DE69504998T2 - Vorrichtung zum zurückziehen eines unnormalen werkzeuges - Google Patents

Vorrichtung zum zurückziehen eines unnormalen werkzeuges

Info

Publication number
DE69504998T2
DE69504998T2 DE69504998T DE69504998T DE69504998T2 DE 69504998 T2 DE69504998 T2 DE 69504998T2 DE 69504998 T DE69504998 T DE 69504998T DE 69504998 T DE69504998 T DE 69504998T DE 69504998 T2 DE69504998 T2 DE 69504998T2
Authority
DE
Germany
Prior art keywords
tool
work line
taught
workpiece
point
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
DE69504998T
Other languages
English (en)
Other versions
DE69504998D1 (de
Inventor
Hitoshi K K Komatsu S Nakagawa
Toshiaki K K Komatsu Sei Kondo
Tetsuya K K Komatsu Seis Ogawa
Takayuki K K Komatsu Furukoshi
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.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
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
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Publication of DE69504998D1 publication Critical patent/DE69504998D1/de
Application granted granted Critical
Publication of DE69504998T2 publication Critical patent/DE69504998T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4067—Restoring data or position after power failure or other interruption
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50108—Retract tool stepwise, same path, until safe boundary reached, then quick retract
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50109—Soft approach, engage, retract, escape, withdraw path for tool to workpiece
    • 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
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50111—Retract tool along path, reengage along same path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50112—Retract tool to a point

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)
  • Apparatus Associated With Microorganisms And Enzymes (AREA)
  • Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
  • Surgical Instruments (AREA)
DE69504998T 1994-08-02 1995-07-31 Vorrichtung zum zurückziehen eines unnormalen werkzeuges Expired - Fee Related DE69504998T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP18156394A JP3276248B2 (ja) 1994-08-02 1994-08-02 異常復帰装置
PCT/JP1995/001521 WO1996004109A1 (fr) 1994-08-02 1995-07-31 Appareil pour la recuperation d'outils anormaux

Publications (2)

Publication Number Publication Date
DE69504998D1 DE69504998D1 (de) 1998-10-29
DE69504998T2 true DE69504998T2 (de) 1999-04-22

Family

ID=16102989

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69504998T Expired - Fee Related DE69504998T2 (de) 1994-08-02 1995-07-31 Vorrichtung zum zurückziehen eines unnormalen werkzeuges

Country Status (6)

Country Link
US (1) US5825655A (de)
EP (1) EP0775557B1 (de)
JP (1) JP3276248B2 (de)
AT (1) ATE171409T1 (de)
DE (1) DE69504998T2 (de)
WO (1) WO1996004109A1 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010017569A2 (de) * 2008-08-14 2010-02-18 Anger Machining Gmbh Verfahren zur ansteuerung eines werkstückmanipulators einer werkzeugmaschine
DE102014213262A1 (de) * 2014-07-08 2016-01-14 Kuka Roboter Gmbh Maschine und Verfahren zum Betreiben einer Maschine
DE112010000775B4 (de) * 2009-02-12 2016-03-17 Kyoto University Industrierobotersystem
DE102014115535B3 (de) * 2014-10-24 2016-03-31 Universität Stuttgart Rührreibschweißwerkzeug sowie Verfahren zum Rührreibschweißen

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6411606B1 (en) * 1996-08-21 2002-06-25 Hybrid Networks, Inc. Hybrid access system with remote device monitoring scheme
DE19739720C1 (de) * 1997-09-10 1998-10-22 Roman Eissfeller Gmbh Schweißautomat
JP3177601B2 (ja) 1999-06-02 2001-06-18 ファナック株式会社 数値制御装置
US6492618B1 (en) * 2000-11-02 2002-12-10 Tri Tool Inc. Automatic weld head alignment and guidance system and method
JP4758019B2 (ja) * 2001-03-30 2011-08-24 株式会社神戸製鋼所 溶接ロボット装置の自動運転方法
DE10255033A1 (de) * 2002-11-19 2004-06-09 Stama Maschinenfabrik Gmbh Werkzeugmaschine und Verfahren zum Betreiben einer solchen
EP1587650B1 (de) * 2003-01-31 2018-08-29 Thermo CRS Ltd. Verfahren zur syntaktischen inferenzielen bewegungsplannung für robotersysteme
JP4027350B2 (ja) 2004-06-29 2007-12-26 ファナック株式会社 ロボットの待機位置復帰プログラム作成装置
US8177115B1 (en) * 2010-03-12 2012-05-15 Craig Mercier Method and system for retreading track wheel
US8662375B2 (en) 2010-03-12 2014-03-04 Craig Mercier Method and system for retreading track wheel
US8489222B2 (en) * 2010-05-20 2013-07-16 Korea Nuclear Fuel Co., Ltd. Machine and method for grinding spacer grid of nuclear fuel assembly
EP2737375B1 (de) 2011-07-27 2016-11-16 ABB Schweiz AG System zur befehlssteuerung eines roboters
US9939799B2 (en) * 2015-04-30 2018-04-10 Bae Systems Plc Replacement path machining method and apparatus
US9939800B2 (en) * 2015-04-30 2018-04-10 Bae Systems Plc Path following machining method and apparatus
JP7017305B2 (ja) 2016-10-20 2022-02-08 ナブテスコ株式会社 ワークポジショナ
JP6658985B1 (ja) * 2019-05-17 2020-03-04 株式会社安川電機 ロボットシステム、復帰プログラム生成装置、制御支援装置、制御装置、プログラム、復帰プログラムの生成方法及び復帰プログラムの出力方法
US20230278210A1 (en) * 2020-09-11 2023-09-07 Fanuc Corporation Robot system and robot operation method

