JPH06114702A - Automatic taper correcting device - Google Patents
Automatic taper correcting deviceInfo
- Publication number
- JPH06114702A JPH06114702A JP4286975A JP28697592A JPH06114702A JP H06114702 A JPH06114702 A JP H06114702A JP 4286975 A JP4286975 A JP 4286975A JP 28697592 A JP28697592 A JP 28697592A JP H06114702 A JPH06114702 A JP H06114702A
- Authority
- JP
- Japan
- Prior art keywords
- tailstock
- center
- axis
- touch sensor
- taper
- 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.)
- Pending
Links
Landscapes
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Grinding Of Cylindrical And Plane Surfaces (AREA)
- Turning (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明はＮＣ円筒研削盤における
自動テーパ補正装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic taper correction device for an NC cylindrical grinder.
【０００２】[0002]
【従来の技術】円筒研削盤において、両センタ間にワー
クを支持して研削加工を行う場合、ワークの長さが変わ
ると両センタ間の距離を変えねばならない。ワークの長
さの変化が比較的小さい場合には心押軸の突出し量を変
えるだけでセンタ間の距離を変えることができるが、長
さの変化が大きいと心押台自体のＺ軸位置を変えねばな
らない。心押台を動かすと案内面の形状精度や塵等のか
みこみにより円筒度に狂いが生じテーパ修正が必要にな
る。2. Description of the Related Art In a cylindrical grinding machine, when a workpiece is supported between both centers for grinding, the distance between the centers must be changed when the length of the workpiece changes. If the change in the work length is relatively small, the distance between the centers can be changed simply by changing the protrusion amount of the tailstock shaft. However, if the length change is large, the Z-axis position of the tailstock itself can be changed. I have to change. When the tailstock is moved, the cylindricity becomes incorrect due to the shape accuracy of the guide surface and the inclusion of dust and the like, and it is necessary to correct the taper.
【０００３】従来、ＮＣ研削盤のテーパ補正装置は図７
に示すように心押台１０１をＸ軸移動可能に設けて、Ｎ
Ｃ制御のサーボモータ１０２によりねじ１０３を介して
移動し、ワークＷの両端部を研削し、研削時にベッドに
固着の直接定寸装置１０４より定寸信号が出たときのＸ
軸座標値をそれぞれ記憶して、演算により補正量を算出
し、心押台１０１をＸ軸移動させてテーパ補正を行う
か、又は先に主軸台１０５側を研削して直接定寸装置か
ら定寸信号が出たときのＸ軸座標値を記憶し、心押台側
の研削は心押台を一旦Ｘ軸方向反砥石側に後退させたの
ち、記憶したＸ軸座標値に砥石台を位置決めし、心押台
のＸ軸方向砥石側への切込み送りで直接定寸装置により
定寸信号が出るまで切込んでテーパ補正を行っていた。A conventional taper correction device for an NC grinder is shown in FIG.
The tailstock 101 is provided so as to be movable in the X-axis as shown in
X when a sizing signal is output from the direct sizing device 104 that is fixed to the bed during grinding by moving through the screw 103 by the C control servo motor 102 and grinding both ends of the work W.
The axis coordinate values are stored respectively, and the correction amount is calculated, and the tailstock 101 is moved in the X-axis to perform taper correction, or the headstock 105 side is ground first and directly determined from the sizing device. The X-axis coordinate value when the size signal is output is memorized. For grinding on the tailstock side, the tailstock is temporarily retracted to the X-axis direction anti-grinding side, then the grindstone base is positioned at the memorized X-axis coordinate value. However, when the tailstock is fed to the grindstone side in the X-axis direction, the taper correction is performed by directly cutting by the sizing device until a sizing signal is output.
