Toyoda Koki Kabushiki Kaisha

Toyota Jidosha Kabushiki Kaisha

Minoru Enomoto

Hideo Nishimura

Takao Yoneda

Hiroaki Asano

Kunihiko Unno

Ikuo Suzuki

Yoshiyuki Takeuchi

Toshio Aono

Norihiko Shimizu

Akihiro Matsuura

Katsuhisa Tanaka

Yasufumi Tokura

Masashi Ito

Shuichi Nakata

Yasuhiro Okada

Fuyuhiko Yoshikura

Fumio Sakamoto

Haruo Ohmura

Fumihiko Komuro

Isamu Yokoe

Tsuyoshi Yamamoto

Tsuyoshi Tamesui

Noritaka Ise

Tomoyuki Ohtake

Shoji Inagaki

A numerical controller for an industrial machine such as a robot and an assembling system utilizing plural robots. The numerical controller controls movements of plural movable portions of the industrial machine by a synchronous control in which plural movable portions are moved in a synchronized manner. Based on an operational program, the numerical controller identifies a movable portion or movable portions which must be moved independently from other movable portion. The identified movable portion or portions are moved by an independent control. On the other hand, movable portions which are not designated are moved by synchronous control. Further, plural groups of movable portions may be formed for the synchronous control. In this case, movable portions in each group are controlled in a synchronized manner independently from other groups.

Method and apparatus for numerically controlling industrial machine

A clamping device which holds a workpiece at a predetermined position during a machining operation of the workpiece comprises a clamper for clamping a workpiece, a feed device for moving the clamper in the axial direction, a load sensor which is fixed to the clamper and detects a clamping force acting on the workpiece, and a memory in which a target clamping force corresponding to the shape of the workpiece and a method of machining operation is stored. The control device compares the clamping force detected by the load sensor with the target clamping force stored in the memory and controls the clamper in response to the deviation between the detected clamping force and the target clamping force. The clamping device also has a position detecting means for detecting the axial position of the clamper. The control device compares the present position detected by the position detecting means with a stop position which is detected during the initial clamping and is stored in the memory, and controls the clamper in proportion to the deviation between the detected position and the stored stop position.

Device for clamping a workpiece

A numerical control device for controlling rotation of a servomotor in response to numerical control data to move a movable member by a commanded feed amount at a commanded feed rate. A velocity detector detects an actual feed rate of the movable member. A register stores an allowable feed rate data. A comparator compares an allowable feed rate data from the register and an actual feed rate from the velocity detector to output an abnormal signal when the actual feed rate exceeds the allowable feed rate. The allowable feed rate data is set into the register each time the commanded feed rate is changed.

Numerical control device

A grinding machine wherein a wheel support carrying a grinding wheel is moved along a straight path extending at an acute angle to an axis of rotation of a workpiece. For the subsequent simultaneous grindings of a cylindrical surface and a shoulder side surface perpendicular thereto of the workpiece, the position of a transverse table carrying the workpiece is adjusted in proportion to a designated finish diameter of the cylindrical surface. The position of a sizing device slidable in the axial direction of the workpiece is also adjusted in connection to the positional adjustment of the transverse table, so that a pair of feelers of the sizing device are engaged with the cylindrical surface at a position which is spaced by a designated distance from the shoulder side surface.

Grinding machine with a sizing device

A numerical controller having a digital computer with a memory device, a feed control device responsive to feed control data supplied from the computer for controlling the servomechanisms of a grinding machine, a data write-in device manually operable for inputting various data and instructions, and a plurality of pilot lamps controllable by the computer. The write-in device is operable to input grinding mode designation data, responsive to which the computer serves to illuminate one by one those of the lamps which request the operator to input control parameters necessary for the grinding control in the designated grinding mode. The write-in device is further operable to input the control parameters designated by the illuminated lamps for storage in the memory device. The memory device has stored therein a number of operational sequence programs prescribing the manners in which the grinding machine is to be operated in respective grinding modes. The computer, when receiving an automatic grinding instruction, serves to read out from the memory device the control parameters and one of the operational sequence programs necessary for the grinding control in a designated one of the grinding modes and then, to supply to the feed control device the feed control data after calculating the same from the read-out control parameters and the read-out one of the operational sequence programs.

Numerical controller for a grinding machine

A feed control apparatus wherein a servomotor control device responsive to feed pulses distributed from a numerical controller controls a d.c. servomotor to advance a grinding wheel carriage of a grinding machine through the rotation of a feed screw successsively at a speed-up feed rate, a rapid feed rate, a slow-down feed rate and a grinding feed rate. A detection device is provided, which outputs a velocity checking signal to an abnormality confirmation device when the carriage reaches a velocity checking point defined within a slow-down feed range. When confirming that the feed rate of the carriage has exceeded a reference feed rate lower than the rapid feed rate, the abnormality confirmation device applies a stop signal to an emergency stop control circuit in response to the velocity checking signal, so that the rotation of the servomotor is immediately discontinued.

Feed control apparatus for a machine tool carriage

A grinding machine comprising a truing apparatus for truing a grinding wheel made of cubic boron nitride. A traverse carriage of the truing apparatus is mounted for movement in a direction parallel to the axis of the grinding wheel. A truing head carrying a truing wheel is mounted on the traverse carriage for movement toward and away from the grinding surface of the grinding wheel. A detection member is mounted on the truing head to be movable toward the grinding wheel. The truing head is first fed toward the grinding wheel until the contact between the detection member and the grinding wheel is detected. The truing head is then fed toward the grinding wheel by a truing amount in response to the detection of the contact between the detection member and the grinding wheel.

Grinding machine with truing apparatus for grinding wheel made of cubic

A digitally controlled grinding machine provided with a rest apparatus which is opposed to a wheel head, carrying a grinding wheel, for supporting against grinding resistance a workpiece rotatable on a support device, and with a measuring device, which outputs first and second size signals to a digital feed controller respectively when the workpiece is ground to first and second predetermined sizes. The feed controller controls a first servomotor to advance a pair of shoes of the rest apparatus until the first size signal is output and also controls a second servomotor to advance the wheel head until the second size signal is output. The controller, when receiving the second size signal, controls the first servomotor to retract each of the shoes by a predetermined retraction amount, being set in a digital switch, from an advanced end position which is adjusted in dependence upon the first size signal and in a successive grinding cycle, controls the first servomotor to start the advance feed of each of the shoes from a retracted end position which is spaced by the predetermined retraction amount from the advanced end position, so that compensation is made for wear of the shoes.

Digitally controlled grinding machine with rest apparatus

A programmable feed control apparatus for controlling the feed movement of a machine member in response to control data of a feed control program stored in a program memory is disclosed wherein the programmable feed control apparatus includes a flip flop which is set by completion of the generation of a set of timing pulses in order to perform a feed movement of the machine member. The flip flop is reset when the feed movement is completed in order to generate another set of timing pulses to read out the control data.

Programmable feed control apparatus for a machine tool

In a grinding machine, a rest apparatus is advanced to move a workpiece toward a grinding wheel being in a stationary condition after a preliminary grinding operation. After a predetermined amount of advancement of the rest apparatus, the grinding wheel is again advanced to grind the workpiece while the rest apparatus is stationary until the workpiece deviates from engagement with the rest apparatus, whereby after a final grinding operation, the workpiece is ground at the true center thereof so as to be in true roundness and with good concentricity.

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Ohbu, Japan

Minoru Enomoto