柔性制造實驗

1、課程編號：柔性制造系統(tǒng)研究生大實驗實 驗 報 告姓名： 學(xué)號： 專業(yè)： 南京航空航天大學(xué)機(jī)電學(xué)院實驗一實驗?zāi)康?. 了解RV-M1五自由度機(jī)器人的手動操作。2. 編程實現(xiàn)機(jī)器人通過預(yù)定點位的操作。3. 編程實現(xiàn)上位機(jī)控制機(jī)器人的運行。實驗設(shè)備五自由度機(jī)器人RV-M11臺圓柱形工件 4個機(jī)器手抓取零件程序熟悉機(jī)械手臂的工作方法和控制操作系統(tǒng)，練習(xí)用程序控制機(jī)械手臂運動程序如下：SP 5MO 100M0 101 /機(jī)器手抓取第一個零件GCMO 103 MO 104MO 104GOMO 106 MO 100M0 107 /機(jī)器手抓取第二個零件MO 108GC MO 109MO 110MO 111 M

2、O 112GOMO 113MO 100MO 114 /機(jī)器手抓取第三個零件 MO 115GC MO 116MO 117MO 118GO MO 119MO 100MO 120 /機(jī)器手抓取第四個零件MO 121GCMO 122MO 123MO 124GO MO 125MO 100 /機(jī)械手復(fù)位ED /程序結(jié)束以上各個點的坐標(biāo)XYZPRPD100 138.1 49.1 399.0 - 79.0 -4.9PD101 412.0 208.8 359.0 11.3 -3.0PD102 448.1 227.0 195.3 - 2.2 -4.0PD103 425.7 215.7 435.1 21.0 -4.

3、0PD104 479.5 - 111.3 295.7 7.4 -4.0PD105 466.9 - 108.3 206.3 1.1 -4.0PD106 477.6 - 100.0 414.9 20.6 -7.7PD107 304.0 312.7 301.7 - 5.0 -1.5PD108 357.7 368.0 195.5 2.2 -1.5PD109 309.1 318.0 547.7 38.1 -1.5PD110 - 508.5 111.1 168.0 1.1 -5.9PD111 - 498.8 109.0 99.0 6.7 -1.5PD112 - 497.1 119.1 94.3 1.2 -

4、5.3PD113 - 431.3 103.4 631.8 58.8 -3.0PD114 364.3 407.3 405.0 14.9 -2.0PD115 360.2 402.7 178.9 - 3.7 -2.0PD116 307.8 344.1 588.0 13.5 -0.8PD117 - 349.8 239.2 588.0 13.5 -0.8PD118 - 411.9 222.9 100.6 3.1 0.1PD119 - 488.3 220.9 553.5 42.7 0.1PD120 456.7 301.6 368.6 8.4 -5.7PD121 447.4 295.7 188.2 - 2.

5、2 -5.7PD122 367.1 242.5 618.2 20.7 -5.7PD123 - 365.9 360.4 475.3 3.6 -5.7PD124 - 320.4 337.3 96.2 - 0.9 -5.7PD125 - 335.9 353.6 499.6 14.3 -5.7實驗二實驗?zāi)康模河脵C(jī)器人抓取一下四種零件白色金屬零件 黑色金屬零件 白色非金屬零件 黑色非金屬零件 物料傳輸過來四種不同的零件，利用感應(yīng)式傳感器和光電式傳感器分別檢測，然后放在不同的位置。實驗設(shè)備五自由度機(jī)器人RV-M11臺傳動鏈 1條白色金屬零件 1個 黑色金屬零件 1個白色非金屬零件 1個 黑色非金屬零件 1

6、個傳送物料是機(jī)器人在工業(yè)中的重要應(yīng)用，在本訓(xùn)練項目中，要求使用機(jī)器人編程語言中的一些特殊的命令，實現(xiàn)一個簡單的工作傳送系統(tǒng)。這一過程分兩步:首先， 設(shè)計機(jī)械手臂的動作，其次，編寫程序控制機(jī)械手臂使機(jī)械手臂自動完成對原料的分揀。1、 設(shè)計機(jī)械手臂的動作由于機(jī)械手臂的動作是關(guān)于點對點之間的動作，對過程沒有記憶，因此只要確定了機(jī)械手臂每一個動作的起點和終點，機(jī)械手臂就可以完成預(yù)定的動作。同時，考慮到機(jī)械手臂的動作盡量美觀簡單又流暢，且不會影響到機(jī)械手臂正常的工作，所以對機(jī)器人的動作要進(jìn)行分解。設(shè)計機(jī)械手臂動作的第一步就是要確定機(jī)器人每一個動作的起點和終點的坐標(biāo)。在本實驗中，機(jī)械手臂要完成的動作主要包

