judgement received, the direction that control driving device drives clamping object toward unloading impact force is mobile.The problem of present invention can solve the clamping object of existing fixture or operating platform or robot are collided, and causes equipment damage and influences Product Precision.
Description
Technical field
The present invention relates to machinery manufacturing technology field, the anticollision controlling party of the fixture in especially a kind of industrial production
Method.
Background technique
Various fixtures is usually used in the industrial production, since there are many equipment placed in workshop, and the process produced
It is a dynamic process, therefore often has the gripped object of fixture to be influenced the situation that production even damages equipment by collision,
Simultaneously in the higher workshop of intelligence degree, also due to be multiple manipulators to the part on operating platform while carrying out
Processing or multiple robots constantly carry out various operational movements simultaneously, therefore can also generate manipulator and operating platform
The unpredictable situation that collision or robot mutually collide, once the collision or robot phase of manipulator and operating platform occurs
Mutually collision, not only will affect the production precision of part, causes the damage of part, influence production efficiency, and influence manipulator or
The operation precision of robot, or even operating platform at high cost, manipulator or robot are damaged.
Summary of the invention
The present invention provides a kind of anti-collision control method of fixture, this method can solve existing fixture clamping object or
The problem of operating platform or robot are collided, and are caused equipment damage and are influenced Product Precision.
To solve the above-mentioned problems, the technical scheme adopted by the invention is that: the anti-collision control method of this fixture is adopted
With a kind of multidirectional anti-collision fixture, which includes the cone gear on mounting base and is across the circular cone canine tooth
The bracket of top is taken turns, the cone gear is meshed with multipair cone pinion, and each pair of cone pinion is opposite to be set
It sets；Sliding block is set on the screw axis of the cone pinion, standing on the sliding block has collet support column, the collet support column
It is equipped with induction external impact signal in real time between the collet and this signal is passed to the lateral obstacle avoidance sensor of controller；
Between the middle part of the bracket and the mounting plate of object to be pressed from both sides be equipped in real time induction external impact signal and this signal is passed to
The vertical obstacle avoidance sensor of controller；The driving device controlled by the controller is equipped in the bottom end of the mounting base；
Its anti-collision control method is: when the external impact that lateral obstacle avoidance sensor and/or vertical obstacle avoidance sensor incude in real time
When signal exceeds the values in controller, after controller handles the external impact signal judgement received, control
The direction that driving device drives clamping object toward unloading impact force is mobile.
In above-mentioned technical proposal, more specific technical solution may also is that the lateral obstacle avoidance sensor and described vertical
Obstacle avoidance sensor is pressure sensor；The external impact signal is pressure signal.
It is further: cone gear-driven motor is equipped between the mounting base and the cone gear.
Further: the cone gear-driven motor and the driving motor of the driving device are servo motor or step
Into motor.
Further: the controller includes PLC programmable control module, the transverse direction obstacle avoidance sensor and described perpendicular
It is connected respectively with the signal input part of PLC programmable control module to the signal output end of obstacle avoidance sensor；The PLC can
The signal output end of programming Control module passes through the first drive module respectively and is connected with the cone gear-driven motor, passes through
Second drive module is connected with the driving motor of the driving device.
Further: the lower section of the mounting base is equipped with the rack for installing the driving device, the driving device one
The controller is set in the rack of side；The mechanical arm controlled by the controller is equipped with above the operation plate.
Further: the driving device includes X to screw rod, Y-direction screw rod and Z-direction screw rod；The X is to screw rod and the Y
It is located in the rack to screw rod；The X is set with sliding block on screw rod, Y-direction screw rod and Z-direction screw rod；The driving motor
Including be located at X to the X of screw rod one end to screw drive motor, be located at Y-direction screw rod one end Y-direction screw drive motor and be set to Z
To the Z-direction screw drive motor of screw rod bottom end；The top of the Z-direction screw rod is fixedly connected with the mounting base；The X is to silk
The motor base of bar driving motor is slidably connected with Y-direction guide rod；The sliding block and the X of the Y-direction screw rod are solid to the other end of screw rod
Fixed connection, the X are fixedly connected to the sliding block of screw rod with the sliding block of the Z-direction screw rod.
Further: the driving device includes X from X to gear that be meshed with to rack gear, the Y being meshed with Y-direction gear
To rack gear and the Z-direction rack gear being meshed with Z-direction gear；The Y-direction rack gear has two to be parallel to each other being located in the rack,
It is equipped with mounting plate of the X to rack gear between the Y-direction rack gear, offers on the mounting plate to rack gear in the same direction with the X
Install the through-hole of the Z-direction rack gear；Z-direction rack gear top is fixedly connected with the mounting base；The driving motor includes
Its output sleeve is mounted in the Y-direction gear core to gear drive motor, its output sleeve mounted in X of the X in gear core bore
The Z-direction gear drive motor of Y-direction gear drive motor and its output sleeve in the Z-direction gear core bore on hole.
