DE69130397D1 - Vorrichtung zum Steuern der Bearbeitungskraft eines Werkzeugs - Google Patents

Vorrichtung zum Steuern der Bearbeitungskraft eines Werkzeugs

Info

Publication number
DE69130397D1
DE69130397D1 DE69130397T DE69130397T DE69130397D1 DE 69130397 D1 DE69130397 D1 DE 69130397D1 DE 69130397 T DE69130397 T DE 69130397T DE 69130397 T DE69130397 T DE 69130397T DE 69130397 D1 DE69130397 D1 DE 69130397D1
Authority
DE
Germany
Prior art keywords
tool
controlling
machining force
machining
force
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE69130397T
Other languages
English (en)
Other versions
DE69130397T2 (de
Inventor
Makoto Jinno
Takashi Yoshimi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toshiba Corp
Original Assignee
Toshiba Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP4455090A external-priority patent/JP2911160B2/ja
Priority claimed from JP26960090A external-priority patent/JP3217351B2/ja
Application filed by Toshiba Corp filed Critical Toshiba Corp
Application granted granted Critical
Publication of DE69130397D1 publication Critical patent/DE69130397D1/de
Publication of DE69130397T2 publication Critical patent/DE69130397T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • 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
    • B24B27/00—Other grinding machines or devices
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • 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
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
    • B23Q17/0952—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining
    • B23Q17/0961—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining by measuring power, current or torque of a motor
    • 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
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/09—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool
    • B23Q17/0952—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining
    • B23Q17/0966—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting pressure or for determining cutting-tool condition, e.g. cutting ability, load on tool during machining by measuring a force on parts of the machine other than a motor
    • 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
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q17/10—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring cutting speed or number of revolutions
    • 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
    • B24B15/00—Machines or devices designed for grinding seat surfaces; Accessories therefor
    • 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
    • B24B27/00—Other grinding machines or devices
    • B24B27/033—Other grinding machines or devices for grinding a surface for cleaning purposes, e.g. for descaling or for grinding off flaws in the surface
    • B24B27/04—Grinding machines or devices in which the grinding tool is supported on a swinging arm
    • 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
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
    • 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
    • B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0065—Polishing or grinding
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45058—Grinding, polishing robot
DE69130397T 1990-02-27 1991-02-27 Vorrichtung zum Steuern der Bearbeitungskraft eines Werkzeugs Expired - Fee Related DE69130397T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP4455090A JP2911160B2 (ja) 1990-02-27 1990-02-27 グラインダロボット
JP14749790 1990-06-07
JP26960090A JP3217351B2 (ja) 1990-06-07 1990-10-09 力制御装置及びそれを用いたロボット

Publications (2)

Publication Number Publication Date
DE69130397D1 true DE69130397D1 (de) 1998-11-26
DE69130397T2 DE69130397T2 (de) 1999-04-15

Family

ID=27291944

Family Applications (2)

Application Number Title Priority Date Filing Date
DE69130397T Expired - Fee Related DE69130397T2 (de) 1990-02-27 1991-02-27 Vorrichtung zum Steuern der Bearbeitungskraft eines Werkzeugs
DE69116901T Expired - Fee Related DE69116901T2 (de) 1990-02-27 1991-02-27 Robotersteuerung

Family Applications After (1)

Application Number Title Priority Date Filing Date
DE69116901T Expired - Fee Related DE69116901T2 (de) 1990-02-27 1991-02-27 Robotersteuerung

Country Status (4)

Country Link
US (2) US5265195A (de)
EP (2) EP0444657B1 (de)
KR (1) KR940003204B1 (de)
DE (2) DE69130397T2 (de)

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JP2019155542A (ja) * 2018-03-14 2019-09-19 株式会社東芝 搬送装置、搬送システム、コントローラ、および搬送方法
CN112368116A (zh) * 2018-06-15 2021-02-12 优傲机器人公司 附接到机器人臂的有效载荷的估计
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CN109773588B (zh) * 2019-03-01 2021-03-02 山东大学 一种机床数字孪生模型性能测试方法及装置
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CN112139944B (zh) * 2020-09-25 2021-09-17 安徽新境界自动化技术有限公司 一种双机械臂机器人柔性打磨装置
CN114559560A (zh) * 2020-11-27 2022-05-31 广东博智林机器人有限公司 打孔作业控制方法、装置和协作机器人
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Also Published As

Publication number Publication date
DE69130397T2 (de) 1999-04-15
US5265195A (en) 1993-11-23
KR910021291A (ko) 1991-12-20
DE69116901D1 (de) 1996-03-21
EP0444657B1 (de) 1996-02-07
DE69116901T2 (de) 1996-07-18
EP0584843B1 (de) 1998-10-21
KR940003204B1 (ko) 1994-04-16
EP0584843A2 (de) 1994-03-02
US5509847A (en) 1996-04-23
EP0444657A1 (de) 1991-09-04
EP0584843A3 (de) 1994-05-04

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