7、括: A、 將原料托盤中標(biāo)有1、2、3、4標(biāo)號的四個原料塊按順序分揀到檢測臺上，四個原料塊分別是白色金屬、黑色金屬、白色非金屬和黑色非金屬，而且次序不確定。B、 經(jīng)傳感器檢測之后，傳感器檢測后，根據(jù)檢測結(jié)果，機(jī)器人要將四個原料塊放在托盤白色金屬、黑色金屬、白色非金屬和黑色非金屬四種原料的對應(yīng)位置上。示意圖如下。機(jī)械臂工作示意圖機(jī)械臂工作流程圖圖工作程序如下100 ID / 檢查工作臺是否有零件 101 NE 3, 110 /物料正被檢測102 TI 10103 GT 100110 SP 6 /調(diào)用子程序完成成四個不同工位111 MO 1, 0 抓取工件，經(jīng)工作臺傳感器檢測后112 GS 700

8、 在分別放置在另四個指定位置的動作113 TI 10114 GS 600115 GS 800116 TI 10117 GS 600118 GS 900119 TI 10120 GS 600121 GS 1000122 TI 10123 GS 600124 GT 100125 ED200 MO 8, O /一號位抓取動作子程序201 MO 7, C202 MO 6, C203 MO 10, C204 MO 11, C205 MO 12, C 206 MO 13, O207 MO 14, O208 MO 15, O209 RT300 MO 8, O /二號位抓取動作子程序/301 MO 7, C3

9、02 MO 6, C303 MO 10, C304 MO 19, C305 MO 20, C 306 MO 21, O307 MO 22, O308 MO 15, O309 RT 400 MO 8, O401 MO 7, C /三號位抓取動作子程序402 MO 6, C403 MO 10, C404 MO 26, C405 MO 27, C 406 MO 28, O407 MO 29, O408 MO 15, O409 RT500 MO 8, O /四號位抓取動作子程序501 MO 7, C502 MO 6, C503 MO 10, C504 MO 33, C505 MO 34, C 506

10、MO 35, O507 MO 36, O508 MO 15, O509 RT600 TI 10 /工作臺檢測動作子程序，601 ID 用以判斷零件的材質(zhì)及其602 NE 0, 605 放置的位置603 GS 200604 GT 613605 NE 1, 608606 GS 300607 GT 613608 NE 2, 611609 GS 400610 GT 613611 NE 3, 600612 GS 500613 RT700 MO 2, O /一號位放置動作子程序701 MO 3, O702 MO 4, C703 MO 5, C704 MO 6, C705 MO 7, C706 MO 8,

11、O707 MO 9, O708 RT800 MO 1, O /二號位放置動作子程序801 MO 16, O802 MO 17, O803 MO 18, C804 MO 5, C805 MO 6, C806 MO 7, C807 MO 8, O808 MO 9, O809 RT900 MO 1, O /三號位放置動作子程序901 MO 23, O902 MO 24, O903 MO 25, C904 MO 5, C905 MO 6, C906 MO 7, C907 MO 8, O908 MO 9, O909 RT1000 MO 1, O /四號位放置動作子程序1001 MO 30, O1002

12、MO 31, O1003 MO 32, C1004 MO 5, C1005 MO 6, C1006 MO 7, C1007 MO 8, O1008 MO 9, O1009 RT實驗三實驗?zāi)康?. 了解數(shù)控車床、銑床的基本操作2. 了解CAD、CAM到數(shù)控加工的一般過程3. 自行設(shè)計零件完成從設(shè)計到加工的流程車床實驗設(shè)備1. 圓柱形毛坯1個2. 仿真軟件 斯沃?jǐn)?shù)控仿真軟件3. CAD設(shè)計環(huán)境UG7.04. CAM環(huán)境UG7.0在本次實驗中需要練習(xí)用數(shù)控機(jī)床完成對一個典型零件的加工。原料塊為一個長140，直徑為40的金屬短棒，零件的外形自行設(shè)計，在這里我設(shè)計一個手柄形狀的零件，要求加工零件刀具要走

