WO2012056520A1 - Système de prévention de collision d'outil et procédé de prévention de collision d'outil - Google Patents

Système de prévention de collision d'outil et procédé de prévention de collision d'outil Download PDF

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Publication number
WO2012056520A1
WO2012056520A1 PCT/JP2010/068977 JP2010068977W WO2012056520A1 WO 2012056520 A1 WO2012056520 A1 WO 2012056520A1 JP 2010068977 W JP2010068977 W JP 2010068977W WO 2012056520 A1 WO2012056520 A1 WO 2012056520A1
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WO
WIPO (PCT)
Prior art keywords
shape
coordinate data
tool
workpiece
missing
Prior art date
Application number
PCT/JP2010/068977
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English (en)
Japanese (ja)
Inventor
利明 木村
Original Assignee
財団法人機械振興協会
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 財団法人機械振興協会 filed Critical 財団法人機械振興協会
Priority to PCT/JP2010/068977 priority Critical patent/WO2012056520A1/fr
Priority to JP2011532381A priority patent/JP5543476B2/ja
Priority to KR1020137010361A priority patent/KR20130086356A/ko
Publication of WO2012056520A1 publication Critical patent/WO2012056520A1/fr

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    • 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
    • B23Q17/20—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring workpiece characteristics, e.g. contour, dimension, hardness
    • 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
    • B23Q17/2208—Detection or prevention of collisions
    • 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
    • B23Q17/2428—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves for measuring existing positions of tools or workpieces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • 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
    • G05B19/4061—Avoiding collision or forbidden zones
    • 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
    • G05B19/4069—Simulating machining process on screen
    • 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
    • G05B2219/35316—Interference checking between tool, machine, part, chuck, machining range
    • 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
    • G05B2219/37064—After digitizing, reconstruct surface by interpolating the initial mesh points

Definitions

  • the present invention relates to a tool collision prevention system for preventing a tool from colliding with a workpiece in a machine tool.
  • Patent Documents In a machine tool, in order to avoid a tool from colliding with a workpiece, a simulation of a process in which the workpiece is machined by performing three-dimensional measurement of the shape of the workpiece in advance by irradiating a laser beam is performed (for example, Patent Documents). 1).
  • the blind spot area is removed by measuring the workpiece while it is placed on a turntable (see Patent Document 2), or the optical path of a three-dimensional sensor that emits line light. It is known that the blind spot area is reduced by changing a mirror with a mirror (see Patent Document 3).
  • an object of the present invention is to provide a tool collision prevention system and a tool collision prevention method capable of reliably preventing a tool from colliding with a workpiece even when there is an unmeasured region when measuring the shape of the workpiece three-dimensionally. .
  • the tool collision prevention system of the present invention measures in advance a three-dimensional workpiece part including a workpiece processed by a tool of a machine tool, and whether or not the tool and the workpiece part collide based on the measurement result.
  • a tool collision prevention system that performs a collision determination of: a measuring unit that three-dimensionally measures the shape of the workpiece, and a shape determining unit that determines the shape of the workpiece based on a measurement result of the measuring unit.
  • the shape determination means includes an unmeasured area in which the shape of the work part is not measured in the measurement result of the measurement means,
  • shape interpolation means for interpolating the shape of the work part so as to determine the shape of the work part outside the outer shape.
  • the shape of the work part is interpolated as an actual shape or a larger shape. .
  • work part becomes larger than an actual external shape, the collision of a tool can be avoided reliably. Even when a warning that the tool collides at the interpolated shape portion is given, only a step of confirmation by the operator is added, and the collision of the tool is surely avoided. Tool collision can be avoided with a simple configuration without requiring additional equipment.
  • the work part is a concept including the case of only the work and the case of including other components such as a jig, a table, and a measuring instrument for supporting the work in addition to the work.
  • “outside the outer shape of the work part” includes a shape that protrudes toward the inner peripheral surface of the concave part when the concave part is provided in the work part, and is larger than the outer shape of the original work part.
  • the shape interpolation unit includes missing coordinate data indicating the unmeasured area, with a part of the three-dimensional coordinate data acquired by the measuring unit missing. Determining the interpolated coordinate data based on the adjacent coordinate data that is adjacent to the missing coordinate data and has no missing data, and interpolating the interpolated coordinate data into the missing coordinate data, so that the shape of the work part May be interpolated.
  • the interpolation coordinate data is determined based on the adjacent coordinate data adjacent thereto. Thereby, the missing coordinate data is interpolated, and the collision of the tool can be surely avoided by interpolating the shape of the work part.
  • the shape interpolation means compares the adjacent coordinate data group adjacent to the missing coordinate data, and the adjacent coordinate having the maximum value among the adjacent coordinate data group. Data may be determined as interpolation coordinate data. According to this aspect, the maximum value among the plurality of adjacent coordinate data groups adjacent to the missing coordinate data is interpolated as the interpolation coordinate data. As a result, it is possible to reliably prevent the collision of the tool by setting the shape to be interpolated to the maximum possible size while preventing the unmeasured area that is an unknown shape from being smaller than the actual outer shape. .
  • a work part including a work machined by a tool of a machine tool is three-dimensionally measured in advance, and whether the tool and the work part collide based on the measurement result.
  • the shape determination step includes an unmeasured region in which the shape of the workpiece is not measured in the measurement result of the measurement step, or the outer shape of the workpiece or the shape of the workpiece relative to the unmeasured region.
  • the actual shape or the above when an unmeasured area is included in the measurement result of the work part measured by the measurement unit, the actual shape or the above also interpolate the shape of the work part as a large shape. Thereby, although the shape of a workpiece
  • FIG. 1 is a schematic view of a machine tool and a tool collision prevention device to which a tool collision prevention system according to one embodiment of the present invention is applied.
  • FIG. 1 shows a schematic diagram of a machine tool and a tool collision prevention apparatus to which a tool collision prevention system according to an embodiment of the present invention is applied.
  • the machine tool 1 is a machine that sequentially operates according to the NC program.
  • the machine tool 1 includes a tool 2, a work 3 as a work part processed by the tool, a tool measurement sensor 4 that measures the length and diameter of the tool 2, and a measurement that three-dimensionally measures the shape of the work 3.
  • a laser scanner 5 as means and a monitor 6 on which various messages are displayed as necessary are provided.
  • the tool collision preventing apparatus 10 is configured as a so-called personal computer.
  • connection line connecting the tool collision prevention apparatus 10 and the machine tool 1 is connected to the USB line 7 for transmitting / receiving the measured value of the shape of the workpiece 3 measured by the laser scanner 5 and for transmitting / receiving other information.
  • An Ethernet (registered trademark) line 8 is provided.
  • the tool measurement sensor 4 and the laser scanner 5 may use various known techniques. Various scanners capable of three-dimensional measurement can be applied to the laser scanner 5.
  • FIG. 2 shows a functional block diagram of the machine tool 1 and the tool collision prevention device 10.
  • the machine tool 1 includes a control unit 21.
  • the control unit 21 is configured as a unit in which a microprocessor and various peripheral devices such as an internal storage device (for example, ROM and RAM) necessary for the operation of the microprocessor are combined.
  • the control unit 21 performs control necessary for the operation of the machine tool 1.
  • the tool collision prevention apparatus 10 includes a control unit 31 and a connection interface 32.
  • the control unit 31 is configured as a unit combining a microprocessor and various peripheral devices such as an internal storage device (for example, ROM and RAM) necessary for the operation of the microprocessor, and includes a monitor, a keyboard, and the like (not shown). Has a user interface.
  • the control unit 31 includes a workpiece shape determination unit 33 as a shape determination unit and a collision determination unit 34.
  • the workpiece shape determination unit 33 instructs the laser scanner 5 to measure the shape of the workpiece 3 and determines the shape of the workpiece 3 from the acquired measurement information.
  • the workpiece shape determination unit 33 is provided with a shape interpolation unit 35 as shape interpolation means.
  • the shape interpolation unit 35 performs a process of interpolating the missing coordinate data of the missing part when a part of the three-dimensional coordinate data of the workpiece 3 which is the measurement information obtained by the workpiece shape determining unit 33 is missing. To do.
  • the collision determination unit 34 performs processing related to determination as to whether or not the tool 2 and the workpiece 3 collide.
  • the connection interface 32 may be a known one such as ORiN (registered trademark).
  • FIG. 3 is a diagram for explaining the relationship between the laser scanner 5 and the workpiece 3.
  • the laser scanner 5 is attached to the main axis AX (Z-axis direction) of the tool 2 at an installation angle a. Further, since the laser scanner 5 emits a spot laser or a line laser, the measurement range b to c of the laser scanner 5 with respect to the workpiece 3 is determined by a scanning angle that can be scanned by the laser scanner 5. For example, when the scanning angle range of the laser scanner 5 is ⁇ 14.4 ° to + 14.4 °, when the installation angle a is 30 ° and the laser scanner 5 is attached to the tool 2, the measurement range of the laser scanner 5 is measured.
  • the measurable area A by the laser scanner 5 depends on the installation angle a and the scanning angle of the laser scanner 5.
  • the laser scanner 5 and the work 3 are configured to be relatively displaceable.
  • the relative position between the laser scanner 5 and the workpiece 3 can be changed after being temporarily stopped for measurement, or the relative position can be changed for measurement. is there. It suffices that at least one of the workpiece 3 and the laser scanner 5 is configured to be changeable in position.
  • FIG. 4 is a diagram for explaining the blind spot area.
  • the incident angle of the laser beam varies depending on the scanning angle when the laser beam L is incident.
  • the blind spots B to C are generated in the Y-axis direction by the measurement ranges b to c of the laser scanner 5.
  • the shape interpolation processing executed by the control unit 31 of the tool collision prevention apparatus 10 will be described with reference to FIG.
  • the shape interpolation processing is executed as part of the shape measurement processing of the workpiece 3 executed by the workpiece shape determination unit 33.
  • a known technique may be used for the shape measurement process and the collision determination process of the workpiece 3.
  • the workpiece shape determination unit 33 instructs the laser scanner 5 to start measurement, and the laser scanner 5 performs three-dimensional measurement to measure measurement information (three-dimensional coordinate data) of the measurement region. Is obtained and stored in the storage device of the control unit 31. Then, the workpiece shape determination unit 33 determines the shape of the workpiece 3 based on the taken measurement information.
  • the collision is determined based on the determined shape information.
  • Various commercially available processing simulators can be used for the collision determination.
  • the collision determination unit 34 displays a warning message indicating collision or a safety message indicating no collision on the monitor of the tool collision prevention apparatus 10 based on the determination result.
  • the shape interpolation process is executed when the 3D coordinate data obtained as measurement information is missing.
  • the shape interpolation unit 35 selects missing coordinate data from the three-dimensional coordinate data obtained by the shape measurement process in step S1.
  • the laser beam L is irradiated to the steps h1 to h6 generated by the respective protrusions 3a to 3c
  • blind spot regions B1 to B3 are generated depending on the incident angle of the laser beam L to the workpiece 3.
  • a discontinuous region B4 where the irradiated laser light L is not reflected is generated.
  • the measurement information obtained by the laser scanner 5 is three-dimensional coordinate data, and data can be obtained at each measurement point by the laser light L sequentially emitted in a line form from the light source of the laser scanner 5. Due to the scanning angle of the laser scanner 5 described above, unmeasured areas such as blind spot areas B1 to B3 and discontinuous area B4 are generated in FIG. 6A, and three-dimensional coordinate data cannot be obtained and are lost.
  • FIG. 7 shows an example of missing coordinate data.
  • FIG. 7 shows the assignment of meshes m in a lattice pattern at regular intervals in the X-axis direction and the Y-axis direction on the XY plane, and among the point cloud data that is three-dimensional coordinate data included in each mesh m, The maximum value of the Z-axis coordinates is added to the mesh as height information.
  • each mesh m there may be missing coordinate data D1, D2,... In which coordinate data is missing (represented by reference symbol D if it is not necessary to distinguish between them).
  • the missing coordinate data D is blank coordinate data, and exists as one missing coordinate data D or two or more missing coordinate data D groups.
  • FIG. 7 shows the assignment of meshes m in a lattice pattern at regular intervals in the X-axis direction and the Y-axis direction on the XY plane, and among the point cloud data that is three-dimensional coordinate data included in each mesh m, The maximum value of the Z-axis coordinates is added to the
  • step S1 a group of missing coordinate data D1 to D5 in which five missing coordinate data D are collected is shown.
  • the shape interpolation unit 35 selects the missing coordinate data D.
  • step S1 one of the missing coordinate data D is selected even in the case of the missing coordinate data D1 to D5 group. For convenience, the description will be continued assuming that missing coordinate data D1 is selected.
  • step S2 extracts coordinate data adjacent to the missing coordinate data D1, and compares the extracted coordinate data.
  • the missing coordinate data D1 to D5 are recognized as one data group and are adjacent to the data group. Extract coordinate data.
  • the missing coordinate data D2, D3, and D5 adjacent to the missing coordinate data D1 are determined as missing coordinate data, and the coordinate data adjacent to these missing coordinate data D2, D3, and D5 are extracted and adjacent. Extraction processing is performed until missing coordinate data is no longer extracted.
  • adjacent coordinate data N1 to N14 adjacent to the missing coordinate data D1 to D5 group in the X-axis direction and the Y-axis direction are extracted.
  • the extracted adjacent coordinate data N1 to N14 are compared, and the highest numerical value among them is determined as interpolation coordinate data to be interpolated into the missing coordinate data D group.
  • the shape interpolation unit 35 interpolates the interpolation coordinate data determined in step S2 into each of the missing coordinate data groups D1 to D5, and ends the current process.
  • the processing from step S1 to step S3 corresponds to the shape interpolation means
  • the shape measurement processing corresponds to the shape determination means.
  • FIG. 6B is a diagram illustrating the shape of the workpiece 3 formed by interpolating the missing coordinate data. 6B is described in a cross-sectional view on the YZ plane, for convenience, the Y-axis component mY of the mesh m divided at equal intervals in the Y-axis direction will be described.
  • the coordinate data in the mesh m is determined from the three-dimensional coordinate data included in the mesh m.
  • FIG. 6B shows a state where the missing coordinate data D by the blind spot areas B1 to B3 and the discontinuous area B4 are interpolated by the shape interpolation process.
  • the mesh component mY located on the upper surface of each of the convex portions 3a to 3c has the largest value in the Z-axis direction.
  • the mesh components mY corresponding to the measurement regions B1 to B4 are interpolated as interpolation coordinate data, and are determined as shown by the thick lines in FIG. 6B.
  • the shape is interpolated with the maximum value included in the mesh component mY.
  • the corresponding mesh components mY1 to mY3 in FIG. 6B are interpolated outside the actual outer shape of the workpiece 3.
  • the shape of the work 3 is determined based on the measurement information after data interpolation in the shape measurement process.
  • the shape is determined to be rectangular like the shape indicated by the thick line in FIG. 6B, and the shape of the workpiece 3 is interpolated outside the outer shape of the workpiece 3.
  • the shape is interpolated so that the volume is increased outside the actual outer shape of the work 3, that is, with respect to the actual outer shape of the work 3.
  • the concept of “outside” includes interpolation of a shape that protrudes toward the inner peripheral surface of the recess when the workpiece 3 is provided with a recess.
  • the shape interpolated in the unmeasured region and the actual outer shape are the same.
  • the shape is interpolated by such simple processing, so that the collision between the tool 2 and the workpiece 3 can be reliably prevented.
  • it will be recognized as a shape that is larger than the actual outer shape of the workpiece 3, even if a warning of collision is notified by this interpolated shape portion, the confirmation work by the operator is only added to the process, and the tool Compared to the loss caused by the collision between the workpiece 2 and the workpiece 3, this is a minor addition sufficient to withstand practical use.
  • the present invention can be implemented in various forms without being limited to the above-described forms.
  • the shape interpolation process is described as a part of the shape measurement process, but the present invention is not limited to this.
  • the shape interpolation process may be performed independently.
  • the interpolation coordinate data can be interpolated into the missing coordinate data by executing the shape interpolation process.
  • the measurement means is described as the laser scanner 5, but is not limited thereto.
  • the present invention may be applied to various measuring means in which an unmeasured area such as a CCD camera is generated.
  • adjacent coordinate data adjacent to the missing coordinate data D is acquired from eight sides of the missing coordinate data D, but the present invention is not limited to this. For example, four directions may be used, and appropriate changes are possible. Further, the size of the mesh m may be arbitrary, and can be appropriately changed according to the performance.
  • the work part is a concept including the case of only the work 3 and the case of including other components such as a jig, a table, and a measuring instrument that support the work 3 in addition to the work 3.
  • the unmeasured area is a concept including the blind spots B1 to B3 and the discontinuous area B4.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Numerical Control (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention porte sur un système de prévention de collision d'outil, lequel système effectue une mesure en trois dimensions sur une partie à travailler, la partie à travailler comprenant une pièce à travailler (3) destinée à être usinée avec un outil (2) d'une machine-outil (1), et lequel système détermine, sur la base du résultat de mesure, si l'outil (2) et la partie à travailler rentreront ou non en collision l'un avec l'autre. Le système de prévention de collision d'outil comprend un dispositif de balayage à laser (5) pour effectuer une mesure en trois dimensions sur la forme de la partie à travailler, et une section de détermination de forme de pièce à travailler (33) pour déterminer la forme de la partie à travailler sur la base du résultat de mesure fourni par le dispositif de balayage à laser (5). La section de détermination de forme de pièce à travailler (33) comprend une partie d'interpolation de forme (35) pour interpoler la forme d'une région non mesurée de la partie à travailler lorsque le résultat de mesure fourni par le dispositif de balayage à laser (5) comprend la région non mesurée dont la forme n'a pas été mesurée. L'interpolation est effectuée d'une manière telle que la forme de la partie à travailler est déterminée comme étant la forme externe de la partie à travailler ou comme étant l'extérieur de la forme externe.
PCT/JP2010/068977 2010-10-26 2010-10-26 Système de prévention de collision d'outil et procédé de prévention de collision d'outil WO2012056520A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/JP2010/068977 WO2012056520A1 (fr) 2010-10-26 2010-10-26 Système de prévention de collision d'outil et procédé de prévention de collision d'outil
JP2011532381A JP5543476B2 (ja) 2010-10-26 2010-10-26 工具衝突防止システム及び工具衝突防止方法
KR1020137010361A KR20130086356A (ko) 2010-10-26 2010-10-26 공구 충돌 방지 시스템 및 공구 충돌 방지 방법

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PCT/JP2010/068977 WO2012056520A1 (fr) 2010-10-26 2010-10-26 Système de prévention de collision d'outil et procédé de prévention de collision d'outil

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EP2998066A1 (fr) * 2014-09-19 2016-03-23 Mikron Agie Charmilles AG Dispositif de prévention de collision à haute tension pour machines-outils
JP2016161569A (ja) * 2015-02-26 2016-09-05 三菱電機株式会社 オブジェクトの３ｄ姿勢およびオブジェクトのランドマーク点の３ｄロケーションを求める方法、およびオブジェクトの３ｄ姿勢およびオブジェクトのランドマークの３ｄロケーションを求めるシステム
EP3482885A1 (fr) * 2017-11-14 2019-05-15 Omron Corporation Procédé de préhension, système de préhension et programme
WO2022070309A1 (fr) * 2020-09-30 2022-04-07 株式会社ニコン Système d'usinage et dispositif d'affichage

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Cited By (7)

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Publication number Priority date Publication date Assignee Title
EP2998066A1 (fr) * 2014-09-19 2016-03-23 Mikron Agie Charmilles AG Dispositif de prévention de collision à haute tension pour machines-outils
US9764439B2 (en) 2014-09-19 2017-09-19 Mikron Agie Charmilles SA High voltage crash prevention device for machine tools
JP2016161569A (ja) * 2015-02-26 2016-09-05 三菱電機株式会社 オブジェクトの３ｄ姿勢およびオブジェクトのランドマーク点の３ｄロケーションを求める方法、およびオブジェクトの３ｄ姿勢およびオブジェクトのランドマークの３ｄロケーションを求めるシステム
EP3482885A1 (fr) * 2017-11-14 2019-05-15 Omron Corporation Procédé de préhension, système de préhension et programme
US10888995B2 (en) 2017-11-14 2021-01-12 Omron Corporation Gripping method, gripping system, and program
WO2022070309A1 (fr) * 2020-09-30 2022-04-07 株式会社ニコン Système d'usinage et dispositif d'affichage
EP4223451A4 (fr) * 2020-09-30 2024-06-12 Nikon Corporation Système d'usinage et dispositif d'affichage

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