CN1654163A - Conveying device, conveying acceleration decision method for conveying device - Google Patents
Conveying device, conveying acceleration decision method for conveying device Download PDFInfo
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- CN1654163A CN1654163A CN 200510008049 CN200510008049A CN1654163A CN 1654163 A CN1654163 A CN 1654163A CN 200510008049 CN200510008049 CN 200510008049 CN 200510008049 A CN200510008049 A CN 200510008049A CN 1654163 A CN1654163 A CN 1654163A
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Abstract
The present invention discloses a conveying device which comprises a conveying part driven by an electromotor and driving objects to be conveyed to rotate to be conveyed to a preceptive position, an inertia presumption mechanism used for presumption of the inertia of the conveying part, and an acceleration determining mechanism used for determining the most rotary angular acceleration of the conveying part according to putative inertia of the inertia presumption mechanism and the most output torque moment of the electromotor.
Description
Technical field
The present invention relates to have by the conveyance object being rotatablely moved carry out the carrying device that conveying unit constituted that conveyance uses and the conveyance acceleration establishing method of this carrying device.
Background technology
In Japanese patent laid-open 3-60941 communique, disclose a kind of in technology by making the employed instrument of lathe rotatablely move in the device that carries out conveyance, its conveyance speed suitably be changed according to the weight moment of instrument.
Yet original, weight moment can be influential to acceleration, so when having determined conveyance speed according to weight moment, even have to a certain degree reasonability, also may not necessarily obtain the conveyance speed of the best.
Again, if conveyance speed is set at a high speed, be to keep this speed, not equal to obtained giving the acceleration of this speed of arrival, so need the output torque (with reference to Fig. 7) of bigger motor.Therefore, when selecting motor, aspect conveying unit, need the selected maximum inertia that set, the output torque characteristics that can obtain desired revolution acceleration in the Design of device stage.Its result under general behaviour in service, the situation of unnecessary big motor occurs having selected sometimes, has not only increased cost, and has become the whole main cause that maximizes of device.
Summary of the invention
In view of the foregoing, the objective of the invention is to, provide and suitably to set the carrying device of this spinning movement and the acceleration decision method for conveying of this carrying device according to the state that carries out the object of conveyance by conveying unit.
Carrying device of the present invention is characterized in that, comprising: by Motor Drive, the conveyance object is rotatablely moved and the conveying unit of carrying out conveyance to assigned position; Infer the inertia estimating device of the inertia of this conveying unit; And according to the acceleration determination device of the maximum rotating angular acceleration of the maximum output torque of inertia of being inferred and described motor, the described conveying unit of decision by this inertia estimating device.
Adopt structure like this, because the maximum rotating angular acceleration of conveying unit, suitably determine according to the object state of the actual conveyance of conveying unit and the specification of motor, therefore, utilize this acceleration, the conveyance speed that can further shorten conveying unit arrives the time of setting, can improve to comprise the control response in interior drive system of motor and conveying unit the biglyyest.
Description of drawings
Fig. 1 has revolution head dummy instrument charging tray (Japanese: the 1st embodiment of occasion マ ガ ジ Application), the flow chart of calculating processing of the host CPU maximum rotating angular acceleration that carry out, the instrument charging tray of expression numerical control device for the present invention is applicable to.
The stereogram that the instrument charging tray is taken out in Fig. 2 (a) expression, (b) expression side view.
Fig. 3 carries out the functional-block diagram of electrical structure of the numerical control device of Numerical Control to lathe for expression.
Fig. 4 is expression the 2nd embodiment of the present invention, (a) represents the state that the charging tray pedestal moves the instrument of conveyance object, (b) non-equilibrium site of expression charging tray pedestal of variation along with the mobile of (a).
Fig. 5 is the figure suitable with Fig. 1.
Fig. 6 (a) expression original state, (b) expression begins the descend state of 2 pitches of instrument from (a), and (c) expression begins the rise state diagram of 2 pitches of instrument from (a).
Fig. 7 is the velocity variations of expression motor and graph of a relation corresponding to the output torque of this variation.
