1 2 3 4 2-1 2-2 MZ-1 2.1.1.2 1. 20 Henry Ford (1) 20
1-2- 3-4- 5-6- 7-8- 9-10- 11-12- 13-14- 15-16- 17-18- 19-20- (2),
(JIT, ), 50 2. ( ) (1) (2), ) (3) ( t1,t2,t3...tm s1,s2,s3...sm r t1 t2 t 3 = = = s s s 1 2 3 Λ Λ t = S m = (4) (5) (6) 5 m r
3. (1) ( ) (2) (3) (4) ( ) ( ), 4. (1) 1) 2)
3),, (2), (3) 1) 2) 3) ( ) 4) (4) ;, ; ;
;, ; ; 1) Fe FO ε r = = N N r (/) Fe () N () Fo () 0.9 0.96 r g (/) r. n r g r. n 2), t i Si = r Si i (); ti i (/) Sei Sei Si t ei t = r S tei i i ei (Ki), : Si K i = S ei
m (Ka) : S1 + S 2 + S3 + Λ + Sm Ka = S + S + S + Λ S m e1 e2 e3 Ka 0.75 3) 0.85 1.05 4) P i S ei W i g P i i () W i i (/ ) g () S ei 5) em
( ) ( ) 6) 2.4 7) 2.1.2 2.1.2.1 1. 2-3
2-3 1-2- 3-4- 5-6- 7-8- 9-10- 11-2. (1) (70% ) (2) (3) ( ) 3. 2.1.2.2 1. 2-1 AB 001
2-1 U H UX HX K ZHS ZHS 2. (1) (2) (3) (4) (5) (6) 2-2 TD HY CL CC CJ TC HJ TA TZ TX CD CZ 3. 2-2
(1) 2-4a 2-4b 2-6a 2-6b 2-6c 2-5 2-4 2-5 a) b) 2-6 a) b) c) (2) 2-7 2-7
2-8 2-8 2-9 2-9 2.1.3.1 NC 1.NC (Numerical Control) (NC) ( NC ) (International Federation of Information Processing IFIP) 80
2. (1) 2-10 2-10 1) 2) CNC ( CRT ) 3) 4) 5) (2) 1) 2) CNC(Computerized Numerical Control) ( ) ( ) (EIA/ISO / / )
() CRT 3) / 4) 5) CNC ( ) 2-11 1. 2 3 4 CNC 5 DNC 6 2-11 (3) 1) ( 2-12) 3
d ( 2-13) Y Y P6 P5 P3 P4 P1 P2 O X O X 2-12 2-13 y P1 P2 P3 P4 P5 P6 P7 P8 2-14 ( 2-14) ( ) 2 2.5 3 4 5 o X
2.5 ( ) X Y Z 3 X Y Z ( 2-15) 5 ( 2-16) 3 X Y Z ( ) (double curve) 2) ( 2-17) NC + 2-17
3) ( ) 4) ( ) 1um 10um 8-15m/min ; 15-24m/min ; 0.1um 15--100m/min ; 2 3 2 4 3 5 RS-232 DNC(Direct Numerical Control ) MAP(Manufacturing Automation Protocal ) CRT(Cathode Ray Tube ) CRT PC(Programmable Controller ) PC PC PC CPU(central processing Unit ) 8 CPU 16 CPU 32 CPU 64 CPU RISC
3. 1958 30 50 60 1965 60 70 1968 CJK-18 X53K-1G 70 1976 5 34 40 70 600 700 1973 1979 4108 86 80 1981 1982 XHK754 CK7815 JCS018 H160 1985 45 16 11 11 4m 160mm 40t 10 (APC) JCS- FMC-1 2 FMC ( )
