JP7467469B2 - 加工装置、これに用いられる制御装置及び加工装置の制御方法 - Google Patents
加工装置、これに用いられる制御装置及び加工装置の制御方法 Download PDFInfo
- Publication number
- JP7467469B2 JP7467469B2 JP2021533977A JP2021533977A JP7467469B2 JP 7467469 B2 JP7467469 B2 JP 7467469B2 JP 2021533977 A JP2021533977 A JP 2021533977A JP 2021533977 A JP2021533977 A JP 2021533977A JP 7467469 B2 JP7467469 B2 JP 7467469B2
- Authority
- JP
- Japan
- Prior art keywords
- scraper
- workpiece
- displacement
- processing
- correlation
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 20
- 238000006073 displacement reaction Methods 0.000 claims description 126
- 238000005520 cutting process Methods 0.000 claims description 103
- 238000007790 scraping Methods 0.000 claims description 25
- 238000001514 detection method Methods 0.000 claims description 23
- 238000003860 storage Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 12
- 238000006243 chemical reaction Methods 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 238000002474 experimental method Methods 0.000 description 3
- 238000003754 machining Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
Images
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
- G05B19/4155—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 programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D79/00—Methods, machines, or devices not covered elsewhere, for working metal by removal of material
- B23D79/02—Machines or devices for scraping
- B23D79/06—Machines or devices for scraping with reciprocating cutting-tool
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D79/00—Methods, machines, or devices not covered elsewhere, for working metal by removal of material
- B23D79/02—Machines or devices for scraping
-
- 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
- B23Q17/002—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring the holding action of work or tool holders
- B23Q17/003—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring the holding action of work or tool holders by measuring a position
-
- 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
- B23Q17/002—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring the holding action of work or tool holders
- B23Q17/005—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring the holding action of work or tool holders by measuring a force, a pressure or a deformation
-
- 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
-
- 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
- B23Q17/22—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring existing or desired position of tool or work
-
- 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
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D3/00—Cutting work characterised by the nature of the cut made; Apparatus therefor
- B26D3/08—Making a superficial cut in the surface of the work without removal of material, e.g. scoring, incising
- B26D3/085—On sheet material
-
- 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
- G05B19/404—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 control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
-
- 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
- G05B19/416—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 control of velocity, acceleration or deceleration
- G05B19/4163—Adaptive control of feed or cutting velocity
-
