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
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- 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
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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
- 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
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- 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
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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
- B23Q17/002—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
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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
- B23Q17/002—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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Forests & Forestry (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Apparatuses And Processes For Manufacturing Resistors (AREA)
- Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
- Multi-Process Working Machines And Systems (AREA)
- Automatic Control Of Machine Tools (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。
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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 |
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JPWO2021015075A1 JPWO2021015075A1 (ja) | 2021-01-28 |
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US (1) | US20220276635A1 (ja) |
EP (2) | EP4005716B1 (ja) |
JP (1) | JP7467469B2 (ja) |
KR (1) | KR20220038067A (ja) |
CN (1) | CN114126792A (ja) |
TW (1) | TWI819227B (ja) |
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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 |
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 |
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 |
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