The specific embodiment
(the 1st embodiment)
Illustrate that below with reference to Fig. 1～Fig. 3 the present invention is applicable to the 1st embodiment of the occasion with instrument exchange apparatus that swiveling head moulding mixture dish constituted.In addition, the structure of the instrument exchange apparatus in the present embodiment is identical with the disclosed structure of the special fair 7-80109 communique of Japan Patent for example, below only relevant major part of the present invention is made an explanation.
Fig. 2 (a) expression will be assembled in the stereogram that the instrument charging tray (conveying unit) 1 in the instrument exchange apparatus takes out.Instrument charging tray 1 is installed in the peripheral part of roughly discoid charging tray pedestal 2, has formed a plurality of jig arm 3 radial forms.As shown in Figure 4, at the leading section of jig arm 3, for the upper end side clamping of the tool holder (conveyance object) 4 that lower end side is installed with instrument, maintaining part 5 forms U word shapes, in the inboard leading section both sides of maintaining part 5, with the helical spring of dress in utilizing to the inside the state configuration of the application of force fulcrum post.And, tool holder 4 is kept by fulcrum post being inserted in the groove (all not shown) of being located at tool holder 4 sides.
Charging tray pedestal 2 turns round driving by its center is combined with the rotating shaft of charging tray motor 27 (with reference to Fig. 3), and shown in Fig. 2 (b), the relative horizontal plane of this rotating shaft is towards oblique 18 degree of elevation angle inclination.Because of instrument and tool holder look come down to integrated, so be referred to as instrument 4 thereafter.
Fig. 3 carries out the functional-block diagram of electrical structure of the numerical control device (inertia estimating device, acceleration determination device) 10 of Numerical Control to the lathe that comprises the instrument exchange apparatus for expression.Numerical control device 10 is being that the center constitutes at the host CPU 11 of integral body control and at the subordinate CPU12 of workpiece processing and control tool transposing.
Between host CPU 11 and subordinate CPU12, be connected C (Common) RAM18, in CRAM18, writing or with reference to information, depositing the instruction of sending to subordinate CPU12 from host CPU 11 or its rightabout information etc. from the both sides of host CPU 11 and subordinate CPU12.
Subordinate CPU12 and X-axis motor 22, Y-axis motor 23, the workbench turning motor 24 of work stage rotation is connected, control signal is sent to these members, with the machined surface that changes workpiece etc.And subordinate CPU12 is connected with move up and down (Z axle) motor 25 and spindle drive motor 26, by control signal is sent to these members, to the put rules into practice processing of instrument 4 of the workpiece that has determined machined surface, processed position.
In process, subordinate CPU12 passes out to control signal charging tray motor 27 and instrument transposing motor 28 as required, changes with the execution instrument.Like this, the workpiece machining control of subordinate CPU12 and instrument transposing control is according to carrying out from the indication of host CPU 11.
Fig. 1 is the flow chart of calculating processing of expression by host CPU 11 maximum rotating angular accelerations performed, instrument charging tray 1.This processing is the processing that is loaded into as the part of workpiece procedure 14.Host CPU 11, the data (step S1) of at first reading the quality m and the tool length L of each instrument 4 that is placed on the instrument charging tray 1 from main part RAM15 are calculated the position of centre of gravity (step S2) of instrument 4.Calculating of the position of centre of gravity of this moment undertaken by the revolution radius r of inferring center of gravity from tool length L, used approximate expression in this is inferred.For example, if the radius of the instrument holding position on being set at r0 from the centre of gyration of charging tray pedestal 2 to jig arm 3, the center of gravity of instrument 4 revolution radius r then for example can be similar to:
r＝r0+L/2 …(1)
Secondly, total inertia I of 11 pairs of charging trays 1 of host CPU infers (step S3, inertia estimating device).That is, total inertia I, as if the inertia that I0 is set at the instrument charging tray of the instrument of not being equipped with, the center of gravity inertia on every side with I1 is set at instrument then can be represented by the formula.
I＝I0+I1+m·r
2 …(2)
In the formula,, for example can adopt following approximate expression etc. for " the inertia I1 around the center of gravity of instrument ".
I1＝m(D
2/16+L
2/12) …(3)
In addition, D is the diameter when regarding instrument as cylinder.In fact, for each instrument, the value of D is different, but it is approximate also can to consider to adopt typical value (for example D=0.03m).