13、的軌跡線要包括直線、斜線、圓弧。下圖1為在UG7.0中的造型 圖1 加工零件的幾何造型主要任務(wù)是在UG7.0里面造型，然后根據(jù)造型確定加工路線，再利用UG7.0里面的后處理功能生成數(shù)控加工的代碼，把NC代碼導(dǎo)入斯沃?jǐn)?shù)控加工軟件里面然后進(jìn)行模擬加工。UG7.0里面的三維造型如圖2 圖二 UG7.0里的三維造型UG7.0里的刀具軌跡如圖3 圖三 刀具加工路徑在三維造型軟件UG7.0里面設(shè)置加工的機(jī)床選車床MACH01，選擇合適的刀具，主軸速度1000，進(jìn)給量1.5mm，刀具進(jìn)給100。所有設(shè)置完成后可以通過操作按鈕來演示軌跡加工，如圖四 圖四 軌跡演示操作再通過圖五，圖六操作生成數(shù)控加工程序 圖五

14、 數(shù)控程序生成操作1 圖六 數(shù)控程序生成操作2生成的一部分NC加工代碼如下：O1011N0010 M06N0020 G50 X0.0 Z0.0N0030 T0101 N0040 G97 S0 M03N0050 G94 G00 X.9449 Z.2362N0060 X.8661N0070 Z.126N0080 X.7677N0090 G92 S0N0100 G96 M03N0110 G95 G01 Z.1181 F.004N0120 Z-2.7717N0130 Z-2.7795 F.0394N0140 G94 G00 X.8071N0150 Z.126N0160 X.748N0170 G95 G

15、01 Z.1181 F.004N0180 Z-2.7717N0190 Z-2.7795 F.0394N0200 G94 G00 X.7874N0210 Z.126N0220 X.7283N0230 G95 G01 Z.1181 F.004N0240 Z-2.7717N0250 Z-2.7795 F.0394N0260 G94 G00 X.7677N0270 Z.126N0280 X.7087N0290 G95 G01 Z.1181 F.004N0300 Z-2.7717N0310 Z-2.7795 F.0394N0320 G94 G00 X.748N0330 Z.126N0340 X.689N

16、0350 G95 G01 Z.1181 F.004N0360 Z-2.7717N0370 Z-2.7795 F.0394N0380 G94 G00 X.7283N0390 Z.126N0400 X.6693N0410 G95 G01 Z.1181 F.004N0420 Z-1.4914N0430 G03 X.6888 Z-1.5587 I-.1065 K-.0673N0440 X.6693 Z-1.626 I-.126 K0.0N0450 G01 Z-2.7717N0460 Z-2.7795 F.0394N0470 G94 G00 X.6772N0480 Z-1.626N0490 G95 G0

17、1 X.6693 F.004N0500 G03 X.6612 Z-1.6374 I-.1065 K.0673N0510 G02 X.6496 Z-1.6521 I.9163 K-.7327N0520 G01 Z-2.7717N0530 Z-2.7795 F.0394N0540 G94 G00 X.689N0550 Z-1.6521N0560 X.6575N0570 G94 G00 X.8661N0580 Z.2362N0590 M02把NC代碼導(dǎo)入斯沃?jǐn)?shù)控仿真軟件進(jìn)行模擬加工，利用FANUC OiT數(shù)控車床進(jìn)行模擬加工。加工零件圖如圖七：圖七 數(shù)控仿真軟件加工出來的零件銑床實驗設(shè)備1.方形毛坯

18、1個2.仿真軟件 斯沃?jǐn)?shù)控仿真軟件3.CAD設(shè)計環(huán)境UG7.04.CAM環(huán)境UG7.0在本次實驗中需要練習(xí)用數(shù)控機(jī)床完成對一個典型零件的加工。原料塊為一個長530，寬為240,高為160的金屬方塊，零件的外形自行設(shè)計，在這里設(shè)計一個轎車蓋形狀的零件，要求加工零件刀具要走的軌跡線要包括直線、斜線、圓弧。主要任務(wù)是在UG7.0里面造型，然后根據(jù)造型確定加工路線，再利用UG7.0里面的后處理功能生成數(shù)控加工的代碼，把NC代碼導(dǎo)入斯沃?jǐn)?shù)控加工軟件里面然后進(jìn)行模擬加工。造型如圖八 圖八 UG7.0里的三維造型在刀具軌跡生成時為了簡化，只加工了上表面。UG7.0里的刀具軌跡如圖九 圖九 刀具加工路徑在三維

19、造型軟件UG7.0里面設(shè)置加工的機(jī)床選車床MACH01，選擇合適的刀具，主軸速度800，進(jìn)給量3mm，刀具進(jìn)給200。所有設(shè)置完成后可以通過操作按鈕來演示軌跡加工，如圖十 圖十 軌跡演示操作再通過圖十一，圖十二操作生成數(shù)控加工程序圖十一 數(shù)控程序生成操作1 圖十二 數(shù)控程序生成操作2生成的一部分NC加工代碼如下：O1011N0010 M06N0020 G91 G28 Z0.0N0030 T01 N0040 G0 G90 X45.1775 Y17.844 A0.0 B0.0 S0 M03N0050 G43 Z76.3445 H00N0060 Z75.4413N0070 G1 Z75.3231 F

20、9.8 M08N0080 X46.0485 Y17.6547N0090 X45.9401 Y16.6764N0100 G3 X45.9396 Y-16.6727 I150.5956 J-16.6767N0110 G1 X46.0479 Y-17.6509N0120 X45.1759 Y-17.8365N0130 Z75.4413N0140 G0 Z76.3445N0150 X47.6843 Y-25.8661N0160 Z75.4413N0170 G1 Z75.3231N0180 X48.3873 Y-25.5668N0190 X48.2263 Y-24.5958N0200 G2 X48.22

21、64 Y24.5961 I148.3094 J24.5955N0210 G1 X48.3875 Y25.5671N0220 X47.6829 Y25.8619N0230 Z75.4413N0240 G0 Z76.3445N0250 X50.7272 Y31.5423N0260 Z75.4413N0270 G1 Z75.3231N0280 X50.1772 Y28.7416N0290 G3 X49.7841 Y-26.6623 I146.3585 J-28.7419N0300 G1 X49.9554 Y-27.5871N0310 G3 X50.1746 Y-28.7355 I136.6165 J

22、25.4762N0320 G1 X50.7204 Y-31.5318N0330 Z75.4413N0340 G0 Z76.3445N0350 X52.4879 Y-33.9429N0360 Z75.4413N0370 G1 Z75.3231N0380 X51.9816 Y-31.6352N0390 G2 X51.1165 Y-27.3706 I134.5903 J29.5243N0400 G1 X50.9462 Y-26.4511N0410 G2 X51.9846 Y31.6373 I145.5895 J26.4508N0420 G1 X52.4897 Y33.9451N0430 Z75.44

23、13N0440 G0 Z76.3445N0450 X54.1817 Y35.8741N0460 Z75.4413N0470 G1 Z75.3231N0480 X53.7055 Y33.871N0490 G3 X53.5135 Y33.0521 I130.7794 J-31.0941N0500 X52.1083 Y-26.24 I143.0222 J-33.0524N0510 G1 X52.2776 Y-27.1541N0520 G3 X53.7058 Y-33.8714 I134.2943 J25.0432N0530 G1 X54.1855 Y-35.8783N0540 Z75.4413N05

24、50 G0 Z76.3445N0560 X55.807 Y-37.3876N0570 Z75.4413N0580 G1 Z75.3231N0590 X55.3714 Y-35.6855N0600 G2 X53.4387 Y-26.9376 I131.2005 J33.5746N0610 G1 X53.2703 Y-26.0289N0620 G2 X54.6643 Y32.7862 I143.2654 J26.0286N0630 X55.3675 Y35.6806 I129.8206 J-30.0093N0640 G1 X55.8019 Y37.385N0650 Z75.4413N0660 G0

25、 Z76.3445N0670 X57.0715 Y37.5254N0680 Z75.4413N0690 G1 Z75.3231N0700 X56.813 Y36.5479N0710 G3 X55.815 Y32.5202 I127.6719 J-33.771N0720 X54.4324 Y-25.8178 I140.7207 J-32.5205N0730 G1 X54.5997 Y-26.721N0740 G3 X56.8169 Y-36.5484 I131.9722 J24.6101N0750 G1 X57.0764 Y-37.5261N0760 Z75.4413N0770 G0 Z76.3

26、445N0780 X58.2936 Y-37.4986N0790 Z75.4413N0800 G1 Z75.3231N0810 X58.0314 Y-36.5192N0820 G2 X55.7608 Y-26.5045 I128.5405 J34.4083N0830 G1 X55.5945 Y-25.6066N0840 G2 X56.9658 Y32.2543 I140.9412 J25.6063N0850 X58.0272 Y36.5182 I127.5191 J-29.4774N0860 G1 X58.2884 Y37.4973N0870 Z75.4413N0880 G0 Z76.3445

