摘要:
A control device (10) for a die cushion mechanism that produces a force for a slide (24) in a press machine, comprising slide velocity command-forming means (61) for forming a velocity command for the slide (24), die cushion velocity command-forming means (62) for forming a velocity command for said die cushion (20), and velocity relation calculation means (65) for calculating a velocity relation between the velocity of the slide and the velocity of the die cushion based on a rate of increase (dF) in the force produced between the slide and the die cushion immediately after the collision of the slide with the die cushion. The cushion velocity command-forming means forms the velocity command for the die cushion based upon the slide velocity command formed by the slide velocity command-forming means and upon the velocity relation calculated by the velocity relation-calculation means. This makes it possible to form an optimum velocity command for the slide and/or the die cushion.
摘要:
In the first embodiment, direction arrows that point to subsequent direction arrows that are on the same fiber are concatenated so that any error can be smoothed over a longer motion. In the second embodiment, the orientation, location and time when the vehicle should be given a new setpoint is determined. In the third embodiment, it is determined whether the vehicle on the desired path, and the motion is corrected if it is not.
摘要:
Configuration spaces, representing alternate possibilities for an environment in which an object is to move, are combined to create a probabilistic representation of all of the alternate possibilities. The probabilistic representation is used to plan optimal motion, with uncertainties being resolved at sensing points.
摘要:
To determine whether a tool may be used successfully to fabricate a worksheet in a sheet fabrication machine, data relating to all tools that may be used for the machine as provided by the manufacturers of those tools'are stored in a tool database. Dimensional data and characteristics of the worksheets that may be used by the machine are stored in a worksheet database. When a given worksheet is to be fabricated, a determination is made on whether a tool is usable for fabricating that worksheet without causing possible damage to the worksheet, the tool and its die, and/or the machine. The grind life remaining for the tool is used to determine whether the proper clearance between the tool and its die is obtainable by using the tool on the given worksheet. If it is determined that the tool is not usable for a given worksheet, the tool is flagged and reserved for use on worksheets that have. a material thickness that is thinner than that of the given worksheet. An appropriate tool that does provide the proper clearance and has the appropriate grind life remaining is then selected for working on the given worksheet.
摘要:
To determine whether a tool may be used successfully to fabricate a worksheet in a sheet fabrication machine, data relating to all tools that may be used for the machine as provided by the manufacturers of those tools'are stored in a tool database. Dimensional data and characteristics of the worksheets that may be used by the machine are stored in a worksheet database. When a given worksheet is to be fabricated, a determination is made on whether a tool is usable for fabricating that worksheet without causing possible damage to the worksheet, the tool and its die, and/or the machine. The grind life remaining for the tool is used to determine whether the proper clearance between the tool and its die is obtainable by using the tool on the given worksheet. If it is determined that the tool is not usable for a given worksheet, the tool is flagged and reserved for use on worksheets that have. a material thickness that is thinner than that of the given worksheet. An appropriate tool that does provide the proper clearance and has the appropriate grind life remaining is then selected for working on the given worksheet.
摘要:
A device (110) for judging the collision of a slide (24) with a die cushion in a die cushion mechanism (20) which produces a force against the slide in a press machine using a servo motor (18) as a drive source, comprising force detection means (21) for detecting a force produced between the die cushion and the slide; and comparator means (95) for comparing a force detection value (Fd) detected by the force detection means with a predetermined threshold value (L1); wherein, when the force detection value becomes greater than the threshold value, it is so judged that the slide has come into collision with the die cushion. Thus, the collision is judged within a short period of time and reliably. The collision may be judged by comparing differentiated values (Fd', Fd") of the force detection value, slide position detection value (Y1d) or slide position instruction value (Y1c) or other related threshold values. There can be further used a system for judging a collision which executes a plurality of methods for judging the collision.
摘要:
A device (110) for judging the collision of a slide (24) with a die cushion in a die cushion mechanism (20) which produces a force against the slide in a press machine using a servo motor (18) as a drive source, comprising force detection means (21) for detecting a force produced between the die cushion and the slide; and comparator means (95) for comparing a force detection value (Fd) detected by the force detection means with a predetermined threshold value (L1); wherein, when the force detection value becomes greater than the threshold value, it is so judged that the slide has come into collision with the die cushion. Thus, the collision is judged within a short period of time and reliably. The collision may be judged by comparing differentiated values (Fd', Fd") of the force detection value, slide position detection value (Y1d) or slide position instruction value (Y1c) or other related threshold values. There can be further used a system for judging a collision which executes a plurality of methods for judging the collision.