KR20130009433A - Method and device for compensating position to change tools of a machine tool - Google Patents

Method and device for compensating position to change tools of a machine tool Download PDF

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Publication number
KR20130009433A
KR20130009433A KR1020110070551A KR20110070551A KR20130009433A KR 20130009433 A KR20130009433 A KR 20130009433A KR 1020110070551 A KR1020110070551 A KR 1020110070551A KR 20110070551 A KR20110070551 A KR 20110070551A KR 20130009433 A KR20130009433 A KR 20130009433A
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KR
South Korea
Prior art keywords
tool
change position
value
tool change
displacement
Prior art date
Application number
KR1020110070551A
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Korean (ko)
Inventor
강경철
Original Assignee
두산인프라코어 주식회사
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Priority to KR1020110070551A priority Critical patent/KR20130009433A/en
Publication of KR20130009433A publication Critical patent/KR20130009433A/en

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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
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
    • B23Q15/22—Control or regulation of position of tool or workpiece
    • 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
    • B23Q15/00—Automatic control or regulation of feed movement, cutting velocity or position of tool or work
    • B23Q15/20—Automatic control or regulation of feed movement, cutting velocity or position of tool or work before or after the tool acts upon the workpiece
    • B23Q15/22—Control or regulation of position of tool or workpiece
    • B23Q15/26—Control or regulation of position of tool or workpiece of angular 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
    • B23Q17/20—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
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • 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
    • B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
    • B23Q3/155—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling
    • B23Q3/157—Arrangements for automatic insertion or removal of tools, e.g. combined with manual handling of rotary tools

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Tool Replacement In Machine Tools (AREA)

Abstract

PURPOSE: A device for compensating a tools change position and a method thereof are provided to prevent tools, a tools change device, and a main axis from being bend or damaged due to the failure of the tools change. CONSTITUTION: If a change target tool is selected, a tool change position compensator of a machine tool determines the sorts of the change target tool(S11). The machine tool measures the displacement of a tool change device(S21). The machine tool calculates the compensation value of the tool change position by comparing the reference value of the tool change position and the measured displacement value(S22). If the compensated value of the tool change position is within a tolerance range, the machine tool adjusts the position of the tool change position by the compensated value(S23,S13). [Reference numerals] (AA) Tool change command; (BB,DD) No; (CC,EE) Yes; (FF) Outputting a warning signal; (GG) Starting a tool change; (S11) Standard tool?; (S12) Compensating the value of a tool change position; (S13,S23) Adjusting the tool change position; (S21) Measuring displacement; (S22) Calculating a compensated value; (S23) Within a tolerance range?

Description

Method and device for compensating position to change tools of a machine tool}

The present invention relates to a tool changer for exchanging a tool on a spindle of a machine tool, and more particularly, to an apparatus and method for correcting a tool change position of a tool changer.

In general, a machine tool such as a machining center is equipped with an automatic tool changer (ATC) for exchanging a tool mounted on a spindle.

The automatic tool changer is provided with a change arm that receives the tool from the standby port of the tool magazine, rotates it at an angle, feeds the spindle, and collects the tool mounted on the spindle. The operation of the automatic tool changer is described in detail in Korean Patent No. 0656655 filed by the present applicant.

As shown in FIG. 1, in the conventional automatic tool changer 110, a column 111 supporting the change arm 114 to be rotatable is fixedly mounted to a bed (not shown), or along the bed. It is provided to be movable.

Here, the rotation shaft 113 supporting the change arm 114 not only extends in the cantilever shape to the outside of the column 111, but also the tool is fitted to the tip of the change arm 114, so that the rotation shaft 113 and the change arm 114 may be deformed and thereby the tool change position may be changed. In addition, the tool change position was changed due to deformation of the bed and ground subsidence. As such, when the tool change position is changed, there is a problem that access of the tool to the main shaft becomes difficult. In particular, when driving the equipment unattended at night there was a problem that the operation is stopped.

Moreover, the tool once pressed into the main shaft is more difficult to withdraw and the change arm or the main shaft has a problem of bending when it exceeds the limit of elastic deformation. Even if the tool is large or eccentric, the same problem arises that the tool change position is not correct because the tool change position is set according to the standard tool.

On the other hand, although not by the change of the tool exchange position, a number of applications for solving the problem in the case where the position of the tool is changed due to the deformation of the main axis has been applied. For example, Korean Patent No. 0264247 (S & U Precision Co., Ltd.) and Korean Patent No. 0332379 (Daewoo General Machinery Co., Ltd.) disclose a method and apparatus for correcting according to the thermal displacement of a spindle. 0098207 (Hwacheon Technological Co., Ltd.) discloses a method for correcting a positional displacement of a tool, and Japanese Patent No. 0198525 (LG Co., Ltd.) discloses a method and apparatus for correcting a position of a tool.

