JP6182756B2 - Screw loosening device - Google Patents

Screw loosening device Download PDF

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Publication number
JP6182756B2
JP6182756B2 JP2013142122A JP2013142122A JP6182756B2 JP 6182756 B2 JP6182756 B2 JP 6182756B2 JP 2013142122 A JP2013142122 A JP 2013142122A JP 2013142122 A JP2013142122 A JP 2013142122A JP 6182756 B2 JP6182756 B2 JP 6182756B2
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Prior art keywords
bit
screw
direction
unit
tip
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JP2015013350A (en
Inventor
藤本 博
博 藤本
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富士通周辺機株式会社
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23POTHER WORKING OF METAL; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04Machines for simply fitting together or separating metal parts, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06Screw or nut setting or loosening machines
    • B23P19/065Arrangements for torque limiters or torque indicators in screw or nut setting machines

Description

  The present invention relates to a screw loosening device.

  Conventionally, in order to ensure that the male screw and the tip of the bit shaft are properly fitted so that the workpiece and screw are not damaged when the screw is tightened to the workpiece, the bit shaft must be A screw tightening device that rotates in reverse is disclosed (for example, see Patent Document 1). In Patent Document 1, it is determined whether or not the male screw and the tip of the bit shaft are properly fitted by referring to the position data of the bit shaft tip. Further, as a means for detecting the fitting state between the bit and the screw, it is also known to determine the holding state of the screw by detecting the lower end position of the screw when the screw is attracted by the bit (Patent Document). 2). There is also known a screw loosening device that performs screw loosening without crushing a screw thread or a screw head of a screw fastening a member (see Patent Document 3). Patent Document 3 discloses a configuration in which a bit is strongly pressed against a screw by an air cylinder at the start of screw loosening and pressed with a small force by a compression coil spring after the start of screw loosening.

JP-A-7-223130 JP-A-3-221331 Japanese Patent Laid-Open No. 5-23928

In Patent Document 1 and Patent Document 3 described above, a pressing force by a bit is applied to the male screw in order to appropriately fit the tip of the bit shaft to the male screw. For this reason, in some cases, the male screw may be damaged or crushed. In Patent Literature 1 and Patent Literature 2, the fitting state between the bit tip and the male screw can be confirmed by detecting the position data of the bit shaft tip and the lower end position of the screw. May damage the male screw by the time.

  Therefore, the screw loosening device disclosed in the present specification has an object to realize a state in which the bit and the screw groove are properly fitted without damaging the screw when the screw is loosened. In addition, the present invention is not limited to the above-described problems, and is an operational effect derived from each configuration shown in the embodiment for carrying out the invention to be described later. Can be positioned as one of

The screw loosening device disclosed in the present specification moves a bit, a bit driving unit that rotates the bit in a screw loosening direction and a tightening direction, and a direction in which the bit is moved toward and away from the screw to be loosened. An axial movement drive unit, a fitting state detection unit for detecting a fitting state of whether or not a tip portion of the bit enters a screw groove formed on a screw head of the screw, and the axial movement drive unit After the bit is moved to a predetermined position toward the screw, the driving of the axial drive unit is released, and an operation of inserting the tip of the bit into the screw groove is performed by the fitting state detection unit. when the tip of the bit is penetrated into the thread groove is not confirmed, the tip of the bit by rotating the bit fitted with the screw groove by the bit driving unit, the fitting state detection After fitting between the bit and the screw is confirmed by section, and a control unit for rotating the bit in the loosening direction of the screw by the bit driving unit.

  When the bit and the screw are fitted, the bit is lowered by gravity by releasing the driving of the axial drive unit. Accordingly, the bit is not excessively pressed against the screw, and the bit and the screw groove can be appropriately fitted without damaging the screw.

  According to the screw loosening device disclosed in the present specification, when the screw is loosened, it is possible to realize a state where the bit and the screw groove are properly fitted without damaging the screw.

FIG. 1 is an explanatory view showing a schematic configuration of the screw loosening device of the embodiment. FIG. 2 is a block diagram of a main part of the screw loosening device of the embodiment. FIG. 3 is a flowchart showing an example of the screw loosening operation by the screw loosening device of the embodiment. 4 (a-1) to 4 (b-1) are explanatory diagrams showing changes in the relationship between the tip end portion of the bit and the thread groove.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, in the drawings, the dimensions, ratios, and the like of each part may not be shown so as to completely match the actual ones. In addition, in some drawings, components that actually exist may be omitted for convenience of explanation.

(Embodiment)
FIG. 1 is an explanatory diagram showing a schematic configuration of a screw loosening device 100 according to the embodiment. FIG. 2 is a block diagram of the main part of the screw loosening device 100 of the embodiment. In the following description, the XYZ directions will be described as directions shown in FIG. The Y direction is a direction orthogonal to the X direction and the Z direction, and is a direction perpendicular to the paper surface.

  The screw loosening device 100 can loosen screws used in mobile phone terminals, tablet personal computers, notebook personal computers, and the like. Referring to FIG. 1, a screw loosening device 100 includes a box-shaped control unit storage unit 1 that serves as a base. The control unit storage unit 1 stores a microcomputer 20 corresponding to a control unit, which will be described in detail later, and a power source. A support column 2 is erected in the control unit storage unit 1. The column 2 is provided with a plate-like servo amplifier mounting portion 3. Further, an X-direction moving rail 4 extending in the X direction is attached to the support column 2. The X-direction moving rail 4 extends along the horizontal direction. A Z-direction moving rail 5 is attached to the X-direction moving rail so as to be movable along the X-direction moving rail. The Z-axis direction moving rail 5 extends along the vertical direction. An axially moving member 6 is mounted on the Z-direction moving rail 5 so as to be movable along the Z-axis direction moving rail 5. The shaft moving member 6 is provided with a bit tip height measuring sensor 6a. The bit tip height measuring sensor 6a is a fitting state detection unit that detects a fitting state between the tip of the bit 8 and the screw 12, which will be described in detail later, and also a position for acquiring height position information of the bit 8. It corresponds to an information acquisition unit. The axially moving member 6 is provided with an electric driver portion 7. A bit 8 is attached to a lower end portion of the electric driver portion 7, that is, a lower end portion in the Z direction. A Y-direction moving rail 9 is laid on the upper side of the control unit storage unit 1. A work set base 10 is mounted on the Y-direction moving rail 9 so as to be movable along the Y-direction moving rail 9. A work 11 is set on the work set base 10.

Referring to FIG. 2, the screw loosening apparatus 100 includes a microcomputer 20 corresponding to a control unit. The microcomputer 20 is a ROM (Read Only
Memory) 20a and RAM (Random Access Memory) 20b. A start switch 21 is electrically connected to the microcomputer 20. The microcomputer 20 can read data relating to a screw to be loosened. The data relating to the screw includes coordinate information of the screw tightened on the workpiece 11. That is, the data regarding the screw includes coordinate information of the X position, the Y position, and the Z position of the screw. The coordinates of the Z position include the coordinates of the top of the screw head 12a and the coordinates of the bottom 12b1 of the screw groove 12b provided in the screw head 12a. A bit tip height measuring sensor 6 a is connected to the microcomputer 20. The bit distal end height measuring sensor 6 a can recognize the position of the distal end portion of the bit 8 by measuring the height position of the proximal end side of the bit 8.

  The microcomputer 20 is electrically connected to an X-direction movement servo amplifier 26, a Y-direction movement servo amplifier 24, a Z-direction movement servo amplifier 27, and a bit drive servo amplifier 28. The X direction moving servo amplifier 26, the Y direction moving servo amplifier 24, the Z direction moving servo amplifier 27, and the bit driving servo amplifier 28 are mounted on the servo amplifier mounting unit 3.

  An X-direction movement servomotor 23 is electrically connected to the X-direction movement servo amplifier 22. The X-direction movement servomotor 23 includes an encoder 23a so that the rotation speed of the X-direction movement servomotor 23 can be grasped. The X-direction movement servomotor 23 moves the Z-axis direction movement rail 5 on which the axial movement member 6 having the electric driver unit 7 is mounted along the X-direction movement rail 4.

  A Y-direction movement servomotor 25 is electrically connected to the Y-direction movement servo amplifier 24. The Y-direction moving servo motor 25 includes an encoder 25a so that the rotational speed of the Y-direction moving servo motor 25 can be grasped. The Y-direction moving servomotor 23 moves the work set base 10 along the Y-direction moving rail 9.

  A Z-direction movement servomotor 27 is electrically connected to the Z-direction movement servo amplifier 26. The Z-direction moving servomotor 27 includes an encoder 27a so that the number of rotations of the Z-direction moving servomotor 27 can be grasped. The Z-direction movement servomotor 23 moves the axial movement member 6 having the electric driver unit 7 along the Z-direction movement rail 5. The Z-direction movement servomotor 27 is an example of an axial movement driving unit that moves the bit 8 (axial movement member 6) in a direction approaching and separating from the screw 12 to be loosened.

  A bit drive servomotor 29 is electrically connected to the bit drive servo amplifier 28. The bit drive servomotor 29 includes an encoder 29a so that the number of rotations of the bit drive servomotor 29 can be grasped. The bit drive servomotor 29 corresponds to a bit drive unit that rotates the bit 8 in the loosening direction and the tightening direction of the screw 12. That is, the bit drive servomotor 29 can rotate forward and backward. The bit drive servomotor 29 can further adjust the speed. The bit drive servomotor 29 includes a torque detection unit 30. The torque detector 30 is electrically connected to the microcomputer 20. The torque detector 30 can detect the rotational torque of the bit drive servomotor 29. The torque detection unit 30 can be included in a fitting state detection unit that detects a fitting state between the bit 8 and the screw 12. The torque detection unit 30 can detect the torque acting on the bit 8 when the bit drive servomotor 29 rotates the bit 8 in the screw tightening direction with the driving of the Z-direction moving servomotor 27 released. . The fitting state between the bit 8 and the screw 12 can be detected based on the detected torque value. That is, when the bit 8 is rotated in the tightening direction and a value equal to or greater than the predetermined tightening torque of the screw 12 is detected, it can be determined that the bit 8 and the screw 12 are properly fitted.

  The microcomputer 20 corresponding to the control unit moves the bit 8 to a desired position. In addition, the microcomputer 20 releases the drive of the Z-direction moving servomotor 27 after moving the bit 8 toward the screw 12 to a predetermined position by the Z-direction moving servomotor 27. Thereby, the bit 8 is dropped by gravity. Then, after the bit 8 and the screw 12 are confirmed to be fitted, the bit drive servomotor 29 rotates the bit 8 in the loosening direction of the screw 12. Further, when the fitting state of the bit 8 and the screw 12 is not confirmed, the microcomputer 20 can rotate the bit 8 by the bit drive servo motor 29 to fit the bit 8 with the screw 12.

  Next, an example of a screw loosening operation using the screw loosening device 100 as described above will be described with reference to FIGS. FIG. 3 is a flowchart showing an example of screw loosening work by the screw loosening device 100 of the embodiment. 4A-1 to 4B-1 are explanatory diagrams showing changes in the relationship between the tip 8a of the bit 8 and the thread groove 12. FIG. Control in the screw loosening operation is performed mainly by the microcomputer 20.

  First, in step S1, the X and Y coordinates of the screw 12 and the Z coordinate of the top of the screw head 12a are read. In step S2, the X direction moving servo motor 23 and the Y direction moving servo motor 25 are operated so that the X and Y coordinates of the bit 8 coincide with the X and Y coordinates of the screw 12. Then, in step S3, which is performed after step S2, the Z-direction moving servo motor 27 is operated, and the bit 8 is moved to the predetermined position toward the screw 12 as shown in FIGS. 4 (a-1) and (b-1). Move. Here, the predetermined position is a position above the Z coordinate of the top of the screw head 12a. That is, the bit 8 is lowered to a position where the tip 8a does not come into contact with the screw head 12a.

  In step S4 performed subsequent to step S3, the driving of the Z-direction moving servomotor 27 is released. Specifically, the energization to the Z-direction moving servomotor 27 is cut off and the excitation is turned off. Then, as shown in FIG. 4A-2, the bit 8 gently falls due to gravity. In such a state, in step S5, the height position of the tip 8a of the bit 8 is detected. Since the bit 8 falls gently due to gravity, it is possible to avoid the bit 8 being strongly pressed against the screw head 12a, thereby avoiding damage to the screw head 12a.

  In step S6 performed subsequent to step S5, it is determined whether or not the tip 8a of the bit 8 matches the height (Z coordinate) of the bottom 12b1 of the screw groove 12b. When the bit 8 is dropped by gravity, if the direction of the bit 8 and the direction of the thread groove 12b coincide with each other as shown in FIGS. 4 (a-3) and 4 (b-3), The distal end portion 8a and the thread groove 12b can be appropriately fitted. At this time, the Z coordinate of the tip 8a of the bit 8 matches the Z coordinate of the bottom 12b1 of the screw groove 12b. In this case, Yes is determined in step S6, and the process proceeds to step S8.

  On the other hand, when the bit 8 is dropped by gravity, if the direction of the bit 8 and the direction of the screw groove 12b do not match as shown in FIGS. 4 (a-2) and 4 (b-2), the bit 8 8 cannot be properly fitted to the front end portion 8a and the thread groove 12b. In this case, the Z coordinate of the tip 8a of the bit 8 indicates a position higher than the Z coordinate of the bottom 12b1 of the thread groove 12b. In this case, No is determined in step S6, and the process proceeds to step S7. In step S7, the bit 8 is rotated at a low speed in the screw tightening direction, and the direction of the bit 8 and the direction of the screw groove 12b are matched. Here, the low speed may be, for example, a rotation speed of 100 rpm or less. This is generally intended to be slower than the speed at which the screw is tightened. For example, while the rotational speed when tightening the screw is about 3,000 rpm, the rotational speed in step S7 is 100 rpm or less. In this way, by rotating the bit 8 at a low speed, the bit 8 can be vigorously rotated while the tip 8a of the bit 8 is fitted to the thread groove 12b halfway, thereby avoiding damage to the screw 12. be able to. At this time, the driving of the Z-direction moving servo motor 27 is released, and the bit 8 is not strongly pressed against the screw 12, so that the bit 8 can rotate smoothly and the screw head 12a is damaged. Can be suppressed. In addition, when the driving of the Z-direction moving servo motor 27 is released, when the direction of the bit 8 and the direction of the screw groove 12b coincide with each other, the tip end portion 8a of the bit 8 is smoothly inserted into the screw groove 12a. Can get in. Furthermore, by setting the rotation direction of the bit 8 to the screw tightening direction, it is possible to search for a state where the direction of the bit 8 and the direction of the screw groove 12b coincide with each other in a more stable state. If the bit 8 is rotated in the screw loosening direction, the bit 8 is fitted in the thread groove 12b in an incomplete state, and the screw 12 starts to rotate, and the screw 12 may be damaged. Such a situation can be avoided by setting the rotation direction of the bit 8 to the screw tightening direction. Here, the angle at which the bit 8 is rotated can be determined according to the shape of the thread groove 12b. For example, when the screw groove 12b has a cross shape having grooves separated by 90 °, if the rotation angle is set to 90 °, a state where the bit 8 and the screw groove 12b are properly fitted can be found. For example, in the case of a trifurcated thread groove, the rotation angle may be set to 120 °.

  When the tip 8a of the bit 8 matches the screw groove 12b, the height position of the tip 8a of the bit 8 is lowered, and the Z coordinate of the tip 8a of the bit 8 matches the Z coordinate of the bottom 12b1 of the screw groove 12b. . Thereby, it can be judged as Yes at Step S6. When the tip 8a of the bit 8 is aligned with the screw groove 12b, the height position of the tip 8a of the bit 8 is lowered, so that when the change in the height position is detected, the bit 8 and the screw groove 12b are detected. May be determined to be properly fitted.

  After step S7, step S6 is performed again. When it is determined Yes in step S6, the process proceeds to step S8. In step S8, the bit 8 is rotated in the screw tightening direction. Then, in step S9, it is determined whether or not the detected value of the rotational torque in the rotation performed in step S8 is equal to or greater than the prescribed tightening torque of the screw 12. This is a measure for detecting the fitting state between the bit 8 and the thread groove 12b based on the rotational torque detected by the torque detector 30 when the tightened screw 12 is further tightened. By this measure, if the detected value of the rotational torque is equal to or greater than the prescribed tightening torque of the screw 12, it is determined that the bit 8 and the screw 12 groove 12b are in an appropriate fitting state. Thus, in order to detect the fitting state between the tip 8a of the bit 8 and the thread groove 12b, the information related to the height position of the tip 8a of the bit 8 and the information related to the rotational torque can be used together. An accurate fitting state can be determined. In addition, in order to detect the fitting state between the bit 8 and the thread groove 12b, only one of the measures can be adopted.

  When it is determined Yes in step S9, the process proceeds to step S10. In step S10, the screw 12 is loosened. That is, as shown in FIGS. 4A-4 and 4B-4, the bit 8 rotates in the loosening direction. Thereby, the screw 12 is loosened without being damaged. Thereafter, the process returns.

  When it is determined No in step S9, the process proceeds to step S11. In step S11, it is determined whether the number of retries is two or more. When it is determined No in step S11, the processing from step S1 is repeated. If YES is determined in step S11, error determination is made in step S12. Thereafter, the process returns.

  As described above, the screw loosening device 100 according to the present embodiment releases the drive of the Z-direction moving servo motor 27 when the bit 8 is fitted to the screw groove 12b. Both can be smoothly fitted. Moreover, the damage of the screw 12 at the time of detecting both fitting states is also suppressed. Thus, according to the screw loosening device 100 of the present embodiment, it is possible to realize a state in which the bit 8 and the screw groove 12b are appropriately fitted without damaging the screw 12.

  The screw loosening device 100 of this embodiment is intended for mobile phone terminals, tablet-type personal computers, notebook-type personal computers, and the like. It can also be applied to scenes. Moreover, although the screw loosening apparatus 100 of this embodiment uses the servomotor for each part, in order to operate each part, other well-known power sources can also be used. In such a case, in order to release the drive in the Z-axis direction when the bit is fitted to the screw, an appropriate clutch or an air pressure release mechanism is provided depending on the type of power source. be able to.

  Although the preferred embodiment of the present invention has been described in detail above, the present invention is not limited to the specific embodiment, and various modifications, within the scope of the gist of the present invention described in the claims, It can be changed. For example, in the above-described embodiment, a combination mechanism of a servo motor and a servo amplifier is used as the drive mechanism of each unit. However, a conventionally known drive mechanism such as an actuator or a stepping motor may be employed.

