Contact detecting method and an apparatus for the same
AssigneeMitsubishi Denki Kabushiki Kaisha
InventorsMitsuyasu Kachi, Toshiki Tanaka
Life of this patent
Estimating the term…
Abstract
Under the conditions that the tool is movable in an X-axial direction for approaching a work W and in a Y-axial direction perpendicular to the X-axial direction, the tool is moved at a specified speed in the X-axial direction to make the tool approach a work W and at the same time the tool is reciprocally moved at a specified frequency and a specified amplitude to detect a load fluctuation component for the tool in the X-axial direction during movement of the tool, and contact between the tool and the work W is detected according to this load fluctuation component.
Claims30
A contact detecting method of detecting contact between a movable body and an object for contact, said movable body movable in a first direction for approaching said object for contact and in a second direction slanting at a certain angle against said first direction, comprising the steps of:
- moving said movable body at a specified speed in said first direction to make said movable body approach said object for contact and simultaneously moving said movable body in said second direction to generate fluctuation in load to said movable body in said first direction during movement of said movable body;
- and
- detecting a load fluctuation in said first direction.
A contact detecting method of detecting contact between a movable body and an object for contact, said movable body movable in a first direction to approach said object for contact, comprising the steps of:
- making said movable body approach said object for contact by way of moving said movable body in said first direction to generate fluctuation in load to said movable body in a second direction, which slants at a certain angle against said first direction, during movement of said movable body in said first direction;
- wherein said movable body and said object for contact are made closer to each other by superimposing reciprocal movement with a specified frequency and a specified amplitude in said first direction onto movement of said movable body;
- and
- detecting said load fluctuation to determine contact between said movable body and said object for contact according to said load fluctuation.
A contact detecting method of detecting contact between a movable body and an object for contact, said movable body movable in a first direction for approaching said object for contact and in a second direction slanting at a certain angle against said first direction, comprising the steps of:
- moving said movable body in said first direction as well as in said second direction to generate fluctuation in load to said movable body in the first direction or in the second direction during movement of said movable body;
- and
- detecting said load fluctuation to determine contact between said movable body and said object for contact according to said load fluctuation.
A contact detecting method of detecting a contact between a movable body and an object for contact, said movable body movable in a first direction for approaching said object for contact and said object for contact movable in a second direction slanting at a certain angle against said first direction, comprising the steps of:
- moving said movable body in said first direction at a specified speed to make said movable body approach said object for contact and also moving said object for contact in said second direction;
- and
- detecting fluctuation in load to said object for contact in said second direction during movement of said movable body and said object for contact to determine contact between said movable body and said object for contact according to said load fluctuation.
A contact detecting apparatus for detecting a contact between a movable body and an object for contact, said movable body movable in a first direction for approaching said object for contact as well as in a second direction, which slants at a certain angle against said first direction, said apparatus comprising:
- a control unit for moving said movable body at a specified speed in the first direction for approaching said object for contact and also for simultaneously moving said movable body in said second direction to generate fluctuation of load to said movable body during movement of the movable body in said first direction;
- and
- a contact determining unit for detecting said load fluctuation and determining according to said load fluctuation that said movable body and said object for contact have contacted each other.
A contact detecting apparatus for detecting contact between a movable body and an object for contact, said movable body movable in a first direction for approaching said object for contact, said apparatus comprising:
- a control unit for providing controls for making said movable body approach said object for contact by way of moving said movable body in said first direction to generate load fluctuation to said movable body in a second direction, which slants at a certain angle against said first direction during movement of said movable body in said first direction;
- wherein said control unit makes said movable body approach said object for contact by superimposing reciprocal movement of said movable body in said first direction with a specified frequency and a specified amplitude;
- and
- a contact determining unit detecting said load fluctuation and determining according to said load fluctuation that contact between said movable body and said object for contact has occurred.
A contact detecting apparatus for detecting contact between a movable body and an object for contact, said movable body movable in a first direction for approaching said object for contact as well as in a second direction, which slants at a certain angle against said first direction, said apparatus comprising:
- a control unit operating to control said movable body to approach said object for contact in said first direction and in said second direction at a specified speed respectively;
- and
- a contact determining unit for detecting fluctuation of load to said movable body in said first direction or in said second direction during movement of said movable body and determining according to said load fluctuation that said movable body and said object for contact have contacted each other.
A contact detecting apparatus for detecting contact between a movable body and an object for contact comprising:
- a control unit for providing controls for making said movable body approach said object for contact by way of moving said movable body at a specified speed in a first direction for approaching said object for contact and also moving said object for contact in a second direction slanting at a certain angle against said first direction;
- and
- a contact determining unit for detecting fluctuation of load to said object for contact in said second direction during movement of said movable body as well as of said object for contact and determining according to said load fluctuation that said movable body and said object for contact have contacted each other.
Dependencies are inferred from the claim text.