Then, host CPU 11 is read the data (step S4) by the torque capacity Tmax of the specification specifies of charging tray motor 27 from main part RAM15, calculates the maximum angular acceleration Amax (step S5) of charging tray 1.Wherein, torque capacity Tmax is the torque that nonpowered axle converts, and specifically, is by the generable torque of the rotating shaft of charging tray pedestal 2.Again, maximum angular acceleration Amax can calculate with formula (4).
Amax＝Tmax/I …(4)
And, host CPU 11, from main part RAM15, read instrument charging tray 1 mechanism's boundary, be angular acceleration Alimit, make one relatively (step S6) with the magnitude relationship of the maximum angular acceleration Amax that calculates by step 5.Then, when Amax≤Alimit (" NO "), the peak acceleration with maximum angular acceleration Amax determines into instrument charging tray 1 writes and is stored in (step S8) among the main part RAM15.
Like this, during the processing of performed thereafter machined object is handled, when the instrument transposing of carrying out main shaft, subordinate CPU12, make charging tray motor 27, be that charging tray pedestal 2 turns round with maximum angular acceleration Amax, select as the transposing object remaining in certain 1 of instrument 4 of jig arm 3.
On the other hand, among the step S6, when Amax＞Alimit (" YES "), the maximum angular acceleration with boundary angular acceleration Alimit determines into instrument charging tray 1 writes and is stored in (step S7) among the main part RAM15.That is, this is because when the charging tray pedestal 2 angular acceleration Alimit possible damaged of portion of mechanism and for fear of the cause of the generation of this state of affairs when being rotated that breaks bounds.In addition, step S5～S8 is corresponding with the acceleration determination device.
In the flow chart of Fig. 1, for example,, can after the logon data change that lift-launch is disposed at the instrument 4 on the instrument charging tray 1, carry out for numerical control device 10, perhaps can be after having changed logon data, carry out when carrying out initial Numerical Control to lathe.
As mentioned above, adopt present embodiment, host CPU 11, to by charging tray motor 27 drove, make instrument 4 be rotated motion and infer to total inertia I of the instrument charging tray 1 of assigned position conveyance, decide the maximum rotating angular acceleration Amax of instrument charging tray 1 according to the maximum output torque Tmax of total inertia I that is inferred and charging tray motor 27.
Like this, owing to can suitably determine this maximum rotating angular acceleration Amax according to the configuration status of the instrument 4 of actual conveyance instrument charging tray 1 and the specification of charging tray motor 27, therefore the conveyance speed that can utilize this acceleration further to shorten instrument charging tray 1 arrives the time of setting, the control response that can improve instrument charging tray 1 the biglyyest.And, because of can bring into play the output characteristics of charging tray motor 27 the biglyyest, so in the design phase, can avoid occurring selecting the phenomenon of unnecessary high capacity motor.
When instrument charging tray 1 was rotated, the part that the rotation that host CPU 11 adopts approximate expression to infer instrument 4 is worked to inertia was so infer total inertia I of instrument charging tray 1 in the scope that can not exert an influence simply in reality.And host CPU 11 decides maximum rotating angular acceleration Amax according to the form that is lower than the maximum Alimit that is allowed on instrument charging tray 1 structure, so can avoid setting for the such acceleration of mechanism's boundary that exceeds drive system.
(the 2nd embodiment)
Fig. 4～Fig. 6 represents the 2nd embodiment of the present invention, and the same section mark prosign with the 1st embodiment omits its explanation, below only different piece is made an explanation.Among the 2nd embodiment, the host CPU 11 of numerical control device 10, the distribution of also having considered to be disposed at the instrument 4 of instrument charging tray 1 decides maximum rotating angular acceleration Amax.
When Fig. 4 illustrates charging tray pedestal 2 rotation to the influence of the distribution equilibrium of instrument 4.Below among Fig. 4 becomes the direction of gravity effect.Shown in Fig. 4 (a), on charging tray pedestal 2, if the instrument 4 that will be in (A) position moves to (B) position of instrument transposing usefulness, then position (A) near become the acceleration region that rotatablely moves, become the deceleration zone that rotatablely moves near position (B).Become constant speed region between the two.
When instrument 4 is in position (A), shown in Fig. 4 (b), when occurent non-equilibrium site on the charging tray pedestal 2 (promptly, the position of big variation has taken place the distribution equilibrium of instrument 4) when being in (C), instrument 4 is in case mobile to position (B), and then the non-equilibrium site shown in Fig. 4 (b) moves to (D).Because of charging tray pedestal 2 rotation, thus the required torque when quickening during with deceleration required torque different.Again, required torque also corresponds respectively to according to non-equilibrium site which place the initial position of mobile multiplatform environments 4 and moving target position are present in and different.Among Fig. 4, visually do not show imbalance has taken place.
At this, what the 2nd embodiment carried out is following processing.In Fig. 5 of expression flow process, host CPU 11, if the same execution in step S1 with the 1st embodiment～during S4, then calculate the amount of unbalance and the non-equilibrium site (step S11) of the instrument 4 on the charging tray pedestal 2.
Promptly, host CPU 11, in the information of instrument 4 that the rotary position of the information of the instrument 4 from be stored in main part RAM15 and the charging tray pedestal 2 in this moment or be installed in is using at that time the main shaft etc., holding the weight of each instrument 4 and the configuration distribution of the instrument 4 on the charging tray pedestal 2.And on the basis at rotating shaft inclination angle that has added charging tray pedestal 2 etc., host CPU 11 is calculated amount of unbalance and non-equilibrium site according to these conditions.
Then, host CPU 11 is calculated (step S12) with uneven torque T0.Wait according to the amount of movement of the gyratory directions of the amount of unbalance of calculating and non-equilibrium site, charging tray pedestal 2 and mobile multiplatform environments and to calculate uneven torque T0 by step S11.Then, whether this imbalance torque T0 is in judges (step S13) in the permissible range of predesignating.
Among the step S13, if uneven torque T0 is in the permissible range (" YES "), then host CPU 11 is calculated (step S14) with effective driving torque T.On the other hand, if uneven torque T0 exceeds permissible range (" NO " among the step S13), then host CPU 11 for example shows the information of " uneven unusual " in CRT21, will handle termination, impels the operator that tool configuration is revised (step S15).
Among the step S14, host CPU 11 can be calculated effective driving torque T by formula (5).
T＝Tmax±T0 …(5)
In the formula (5), for uneven torque T0 is added or deducts, if the action direction of uneven torque T0 during with respect to 2 startings of charging tray pedestal or the driving torque direction (direction of rotation) in when stopping then to add when belonging to identical, if then deduct when opposite with this action direction.That is, this is that the latter's occasion need be set the cause of littler rotating angular acceleration because the former occasion is in the state of exportable bigger rotating angular acceleration.Thereafter, the same execution in step S5 with the 1st embodiment～S8.In addition, in these steps S5～S8, added that the situation behind step S11, S12, the S14 is corresponding with the acceleration determination device.
Among Fig. 6, expression is decided the concrete example of the occasion of effective driving torque T by formula (5).Under original state, the distribution of the instrument on the instrument charging tray 1 is the state shown in Fig. 6 (a).This occasion, the position of centre of gravity of the gross weight W of instrument are near the position shown in the W among Fig. 6 (a).If the revolution radius of center of gravity is set at R, then the torque T0 that disequilibrium took place that distributes because of instrument becomes T0=WR.
At this moment, from the state shown in Fig. 6 (a), shown in Fig. 6 (b), be envisioned for the situation that instrument is moved towards the direction of 2 pitches that descend.This occasion, the torque capacity Tmax that drive system took place of instrument charging tray 1 and uneven torque T0 take place on same direction.Therefore, effective driving torque T that can actually be used in driven tool charging tray 1 has become following formula.
T＝Tmax+T0＝Tmax+W·R
From the state shown in Fig. 6 (a), shown in Fig. 6 (c), be envisioned for the situation that instrument is moved towards the direction of 2 pitches that rise again.This occasion, with respect to the torque capacity Tmax that drive system took place of instrument charging tray 1, uneven torque T0 takes place in the opposite direction.Therefore, effective driving torque T that can actually be used in driven tool charging tray 1 has become following formula.