Furthermore, Korean Unexamined Utility Model No. 2000-0015321 (Daewoo Heavy Industries Co., Ltd.) discloses a method and a device for correcting a case where the object of thermal displacement is expanded to the overall machine tool.

The present invention was created to improve the problems with the position correction device and method of the conventional tool changer as described above, and by correcting the changed tool change position, it is possible to smoothly change the tool of the spindle and due to the tool change defect It is an object of the present invention to provide a position correction device and a method of a tool changer that can prevent the tool, the tool changer, and the spindle from being bent or broken.

In addition, there is another object to provide a position change device and method of the tool changer that can be changed smoothly to the tool of the spindle by correcting to a tool change position for the corresponding tool if it is not a standard tool.

In order to achieve the object as described above, the position correction method of the tool changer according to the present invention comprises the steps of measuring the displacement of the tool changer having a change arm in the machine tool to change the tool in the main shaft, and the preset tool And calculating a tool change position correction value by comparing the displacement allowance value and the displacement value measured in the displacement measuring step.

In the displacement measuring step, the displacement in the rotation axis (Z axis) of the change arm and the direction (X axis, Y axis) crossing the axis can be measured.

In addition, the position correction method of the tool changer according to the present invention, if the tool to be replaced is selected, the step of determining the type of tool, and if the type of the tool is confirmed according to the pre-stored value of the tool of the tool And correcting the exchange position value.

The present invention may further include adjusting the tool change position according to the tool change position correction value when the tool change position value is corrected, and adjust the tool change position by adjusting the feed position of the main shaft.

The method may further include setting a reference value for the correction allowable range of the tool change position, and outputting a warning signal when the tolerance range is greater than the allowable value by comparing the preset reference value with the correction value of the tool changer.

On the other hand, the position correction device of the tool changer according to the present invention, the displacement measuring means for measuring the displacement of the tool changer for changing the tool of the main shaft with a change arm in the machine tool, and the preset tool change allowance and the displacement And a control unit for comparing the displacement value measured from the measuring means and calculating a tool change position correction value.

The displacement measuring means may measure at least one of a displacement of the change arm in the axial direction (Z axis) of the rotation axis thereof and a displacement in the direction (X axis, Y axis) across the axis (Z axis). Can be.

According to the position correction device and method of the tool changer according to the present invention as described above, it is possible to smoothly exchange the tool of the spindle, the tool and the tool changer and the spindle is bent or broken due to the poor tool replacement It can prevent, and in particular, there is an effect that can prevent the operation rate is lowered during unmanned operation.

In addition, if the standard tool is not corrected by the tool replacement position for the tool has the effect that can be replaced smoothly the tool of the spindle.

1 is a perspective view showing a tool changer of a machine tool,
2 is a schematic configuration diagram showing a tool change position correcting apparatus of a machine tool according to the present invention;
3 is a side view of FIG. 1;
4 is a cross-sectional view taken along the line AA of FIG. 3;
5 to 7 are flowcharts illustrating a method for correcting a tool change position of a machine tool according to the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 to 4, the position correcting device of the tool changer according to an embodiment of the present invention, the displacement measuring means 10 for measuring the displacement of the tool changer 110, and the preset tool change position And a control unit 20 for calculating a tool change position correction value by comparing a reference value with the displacement value measured by the displacement measuring means 10.

The tool changer 110 includes a column 111 fixed to a bed (not shown), a rotating shaft 113 provided on one side of the column 111 by a bush 112, and the rotating shaft ( And a change arm 114 for exchanging the tool while the shaft rotates together.

As the displacement measuring means 10, a gap sensor for detecting a gap may be used. The gap sensor 11 has a displacement in which the rotation axis 113 of the change arm 114 is deformed in the axial direction (Z axis) at a standard position and in a direction (X axis, Y axis) crossing the axis (Z axis). Measure the displacement.

The gap sensor 11 is provided at one side of the column 111 to measure a distance in which the rotation shaft 113 is spaced apart in the X-axis and Y-axis directions. That is, the four gap sensors 11 are respectively provided on the inner wall of the bush 112 with a phase difference of 90 degrees, and the two gap sensors 11 form a pair to measure distances from opposite positions, respectively. By calculating the distance difference, the displacement in the X-axis or Y-axis direction is detected.