1 Control part storage part 6a Bit tip part height measurement sensor (fitting state detection part / position information acquisition part)
7 Electric Driver Unit 8 Bit 9 Y-direction Moving Rail 10 Work Set Table 20 Microcomputer (Control Unit)
23 X-direction moving servo motor 25 Y-direction moving servo motor 27 Z-direction moving servo motor (Axial drive unit)
29 bit drive servo motor (bit drive unit)
30 Torque detector (fitting state detector)
100 Screw loosening device

Claims (4)

  1. A bit,
    A bit driving unit for rotating the bit in a screw loosening direction and a tightening direction;
    An axial drive unit that moves the bit toward and away from the screw to be loosened; and
    A fitting state detection unit for detecting a fitting state as to whether or not a tip portion of the bit has entered a screw groove formed in a screw head of the screw ;
    After the bit is moved to a predetermined position toward the screw by the axial movement drive unit, the driving of the axial movement drive unit is released, and an operation of causing the tip of the bit to enter the screw groove is performed. When the fitting state detection unit does not confirm that the tip of the bit has entered the screw groove, the bit driving unit rotates the bit to fit the tip of the bit with the screw groove. And after the fitting of the bit and the screw is confirmed by the fitting state detection unit, the control unit that rotates the bit in the loosening direction of the screw by the bit driving unit,
    A screw loosening device comprising:
  2. When the bit is rotated by the bit driving unit and the tip of the bit is fitted into the screw groove, the control unit is configured to rotate the bit at a rotation speed lower than the rotation speed at the time of screw tightening operation. The screw loosening device according to claim 1, wherein the screw loosening device is rotated in a screw tightening direction .
  3.   The fitting state detecting unit detects a torque acting on the bit when the bit driving unit rotates the bit in a screw tightening direction with the driving of the axial movement driving unit being released. The screw loosening device according to claim 1 or 2.
  4.   The screw according to any one of claims 1 to 3, wherein the fitting state detection unit includes a position information acquisition unit that acquires height position information of the bit after releasing the driving of the axial movement drive unit. Loosening device.
JP2013142122A 2013-07-05 2013-07-05 Screw loosening device Active JP6182756B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2013142122A JP6182756B2 (en) 2013-07-05 2013-07-05 Screw loosening device

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Application Number Priority Date Filing Date Title
JP2013142122A JP6182756B2 (en) 2013-07-05 2013-07-05 Screw loosening device
CN201410286972.1A CN104275592B (en) 2013-07-05 2014-06-24 Screw tightening and loosening device

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JP2015013350A JP2015013350A (en) 2015-01-22
JP6182756B2 true JP6182756B2 (en) 2017-08-23

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Family Cites Families (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0217296B2 (en) * 1985-06-29 1990-04-20 Tokyo Shibaura Electric Co
JPH0644576Y2 (en) * 1989-03-07 1994-11-16 マツダ株式会社 Loosen apparatus of the fastening member
JPH04141332A (en) * 1990-09-28 1992-05-14 Fujitsu Ltd Screw fastening device
JPH0523928A (en) * 1991-07-19 1993-02-02 Sony Corp Thread unfastener
JPH0819923A (en) * 1994-06-30 1996-01-23 Nippon Seiki Co Ltd Automatic screw fastening device
JP3579499B2 (en) * 1995-05-15 2004-10-20 新日本製鐵株式会社 Bolt loosening method and device by robot
JP3855322B2 (en) * 1996-11-08 2006-12-06 株式会社デンソー Screw inspection device
JP2000334625A (en) * 1999-05-26 2000-12-05 Matsushita Electric Works Ltd Screw head damage preventing type power screwdriver
US6595730B2 (en) * 2000-03-06 2003-07-22 Alden Corporation Bit for removing damaged screws
DE20007904U1 (en) * 2000-05-03 2001-09-06 Cooper Power Tools Gmbh & Co Screw system
CN202742021U (en) * 2012-07-13 2013-02-20 东风康明斯发动机有限公司 Bolt unscrewing and extracting equipment based on multi-axle box
CN202742023U (en) * 2012-09-05 2013-02-20 江苏中技桩业有限公司 Intelligent locating type full-automatic bolt screwing and unscrewing machine

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CN104275592A (en) 2015-01-14
CN104275592B (en) 2017-04-12
JP2015013350A (en) 2015-01-22

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