T＝Tmax-T0＝Tmax-W·R
As mentioned above, adopt the 2nd embodiment, for having the rotating shaft that tilts with respect to vertical, instrument charging tray 1 by making a plurality of instrument 4 rotations carry out conveyance, host CPU 11, distribution to maintained a plurality of instruments 4 detects, calculate the uneven torque T0 that acts on charging tray pedestal 2 starting or stopping when according to its distribution, decide maximum rotating angular acceleration Amax according to the plus-minus result of maximum output torque Tmax and uneven torque T0.Like this, the configuration status of instrument 4 of considering actual use can determine maximum rotating angular acceleration Amax to the influence that rotatablely moves of charging tray pedestal 2.
When the uneven torque T0 that calculates has exceeded permissible range, host CPU 11 is carried out and is reported action, shows the information of " uneven unusual " in CRT21, thus, can prevent under previous status to continue the conveyance action, can impel the operator to implement to make the operation of suitableization of distribution equilibrium of instrument 4.
The present invention is not limited to the embodiment that above-mentioned explanation and accompanying drawing are put down in writing, and can make following such distortion or expansion.
Among the step S3, in the occasion of the total inertia I that infers instrument charging tray 1, also can ignore the part of the rotation role of instrument 4, perhaps the part that will act on is regarded as necessarily and is inferred.This occasion also can be inferred out total inertia I simply in the scope that reality is not impacted.
When being envisioned for the occasion that can not calculate the maximum rotating angular acceleration Amax that exceeds mechanism's boundary, also can omit step S6, S7, adopt the maximum angular acceleration Amax that calculates by step S5 all the time.
Shown in the 2nd embodiment, for example also can calculate in the process of maximum rotating angular acceleration Amax in the mode that adopts the 1st embodiment, make it have predetermined regulation boundary and decide maximum rotating angular acceleration Amax, to replace the mode of calculating of uneven torque T0.Promptly, shown in the formula among the 2nd embodiment (5), the situation of uneven torque T0 appears deducting for maximum output torque Tmax sometimes, therefore, also the part suitable with this imbalance torque T0 can be decided to be setting, calculate maximum rotating angular acceleration Amax according to the torque after this setting is deducted, perhaps from the maximum rotating angular acceleration Amax that calculates, deduct setting.This occasion can consider that also maximum rotating angular acceleration Amax is set in the influence of gravity.
The rotating shaft of charging tray pedestal 2 is level both, and is also vertical.
And, owing to be applicable to the instrument exchange apparatus of following structure: can make certain 1 in a plurality of instruments 4 that remain on the instrument charging tray 1 to be rotated into the form of changing the front-end of spindle portion that moves to lathe, be configured between instrument charging tray 1 and the main shaft, therefore, can the required time of shortening instrument transposing.
Recording medium is not limited to floppy disk 41, also CD-ROM, DVD-ROM, DVD-RAM, memory card etc.
Again, be not limited to conveyance, carry out the device of object conveyance, can use widely so long as adopt to rotatablely move to instrument.
Claims (20)
1. carrying device by Motor Drive, the conveyance object is rotatablely moved and constituted to the conveying unit that assigned position carries out conveyance, is characterized in that, comprising:
Infer the inertia estimating device of the inertia of this conveying unit; And
The acceleration determination device, its maximum output torque according to inertia of being inferred by this inertia estimating device and described motor decides the maximum rotating angular acceleration of described conveying unit.
2. carrying device as claimed in claim 1 is characterized in that, described inertia estimating device, and the rotation of ignoring conveyance object described in rotatablely moving is inferred the part of inertia role.
3. carrying device as claimed in claim 1 is characterized in that, described inertia estimating device is regarded the rotation of conveyance object described in rotatablely moving as certain to the part of inertia role and inferred.
4. carrying device as claimed in claim 1 is characterized in that, described inertia estimating device, and the rotation of conveyance object is to the part of inertia role described in adopting approximate expression to infer to rotatablely move.
5. carrying device as claimed in claim 1 is characterized in that, described acceleration determination device decides maximum rotating angular acceleration according to being lower than the maximum of being allowed on the described conveying unit structure.
6. as the described carrying device of claim 1～5, it is characterized in that, described conveying unit has the instrument exchange apparatus of following structure: with described conveyance object as instrument, can make certain 1 in a plurality of instruments that remain on the instrument charging tray to be rotated into the form of changing the front-end of spindle portion that moves to lathe, and be configured between described instrument charging tray and the described main shaft.
7. as the described carrying device of claim 1～4, it is characterized in that described conveying unit is, described conveyance object as instrument, is had the rotating shaft that tilts with respect to vertical, make a plurality of instruments rotation carrying out conveyances.
8. carrying device as claimed in claim 7 is characterized in that, described acceleration determination device, and the boundary that makes the value of obtaining according to described inertia and described maximum output torque have regulation decides maximum rotating angular acceleration.
9. carrying device as claimed in claim 7 is characterized in that,
Described acceleration determination device,
Distribution to a plurality of instruments of being held in described conveying unit detects,
According to described distribution, calculate the uneven torque that acts on described conveying unit starting or stopping when,
Result according to described maximum output torque and described uneven torque plus-minus decides maximum rotating angular acceleration.
10. carrying device as claimed in claim 9 is characterized in that, carries out when the uneven torque of being calculated by described acceleration determination device exceeds permissible range and reports action.
11. the acceleration decision method for conveying of a carrying device, this carrying device by Motor Drive, the conveyance object rotatablely moved and constituted to the conveying unit that assigned position carries out conveyance, described acceleration decision method for conveying is characterised in that,
Infer the inertia of described conveying unit,
The maximum output torque of presumptive inertia and described motor determines the peak acceleration of described conveying unit.
12. the acceleration decision method for conveying of carrying device as claimed in claim 11 is characterized in that, ignores the part of the rotation role of the object of conveyance described in rotatablely moving, and the inertia of described conveying unit is inferred.
13. the acceleration decision method for conveying as claim 11 described carrying device is characterized in that, the part of the rotation role of the described conveyance object in rotatablely moving is regarded as necessarily, and the inertia of described conveying unit is inferred.
14. the acceleration decision method for conveying of carrying device as claimed in claim 11 is characterized in that, the part of the rotation role of conveyance object is inferred the inertia of described conveying unit described in adopting approximate expression to infer to rotatablely move.
15. the acceleration decision method for conveying of carrying device as claimed in claim 11 is characterized in that, decides peak acceleration for being lower than the maximum of being allowed on the described conveying unit structure.
16. acceleration decision method for conveying as the described carrying device of claim 11～15, it is characterized in that, described conveying unit has the instrument exchange apparatus of following structure: with described conveyance object as instrument, can make certain 1 rotation in a plurality of instruments that remain on the instrument charging tray, changing the front-end of spindle portion that moves to lathe, and be configured between described instrument charging tray and the described main shaft.
17. the acceleration decision method for conveying as the described carrying device of claim 11～14 is characterized in that, described conveying unit as instrument, has the rotating shaft that tilts with respect to vertical with described conveyance object, makes a plurality of instrument rotation carrying out conveyances.
18. the acceleration decision method for conveying of carrying device as claimed in claim 17 is characterized in that, makes the value of obtaining according to described inertia and described maximum output torque have the regulation boundary and decides maximum rotating angular acceleration.
19. the acceleration decision method for conveying of carrying device as claimed in claim 17 is characterized in that,
Distribution to a plurality of instruments of being held in described conveying unit detects,
According to described distribution, calculate the uneven torque that acts on described conveying unit starting or stopping when,
Result according to described maximum output torque and described uneven torque plus-minus decides maximum rotating angular acceleration.
20. the acceleration decision method for conveying of carrying device as claimed in claim 19 is characterized in that, carries out when the uneven torque of calculating exceeds permissible range and reports action.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2004036541 | 2004-02-13 | ||
| JP2004036541A JP4655485B2 (en) | 2004-02-13 | 2004-02-13 | Conveying apparatus, conveying acceleration determining method for the conveying apparatus, and computer program |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1654163A true CN1654163A (en) | 2005-08-17 |
| CN100453262C CN100453262C (en) | 2009-01-21 |
Family
ID=34908362
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100080492A Active CN100453262C (en) | 2004-02-13 | 2005-02-06 | Conveying device, conveying acceleration decision method for conveying device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP4655485B2 (en) |
| CN (1) | CN100453262C (en) |
| TW (1) | TWI261008B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101402202B (en) * | 2007-10-05 | 2014-02-19 | 发那科株式会社 | Robot operating range setting device |
| CN104741962A (en) * | 2013-12-27 | 2015-07-01 | 发那科株式会社 | Tool gravity center position estimation device and machine tool |
| CN104416400B (en) * | 2013-09-10 | 2016-11-23 | 发那科株式会社 | The cutter changing device of lathe |
| CN107206559A (en) * | 2015-02-27 | 2017-09-26 | 株式会社牧野铣床制作所 | Control method, control device and the lathe for possessing tool magazine of motor |
| CN111360572A (en) * | 2020-03-31 | 2020-07-03 | 新代科技(苏州)有限公司 | Tool magazine control system and control method thereof |
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| JP6487165B2 (en) | 2014-08-27 | 2019-03-20 | ファナック株式会社 | Machine tool with tool information read / write device |
| JP6267243B2 (en) | 2016-01-20 | 2018-01-24 | ファナック株式会社 | Machine tool having an abnormality diagnosis function of a reducer of a tool changer |
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| CN1003807B (en) * | 1986-10-15 | 1989-04-05 | 北京工业学院 | Device and method for measuring moment of inertia of rigid bodies |
| JPH0780109B2 (en) * | 1988-06-30 | 1995-08-30 | ブラザー工業株式会社 | Automatic tool changer for machine tools |
| JP2722004B2 (en) * | 1989-10-28 | 1998-03-04 | オ−クマ株式会社 | Adaptive control method of turret turning speed |
| JPH0729259B2 (en) * | 1990-05-22 | 1995-04-05 | 日立精機株式会社 | Indexing turret for machine tools |
| JPH04294990A (en) * | 1991-03-20 | 1992-10-19 | Fujitsu Ltd | Control method for robot |
| JP2717747B2 (en) * | 1992-05-22 | 1998-02-25 | オークマ株式会社 | Tool changer |
| JPH06187045A (en) * | 1992-09-02 | 1994-07-08 | Fuji Electric Co Ltd | Positioning device |
| JPH08278821A (en) * | 1995-04-06 | 1996-10-22 | Kobe Steel Ltd | Damping method for servo control system |
| JPH10263971A (en) * | 1997-03-25 | 1998-10-06 | Brother Ind Ltd | Tool replacement device for machine tool |
| JP3883027B2 (en) * | 1998-10-23 | 2007-02-21 | 株式会社ジェイテクト | Automatic tool changer |
| JP2002046042A (en) * | 2000-08-02 | 2002-02-12 | Murata Mach Ltd | Machine tool |
-
2004
- 2004-02-13 JP JP2004036541A patent/JP4655485B2/en not_active Expired - Lifetime
-
2005
- 2005-01-24 TW TW94102038A patent/TWI261008B/en active
- 2005-02-06 CN CNB2005100080492A patent/CN100453262C/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101402202B (en) * | 2007-10-05 | 2014-02-19 | 发那科株式会社 | Robot operating range setting device |
| CN104416400B (en) * | 2013-09-10 | 2016-11-23 | 发那科株式会社 | The cutter changing device of lathe |
| CN104741962A (en) * | 2013-12-27 | 2015-07-01 | 发那科株式会社 | Tool gravity center position estimation device and machine tool |
| CN104741962B (en) * | 2013-12-27 | 2017-09-05 | 发那科株式会社 | Instrument position of centre of gravity apparatus for predicting and lathe |
| CN107206559A (en) * | 2015-02-27 | 2017-09-26 | 株式会社牧野铣床制作所 | Control method, control device and the lathe for possessing tool magazine of motor |
| CN111360572A (en) * | 2020-03-31 | 2020-07-03 | 新代科技(苏州)有限公司 | Tool magazine control system and control method thereof |
| CN111360572B (en) * | 2020-03-31 | 2021-11-19 | 新代科技(苏州)有限公司 | Tool magazine control system and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100453262C (en) | 2009-01-21 |
| TW200534952A (en) | 2005-11-01 |
| JP4655485B2 (en) | 2011-03-23 |
| TWI261008B (en) | 2006-09-01 |
| JP2005224896A (en) | 2005-08-25 |
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