Title:
CONTROL DEVICE, INDUSTRIAL MACHINE, AND CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2022/059616
Kind Code:
A1
Abstract:
In the present invention, a relative displacement identifying unit identifies relative displacement between a jig and a tool on the basis of displacement measurement values for the jig and the tool. A position determining unit determines whether the jig and the tool are respectively positioned at a jig calibration point and a tool calibration point on the basis of the displacement measurement values for the jig and the tool. When the jig and the tool are determined to be respectively positioned at the jig calibration point and the tool calibration point, a displacement correcting unit corrects the displacement measurement values for the jig and the tool on the basis of a captured image of the jig calibration point and a captured image of the tool calibration point. A contact determining unit determines, on the basis of a measurement value pertaining to tool deflection, whether the tool has contacted a workpiece. A tool length correcting unit corrects tool length data on the basis of the relative displacement when the tool has contacted the workpiece. A control unit generates a control command for controlling the jig or the tool on the basis of relative displacement, workpiece shape, and tool length data indicating the length of the tool.
Inventors:
BANDOH KENICHI (JP)
MUNZIR MOHAMMAD (JP)
MUNZIR MOHAMMAD (JP)
Application Number:
PCT/JP2021/033327
Publication Date:
March 24, 2022
Filing Date:
September 10, 2021
Export Citation:
Assignee:
KOMATSU MFG CO LTD (JP)
International Classes:
G05B19/404; B23Q17/22; B23Q17/24
Domestic Patent References:
| WO2009109064A1 | 2009-09-11 | |||
| WO2006016420A1 | 2006-02-16 |
Foreign References:
| JP2001105279A | 2001-04-17 | |||
| JP2018106604A | 2018-07-05 | |||
| JPH1177491A | 1999-03-23 | |||
| JPS63108409A | 1988-05-13 | |||
| JPS60175555U | 1985-11-20 | |||
| JP2018508374A | 2018-03-29 |
Attorney, Agent or Firm:
SHIGA INTERNATIONAL PATENT OFFICE (JP)
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