Title:
TOOL REPLACING DEVICE
Document Type and Number:
Japanese Patent JP2717747
Kind Code:
B2
Abstract:
PURPOSE: To achieve high speed replacement of tool without encountering any hindrance by raising the speed of a replacement arm till the maximum within the range where no over-load is generated.
CONSTITUTION: A disc cam 4 and a roller cam 5 are rotated by a servo motor 1 through a reduction gear 2. For each turn of the disc cram 4 and roller cam 5, a replacement arm 6 executes the tool replacing sequence including such motions as revolution and inserting/drawing off. During this replacing sequence being executed. the weight of a tool held by the arm 6 is studied and determined on the basis of the current value of the motor. The allowable acceleration and the execution acceleration of the arm 6 are computed from this weight of tool and the machine constants, and the speed of the servo motor 1 is controlled to the maximum within the range of allowable acceleration. Acceleration sensors 11Z, 11R are provided to sense the actual acceleration of the arm 6, and the execution acceleration is altered upon comparison of the measurements with the value according to the computation.
Inventors:
Hideo Yuzuhara
Toshio Kagami
Toshio Kagami
Application Number:
JP15611892A
Publication Date:
February 25, 1998
Filing Date:
May 22, 1992
Export Citation:
Assignee:
Okuma Corporation
International Classes:
B23Q3/155; B23Q3/157; (IPC1-7): B23Q3/157; B23Q3/155
Domestic Patent References:
| JP463653A | ||||
| JP62102939A | ||||
| JP433012A | ||||
| JP3251906A | ||||
| JP1109053A |
Attorney, Agent or Firm:
Ishida Kiki
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