Data processing: generic control systems or specific application – Specific application – apparatus or process – Product assembly or manufacturing
Reexamination Certificate
1998-09-16
2001-05-15
Grant, William (Department: 2121)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Product assembly or manufacturing
C700S061000, C700S063000, C700S150000, C700S164000, C700S188000, C451S009000
Reexamination Certificate
active
06233497
ABSTRACT:
FIELD OF THE INVENTION
The present invention relates to a contact detecting method and an apparatus for the same, and more specifically to a contact detecting method and an apparatus for the same to detect a position that a movable body such as a machining tool or an effector has contacted an object for contact such as a work or a reference position setting member for automatic tool set or positional controls in machining tool, industrial machine, or robots.
BACKGROUND OF THE INVENTION
As contact detecting apparatuses based on the conventional technology, there have been the ones which detect a contact between a machining tool and a work according to a voltage change in a servo motor for driving a main axis as disclosed in Japanese Patent Laid-Open Publication No. SHO 60-22113, or the ones which determine that a slide table has contacts a stopper located at a fixed position or a stroke restricting section (reference position setting member) by checking that a current flowing in a motor for driving the slide table has becomes an excessive current as disclosed in Japanese Patent Laid-open Publication No. SHO 58-124907.
In the conventional type of contact detecting apparatuses, to improve reliability of contact detection, it is necessary to continue driving a movable body such as a tool or a slide table even after the movable body actually contacts an object for contact such as a work or a reference position setting member for a certain period of time in the same direction for the purpose to obtain a relatively large and clear load fluctuation component, which may result in damages of the movable body and object for contact.
Especially, when the movable body is a sharp tool such as a bite, as a biting area on a work is small, load fluctuation is fine, and sometimes an accurate contact position can not be detected. To make the load fluctuation component larger, it is required to make the biting rate large or to increase the thrust-in speed, and as a result a large biting damages are generated in the work and also damages such as chipping are given to a tool such as a bite.
SUMMARY OF THE INVENTION
It is an object of the present invention to obtain a contact detecting method capable of contact detection with high precision and high reliability and a contact detecting apparatus applicable for execution of the method.
With the contact detecting method according to the present invention, a movable body is moved in the first direction (for instance, in the X-axial direction) at a specified speed to make the movable body approach the object for contact and at the same time is reciprocally moved in the second direction (for instance, in the Y-axial direction) to detect fluctuation of load to this movable body in the first direction and contact between the movable body and the object for contact is detected according to the load fluctuation.
With the contact detecting method according to the present invention, in a state where movement of the movable body in the second direction is stopped and at the same time the movable body is moved in the first direction (for instance, in the X-axial direction) at a specified speed to make the movable body approach the object for contact, fluctuation of load to this movable body in the second direction (for instance, in the Y-axial direction) is detected and contact between the movable body and the object for contact is detected according to the load fluctuation.
In the contact detecting method according to the present invention, in the state where movement of the movable body in the second direction is stopped and at the same time the movable body is moved in the first direction at a specified speed to make the movable body approach the object for contact by superimposing reciprocal movement to movement of the movable body, fluctuation of load to this movable body in the second direction is detected, and a contact between the movable body and the object for contact is detected according to this load fluctuation.
In the contact detecting method according to the present invention, in a state where the movable body is moved in the first direction (for instance, in the X-axial direction) and in the second direction (for instance, in the Y-axial direction) at a specified speed respectively to make the movable body approach the object for contact, fluctuation of load to the movable body in the first direction or in the second direction is detected, and contact between the movable body and the object for contact is detected according to the load fluctuation.
In the contact detecting method according to the invention, in a state where the movable body is moved at a specified speed in the first direction as well as in the second direction to make the movable body approach the object for contact by superimposing reciprocal movement in the first direction or in the second direction to movement of the movable body, fluctuation of load to the movable body in the first direction or in the second direction is detected, and contact between the movable body and the object for contact is detected according to the load fluctuation.
In the contact detecting method according to the invention, in a state where the movable body is moved at a specified speed in the first direction and in the second direction respectively to make the movable body approach the object for contact by superimposing reciprocal movement in the first and second directions to movement of the movable body, fluctuation of load to the movable body in the first direction or in the second direction is detected, and contact between the movable body and the object for contact is detected according to the load fluctuation.
In the contact detecting method according to the invention, in a state where the movable body is moved at a specified speed in the first direction for approaching the object for contact (for instance, in the X-axial direction) to make the movable body approach the object for contact and at the same time the object for contact is moved in the second direction slanting at a certain angle against the first direction (for instance, in the Y-axial direction), fluctuation of load to the object for contact in the second direction is detected, and contact between the movable body and the object for contact is detected according to this load fluctuation.
In the contact detecting method according to the invention, in a state where the movable body is moved at a specified speed in the first direction to make the movable body approach the object for contact by superimposing reciprocal movement in the first direction to movement of the movable body and also the object for contact is moved in the third direction, fluctuation of load to the object for contact in the first direction is detected, and contact between this load fluctuation and the object for contact is detected according to this load fluctuation.
In the contact detecting method according to the invention, in a state where the movable body is moved in the first direction at a specified speed to make the movable body approach the object for contact and is also reciprocally moved in the second direction (for instance, in the Y-axial direction) to make the movable body approach the object for contact and at the same time the object for contact is moved in the third direction slanting at a certain angle against the first direction, fluctuation of load to the object for contact in the third direction is detected, and contact between the movable body and the object for contact is detected according to this load fluctuation.
In the contact detecting method according to the invention, in a state where the movable body is moved at a specified speed in the first direction for approaching the object for contact to make the movable body approach the object for contact and also the object for contact is moved in the second direction with reciprocal movement in the second direction superimposed to the movement of the object for contact, fluctuation of load to the object for contact in the second direction is detected, and contact between the movable body
Kachi Mitsuyasu
Tanaka Toshiki
Grant William
Mitsubishi Denki & Kabushiki Kaisha
Rodriguez Paul
Sughrue Mion Zinn Macpeak & Seas, PLLC
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