- 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
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35519—Machining data and tool data
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Human Computer Interaction (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Automatic Control Of Machine Tools (AREA)
- Multi-Process Working Machines And Systems (AREA)
- Apparatuses And Processes For Manufacturing Resistors (AREA)
- Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
Description
2 ワーク(被加工物)
2a 被加工面
3 スクレイパー
3a 刃先
3b 板状体
4 基台
5 支持枠
5a レール部分
5b 柱部分
10 ロボットアーム(駆動部)
10a アーム部
10b アーム部
10c 回動部
10d 回動部
10e 回動部
20 カメラ(第1の検出部)
30 力覚センサー(第1の検出部)
40 カメラ
50 移動機構
50a 移動体
60 制御装置
60a 第1の取得部
60b 第2の取得部
60c 制御部
60d 記憶部
100 加工装置
101 カム機構
101a カム
101b 駆動軸
101c 駆動源
102 ボールネジ機構
103 駆動装置(駆動部)
104 支持体
104a ガイド部
105 スプリング
Claims (4)
- 被加工物をきさげ加工する加工装置であって、
スクレイパーを駆動する駆動部と、
前記スクレイパーの、加工開始点を基準位置とした前記被加工物の表面に平行な方向の変位を検出する第1の検出部と、
前記被加工物に対して前記スクレイパーが加える加工力を検出する第2の検出部と、
前記第1の検出部により検出された前記スクレイパーの変位の情報を取得する第1の取得部と、
前記第2の検出部により検出された前記加工力の情報を取得する第2の取得部と、
前記被加工物が前記スクレイパーにより正常に切削加工されたときの、前記スクレイパーの変位と加工力との相関関係を記憶する記憶部と、
前記第1の取得部が取得した前記変位の情報と前記第2の取得部が取得した前記加工力の情報とに基づいて、前記第1の取得部が取得した前記変位と前記第2の取得部が取得した前記加工力との相関関係を前記記憶部に記憶された相関関係と一致させるように前記駆動部を制御する制御部と、を有することを特徴とする加工装置。 - 前記きさげ加工は、前記被加工物の複数の異なる箇所に対する複数回の切削加工により行われる、請求項1に記載の加工装置。
- 駆動部によりスクレイパーを駆動して被加工物をきさげ加工する加工装置に用いられる制御装置であって、
前記スクレイパーの、加工開始点を基準位置とした前記被加工物の表面に平行な方向の変位の情報を取得する第1の取得部と、
前記被加工物に対して前記スクレイパーが加える加工力の情報を取得する第2の取得部と、
前記被加工物が前記スクレイパーにより正常に切削加工されたときの、前記スクレイパーの変位と加工力との相関関係を記憶する記憶部と、
前記第1の取得部が取得した前記変位の情報と前記第2の取得部が取得した前記加工力の情報とに基づいて、前記第1の取得部が取得した前記変位と前記第2の取得部が取得した前記加工力との相関関係を前記記憶部に記憶された相関関係と一致させるように前記駆動部を制御する制御部と、を有することを特徴とする制御装置。 - 駆動部によりスクレイパーを駆動して被加工物をきさげ加工する加工装置の制御方法であって、
前記スクレイパーの、加工開始点を基準位置とした前記被加工物の表面に平行な方向の変位の情報を取得する第1の取得ステップと、
前記被加工物に対して前記スクレイパーが加える加工力の情報を取得する第2の取得ステップと、
前記被加工物が前記スクレイパーにより正常に切削加工されたときの、前記スクレイパーの変位と加工力との相関関係を記憶部に記憶する記憶ステップと、
前記第1の取得ステップにおいて取得した前記変位の情報と前記第2の取得ステップにおいて取得した前記加工力の情報とに基づいて、前記第1の取得ステップで取得した前記変位と前記第2の取得ステップで取得した前記加工力との相関関係を前記記憶部に記憶された相関関係と一致させるように前記駆動部を制御する制御ステップと、を有することを特徴とする加工装置の制御方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019136423 | 2019-07-24 | ||
JP2019136423 | 2019-07-24 | ||
PCT/JP2020/027559 WO2021015075A1 (ja) | 2019-07-24 | 2020-07-15 | 加工装置、これに用いられる制御装置及び加工装置の制御方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2021015075A1 JPWO2021015075A1 (ja) | 2021-01-28 |
JP7467469B2 true JP7467469B2 (ja) | 2024-04-15 |
Family
ID=74193478
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021533977A Active JP7467469B2 (ja) | 2019-07-24 | 2020-07-15 | 加工装置、これに用いられる制御装置及び加工装置の制御方法 |
Country Status (7)
Country | Link |
---|---|
US (1) | US20220276635A1 (ja) |
EP (2) | EP4005716B1 (ja) |
JP (1) | JP7467469B2 (ja) |
KR (1) | KR20220038067A (ja) |
CN (1) | CN114126792A (ja) |
TW (1) | TWI819227B (ja) |
WO (1) | WO2021015075A1 (ja) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024071330A1 (ja) * | 2022-09-30 | 2024-04-04 | シチズン時計株式会社 | キサゲ加工方法及びキサゲ加工装置 |
WO2024071324A1 (ja) * | 2022-09-30 | 2024-04-04 | シチズン時計株式会社 | キサゲ加工装置、及びキサゲ加工方法 |
WO2024116979A1 (ja) * | 2022-11-30 | 2024-06-06 | シチズン時計株式会社 | キサゲ加工装置及びキサゲ加工方法 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5123921B2 (ja) | 2009-11-30 | 2013-01-23 | 昭和電線ケーブルシステム株式会社 | 絶縁ブッシングと電力ケーブルとの接続部およびこれを用いたケーブル接続部 |
JP2016137551A (ja) | 2015-01-28 | 2016-08-04 | ファナック株式会社 | ロボットを用いたキサゲ加工装置及びキサゲ加工方法 |