27、N0890 X59.5073 Y37.4741N0900 Z75.4413N0910 G1 Z75.3231N0920 X59.2436 Y36.4943N0930 G3 X58.1166 Y31.9884 I125.2413 J-33.7174N0940 X56.7566 Y-25.3955 I138.4191 J-31.9887N0950 G1 X56.9219 Y-26.288N0960 G3 X59.2484 Y-36.4965 I129.65 J24.1771N0970 G1 X59.513 Y-37.4765N0980 Z75.4413N0990 G0 Z76.3445N1000

28、X60.734 Y-37.4572N1010 Z75.4413N1020 G1 Z75.3231N1030 X60.4667 Y-36.4765N1040 G2 X58.083 Y-26.0715 I126.1052 J34.3656N1050 G1 X57.9186 Y-25.1844N1060 G2 X59.2674 Y31.7224 I138.6171 J25.1841N1070 X60.4617 Y36.4744 I125.2175 J-28.9455N1080 G1 X60.7281 Y37.4549N1090 Z75.4413N1100 G0 Z76.3445N1110 X61.9

29、503 Y37.4378N1120 Z75.4413N1130 Z53.474N1140 G0 Z76.3445N1150 M02思考題1， 法蘭克與西門子接口控制指令有哪些，怎么設(shè)置？I/O控制指令，采用RS232C或RS422，采用計算機(jī)網(wǎng)絡(luò)，新一代的CNC裝置為了能連入到DNC、FMS中設(shè)置了可直接與網(wǎng)絡(luò)連接的專用通訊微處理器接口，通過該接口可以把數(shù)控設(shè)備連接在工業(yè)局域網(wǎng)（LAN）中。網(wǎng)絡(luò)通信協(xié)議大多采用ISO開放系統(tǒng)互聯(lián)參考模型七層結(jié)構(gòu)為基礎(chǔ)的有關(guān)協(xié)議。 專用網(wǎng)絡(luò)：DATAHIGHWAY（DH）、（DH+） MAP網(wǎng)和工業(yè)以太網(wǎng)：FANUC、Simens、AB等 。 現(xiàn)場總線（Fiel

30、d Bus） - 結(jié)構(gòu)簡單、協(xié)議直觀； - 價格低廉、性能穩(wěn)定； - 實時性較高，抗干擾能力強(qiáng)，適用與工業(yè)現(xiàn)場通信。 DeviceNET 2， 智能（柔性）制造系統(tǒng)，智能體現(xiàn)在什么地方？（1）能自動控制和管理零件的加工過程，包括制造質(zhì)量的自動控制、故障的自動診斷和處理、制造信息的自動采集和處理；（2）通過簡單的軟件系統(tǒng)變更，便能制造出某一零件族的多種零件；（3）自動控制和管理物料（包括工件與刀具）的運輸和存儲過程；（4）能解決多機(jī)床下零件的混流加工，且無需增加額外費用（5）具有優(yōu)化的調(diào)度管理功能，無需過多的人工介入，能做到無人加工。 制造柔性是指一個制造設(shè)備或系統(tǒng)對生產(chǎn)需求變化的適應(yīng)能力，通常

31、制造柔性體現(xiàn)在以下幾個方面： 制造設(shè)備的柔性 制造設(shè)備通過配備相應(yīng)的刀具、量具、夾具、NC程序等，使得此設(shè)備具有制造給定零件族中任何零件的能力；（這是一種固有的柔性，它與制造設(shè)備所具有的相關(guān)功能有關(guān)，如機(jī)附刀庫的容量、控制的運動軸數(shù)等。） 加工柔性 以不同加工工序和工藝加工一個零件的能力或在給定的一個工藝規(guī)劃下以不同的加工路線實現(xiàn)零件的加工（制造工作站間和加工功能間的互換和替代） 產(chǎn)品柔性 能夠經(jīng)濟(jì)、快速地轉(zhuǎn)變生產(chǎn)產(chǎn)品的能力 零件流動路線柔性當(dāng)系統(tǒng)出現(xiàn)局部故障時，能重新選擇零件加工路徑，并繼續(xù)進(jìn)行加工的能力。 英文原文As manufacturing companies throughout

32、the world, move ever increasingly towards totally automated production, so the demand for suitably qualified engineers and technicians grows. In order to assist satisfy this demand, the systems division of denford tools limited; have developed a wide variety of computer integrated and flexible manuf