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3633011A (en) * 1968-08-29 1972-01-04 Ibm Method and apparatus for precisely contouring a workpiece imprecisely positioned on a supporting fixture
US3986010A (en) * 1973-08-23 1976-10-12 International Business Machines Corporation Automatic tool deflection calibration system
US4451892A (en) * 1980-01-31 1984-05-29 Mcmurtry David R Method of and apparatus for measuring distances in numerically controlled machine tools
US4442493A (en) * 1980-07-04 1984-04-10 Kabushiki Kaisha Komatsu Seisakusho Cutting tool retreat and return for workpiece protection upon abnormality occurrence in a preprogrammed machine tool
US4468741A (en) * 1980-08-18 1984-08-28 Mac Engineering And Equipment Co., Inc. Apparatus for positioning tooling devices relative to a battery
JPS5766825A (en) * 1980-10-14 1982-04-23 Fanuc Ltd Processing initiating point automatic return system in wire cutting discharge processing machine
SE8201383L (sv) * 1981-03-09 1982-09-10 Mitsubishi Electric Corp Styranleggning for bagsvetsrobot
JPS57149181A (en) * 1981-03-09 1982-09-14 Mitsubishi Electric Corp Controller for robot
NL8203413A (nl) * 1982-09-01 1984-04-02 Philips Nv Werkwijze voor het verwijderen van en het terugbrengen naar een werkstuk van een gereedschap bij het verspanend bewerken van dat werkstuk door een numeriek bestuurde gereedschapsmachine en numeriek bestuurde gereedschapsmachine voor het uitvoeren van de werkwijze.
US4513380A (en) * 1982-09-07 1985-04-23 General Electric Company Method of tool recovery in threadcutting apparatus
JPS61131001A (ja) * 1984-11-29 1986-06-18 Toyota Motor Corp ロボツト用制御装置
JPS61241039A (ja) * 1985-04-16 1986-10-27 Nippei Toyama Corp クランプ確認装置
JPS62211705A (ja) * 1986-03-12 1987-09-17 Nissan Motor Co Ltd 産業用ロボツトの制御方法
JPS62278610A (ja) * 1986-05-28 1987-12-03 Nissan Motor Co Ltd 作業ロボツトの制御装置
JPH02178808A (ja) * 1988-12-29 1990-07-11 Yaskawa Electric Mfg Co Ltd ロボットの制御方法
JPH04236603A (ja) * 1991-01-19 1992-08-25 Kobe Steel Ltd ロボットの制御装置
US5414633A (en) * 1992-12-21 1995-05-09 Industrial Technology Research Institute Path control method of tool withdrawal and resumption in CNC
JPH06187025A (ja) * 1992-12-22 1994-07-08 Meidensha Corp ロボットの制御方式

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010017569A2 (de) * 2008-08-14 2010-02-18 Anger Machining Gmbh Verfahren zur ansteuerung eines werkstückmanipulators einer werkzeugmaschine
WO2010017569A3 (de) * 2008-08-14 2010-04-08 Anger Machining Gmbh Verfahren zur ansteuerung des werkstückmanipulators einer werkzeugmaschine nach einer bearbeitungsabbruch
US8180478B2 (en) 2008-08-14 2012-05-15 Anger Machining Gmbh Method for activating a workpiece manipulator of a machine tool
DE112010000775B4 (de) * 2009-02-12 2016-03-17 Kyoto University Industrierobotersystem
US9393691B2 (en) 2009-02-12 2016-07-19 Mitsubishi Electric Corporation Industrial robot system including action planning circuitry for temporary halts
DE102014213262A1 (de) * 2014-07-08 2016-01-14 Kuka Roboter Gmbh Maschine und Verfahren zum Betreiben einer Maschine
DE102014115535B3 (de) * 2014-10-24 2016-03-31 Universität Stuttgart Rührreibschweißwerkzeug sowie Verfahren zum Rührreibschweißen
US10279422B2 (en) 2014-10-24 2019-05-07 Universitaet Stuttgart Friction stir welding tool and friction stir welding method

Also Published As

Publication number Publication date
EP0775557B1 (de) 1998-09-23
JP3276248B2 (ja) 2002-04-22
US5825655A (en) 1998-10-20
WO1996004109A1 (fr) 1996-02-15
DE69504998D1 (de) 1998-10-29
ATE171409T1 (de) 1998-10-15
EP0775557A4 (de) 1997-07-30
EP0775557A1 (de) 1997-05-28
JPH0847880A (ja) 1996-02-20

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee