Tool changing – Process
Patent
1993-04-19
1994-06-07
Bilinsky, Z. R.
Tool changing
Process
483 29, 483901, B23Q 3157
Patent
active
053184963
ABSTRACT:
In order to insert a punch into a punch mounting hole formed in a turret by a robot hand, the present method includes the following steps: (a) grasping the punch above the upper turret by a robot hand, and horizontally moving the punch to a position above a mounting hole formed in the upper turret; (b) moving the punch downwardly by the robot hand; (c) detecting whether the lower end of the punch is in contact with the wall of the mounting hole (d) detecting the height of the lower end of the punch when the lower end of the punch comes in contact with the wall of the mounting hole; (e) comparing the detected height of the lower end with a predetermined height; and (f) further moving the punch downwardly if the detected height is smaller than the predetermined height. In the preferred embodiment, if the insertion in accordance with the previous steps fails, the punch is moved upwardly and the center of the mounting hole is re-calculated on the basis of the data by a three-point search method.
REFERENCES:
patent: 3984006 (1976-10-01), Takeyasu et al.
patent: 4359815 (1982-11-01), Toyoda
patent: 4587716 (1986-05-01), Bytow
patent: 4904911 (1990-02-01), Toyoda et al.
patent: 5215513 (1993-06-01), Maynard et al.
Amada Engineering and Service Co., Inc.
Bilinsky Z. R.
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