33、acturing system, CIM and FMS. These range from basic machine cells through to advanced automated factory layouts.The denford CIM creates a fully integrated computer controlled manufacturing system which follows the production from raw materials stockholding through material transfer, manufacturing,

34、parts recognition, inspection, tool finished path storage. As the companys previous developments in the automated manufacturing, the CIM system is modular by design and can be enhanced stage by stage to suit the customers requirements. To understand fully the nature of the denford modular concept fo

35、r computer integrated manufacturing its necessary to examine each element in isolation. The automatic storage and retrieval system (ASRS), is comprised of 2 parallel pallet storage apex, each containing 35 pallet locations, 5 vertical and 7 horizontal. The pallets are moved to their designated posit

36、ions by means of a gantry loading system. The ASRS is based upon the systems most widely used industry and represents the industrys warehousing facilities of the manufacturing process. On a signal from the host computer, the robot collects a pallet from the stores and places this on an index of a co

37、nveying system. Material transfer within the CIM is carried out by an index able conveying system. The positioning of which is governed by a series of gates with electronic micro switches. Once the pallet arrives at the correct position, adjacent to the CNC lathe, the computer gives signal to the or

38、bit robot to load the billet into the machine. For this CIM, the CNC lathe is the cyclone slant bed lathe, fitted with denfords latest control system. Hydraulic touch, 8 positioning heavy duty tool post and pneumatic sliding guard. The cyclone is designed to build the highest specification, incorpor

39、ating denfords latest control package, which emulates the industry standard Fanuc programming system. With the added benefits of added 3d tool path graphics and servo drives, the machines other industrial features include rapid traverse rates of 5m/min, constant surface speed control and variable sp

40、indle speeds up to 5000 rpm, generated from the 3 horse powered spindle motor. On completion of the turning operation, the partly machined component is removed by the robot and transferred to the CNC machining system. Once again, denfords latest control system is incorporated with the CIM on the tri

41、al VMC vertical machining center . The trial VMC is a flaw standing 3 axis CNC machining center , fitted with a hydraulic device for work holding, and a 6 station automatic tool changer. The machine boosts rapid traverse rate of 5m/min, variable spindle speeds of up to 4k RPM full 3D color tool path

42、 graphics, tool radius plus and tool length compensation. In keeping with the modular nature of the system, both trial VMC and the cyclone could be removed from the CIM in order to teach the principles of industrial milling and turning into greater depth. On competition of the final machining operat

43、ion, the finished component is removed from the trial VMC by the robot and placed back on the convey system to be transferred to the next element of the CIM, namely inspection. Inspection is a vital element of any industrial process. It is used to detect components which have been incorrectly manufa

44、ctured, assembled or have incorrect orientations for further processing. In this CIM, 2 types of inspection are illustrated, parts 14 recognition and in-depth statistical calibration. The parts recognition inspection is carried out by using a low cost intelligent camera, which is set up to identify

45、and measure each component as it stops under the lens. This 100% piece by piece inspection can be performed at any stage of the production process and can relegate costly wastage rates. Once this has been carried out, the pallet is transferred to the ASRS. Its now possible either to store these fini

46、shed components to their designated base or to transfer the pallet to the second inspection station. The in-depth statistical calibration inspection is carried out by a CNC 3D coordinate measuring machine (CMM). The unit incorporated a granite surface base with granite slide ways and strips and air

47、bearings on all 3 axes. It can be set up with a complete set of measuring probes and is capable of full 3D geometric tolerant calibration on circle, plane, point, line, cone, cylinder and sphere measuring routine to an accuracy of 0.002 millimeters. Once the finished component is placed on the inspe

48、ction plate, its possible to carry out as brief of as in-depth inspection routine as necessary. The data obtained by the inspection process is then transferred to the supervisory computer. The information which the supervisory software received from coordinate measuring machine will determine the fi

49、nal destination of the finished component. A rat or undersized parts will be placed in an appropriate section in the storage retrieval system whereas the oversized parts will be returned to the raw material stores for remachining. Because the system is totally a close loop, it is possible to incorpo

50、rate the option to automatically transfer inspection data directly to the controls of the machines, where tool offsets can be mended to correct any undersize or oversized machining, which maybe effecting the finished component. The production cycle is now complete. However, the interaction of these various manufacturing elements is extremely complex and can only be operated efficiently if it is controlled correctly. The responsibility of this phase of the CIM system rests with the cell controllers and the supervisor CIM software. The design of this element of the CIM has been based on a 3