초록 ▼

This invention relates to a machining apparatus for repeating the position and the attitude of a desired point on a work, memorizing as a plurality of data in a memory device, and automatically operating a jig from the stored point to the stored point in accordance with calculated result of a calcul

This invention relates to a machining apparatus for repeating the position and the attitude of a desired point on a work, memorizing as a plurality of data in a memory device, and automatically operating a jig from the stored point to the stored point in accordance with calculated result of a calculator for calculating to interpolate between these points while a machining head remains stationary. The device comprises a detector for teaching the position and the attitude of the machining head with respect to the work independently from the machining head in case of forming teaching data. A calculator is provided for calculating the spatial position and attitude entirely in the same manner as the detector with respect to the work by the stored data under playback condition so that the machining head takes with respect to the work. Also, a control unit is provided for controlling the position and the attitude of the jig in accordance with the calculated result of the calculator, and a drive unit for driving the jig on the basis of a command from the control unit.

대표청구항 ▼

A machining tool including a control means for storing position and attitude of a stationary machining head relative to a workpiece head by a movable jig at a sequence of desired points of a machining program so that the jig may be automatically moved to locate the workpiece to follow the sequence o

A machining tool including a control means for storing position and attitude of a stationary machining head relative to a workpiece head by a movable jig at a sequence of desired points of a machining program so that the jig may be automatically moved to locate the workpiece to follow the sequence of stored points and attitudes of the machining program, said machine tool comprising: a movable detector having means for determining its position and attitude relative to the workpiece independently from the machining head at each of the desired points; control means connected to said detector means and having: memory means for storing a teaching program for moving the detector to each of the desired points of the machining program with an attitude at each point simulating the requisite relation between the machining head and the workpiece for a machining operations at that point; and memory means connected to receive data from said detector position and attitude determining means and for storing such data representing the position and attitude of the detector at each of the desired points according to coordinates of a first three axis coordinate system; said control means including means for converting the stored data of the coordinates of each of the points according to the first coordinate system to a second three axis coordinate system relating the machining head and the workpiece; a memory storing a playback program for controlling the position and attitude of the jig such that the machining head and jig are moved relative to each other to the desired points of the machining program according to the coordinates of the second coordinate system with an attitude at each point determined during the teaching program so that the machining program may be executed in accordance with the stored data; and a driving unit connected for driving the jig and operated by commands from the playback program in memory to execute the machining program.