Further: the driving device is the mechanical arm of robot, the swivel of hand of the mechanical arm and the installation bottom
Plate is connected；The operation pawl of the robot is connected with the mounting plate of the object to be pressed from both sides；The driving motor is mechanical arm drive
Dynamic motor.
By adopting the above-described technical solution, compared with prior art, the present invention has the following advantages:
1, it due to multidirectional anti-collision fixture, including the cone gear being set on mounting base and is across above cone gear
Bracket, cone gear is meshed with multipair cone pinion, and each pair of cone pinion is oppositely arranged；Cone pinion
Sliding block is set on screw axis, standing on sliding block has collet support column, and it is external that induction in real time is equipped between collet support column and collet
Collision alarm and the lateral obstacle avoidance sensor that this signal is passed to controller；Between the middle part of bracket and the mounting plate of object to be pressed from both sides
Vertical obstacle avoidance sensor equipped with real-time induction external impact signal and that this signal is passed to controller；In mounting base
Bottom end is equipped with the driving device controlled by controller；When lateral obstacle avoidance sensor and/or vertical obstacle avoidance sensor incude in real time
External impact signal beyond preset value in controller when, illustrate that clamping object is collided, controller should by what is received at this time
After signal judgement processing, the direction that control driving device drives clamping object toward unloading impact force is mobile, cancels impact force with this；Its
Anticollision high sensitivity not only ensure that the intact of equipment, also ensures the safety of production, improves production efficiency.
2, since driving device includes X to screw rod, Y-direction screw rod and Z-direction screw rod；X is located at rack to screw rod and Y-direction screw rod
On；X is set with sliding block on screw rod, Y-direction screw rod and Z-direction screw rod；Driving motor includes being located at X to the X of screw rod one end to silk
Bar driving motor, the Y-direction screw drive motor for being located at Y-direction screw rod one end and the Z-direction screw rod set on Z-direction screw rod bottom end drive electricity
Machine；The top of Z-direction screw rod is fixedly connected with mounting base；X is slidably connected to the motor base of screw drive motor with Y-direction guide rod；Y
It is fixedly connected to the sliding block of screw rod with X to the other end of screw rod, X is fixedly connected to the sliding block of screw rod with the sliding block of Z-direction screw rod；?
Guarantee that operation plate all can structurally reasonable simplification under the premise of anticollision in upper and lower, front, rear, left and right.
3, due to driving device include X from X to gear that be meshed with to rack gear, the Y-direction rack gear being meshed with Y-direction gear and
The Z-direction rack gear being meshed with Z-direction gear；Y-direction rack gear has two for being set on the rack and being parallel to each other, and is equipped with X between Y-direction rack gear
To the mounting plate of rack gear, the through-hole that installs Z-direction rack gear in the same direction to rack gear with X is offered on mounting plate；Z-direction rack gear top and peace
Dress bottom plate is fixedly connected；Driving motor includes its output sleeve mounted in X of the X in gear core bore to gear drive motor, its is defeated
Shaft is sleeved on the Z-direction tooth of the Y-direction gear drive motor in Y-direction gear core bore and its output sleeve in Z-direction gear core bore
Wheel drive motor；Guarantee operation plate in upper and lower, front, rear, left and right all can anticollision under the premise of structurally reasonable simplification.
4, due to the mechanical arm that driving device is robot, mounting base is connected with the swivel of hand of the mechanical arm of robot
It connects；The operation pawl of robot is connected with the mounting plate of object to be pressed from both sides；Driving motor is mechanical arm driving motor；It can avoid robot
When work and the collision of other devices.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention one.
Fig. 2 is the scheme of installation of the embodiment of the present invention one.
Fig. 3 is the structural schematic diagram of the operation plate of the embodiment of the present invention one.
Fig. 4 is the structural schematic diagram of the driving device of the embodiment of the present invention one.
Fig. 5 is the functional block diagram of the controller of the embodiment of the present invention one.
Fig. 6 is the structural schematic diagram of the driving device of the embodiment of the present invention two.
Fig. 7 is the scheme of installation of the embodiment of the present invention three.