【０００４】[0004]
【発明が解決しようとする課題】従来の技術で述べたテ
ーパ補正装置は、直接定寸装置を必要としワークを研削
してみる必要があり、大掛かりな装置と手間を要すると
いう問題点を有していた。本発明は従来の技術の有する
このような問題点に鑑みなされたものであり、その目的
とするところは簡単な計測装置により主軸台側と心押台
側の二点を測定するだけでテーパ補正を行うことができ
る自動テーパ補正装置を提供しようとするものである。The taper correcting device described in the prior art has a problem that it requires a direct sizing device to grind the work, which requires a large-scale device and labor. Was there. The present invention has been made in view of the above problems of the prior art, and its object is to perform taper correction by simply measuring two points on the headstock side and tailstock side with a simple measuring device. It is intended to provide an automatic taper correction device capable of performing the above.
【０００５】[0005]
【課題を解決するための手段】上記目的を達成するため
に本発明における自動テーパ補正装置は、ＮＣ円筒研削
盤における自動テーパ補正装置であって、砥石台上前側
に測定位置と待機位置とに移動可能にタッチセンサを設
け、テーブル上に固着された主軸台の砥石台側端面に前
記タッチセンサにより主軸センタの軸心位置を検知する
ための第１基準部を設け、テーブル上のＺ軸案内上の移
動位置決め可能な心押台に前記タッチセンサにより心押
センタの軸心位置を検知するための第２基準部を設け、
前記心押センタの軸心をＸ軸方向に移動する手段を設
け、前記タッチセンサにより測定した前記第１基準部と
前記心押センタの第２基準部のそれぞれのＸ軸寸法差と
予め記憶する設定値によりテーパ補正量を算出する手段
を設けてなるものである。In order to achieve the above object, an automatic taper correction device according to the present invention is an automatic taper correction device in an NC cylindrical grinder, and has a measurement position and a standby position on the front side of the wheel head. A movable touch sensor is provided, and a first reference portion for detecting the axial center position of the spindle center by the touch sensor is provided on the grindstone side end surface of the spindle head fixedly mounted on the table. A second reference portion for detecting the axial center position of the tailstock center by the touch sensor is provided on the tailstock capable of moving and positioning above,
A means for moving the axial center of the tailstock center in the X-axis direction is provided, and the X-axis dimensional difference between the first reference portion measured by the touch sensor and the second reference portion of the tailstock center is stored in advance. A means for calculating the taper correction amount based on the set value is provided.
【０００６】[0006]
【作用】タッチセンサが主軸台の第１基準部に当接した
ときのＸ軸座標値と、心押センタの第２基準部に当接し
たときのＸ軸座標値とを記憶してその差を演算により求
め、予め記憶する基準座と円筒部のＸ軸方向の基準差
と、求めた差が零になるように心押センタの軸心をＸ軸
移動させてテーパ補正する。The X-axis coordinate value when the touch sensor is in contact with the first reference portion of the headstock and the X-axis coordinate value when it is in contact with the second reference portion of the tailstock center are stored and the difference therebetween is stored. Is calculated, and the axial center of the tailstock center is moved in the X-axis so that the difference between the reference seat and the reference difference in the X-axis direction that is stored in advance and the calculated difference becomes zero, and the taper is corrected.
【０００７】[0007]
【実施例】以下実施例について図面を参照して説明す
る。図１のＮＣ円筒研削盤において、ベッド１上前側に
設けられたＺ軸方向の案内上にテーブル２が移動可能に
載置されてテーブル２はＮＣ装置６により制御されるＺ
軸サーボモータ３によりボールねじ４を介して移動位置
決めされる。一方、ベッド１上後側にはＸ軸方向の案内
が設けられており、このＸ軸案内上に砥石台５が移動可
能に載置され、砥石台５はＮＣ制御のＸ軸サーボーモー
タ７によりボールねじ８を介して移動位置決めされる。
砥石台５には砥石軸９が回転可能に支持されており、砥
石軸９の左端に砥石１１が着脱可能に取付けられてい
る。Embodiments will be described below with reference to the drawings. In the NC cylindrical grinder of FIG. 1, the table 2 is movably mounted on a guide in the Z-axis direction provided on the front side of the bed 1, and the table 2 is controlled by the NC device 6.
It is moved and positioned by a shaft servomotor 3 via a ball screw 4. On the other hand, a guide in the X-axis direction is provided on the rear side of the bed 1, and the grindstone base 5 is movably mounted on this X-axis guide. It is moved and positioned via the screw 8.
A grindstone shaft 9 is rotatably supported on the grindstone base 5, and a grindstone 11 is detachably attached to the left end of the grindstone shaft 9.
【０００８】テーブル２上左側には主軸台１２が固着さ
れており、テーブル２上右側にはＺ軸方向の案内１３が
設けられている。このＺ軸案内１３上にクランプ機構１
０を有する心押台１４が移動可能に載置されており、心
押台移動用サーボモータ１５によりボールねじ１６を介
して心押台１４の移動位置決めが行われるようになって
いる。主軸台１２の図示しない主軸の先端に主軸センタ
１７が着脱可能に嵌着され、心押台１４には心押軸１８
が回転及び軸方向移動可能に設けられている。A headstock 12 is fixed on the left side of the table 2, and a guide 13 in the Z-axis direction is provided on the right side of the table 2. The clamp mechanism 1 is mounted on the Z-axis guide 13.
The tailstock 14 having 0 is movably mounted, and the tailstock 14 is moved and positioned by the servomotor 15 for moving the tailstock via the ball screw 16. A spindle center 17 is detachably fitted to the tip of a spindle (not shown) of the spindle stock 12, and a tailstock shaft 18 is attached to the tailstock 14.
Are rotatably and axially movable.
【０００９】心押軸１８にはテーパ穴１８ａが偏心位置
に穿設されており、このテーパ穴に心押センタ１９が着
脱可能に嵌着されている。そしてテーパ穴１８ａの偏心
位置が真上になったとき主軸センタ１７と心押センタ１
９がほぼ同一芯高になるよう設定されており、心押軸１
８の外周にアーム２１が直角に植設されている。更に心
押台１４にはこのアーム２１を両側から挟持するコ字形
の駒２２がＸ軸方向に移動可能に設けられており、駒２
２は心押台１４に固着のテーパ補正用サーボモータ２３
により送りねじ２４を介して移動位置決めされ、駒２２
の移動量と心押センタのＸ軸移動量との関係を予め記憶
しておいてサーボモータ２３により心押センタ１９のＸ
軸位置を変えるようになっている。A taper hole 18a is formed in the tailstock shaft 18 at an eccentric position, and a tailstock center 19 is detachably fitted in the taper hole. When the eccentric position of the tapered hole 18a is right above, the spindle center 17 and the tailstock center 1
9 is set to have substantially the same center height, and the tailstock shaft 1
An arm 21 is planted at a right angle on the outer periphery of the armature 8. Further, the tailstock 14 is provided with a U-shaped piece 22 that holds the arm 21 from both sides so as to be movable in the X-axis direction.
2 is a servomotor for taper correction 23 fixed to the tailstock 14
Is moved and positioned by the feed screw 24 by the
Relationship between the X-axis movement amount of the tailstock center and the X-axis movement amount of the tailstock center is stored in advance and the X-axis of the tailstock center 19 is controlled by the servomotor 23.
It is designed to change the axis position.
【００１０】砥石台５上前側に流体圧駆動の旋回アクチ
ュエータ２５が固着されており、この旋回アクチュエー
タ２５の出力軸にＬ形のアーム２６が旋回可能に取付け
られている。このアーム２６の先端部にタッチセンサ２
７が取りつけられており、タッチセンサ２７は必要に応
じて待機位置ｂから測定位置ａに割出されるようになっ
ている。主軸台１２の砥石台側端面にはタッチセンサ２
７が当接する基準座２８が設けられており、基準座２８
の側面と主軸センタ１７の軸心までの距離Ａ1 は、組立
後正確に測定した値がＮＣ装置６内に記憶されている。
更に心押センタ１９のタッチセンサ２７が当接する円筒
部１９ａの径も正確に測定され、その１／２の値が円筒
部１９ａ外周から心押センタ１９の軸心までの距離Ａ2
として記憶されており、更にＮＣ内には演算（Ａ1 −Ａ
2 ）により求めた基準差Ｌ1 が記憶されている。A swivel actuator 25 driven by fluid pressure is fixed to the front side of the grindstone base 5, and an L-shaped arm 26 is swingably attached to the output shaft of the swivel actuator 25. The touch sensor 2 is attached to the tip of the arm 26.
7 is attached, and the touch sensor 27 is indexed from the standby position b to the measurement position a as needed. The touch sensor 2 is provided on the end face of the headstock 12 on the grindstone side.
A reference seat 28 with which the abutment 7 contacts is provided.
As for the distance A 1 between the side surface of the main shaft center 17 and the shaft center of the spindle center 17, a value accurately measured after assembly is stored in the NC device 6.
Furthermore, the diameter of the cylindrical portion 19a with which the touch sensor 27 of the tailstock center 19 abuts is also accurately measured, and a half of the diameter is the distance A 2 from the outer circumference of the cylindrical portion 19a to the axial center of the tailstock center 19.
Is stored in the NC, and the calculation (A 1 -A
The reference difference L 1 obtained in 2 ) is stored.
【００１１】続いて本実施例の作用について図５のフロ
ーチャートに従い図６の動作説明図を参照して説明す
る。加工するワークの長さが、前のワークと異なる場
合、ステップＳ１において、心押台１４のクランプが解
除され、ステップＳ２において、サーボモータ１５によ
り心押台１４がＺ軸方向主軸台１２側に移動され、ステ
ップＳ３においてクランプ機構１０により心押台１４が
クランプされ図６の仮想線の状態となる。次いでステッ
プＳ４において、主軸センタ１７の軸心からＡ1 の距離
にある基準座２８にタッチセサンサ２７を当接し、タッ
チ信号出力時のＸ軸座標値を読み取って記憶する。Next, the operation of this embodiment will be described with reference to the operation explanatory diagram of FIG. 6 according to the flowchart of FIG. When the length of the workpiece to be machined is different from that of the previous workpiece, the tailstock 14 is released from the clamp in step S1, and the tailstock 14 is moved to the Z-axis headstock 12 side by the servomotor 15 in step S2. The tailstock 14 is moved, and the tailstock 14 is clamped by the clamp mechanism 10 in step S3 to be in the state of the phantom line in FIG. Next, in step S4, the touch sensor 27 is brought into contact with the reference seat 28 located at a distance A 1 from the axis of the spindle center 17, and the X-axis coordinate value at the time of outputting the touch signal is read and stored.
【００１２】次いでステップＳ５において、心押センタ
１９の円筒部１９ａにタッチセンサを当接して、タッチ
信号が出たときのＸ軸座標値Ａ３を読み取り、ステップ
Ｓ６において記憶するＡ1 位置のＸ軸座標値と今読み取
った円筒部１９ａのＸ軸座標値Ａ3 との差Ｌ2 を演算に
より求め、ステップＳ７において主軸センタ１７と心押
センタ１９の軸心位置のＸ軸方向の差Ｘを演算Ｘ＝Ｌ1
−Ｌ2 により求める。次いでステップＳ８において、Ｘ
＝０かが確認されＮＯの場合にはステップＳ９におい
て、サーボモータ２３によりＸ＝０となる方向に心押軸
１８を旋回して心押センタの軸心をＸ軸移動し、ステッ
プＳ５に戻される。そしてステップＳ６，ステップＳ７
を経てステップＳ８においてＸ＝０になったとき、ステ
ップＳ１０において補正完了の信号が出力される。[0012] Then, in step S5, the touch sensor to the cylindrical portion 19a of the tailstock center 19 in contact, reads the X-axis coordinate value A3 when the touch signal is output, the X-axis of the A 1 position stored in step S6 The difference L 2 between the coordinate value and the X-axis coordinate value A 3 of the cylinder portion 19a just read is calculated, and in step S7, the difference X in the X-axis direction between the axial center positions of the spindle center 17 and the tailstock center 19 is calculated. X = L 1
Calculated by -L 2 . Then, in step S8, X
If it is NO, the servomotor 23 turns the tailstock shaft 18 in the direction of X = 0 to move the centerline of the tailstock center in the X-axis, and the process returns to step S5. Be done. And step S6, step S7
After that, when X = 0 in step S8, a correction completion signal is output in step S10.
【００１３】[0013]
【発明の効果】本発明は上述のとおり構成されているの
で、次の効果を奏する。主軸台の基準座と心押センタの
円筒部にタッチセンサを当ててそれぞれのＸ軸座標値を
測定して、熱変位に影響されることのない二つの座標値
の差が予め記憶する基準差の値と等しくなるよう心押軸
を旋回して心押センタ軸心をＸ軸移動させテーパ補正す
るようにしたので、ワークの長さが変わって心押センタ
の位置が狂っても自動で簡単に補正することが可能とな
り、長さの異なる複数種のワークの自動交換連続研削時
に常に高精度な研削加工精度を維持することができる。Since the present invention is configured as described above, it has the following effects. A touch sensor is applied to the base seat of the headstock and the cylindrical portion of the tailstock center to measure the X-axis coordinate values of each, and the difference between the two coordinate values that are not affected by thermal displacement is stored in advance as a reference difference. Since the tailstock shaft is swung so that it becomes equal to the value of, the tailstock center axis is moved on the X-axis and taper correction is performed, so even if the workpiece length changes and the tailstock center position shifts, it is easy and automatic. Therefore, it is possible to always maintain a high precision grinding accuracy during automatic grinding and continuous grinding of a plurality of types of works having different lengths.
【図１】本実施例の自動テーパ補正装置付ＮＣ円筒研削
盤の上視図である。FIG. 1 is a top view of an NC cylindrical grinding machine with an automatic taper correction device according to this embodiment.
【図２】砥石台上のタッチセンサの旋回割出機構を示す
部分図である。FIG. 2 is a partial view showing a turning indexing mechanism of the touch sensor on the grinding wheel base.
【図３】心押センタのＸ軸移動機構を示す図である。FIG. 3 is a view showing an X-axis moving mechanism of a tailstock center.
【図４】図３の動作説明図である。FIG. 4 is an operation explanatory diagram of FIG. 3;
【図５】本実施例の動作説明用フローチャート図であ
る。FIG. 5 is a flowchart for explaining the operation of this embodiment.
【図６】本実施例の動作説明図である。FIG. 6 is an operation explanatory diagram of the present embodiment.
【図７】従来の技術のテーパ補正装置の構成及び説明図
である。FIG. 7 is a configuration and explanatory view of a conventional taper correction device.
１ ベッド ２ テーブル ５ 砥石台 ６ ＮＣ装置 １２ 主軸台 １４ 心押台 １５ 心押台移動用サーボモータ １７ 主軸センタ １８ 心押軸 １９ 心押センタ １９ａ 円筒部 ２７ タッサセン
サ ２８ 基準座1 bed 2 table 5 grindstone 6 NC device 12 headstock 14 tailstock 15 tailstock movement servo motor 17 spindle center 18 tailstock 19 tailstock center 19a cylindrical part 27 tasser sensor 28 reference seat
Claims (1)
装置であって、砥石台上前側に測定位置と待機位置とに
移動可能にタッチセンサを設け、テーブル上に固着され
た主軸台の砥石台側端面に前記タッチセンサにより主軸
センタの軸心位置を検知するための第１基準部を設け、
テーブル上のＺ軸案内上の移動位置決め可能な心押台に
前記タッチセンサにより心押センタの軸心位置を検知す
るための第２基準部を設け、前記心押センタの軸心をＸ
軸方向に移動する手段を設け、前記タッチセンサにより
測定した前記第１基準部と前記心押センタの第２基準部
のそれぞれのＸ軸寸法差と予め記憶する設定値によりテ
ーパ補正量を算出する手段を設けてなることを特徴とす
る自動テーパ補正装置。1. An automatic taper correction device for an NC cylindrical grinding machine, comprising a touch sensor movably between a measurement position and a standby position on the front side of the wheel head, and a wheel head side of a headstock fixed on a table. A first reference portion for detecting the axial center position of the spindle center by the touch sensor is provided on the end face,
A second reference portion for detecting the axial center position of the tailstock center by the touch sensor is provided on the tailstock capable of moving and positioning on the Z-axis guide on the table, and the center axis of the tailstock center is set to X.
