KR960000417A - 자동연삭장치 - Google Patents
자동연삭장치 Download PDFInfo
- Publication number
- KR960000417A KR960000417A KR1019950009347A KR19950009347A KR960000417A KR 960000417 A KR960000417 A KR 960000417A KR 1019950009347 A KR1019950009347 A KR 1019950009347A KR 19950009347 A KR19950009347 A KR 19950009347A KR 960000417 A KR960000417 A KR 960000417A
- Authority
- KR
- South Korea
- Prior art keywords
- load current
- amount
- grinding
- cutting groove
- control means
- Prior art date
Links
Classifications
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- 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
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- 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
- 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
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- 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
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- 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
- G05B2219/37—Measurements
- G05B2219/37285—Load, current taken by motor
-
- 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
- G05B2219/37—Measurements
- G05B2219/37583—Detect separation, cutting, penetration, piercing, break through 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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39468—Changeable hand, tool, code carrier, detector
-
- 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
-
- 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
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49074—Control cutting speed
-
- 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
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49075—Control depth of cut
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T483/00—Tool changing
- Y10T483/17—Tool changing including machine tool or component
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T483/00—Tool changing
- Y10T483/17—Tool changing including machine tool or component
- Y10T483/1733—Rotary spindle machine tool [e.g., milling machine, boring, machine, grinding machine, etc.]
- Y10T483/1736—Tool having specific mounting or work treating feature
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T483/00—Tool changing
- Y10T483/18—Tool transfer to or from matrix
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
본 발명은 장치를 복잡하게 하는 일없이, 성형성을 수반하는 연삭작업을 자동적으로 또한 고정밀도로 실시하기 위한 것으로, 그라인더(2)에 공급되는 부하전류의 변화량(c)이 소정의 한계치 이하일 때에는, 부하전류에 따라서 그라인더(2)의 워어크(a)로의 절삭홈의 양을 제어하고, 또, 부하전류의 변화량(c)이 소정의 한계치를 초과할 때에는, 부하전류에 따라서 그라인더(2)의 연삭속도를 제어한다.
(선택도)제6도
Description
본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음
제1도는 본 발명의 일실시예에 의한 연삭작업용 로붓시스템의 구성도,
제2도는 로봇구동제어부와 구성도,
제3도는 로봇구동제어부에 의한 제어동작을 표시하는 기본프로그램의 플로우차아트,
제4도는 속도제어실행루틴의 플로우차아트,
제5도는 절삭홈의 제어실행루틴의 플로우차아트.
Claims (2)
- 로봇이 연착공구를 쥐고 피연삭물을 연삭하는 자동연착장치에 있어서, (a) 상기한 연삭공구에 공급되는부하전류를 검지하는 부하전류검지수단, (b) 상기한 연착공구에 공급되는 부하전류의 변화량을 검지하는 부하전류변화량 검지수단, (c) 상기한 부하전류검지수단에 의하여 검지되는 부하전류에 따라 상기한 연삭공구의 상기한 피연삭물로의 절삭홈의 양을 제어하는 절삭홈의 양 제어수단, (d) 상기한 부하전류검지수단에 의하여 검지되는 부하전류에 따라 상기한 연사공구의 연삭속도를 제어하는 연삭속도제어수단 및 (e) 상기한 부하전류 변화량 검지수단에 의하여 검지되는 부하전류의 변화량이 소정의 한계치 이하일 때에는 상기한 절삭홈양제어수단에 의한 제어를 실행하고, 상기한 부하전류변화량 검지수단에 외하여 검지되는 부하전류의 변화량이 소정의한계치를 초과할 매에는 상기한 연삭속도제어수단에 의한 제어를 실행하도록, 이들 절삭홈양제어수단과 연삭 속도제어수단 등을 바꾸는 전환수단을 구비한 것을 특징으로 하는 자동연삭장치.
- 제 1 항에 있어서, 상기한 절삭홈양제어수단은 상기한 부하전류가 클 때에는 상기한 절삭홈의 양이 작게되도록, 상기한 부하전류가 작을 때에는 삶기한 절삭흠의 양이 커지도록 제어하는 것이고. 상기한 연삭속도제어수단은 상기한 부하전류가 클 때에는 상기한 절삭속도가 작게 되도록, 상기한 부하전류가 작을 때에는 상기한 연삭속도가 커지도록 제어하는 것을 특징으로 하는 자동연삭장치.※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.
Applications Claiming Priority (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP94-44160 | 1993-03-15 | ||
JP93-68906 | 1993-03-26 | ||
JP93-231284 | 1993-09-17 | ||
JP93-231283 | 1993-09-17 | ||
JP93-286988 | 1993-11-16 | ||
JP94-44316 | 1994-03-15 | ||
JP13599994 | 1994-06-17 | ||
JP94-135999 | 1994-06-17 |
Publications (2)
Publication Number | Publication Date |
---|---|
KR960000417A true KR960000417A (ko) | 1996-01-25 |
KR0167021B1 KR0167021B1 (ko) | 1999-02-01 |
Family
ID=15164832
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1019950009347A KR0167021B1 (ko) | 1993-03-15 | 1995-04-20 | 자동연삭장치 |
Country Status (6)
Country | Link |
---|---|
US (2) | US5711697A (ko) |
KR (1) | KR0167021B1 (ko) |
CN (1) | CN1150401A (ko) |
DE (1) | DE19581677T1 (ko) |
GB (1) | GB2305142B (ko) |
WO (1) | WO1995035187A1 (ko) |
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JPS60244480A (ja) * | 1984-04-11 | 1985-12-04 | Hitachi Ltd | 自動溶接装置 |
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FR2587930B1 (fr) * | 1985-05-30 | 1989-11-10 | Steelweld France | Dispositif de reception et de stockage d'outils dans des lignes de montage |
US4733050A (en) * | 1986-12-30 | 1988-03-22 | American Sterilizer Company | Robotic welding head cleaning apparatus |
DE3828594C2 (de) * | 1987-08-24 | 2002-04-25 | Toshiba Machine Co Ltd | Numerisch gesteuerte Werkzeugmaschine und Verfahren zum Steuern des damit durchgeführten Schleifvorgangs |
US4883939A (en) * | 1988-06-21 | 1989-11-28 | Automatic Tool Control And Management Systems, Inc. | Automatic tool changer for workpiece processing machines |
JP2655898B2 (ja) * | 1988-12-22 | 1997-09-24 | 株式会社神戸製鋼所 | 記憶・再生型アーク溶接ロボットの制御方法 |
JPH0822501B2 (ja) * | 1989-07-31 | 1996-03-06 | 愛晃エンジニアリング株式会社 | 自動研削装置 |
US5126645A (en) * | 1989-09-30 | 1992-06-30 | Kabushiki Kaisha Toshiba | Grinder robot |
JPH0651268B2 (ja) * | 1989-10-27 | 1994-07-06 | 日立建機株式会社 | 押し圧制御式研削装置 |
JP2940027B2 (ja) * | 1989-11-27 | 1999-08-25 | 日本精工株式会社 | 研削力制御による研削方法 |
JPH04101760A (ja) * | 1990-08-20 | 1992-04-03 | Meidensha Corp | 作業用ロボットの制御方式 |
EP0492014B1 (en) * | 1990-12-28 | 1996-03-20 | Aiko Engineering Co. Ltd. | Automatic grinding apparatus |
-
1995
- 1995-04-20 KR KR1019950009347A patent/KR0167021B1/ko not_active IP Right Cessation
- 1995-06-16 CN CN95193506A patent/CN1150401A/zh active Pending
- 1995-06-16 GB GB9625789A patent/GB2305142B/en not_active Expired - Fee Related
- 1995-06-16 US US08/737,604 patent/US5711697A/en not_active Expired - Fee Related
- 1995-06-16 DE DE19581677T patent/DE19581677T1/de not_active Withdrawn
- 1995-06-16 WO PCT/JP1995/001197 patent/WO1995035187A1/ja active Application Filing
-
1997
- 1997-07-18 US US08/896,652 patent/US6021361A/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
GB9625789D0 (en) | 1997-01-29 |
CN1150401A (zh) | 1997-05-21 |
DE19581677T1 (de) | 1997-05-28 |
GB2305142A (en) | 1997-04-02 |
US6021361A (en) | 2000-02-01 |
US5711697A (en) | 1998-01-27 |
GB2305142B (en) | 1998-07-01 |
KR0167021B1 (ko) | 1999-02-01 |
WO1995035187A1 (fr) | 1995-12-28 |
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