Specific embodiment
Embodiment one
The present invention will be further described below with reference to the accompanying drawings:
Fig. 1, multidirectional anti-collision fixture shown in Fig. 2 including the cone gear 4 being set on mounting base 1 and are across circular cone
The bracket 9 of 4 top of gear wheel, is equipped with the circular cone gone along with sb. to guard him among two pairs of support legs 2 between mounting base 1 and cone gear 4
Gear drive motor 3, cone gear 4 are meshed with two pairs of cone pinions 5；Each pair of cone pinion 5 is oppositely arranged；Its
In, two cross bars 91 of bracket 9 including right-angled intersection and four vertical bars 92 stretched out separately down from respective 91 both ends of cross bar；
Vertical bar 92 is connected with respective screw rodb base 6；Each screw rodb base 6 is set in respective support leg 2, is all provided on each screw rodb base 6
There is the screw axis 8 of respective cone pinion, each cone pinion 5 is sleeved on one end of respective screw axis 8；Every screw rod
Sliding block 7 is set on axis 8, standing on each sliding block 7 has collet support column 10, every collet support column 10 and respective collet
It is equipped with induction external impact signal in real time between 12 and this signal is passed to the lateral obstacle avoidance sensor 11 of controller 18, it is horizontal
It is the first lateral obstacle avoidance sensor, the second lateral obstacle avoidance sensor, third transverse direction anticollision respectively to there are four obstacle avoidance sensors 11
Sensor and the 4th lateral obstacle avoidance sensor；It is outer that induction in real time is equipped between the middle part of bracket 9 and the mounting plate 14 of object to be pressed from both sides
Portion's collision alarm and the vertical obstacle avoidance sensor 13 that this signal is passed to controller 18；Lateral obstacle avoidance sensor 11 is prevented with vertical
Hitting sensor 13 is pressure sensor；External impact signal is pressure signal；The bottom end of mounting base 1, which is equipped with, passes through controller
The driving device 15 of 18 controls；Cone gear-driven motor 3 and the driving motor of driving device 15 are servo motor；Bottom is installed
The lower section of plate 1 is equipped with the rack 17 of installation driving device 15, and controller 18 is set in the rack 17 of 15 side of driving device；Control
The control end of device 18 processed is equipped with the touch screen 19 positioned at 17 side of rack.
As shown in figure 3, the object to be pressed from both sides of the present embodiment is operation plate 16；The bottom end for operating plate 16 is equipped with plug-in unit 162, inserts
The two sides of part 162 are equipped with for inserting square aperture mounting plate 14 and with the close buckle of mounting plate 14；Operate plate 16
Top be equipped with the mechanical arm 20 controlled by controller 18.
As shown in figure 4, driving device includes X to screw rod 151, Y-direction screw rod 152 and Z-direction screw rod 153；X is to screw rod 151 and Y
It is located in rack 17 to screw rod 152；X is set with sliding block on screw rod 151, Y-direction screw rod 152 and Z-direction screw rod 153；Driving electricity
Machine include be located at X from X to screw rod one end to screw drive motor 157, be located at the Y-direction screw drive motor 158 of Y-direction screw rod one end
With the Z-direction screw drive motor 159 for being set to Z-direction screw rod bottom end；The top of Z-direction screw rod 153 is fixedly connected with mounting base 1；X to
The motor base of screw drive motor 157 is slidably connected with Y-direction guide rod 1510；The sliding block 155 and X of Y-direction screw rod are to the another of screw rod 151
One end is fixedly connected, and X is fixedly connected to the sliding block 154 of screw rod and the sliding block 156 of Z-direction screw rod.
As shown in figure 5, controller 18 includes PLC programmable control module 181, which is west gate
Sub- S7-1200PLC controller；First lateral obstacle avoidance sensor, the second lateral obstacle avoidance sensor, third transverse direction obstacle avoidance sensor,
The signal output end of 4th lateral obstacle avoidance sensor and vertical obstacle avoidance sensor 13 signal with PLC programmable control module respectively
Input terminal is connected, and the signal output end of PLC programmable control module passes through the first drive module and cone gear-driven respectively
Motor 3 is connected, by the second drive module and X to screw drive motor 157, Y-direction screw drive motor 158 and Z-direction screw rod
Driving motor 159 is connected.First drive module, the second drive module are Siemens's V90 drive module.
Its anti-collision control method is: when the signal that vertical obstacle avoidance sensor incudes in real time is beyond the preset value in controller
When, illustrate collision of the clamped operation plate by vertical direction, after controller handles the signal judgement received at this time,
Corresponding Z-direction screw drive motor rotation in driving device is controlled, the direction for driving operation plate toward unloading impact force is mobile, with
This revocation impact force；Controller feeds back a signal to mechanical arm by mechanical arm emergency stop simultaneously, forms duplicate protection to this equipment.