A means for moving in the axial direction is provided, and the taper correction amount is calculated by the X-axis dimensional difference between the first reference portion measured by the touch sensor and the second reference portion of the tailstock center and a preset value stored in advance. An automatic taper correction device comprising means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4286975A JPH06114702A (en) | 1992-09-30 | 1992-09-30 | Automatic taper correcting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4286975A JPH06114702A (en) | 1992-09-30 | 1992-09-30 | Automatic taper correcting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH06114702A true JPH06114702A (en) | 1994-04-26 |
Family
ID=17711388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4286975A Pending JPH06114702A (en) | 1992-09-30 | 1992-09-30 | Automatic taper correcting device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH06114702A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09225790A (en) * | 1996-02-23 | 1997-09-02 | Hokushin Ind Inc | Rotating member cutting device |
| JPH1034403A (en) * | 1996-07-24 | 1998-02-10 | Okuma Mach Works Ltd | Offset tail stock |
| JPH11114703A (en) * | 1997-10-17 | 1999-04-27 | Mori Seiki Co Ltd | Tailstock device for machine tool |
| KR100555351B1 (en) * | 1999-02-12 | 2006-03-03 | 주식회사 만도 | Tail stock structure capable of being arranged easily |
| EP1577059A3 (en) * | 2004-03-16 | 2006-03-29 | Vollmer Werke Maschinenfabrik Gmbh | Device and method for clamping and positioning workpieces of divergent length between centres |
| JP2008279542A (en) * | 2007-05-10 | 2008-11-20 | Jtekt Corp | Grinder, and grinding method for workpiece having imperfect circular or eccentric shape |
| JP2010179445A (en) * | 2009-02-09 | 2010-08-19 | Seiko Instruments Inc | Machining device and machining method |
| TWI400141B (en) * | 2008-02-29 | 2013-07-01 | Hon Hai Prec Ind Co Ltd | Rolling apparatus |
| CN108519186A (en) * | 2018-04-18 | 2018-09-11 | 江门市科业电器制造有限公司 | A kind of motor beats comprehensive detection device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4835830A (en) * | 1971-09-09 | 1973-05-26 |
-
1992
- 1992-09-30 JP JP4286975A patent/JPH06114702A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4835830A (en) * | 1971-09-09 | 1973-05-26 |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09225790A (en) * | 1996-02-23 | 1997-09-02 | Hokushin Ind Inc | Rotating member cutting device |
| JPH1034403A (en) * | 1996-07-24 | 1998-02-10 | Okuma Mach Works Ltd | Offset tail stock |
| JPH11114703A (en) * | 1997-10-17 | 1999-04-27 | Mori Seiki Co Ltd | Tailstock device for machine tool |
| KR100555351B1 (en) * | 1999-02-12 | 2006-03-03 | 주식회사 만도 | Tail stock structure capable of being arranged easily |
| EP1577059A3 (en) * | 2004-03-16 | 2006-03-29 | Vollmer Werke Maschinenfabrik Gmbh | Device and method for clamping and positioning workpieces of divergent length between centres |
| JP2008279542A (en) * | 2007-05-10 | 2008-11-20 | Jtekt Corp | Grinder, and grinding method for workpiece having imperfect circular or eccentric shape |
| TWI400141B (en) * | 2008-02-29 | 2013-07-01 | Hon Hai Prec Ind Co Ltd | Rolling apparatus |
| JP2010179445A (en) * | 2009-02-09 | 2010-08-19 | Seiko Instruments Inc | Machining device and machining method |
| CN108519186A (en) * | 2018-04-18 | 2018-09-11 | 江门市科业电器制造有限公司 | A kind of motor beats comprehensive detection device |
| CN108519186B (en) * | 2018-04-18 | 2023-09-08 | 江门市科业电器制造有限公司 | Motor beats and synthesizes detection device |
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