In addition, as shown in FIG. 3, two gap sensors 11 are provided on the outer side of the rotation shaft 113 of the change arm 114 at predetermined intervals in the axial direction (Z axis) to be displaced in the Z axis direction. Measure

The control unit 20 includes a tool change position database 21 in which initial coordinate values of the rotation shaft 113 are stored, and compares a tool change position reference value with a displacement value measured from the displacement measuring means 10 to determine a tool. A calculation unit 22 for calculating a replacement position correction value is provided, and a tool management program 23 programmed to output a tool change command according to the machining process of the workpiece is provided.

The tool change position database 21 stores tool change position values according to the type of tool to be exchanged. When a tool to be replaced is selected, a command for correcting a tool change position is output based on a tool change position value stored in the tool change position database 21. Therefore, when an eccentric asymmetric tool or a large tool is selected, the tool change position can be corrected accordingly.

In addition, the tool change position database 21 stores initial tool change position values of tools to be exchanged. In the case of standard tools, the same tool change position values are stored, and in the case of large or asymmetric tools other than the standard tool, unique tool change position values are measured and stored as initial values.

The control unit 20 may output a signal for changing the feed position of the main shaft 120 to the driving unit 121 of the main shaft 120 to adjust the position of the main shaft 120 at the corrected position. To be. That is, the main shaft 120 is moved toward the tool changer 110 to exchange the tool at the position at which the workpiece is processed, and receives the position information that is moved to exchange the tool as a corrected value from the controller 20. It will move to the corrected position. The driving unit 121 of the main shaft is a conveying means (not shown) for moving the main shaft 120 to the tool changing position, and receives the corrected tool changing position information from the control unit 20 to transfer the main shaft 120.

In addition, the control unit 20 may adjust the turning position of the change arm 114 by outputting a tool change position correction value to the drive unit 115 of the change arm of the tool changer 110. That is, since the change arm 114 is circularly moved around the rotation shaft 113, the tool change position can be adjusted by adjusting the turning angle of the change arm 114. This is because the change arm 114 may turn only at a certain angle by the cam, but it is also possible to adjust the turning angle by using a step motor.

On the other hand, the control unit 20 stores a reference value for the allowable correction range of the tool change position, and compares the allowable value and the tool change position value and outputs a warning signal when the value of the tool change position is greater than the allowable value. That is, when the tool change position is greatly shifted and the tool change is difficult even when the spindle 120 or the change arm 114 is moved by the correction command of the control unit 20, a manual operation of the operator is requested, so a warning signal is output. The worker will be called. The operator can adjust the tool change position by adjusting the position of the column 111 on which the change arm 114 is mounted. In addition, the warning signal is transmitted to the driving unit 121 of the main shaft or the driving unit 115 of the change arm to stop the operation of the equipment.

5 to 7 will be described a position correction method of the tool changer according to the present invention.

In the position correction method of the tool changer according to the present invention, at least one of the step (S10) of correcting the tool change position according to the type of the tool, and the step (S20) of correcting the tool change position according to the displacement of the tool changer. It includes one step.

Hereinafter, the tool change position correction step S10 according to the type of tool will be described first, and the tool change position correction step S20 according to the displacement of the tool changer will be described. A description will be given of an embodiment of performing a tool change position correcting step (S20) according to the displacement of the tool changer.

Referring to FIG. 5, the tool change position correcting step (S10) according to the type of the tool includes determining the type of the tool when the tool to be replaced is selected (S11), and checking the type of the tool when the type of the tool is confirmed. Accordingly, the step of correcting the tool change position value of the corresponding tool with the previously stored value (S12), and comparing the reference value for the preset allowable compensation range with the value of the tool changer to warn if the value of the tool changer exceeds the allowable value. If the signal is output and corrected, the tool change position is adjusted according to the tool change position correction value (S13).

When a specific tool is selected by the tool management program 23 and a tool change command is given, the controller 20 determines whether the selected tool is a standard tool (S11).

If it is a standard tool, the standard tool position value is used as it is without a correction command. If it is not a standard tool (for example, a large tool or an asymmetric tool), the tool is changed from the tool change position database 21. Read the tool change position value corresponding to and give the correction command. (S12)

When the tool change position correction value is determined in step S12, a step (S13) of checking whether the position adjustment is possible based on the correction value is performed.

In this step S13, first, a limit for allowing correction of the tool change position is set, and the reference value for the allowable range of the correction is compared with the correction value of the tool changer. As a result of the comparison, a warning signal is output if the tool changer's correction value is more than the allowable value. That is, if the tool change position cannot be healed by compensation, the machine is stopped and the operator is called. If the correction value exists within the allowable value and the correction is possible, the command for adjusting the tool change position is issued according to the tool change position correction value. The reference value for the allowable correction range of the tool change position is stored in the tool change position database 21.

In this way, the control unit 20 that issues a correction command according to the type of the tool outputs a command to adjust the tool change position according to the tool change position correction value (S13).

Here, as a method of adjusting the tool change position, there are (1) a method of adjusting the feed position of the main shaft 120 and (2) a method of adjusting the position of the tool changer, and the latter is again swinging the change arm 114. It can be divided into a method of changing the position and a method of changing the position of the column 111.

(1) In the case of adopting the method of adjusting the feed position of the main shaft 120, an adjustment command is output to the drive unit 121 of the main shaft, and (2) the change arm 114 of the method of adjusting the position of the tool changer. In the case of adopting a method of changing the swing position of the rotating arm, an adjustment command is outputted to the drive unit 115 of the tool changer change arm which rotates the change arm 114. In addition, when the method of changing the position of the column 111 is adopted, the operator may manually move the position of the column 111 or may include a separate driving unit for adjusting the position of the column 111. It is also possible to grant an adjustment order.

After the tool change position is corrected through the tool change position correcting step S10 according to the type of tool, the tool change position is corrected again through the tool change position correcting step S20 by the displacement of the tool changer.

Referring to Figure 6, the tool change position correction step (S20) according to the displacement of the tool changer, measuring the displacement of the tool changer (S21), setting the tool change position reference value and the tool change position reference value and the Computing the tool change position correction value by comparing the displacement value measured in the displacement measurement step (S21) (S22), Compensation of the tool change position by comparing the compensation value of the tool change position with the reference value for the preset allowable compensation range If the value is more than the allowable value and outputs a warning signal, if the correction is possible, the step of adjusting the tool change position according to the tool change position correction value (S23).

In the displacement measuring step S21, the displacement of the change arm in the rotation axis (Z axis) and the direction crossing the axis (X axis, Y axis) is measured using the gap sensor 11. The displacement measuring method using the gap sensor is described in detail in the description of the displacement measuring means 10 in the description of the position correction device of the tool changer.

When the displacement value of the tool change position is measured in the displacement measuring step (S21), it is determined whether to compensate through the calculation step (S22).

In the calculation step (S22), first, the tool change position reference value is set. The tool change position reference value may utilize the value initially measured in the displacement measuring step S21, or may utilize the tool change position database 21. When utilizing the tool change position database 21, the control unit 20 reads the tool change position reference value from the tool change position database 21 and compares it with the displacement value measured in the displacement measuring step S21. Calculates the tool change position compensation value.

After the tool change position correction value is calculated in the calculation step (S22), it is determined whether the adjustment is possible based on the correction value (S23). This step is the same as step S13 of the tool change position correcting step S10 according to the type of tool.

7, an embodiment of performing the tool change position correction step S20 according to the displacement of the tool changer in succession to the tool change position correction step S10 according to the type of the tool will be described.

First, a tool change position database 21 is constructed by storing tool change position values corresponding to tools to be exchanged and a correction allowable limit value of the tool change position.

When the programmed tool change command is issued, the tool to be exchanged is selected and the tool type is checked. 1) If the tool is a standard tool, the standard tool position value stored in the tool change position database (21) is used as it is. Is corrected by the tool change position value of the corresponding tool stored in the tool change position database 21 (S12).

Then, after measuring the displacement of the tool changer (S21), the tool change position correction value is calculated by comparing the tool change position reference value with the displacement value measured in the displacement measurement step (S21).

After the correction is determined, it is again determined whether the correction is possible by comparing the reference value of the allowable range with the correction value of the tool change position. 1) If correction is impossible because the correction value is over the allowable value, 2) If the correction is possible, adjust the tool change position according to the tool change position correction value. (S13) (S23) In the adjusting step (S13) (S23), a command for adjusting the tool change position is output in accordance with the tool change position correction value, and the tool change position is changed accordingly. For example, when a command for feeding the main shaft 120 is output, the main shaft 120 moves to the changed tool change position.

When the adjustment of the tool change position is completed, the change arm 114 rotates to replace the tool.

The tool change position correction value is updated in the tool change position database 21. The updated data is used as a reference value to replace the existing correction value and to be compared at the next correction.