Family Cites Families (38)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4602540A (en) * | 1981-11-26 | 1986-07-29 | Toshiba Kikai Kabushiki Kaisha | Precision machine system |
JPS6165762A (ja) * | 1984-09-06 | 1986-04-04 | Nippon Sheet Glass Co Ltd | 板状体の端面研磨装置 |
CA1313308C (en) * | 1986-04-05 | 1993-02-02 | Noboru Nagase | Grinding machine and grinding method |
US4744274A (en) * | 1987-02-04 | 1988-05-17 | Vasquez Eduardo C | Wax ring pattern machining tool |
JP2817958B2 (ja) * | 1988-09-02 | 1998-10-30 | シンシナティ・ミラクロン‐ヒールド・コーポレーション | 研削工程を制御するための改良された装置と方法、および砥石を修正するための装置と方法 |
JPH05123921A (ja) * | 1991-02-20 | 1993-05-21 | Nippon Spindle Mfg Co Ltd | キサゲ加工方法及びその装置 |
US5331770A (en) * | 1991-07-26 | 1994-07-26 | Hitachi, Ltd. | Method for scraping off excessive portion of workpiece |
TW377467B (en) * | 1997-04-22 | 1999-12-21 | Sony Corp | Polishing system, polishing method, polishing pad, and method of forming polishing pad |
TW434095B (en) * | 1997-08-11 | 2001-05-16 | Tokyo Seimitsu Co Ltd | Wafer polishing apparatus |
JPH11207477A (ja) * | 1998-01-26 | 1999-08-03 | Mitsubishi Electric Corp | きさげ加工装置およびきさげ加工方法 |
US6986418B2 (en) * | 1998-12-10 | 2006-01-17 | Martin Engineering Company | Conveyor belt cleaner scraper blade with sensor and control system therefor |
TW476691B (en) * | 1999-09-02 | 2002-02-21 | Mitsubishi Materials Corp | Polishing head, polishing apparatus using polishing head, and method for sensing polished surface state |
JP3702342B2 (ja) * | 2002-07-10 | 2005-10-05 | 国立大学法人岐阜大学 | 柔軟な構造を特徴とする切削工具ホルダ及びその使用方法 |
TW201010862A (en) * | 2008-09-03 | 2010-03-16 | Horng Terng Automation Co Ltd | Scraper device with auto-sensing function |
CN101693309A (zh) * | 2009-10-16 | 2010-04-14 | 济南二机床集团有限公司 | 基准点法刮研工艺 |
EP2363772B1 (en) * | 2010-03-05 | 2017-05-31 | FIDIA S.p.A. | Method for moving a tool of a CNC machine over a surface |
CN102205440B (zh) * | 2010-03-30 | 2013-07-31 | 发那科株式会社 | 直线凹槽加工方法和直线凹槽加工装置 |
DE102010054393A1 (de) * | 2010-12-07 | 2012-06-14 | Chiron-Werke Gmbh & Co. Kg | Verfahren zur Bestimmung der Position eines Werkzeuges |
EP2669755B1 (en) * | 2011-09-14 | 2015-07-29 | JTEKT Corporation | Machining error computation device, machining error computation method, machining control device and machining control method |
CN102896557B (zh) * | 2012-09-17 | 2014-06-04 | 东北大学 | 一种车铣复合加工切削力测量方法 |
JP6012104B2 (ja) * | 2012-12-18 | 2016-10-25 | 三菱日立パワーシステムズ株式会社 | バニシング装置及びそれを用いたバニシング方法 |
CN103056759B (zh) * | 2012-12-24 | 2015-01-28 | 中国科学院自动化研究所 | 一种基于传感器反馈的机器人磨削系统 |
CN203227896U (zh) * | 2013-07-15 | 2013-10-09 | 韵升控股集团有限公司 | 精密钢带刮边机 |
TWI535522B (zh) * | 2013-12-25 | 2016-06-01 | 財團法人工業技術研究院 | 提供回饋力的方法與裝置以及加工機系統 |
WO2015125231A1 (ja) * | 2014-02-19 | 2015-08-27 | 日鍛バルブ株式会社 | 加工装置及びバリ取り装置 |
JP5890473B2 (ja) * | 2014-06-13 | 2016-03-22 | ファナック株式会社 | モータを制御するモータ制御装置 |
JP5927259B2 (ja) * | 2014-09-30 | 2016-06-01 | ファナック株式会社 | 力制御を実行するロボットシステム |
JP6695102B2 (ja) * | 2015-05-26 | 2020-05-20 | 株式会社ディスコ | 加工システム |
JP6088583B2 (ja) * | 2015-06-08 | 2017-03-01 | ファナック株式会社 | ロボットと力の表示機能を備えたロボット制御装置 |
CN205020962U (zh) * | 2015-10-19 | 2016-02-10 | 乐清市中洋电子科技有限公司 | 码盘平面加工机床 |
US20190076907A1 (en) * | 2016-03-31 | 2019-03-14 | Fuji Manufacturing Co., Ltd. | Structure of cutting edge of machining tool, and surface treatment method for same |
CN106217130B (zh) * | 2016-08-15 | 2018-06-15 | 大连理工大学 | 复杂曲面加工过程中铣刀状态在线监测与预警方法 |