The present invention not only anticollision high sensitivity, ensure that the intact of equipment, also greatly ensure that the safety of production
Property, improve production efficiency.
Embodiment two
As shown in fig. 6, driving device includes being meshed to the X that gear 254 is meshed to rack gear 251, with Y-direction gear 255 with X
Y-direction rack gear 252 and the Z-direction rack gear 253 being meshed with Z-direction gear 256；Y-direction rack gear 252 has two to be parallel to each other, this two Y
It is mounted on the rack to rack gear 252 by respective Y-direction rack gear seat plate；Installation of the X to rack gear is equipped between Y-direction rack gear 252
Plate 250 offers the long through-hole that installs Z-direction rack gear 253 in the same direction to rack gear 251 with X on mounting plate 250；Z-direction rack gear 253
Top is fixedly connected with the mounting base of fixture；Driving motor includes X to gear drive motor 257, Y-direction gear drive motor
258 and Z-direction gear drive motor 259；X is mounted in X in 254 core bore of gear to the output sleeve of gear drive motor 257, Y-direction
In 255 core bore of Y-direction gear, the output shaft of Z-direction gear drive motor 259 is set with the output sleeve of gear drive motor 258
In 256 core bore of Z-direction gear；X is equipped with X direction guiding rail 2512 to the mounting plate 250 of rack gear, and Y-direction rack gear seat plate is equipped with Y-direction
Guide rail 2511；X is slidably connected to the motor base of gear drive motor 257 with X direction guiding rail 2512；Y-direction gear drive motor 258
Motor base be slidably connected with Y-direction guide rail 2511；The signal output end of PLC programmable control module passes through the second driving respectively
Module is connected with X to gear drive motor 257, Y-direction gear drive motor 258 and Z-direction gear drive motor 259；Circular cone tooth
Wheel drive motor and driving motor are stepper motor；First drive module and the second drive module are model DMA860H
Drive module；Remaining is the same as example 1；
Its anti-collision control method is: when the signal that lateral obstacle avoidance sensor incudes in real time exceeds the preset value in controller,
Illustrate collision of the clamped operation plate by horizontal direction, controller is controlled after the signal judgement received processing at this time
Corresponding X is rotated to gear drive motor or Y-direction gear drive motor in driving device processed, drives clamping object toward unloading impact force
Direction it is mobile, impact force is cancelled with this；Controller feeds back a signal to mechanical arm by mechanical arm emergency stop simultaneously, gives this equipment
Form duplicate protection.
Embodiment three
As shown in fig. 7, driving device is the mechanical arm 331 of robot, the swivel of hand of mechanical arm and the mounting base of fixture are fixed
Connection；The operation pawl 332 of robot is connected with the mounting plate of object to be pressed from both sides；Controller is set in robot body；Driving motor is
Mechanical arm driving motor；The signal output end of PLC programmable control module passes through the second drive module respectively and mechanical arm drives
Motor is connected；Remaining is the same as example 1；
Its anti-collision control method is: when the signal that lateral obstacle avoidance sensor and vertical obstacle avoidance sensor incude in real time is beyond control
When preset value in device, illustrate collision of the clamped operation pawl by inclined direction, the signal that controller will receive at this time
After judgement processing, controls the direction that corresponding mechanical arm driving motor drives operation pawl toward unloading impact force in driving device and move
It is dynamic, impact force is cancelled with this.
The present invention not only ensure that the intact of robot, also greatly ensure that the safety of production, improves life
Produce efficiency.
Claims (9)
1. a kind of anti-collision control method of fixture, it is characterised in that: use a kind of multidirectional anti-collision fixture, which includes setting
In on mounting base cone gear and the bracket that is across above the cone gear, the cone gear with it is multipair
Cone pinion is meshed, and each pair of cone pinion is oppositely arranged；It is set on the screw axis of the cone pinion
Sliding block, standing on the sliding block has collet support column, is equipped with that induction in real time is external to touch between the collet support column and the collet
It hits signal and this signal is passed to the lateral obstacle avoidance sensor of controller；The mounting plate of the middle part of the bracket and object to be pressed from both sides it
Between be equipped in real time induction external impact signal and this signal is passed to the vertical obstacle avoidance sensor of controller；In the installation
The bottom end of bottom plate is equipped with the driving device controlled by the controller；
Its anti-collision control method is: when the external impact that lateral obstacle avoidance sensor and/or vertical obstacle avoidance sensor incude in real time
When signal exceeds the values in controller, after controller handles the external impact signal judgement received, control
The direction that driving device drives clamping object toward unloading impact force is mobile.
2. the anti-collision control method of fixture according to claim 1, it is characterised in that: it is described transverse direction obstacle avoidance sensor and
The vertical obstacle avoidance sensor is pressure sensor；The external impact signal is pressure signal.
3. the anti-collision control method of fixture according to claim 1 or 2, it is characterised in that: the mounting base and institute
It states and is equipped with cone gear-driven motor between cone gear.
4. the anti-collision control method of fixture according to claim 3, it is characterised in that: the cone gear-driven motor
Driving motor with the driving device is servo motor or stepper motor.
5. the anti-collision control method of fixture according to claim 4, it is characterised in that: the controller includes PLC
The signal output end of programmable control module, the transverse direction obstacle avoidance sensor and the vertical obstacle avoidance sensor respectively can with PLC
The signal input part of programming Control module is connected；The signal output end of the PLC programmable control module passes through first respectively
Drive module is connected, by the driving motor of the second drive module and the driving device with the cone gear-driven motor
It is connected.
6. the anti-collision control method of fixture according to claim 5, it is characterised in that: set below the mounting base
There is the rack for installing the driving device, the controller is set in the rack of the driving device side；The operation plate
Top is equipped with the mechanical arm controlled by the controller.
7. the anti-collision control method of fixture according to claim 6, it is characterised in that: the driving device include X to
Screw rod, Y-direction screw rod and Z-direction screw rod；The X is located in the rack to screw rod and the Y-direction screw rod；The X is to screw rod, Y-direction
Sliding block is set on screw rod and Z-direction screw rod；The driving motor include be located at X to the X of screw rod one end to screw drive motor,
It is located at the Y-direction screw drive motor of Y-direction screw rod one end and the Z-direction screw drive motor set on Z-direction screw rod bottom end；The Z-direction silk
The top of bar is fixedly connected with the mounting base；The X is slidably connected to the motor base of screw drive motor with Y-direction guide rod；
The sliding block of the Y-direction screw rod is fixedly connected with the X to the other end of screw rod, sliding block and the Z-direction screw rod of the X to screw rod
Sliding block be fixedly connected.
8. the anti-collision control method of fixture according to claim 6, it is characterised in that: the driving device includes and X
The X being meshed to gear is to rack gear, the Y-direction rack gear being meshed with Y-direction gear and the Z-direction rack gear being meshed with Z-direction gear；It is described
Y-direction rack gear has two to be parallel to each other being located in the rack, is equipped with installation of the X to rack gear between the Y-direction rack gear
Plate offers the through-hole that installs the Z-direction rack gear in the same direction to rack gear with the X on the mounting plate；Z-direction rack gear top
It is fixedly connected with the mounting base；The driving motor includes that its output sleeve is mounted in X of the X in gear core bore to tooth
The Y-direction gear drive motor and its output sleeve of wheel drive motor, its output sleeve in the Y-direction gear core bore are mounted in institute
State the Z-direction gear drive motor in Z-direction gear core bore.
9. the anti-collision control method of fixture according to claim 5, it is characterised in that: the driving device is robot
Mechanical arm, the swivel of hand of the mechanical arm is connected with the mounting base；The operation pawl of the robot is with described wait press from both sides
The mounting plate of object is connected；The driving motor is mechanical arm driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910309249.3A CN110052857B (en) | 2019-04-17 | 2019-04-17 | Anti-collision control method for fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910309249.3A CN110052857B (en) | 2019-04-17 | 2019-04-17 | Anti-collision control method for fixture |
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| CN110052857A true CN110052857A (en) | 2019-07-26 |
| CN110052857B CN110052857B (en) | 2020-10-27 |
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Cited By (5)
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| CN110666724A (en) * | 2019-11-06 | 2020-01-10 | 吉林大学 | Electric clamp for workpiece machining and detection |
| CN111421373A (en) * | 2020-04-09 | 2020-07-17 | 新昌县才翔纺织机械有限公司 | High-stability limiting mechanism for conveying numerical control machine tool products |
| TWI772129B (en) * | 2021-07-30 | 2022-07-21 | 新代科技股份有限公司 | Control device for picking and placing workpiece of machine tool and method of controling the same |
| CN114966498A (en) * | 2022-05-19 | 2022-08-30 | 杭州智感科技有限公司 | Wireless magnetizing magnetic material suction detection equipment |
| CN115008302A (en) * | 2022-08-10 | 2022-09-06 | 江苏二马液压元件有限公司 | Sealing surface grinding device for safety valve machining |
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