10: displacement measuring means 11: gap sensor
20: control unit 21: tool change position database
22: calculator 23: tool management program

Claims (7)

Measuring a displacement of a tool changer having a change arm (114) in the machine tool for exchanging a tool on the main shaft (120) (S21); And
Computing a tool change position correction value by comparing a preset tool change position reference value and the displacement value measured in the displacement measuring step (S22). According to claim 1, In the displacement measuring step (S21),
And at least one of displacements in the rotation axis direction (Z axis) of the change arm (114) and the displacements in the directions crossing the axis (X axis, Y axis). The method of claim 1,
Determining a type of tool when a tool to be replaced is selected (S11); And
Compensating the tool change position of the machine tool, further comprising the step (S12) of correcting the tool change position value of the corresponding tool with a pre-stored value according to the type of the tool when the type of the tool is confirmed. 4. The method according to any one of claims 1 to 3,
And adjusting the tool change position according to the tool change position correction value (S13, S23) when the tool change position value is corrected. 4. The method according to any one of claims 1 to 3,
Compensating the tool change position of the machine tool, characterized in that it further comprises a step of outputting a warning signal when the compensation value of the tool change position is greater than the allowable value by comparing the reference value for the preset allowable compensation range with the correction value of the tool change position. Way. Displacement measuring means (10) having a change arm (114) in the machine tool for measuring a displacement of the tool changer (110) for exchanging a tool of the main shaft (120); And
And a control unit (20) which calculates a tool change position correction value by comparing a preset tool change allowance with a displacement value measured by the displacement measuring means (10). According to claim 6, The displacement measuring means 10,
The change arm 114 measures at least one of displacements in the axial direction (Z axis) of the rotation axis 113 and displacements in the directions (X axis, Y axis) across the axis (Z axis). Tool exchange position correction device for a machine tool, characterized in that the.
KR1020110070551A 2011-07-15 2011-07-15 Method and device for compensating position to change tools of a machine tool KR20130009433A (en)

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* Cited by examiner, † Cited by third party
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CN103551919A (en) * 2013-10-17 2014-02-05 北京工业大学 Measuring device of repeated positioning accuracy of automatic tool changing of rotary manipulator
CN105436964A (en) * 2015-12-02 2016-03-30 北京中丽制机工程技术有限公司 Tool correction device for automatic tool replacing mechanism
JP2019028502A (en) * 2017-07-25 2019-02-21 ファナック株式会社 Exchange rotational position determining apparatus and exchange rotational position determining method
KR20190096018A (en) 2018-02-08 2019-08-19 두산공작기계 주식회사 Device for modifying axis shift of machine tool and method thereof
KR20200126728A (en) * 2019-04-30 2020-11-09 두산공작기계 주식회사 A machine tool having a ram spindle
DE102019127052A1 (en) * 2019-10-08 2021-04-08 Grob-Werke Gmbh & Co. Kg Method for determining at least one transfer position in a machine tool and machine tool
CN113231886A (en) * 2021-04-30 2021-08-10 成都飞机工业（集团）有限责任公司 Machine tool setting detection method

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103551919A (en) * 2013-10-17 2014-02-05 北京工业大学 Measuring device of repeated positioning accuracy of automatic tool changing of rotary manipulator
CN103551919B (en) * 2013-10-17 2016-01-06 北京工业大学 A kind of repetitive positioning accuracy measurement mechanism of rotating machine arm automatic tool changer
CN105436964A (en) * 2015-12-02 2016-03-30 北京中丽制机工程技术有限公司 Tool correction device for automatic tool replacing mechanism
JP2019028502A (en) * 2017-07-25 2019-02-21 ファナック株式会社 Exchange rotational position determining apparatus and exchange rotational position determining method
US10695878B2 (en) 2017-07-25 2020-06-30 Fanuc Corporation Tool change rotary position determining device and tool change rotary position determining method
KR20190096018A (en) 2018-02-08 2019-08-19 두산공작기계 주식회사 Device for modifying axis shift of machine tool and method thereof
KR20200126728A (en) * 2019-04-30 2020-11-09 두산공작기계 주식회사 A machine tool having a ram spindle
DE102019127052A1 (en) * 2019-10-08 2021-04-08 Grob-Werke Gmbh & Co. Kg Method for determining at least one transfer position in a machine tool and machine tool
CN112621324A (en) * 2019-10-08 2021-04-09 格鲁博-工厂有限及两合公司 Method for determining at least one transfer position in a machine tool and machine tool
CN113231886A (en) * 2021-04-30 2021-08-10 成都飞机工业（集团）有限责任公司 Machine tool setting detection method

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