CN106680288A (zh) * | 2017-01-03 | 2017-05-17 | 京东方科技集团股份有限公司 | 一种研磨设备及研磨方法 |
CN206747722U (zh) * | 2017-03-23 | 2017-12-15 | 湖南金龙国际铜业有限公司 | 一种铜锭飞边处理装置 |
CN109940475B (zh) * | 2017-12-20 | 2023-10-03 | 广州中国科学院先进技术研究所 | 一种机器人打磨去毛刺装置及方法 |
CN108544283B (zh) * | 2018-03-11 | 2020-04-24 | 沈阳工业大学 | 连接器核心零部件自动加工平台 |
CN109483556B (zh) * | 2018-10-30 | 2021-04-16 | 武汉大学 | 一种基于示教学习的机器人打磨系统及方法 |
CN109318224A (zh) * | 2018-12-03 | 2019-02-12 | 仇国璘 | 一种具有主动柔性控制功能的工业机器人及其走线结构 |
-
2020
- 2020-07-15 CN CN202080052350.6A patent/CN114126792A/zh active Pending
- 2020-07-15 US US17/597,700 patent/US20220276635A1/en active Pending
- 2020-07-15 EP EP20843913.3A patent/EP4005716B1/en active Active
- 2020-07-15 WO PCT/JP2020/027559 patent/WO2021015075A1/ja active Application Filing
- 2020-07-15 JP JP2021533977A patent/JP7467469B2/ja active Active
- 2020-07-15 EP EP24167823.4A patent/EP4371718A3/en active Pending
- 2020-07-15 KR KR1020227002452A patent/KR20220038067A/ko unknown
- 2020-07-22 TW TW109124663A patent/TWI819227B/zh active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5123921B2 (ja) | 2009-11-30 | 2013-01-23 | 昭和電線ケーブルシステム株式会社 | 絶縁ブッシングと電力ケーブルとの接続部およびこれを用いたケーブル接続部 |
JP2016137551A (ja) | 2015-01-28 | 2016-08-04 | ファナック株式会社 | ロボットを用いたキサゲ加工装置及びキサゲ加工方法 |
Also Published As
Publication number | Publication date |
---|---|
EP4005716A1 (en) | 2022-06-01 |
CN114126792A (zh) | 2022-03-01 |
JPWO2021015075A1 (ja) | 2021-01-28 |
EP4371718A2 (en) | 2024-05-22 |
US20220276635A1 (en) | 2022-09-01 |
WO2021015075A1 (ja) | 2021-01-28 |
EP4371718A3 (en) | 2024-06-05 |
KR20220038067A (ko) | 2022-03-25 |
TWI819227B (zh) | 2023-10-21 |
EP4005716B1 (en) | 2024-05-08 |
EP4005716A4 (en) | 2023-08-02 |
TW202120231A (zh) | 2021-06-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7467469B2 (ja) | 加工装置、これに用いられる制御装置及び加工装置の制御方法 | |
CN105817712B (zh) | 刮研加工装置和刮研加工方法 | |
JP4098761B2 (ja) | 仕上げ加工方法 | |
JP7368170B2 (ja) | 表面仕上げ装置 | |
US10183369B2 (en) | Cutting fluid supply system to machine tool | |
US10500724B2 (en) | Robot teaching device for correcting robot trajectory | |
JP3623474B2 (ja) | ヘミング加工装置およびヘミング加工方法 | |
US9902070B2 (en) | Robot system and robot control method for adjusting position of coolant nozzle | |
JP2024009106A (ja) | ツールの作業位置のずれ量を取得する装置、及び方法 | |
JP2013123746A (ja) | 摩擦撹拌接合装置 | |
JP2015134407A (ja) | 視覚センサ及び力センサを備えたバリ取り装置 | |
JPH1020911A (ja) | 数値制御装置における工具長補正方法、被加工物中心位置検出方法、工具摩耗度合い推定方法および数値制御装置 | |
CN111002101B (zh) | 机床 | |
JP2010082749A (ja) | 加工物の仕上げ方法及び装置 | |
JP2018202582A (ja) | 加工方法及び加工装置 | |
JP2016209936A (ja) | ロボット装置、ロボット制御方法、プログラム及び記録媒体 | |
JP7536673B2 (ja) | 切削装置 | |
JP6977640B2 (ja) | 加工装置及び加工方法 | |
JP2004188492A (ja) | 折り曲げ加工機および折り曲げ加工方法 | |
JP2020082242A (ja) | 部品組立装置 | |
JP3792209B2 (ja) | 数値制御装置における被加工物中心位置検出方法および数値制御装置 | |
WO2021193663A1 (ja) | 切削装置及び学習済みモデル生成方法 | |
JP7035369B2 (ja) | 加工方法 | |
JP2020175484A (ja) | ワイヤ放電加工機および自動結線方法 | |
TW202317292A (zh) | 計測熔接嘴的磨耗量的裝置、控制裝置、機器人系統、方法及電腦程式 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20230202 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20231107 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20231228 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20240326 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20240403 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7467469 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |