Toyoda Koki Kabushiki Kaisha

Katsumi Yamamoto

Toshio Aono

Shinichi Sugita

Shuichi Nakata

Yuichiro Komatsu

Tadashi Koyama

Toshiro Itaya

Shigeo Hotta

Ikurou Hamada

Ikuro Hamada

A robot teaching machine according to the present invention includes a guiding tool having a first angle sensor, a coordinate detector having a plurality of rotating portions and a second angle sensor for detecting a rotational angle of each of the rotating portions, a first motion transfer member for detecting a distance between the guiding tool and the coordinate detector that are connected with each other, a second motion transfer member for connecting the guiding tool and the coordinate detector and detecting an attitude of the guiding tool, and a coordinate converter for deriving a three-dimensional position and an attitude of the guiding tool from values detected by the first and the second angle sensors, respectively. The first motion transfer member and the second motion transfer member independently work for providing precise guiding data.

Robot teaching machine

A robot controller for having a workpiece held by a robot and having the workpiece machined by moving it relative to a stationary tool. The robot controller can control the velocity of relative motion, against the tool, of a machining point on the workpiece. At each teaching point, a transformation matrix is calculated to convert a position matrix of the flange center as teaching data (i.e., 4.times.4 matrix giving position and attitude in homogeneous coordinates) into a position matrix of the tool tip. Between two adjacent teaching points, interpolation points are set according to a specified velocity. Transformation matrices applicable to the two teaching points are put to interpolation calculations to provide a transformation matrix at each interpolation point. An inverse matrix of the transformation matrix at each interpolation point is applied to the position matrix for the tool tip. This allows the position matrix for the flange center keyed to each interpolation point to be calculated. Using the position matrix for the flange center, rotation angles on the controllable axes of the robot are calculated. With the distance between interpolation points set based on a given velocity, the machining velocity at any machining point may be controlled.

Robot controller

An electric control apparatus for an industrial robot the arm of which is actuated to carry out machining of a workpiece by means of a machining tool attached thereto. The control apparatus includes a force sensor arranged to detect reaction force acting on the tool, a memory for memorizing a maximum reaction force detected by the sensor during each machining process of the workpiece in a plurality of split sections of a teaching line, a comparator for comparing the memorized maximum reaction force with a set value indicative of a limit of reaction force acting on the tool and for producing a signal therefrom when the memorized maximum force exceeds the set value. The control apparatus is arranged to operate the robot in such a manner that the machining tool is moved along the teaching line to successively carry out machining of the workpiece in the split sections and is further arranged to ascertain as to whether or not the comparator produces the signal therefrom at each time when the tool arrives at each terminal point of the split sections for producing a control signal therefrom when applied with the signal from the comparator, thereby operating the robot in response to the control signal in such a manner that the machining tool is returned to each start point of the slipt sections to repeat deburring in the same section.

Electric control apparatus for industrial robot

In a computerized numerical controller for a grinding machine, various grinding modes in which a plurality of portions on a cylindrical workpiece are respectively ground and plural sets of machining data each for use in machining a corresponding one of the workpiece portions are input by a manual data input device for storage in a memory device under the control of a data processor. For preparation of an NC program for the workpiece, the data processor first decides a grinding order in which the workpiece portions are successively ground, based upon the grinding modes and the machining data stored in the memory device. The grinding order is decided in accordance with a predetermined rule designed to decrease the number of dressing operations effected on a grinding wheel of the grinding machine. Then, the data processor automatically prepares a NC program based upon the decided grinding order and the machining data. In an NC operation, the data processor controls a pulse generating circuit in accordance with the NC program. Therefore, first and second feed devices responsive to feed pulses from the pulse generating circuit effect relative movement between a grinding wheel head and a workpiece support table in accordance with the NC program, whereby the workpiece portions can be successively ground in the automatically decided grinding order.

Numerical controller for a grinding machine

In a grinding machine having a workpiece drive device for rotating a workpiece about an axis and an infeed device for effecting relative infeed movement between a rotating grinding wheel and the workpiece, a computerized numerical controller is provided with a data input device for inputting a numerical control program for the workpiece and data indicative of the shape of the workpiece for storage in a memory device. A data processor of the controller calculates the rigidity of the workpiece based upon the shape data being stored in the memory device. Further, the data processor modifies by calculation rotational speed data and infeed rate data given in the numerical control program, based upon the calculated rigidity of the workpiece. The modified rotational speed data and the modified infeed rate data are respectively output to the workpiece drive device and the infeed device, so that the grinding condition of the workpiece is modified in accordance with the calculated rigidity of the workpiece.

Control apparatus for a grinding machine

A numerical controller for a cam grinding machine, which has a cam drive unit and a grinding wheel drive unit, includes a memory for storing profile data of a cam corresponding to angular positions thereof. A data processor is provided for reading out the profile data from the memory so as to generate a rotational speed command indicating a rotational speed of the cam and a feed rate command indicating a feed rate of the grinding wheel at every unit angle rotation of the cam, wherein the rotational speed command and the feed rate command are so decided as to reduce the rotational speed of the cam and the feed rate of the grinding wheel while the side portions of the cam are ground. A pulse distribution circuit is connected to the data processor and responsive to the rotational speed command and the feed rate command therefrom for distributing pulses to the cam drive unit and the grinding wheel drive unit.

Growing community of inventors

Takahama, Japan

Katsumi Yamamoto