FMS 12 FMS 90 1985 1989 300 40 27 0.02um 30 90 4. (FMC) (FMS) (CIMS) (1) (AE) (2) 0.1um(24m/min) 1um(100 240m/min) 0.01um(400 800/min) 16 CPU 32 CPU(FANUC15) 64 CPU ) 5MHz 10MHz 16MHz 20MHz (FANUC16) RISC CPU CNC
1) G F F/G 2) CNC 3) 4) 10,000P/r 1,000,000P/r 5) 1 10um (3) / (4) CNC
(SMT) 3 MITBF 10000 36000h CNC (5) " " CRT FANUC6 Help TFT( ) (6) ( ) CNC ; (7) (PC) PC (Ladder) PC CNC PC
PC 0.2us/Step 16000 Step/sec C PC (8) FMC FMS CIMS RS232 RS422 DNC MAP MAP3.0 FMS CIMS 2.1.3.2 1. NC (1) ; (2) ; (3) ; (4) ; (5) (ATC); (6) (APC); (7) ; (8) 2. (1) 50
1) ( ) 2-18 a) b) a) 2-18 b) 2) ( ) 3) ; Star-Turn 1200 2-3
2 10 5 MPa E 1.2 10 5 MPa 2 3 P y /Y P x /X 3156N/ µ m 1891N/ µ m 1881N/ µ m 1372N/ µ m (2) 1) 2-20 E 2-19 a) b) c) 2-20 a) b) 2 2-20
3 2-21 NC NC 2-21 a) b) (3) 2-22 --- 2-22 (4) - 2-23
(5) 3 "" 2-23 1-2- 3-4- 5-6- 7-2.1.3.3 (CNC ) 8-9- 10-1. CNC (PC) 2-24 CNC CRT CNC PC 2. CNC 2-24 CNC
CNC 2-25 I/O CNC (1) CNC DNC( ) CNC NC CNC ; NC CNC CNC CPU EPROM RAM MDI/CRT MDI/CRT 2-25 CNC (2) NC ( ) (F ) (M S T ) (3) CNC CNC (4) CNC (5) " " "
CNC CNC (6) (7) I/O I/O CNC ( ) (8) CNC CNC (9) CNC CNC CNC (CRT ) I/O 3. CNC (1) CNC ; CPU EPROM RAM I/O CMOS RAM MDI/CRT MDI/CRT PC 2-26 1) 2) 3)
4) 5) I/O 6) MDI Manual Data input /CRT 7) 8) PC( ) (2) CNC 1) CNC CNC CPU DMA(Direct Memory Access) CPU DMA RAM/ROM I/O 2) 4. CNC (1) CNC CNC CNC CNC NC (CNC) 2-27 CNC
2-27 (2) 2-28 CNC 2-28 CNC CPU CNC 2-29 0 2-4
0 1 7 6 5 3 2 2-29 2-4 0 4 1 CRT ROM 5 8ms 2 16ms 6 2ms 3 I/O MST 16ms 7 : MST (M) (S) (T) 5. CNC CNC CNC CNC CNC CNC (1) (0.01mm) (1 3m/min) CNC 20 CPU 5MHz, 40us, 1um, 1.5m/min,, 0.01mm, 15m/min (2) l, l F T, l FT
2.1.3.4 1. ( 2-30) NC 2-30 NC (1) : 1) 2), 3), ( )
, 4), 5),,, 6), ( ) ( ), (2), ( ), (3), ISO EIA
2. ( ) : (1) 30:1 (2) ( ), ( ),, ( ) ( ), ( ),, ( )
FANUC 3TF FANUC 11MF CNC 3. G M F S T 2-5 2-5 N G X Y Z U V W P Q R I J K A B C D F S T M LF (1), G 2 G00 G99 100 G G 1) G01 X Y Z 2) G02, G03, G02, G03 2-31 3) G00 4) G17 G18 G19 G17 XY,G18 G19 ZX YZ 5) G40 G41 G42 2-31 (CRT/MDI), r, r
G41 ( ), G42 ( ), G40 G41 G42 6) G92, ( ) ( ) 7) G90 G91 G90 G91 (2) M M, M00 M99 100 M : 1) M00, 2) M01 M00 M01, M01 3) M02 4) M03 M04 M05 5) M06 ( ) 6) M07 2 7) M08 1 8) M09 M07 M08 M50 M51 9) M10 M11 10) M30, ( ) 4. (1) ( ),,
00600 N1 G92 X0 Y0 Z1.0; N2 S300 M03; N3 G90 G00 X-5.5 Y-6; N1 Z-1.2 M08; N5 G41 G01 X-5.5 Y-5. D03 F2.4; N6 Y0; N7 G02 X2. Y3.5 R3.5; N8 G01 X2. Y3.5; N9 G02 X2. Y-3.5; R3.5; N10 G01 X-2. Y-3.5; N11 G02 X-5.5 Y0 R3.5; N12 G01 X5.5 Y5; N13 G40 G00 X-5.5 Y6. M09 N14 Z1. M05; N15 X0 Y0; N16 M30 16 O0600 M30 (2) 1) ( ) N3 G90G00 X-5.5 Y-6.0 N3, G90, G00, X-5.5 Y-6.0 X Y 2), 3B (4B), : B X B Y B J G Z B,, : B X B Y B J G Z X Y
4B) 3B ( 5. (1) 50, APT(Automatically Programmed Tools) APT, APT APT APT APT, 1000, APT,,, APT, ADAPT AUTOSPOT; 2C, 2CL, 2PC EXAPT-1( ) EXAPT-2( ) EXAPT-3( ); IFAPT-P( ), IFAPT- C( ) EFAPT-CP( ); FAPT, HAPT 2-6 50 60 70 SKC ZCX ZBC-1 CKY CAM-251 HZAPT EAPT SAPT (2) APT APT APT APT, APT APT 2-32, 2-7 APT 2-6 APTII MIT IBM7090 256K 3-6 APT IITRI 3-6 APT AC IBM370 4-5 ADAPT IBM IBMS/360F 2 AUTOSPOT IBMS/360E 3 AUTOMAP-1 IBM1620 2 EXAPT1 EXAPT2 EXAPT2 2C 2CL 2PC LFAPT-P LFAPT-C LFAPT-F FAPT EXAPT EXAPT EXAPT NEL NEL NEL ADEPA ADEPA ADEPA 56K 56K 56K FAOOM270-10 2 5 HAPT HIT-AC5020 2 3 3 3 2 3 2 3 3 3
PARTNO N/C 360 APT SAMPLE PART PROGRAM (1),, SP POINT/0, 0, 0 (2) X 0, Y 0, Z 0 SP L1 LINE/4, 0, 0, 4, 8, 0 (3) X 4, Y 0, Z 0 X 4, Y 8, Z 0 PT POINT/4.0, 8.0, 0 (4), X 4, Y 8, Z 0( ) L2 LINE/PT, ATANGL, 45 (5) PT, X 45 L3 LINE/8, 12, 0, 12, 12, 0 (6), X 8, Y 12, Z 0 X 12, Y 12, Z 0 L4 LINE/14, 5, 0, 14, 10, 0 (7), X 14, Y 5, Z 0 X 14, Y 10, Z 0 L5 LINE/0, 2, 0, 11, 2, 0 (8), X 0, Y 2, Z 0 X 11, Y 2 Z 0 C1 CIRCLE/12, 10, 0, 2.0 (9), X 12, Y 10, Z 0, 2 C2 CIRCLE/14, 2, 0, 3.0 (10), X 14, Y 2, Z 0, 3 INTOL/0 (11) 0 Y PT L2 45 L3 R2.00 C1 12.000 8.00 L1 C2 R3.00 2.000 SP L5 4.00 11.000 14.000 X 2-32
2-7 PARTN ON/C 360 APT SAMPLE PART PROGRAM 1 FEDRAT/20.0 16 SP=POINT/0.,0.,0. 2 FROM/SP 17 L1=line/4.0,0,4,8,0 3 GO/TO.L1 18 PT=POINT/4.0,8.0,0 4 TLLFE.GOLFT/L1,PAST,L2 19 L2=LINE/PT,ATANGL,45 5 GORGT/L2,PAST,L3 20 L3=LINE/8,12,0,12,12,0 6 GORGT/L3,TANTO,C1 21 L4=LINE/14,5,0,14,10,0 7 GOFWD/C1,TANTO,L4 22 L5=LINE/0,2,0,11,2,0 8 GOFWD/L4,PAST,C2 23 C1=CIRCLE/12,10,0,2.0 9 GORGT/C2,PAST,L5 24 C2=CIRCLE/14,2,0,3.0 10 GORGT/L5,PAST,L1 25 INTOL/0 11 GOTO/SP 26 OUTTOL/005 12 COOLNT/OFF 27 CUTTER/.25 13 SPINDL/OFF 28 SPINDL/2000,CLW 14 FINI 29 COOLNT/ON 15 OUTTOL/.005 (12) 0.005 CUTTER/.25 (13) 0.25( ) SPINDL/2000,CLW (14) 2000R/MIN, COOLNT/ON (15). FEDRAT/20.0 (16) 20.0 FROM/SP (17) SP GO/TO,L1 (18) (SP ) L1 TLLFT,GOLFT/L1,PAST,L2 (19) (TLLFT),L1 (GOLFT) ( ) L1, L2 GORGT/L2, PAST,L3 (20) (GORGT), L2, L3 GORGT/L3, TANTO,C1 (21) (GORGT), L3, C1 (TANTO). GOFWD/C1, TANTO,L4 (22)
(GOFWD), C1, L4. GOFWD/L4, PAST, C2 (23), L4, C2 GORGL/C2, PAST, L5 (24) C2, L5 GORGT/L5,PAST,L1 (25) L5, L1 GOTO/SP (26) SP, ( ) COOLNT/OFF (27) SPINDL/OFF (28) FINI (29) 2.1.4 2.1.4.1 1. (MC) (ATC) X, Y, Z A, B, C ( ) : (1) : X, Y, Z (2) : X, Y, Z (B ) (3) :, A C, ( ) 2-33a BZ20 2-33b 2-33c THM6350 XH715A
2-33 a) b) THM6350 c) XH715A 2. (TC), : (C ), (Z X ), (Z ) (TC) 2-10 MC, TC, X, Z C TC : (1) Y (2) Y Z, ; (3) (ATC)
2.1.4.2 MC TC 1. MC, 2-34 2-34 MC : (1) :,, 2-35 2-35 ( ) (2) :, X, Y, Z (3) :,
, 2-36 (4) :, MAS 2-36 2. TC, TC : (1) ; (2), ; (3) (1) : 2-37 TC,, (2) : 2-38 ( 1um)
2-39 (3) : 2-39 2.1.4.3 MC
ATC ( 2-40) ( ), 2-40 1. (1) (2-41 n j )
n1 N(kW) Tn(Nm) Te N nmin ni nmax 2-41 2-41 T n, n j, ; N, n j, ( ), - - 1:100, (2),,, : ( ) A, 1,,, Acos
2, n, n 1 70 80 2. (1) (2) 2.1.4.4 MC, 2-42 - - NC NC NC DC AC - - - - - - - - - - 2-42
2-43 2.1.4.5 MC 2-43, 1. - ( 2-44) 8,,
2-44 -
2-45 JCS-018 2-45 2. FMS (1) (2-46) 2-46 2-47 a) b) 1 2 3 (2) (2-47),,
30 120, 3. 14 30 70 95 2-48 100 80 60 40 20 0 1 2 3 5 10 15 20 25 30 2-48 1-2-3- ( ) PC, PC ( ) 180 2.1.4.6 TC (TC) TC,
(GANG TYPE) (TURRET TYPE) 2-49 2-50 1. X (QUICK-CHANGE PLATEN) 2-49 X,, 2-50 ( 2-49 ) 100mm, 2. ( ) ( )
2-51 SAUTER a) b) c) d) 1-2- 3-4- 5-6-7-8- 9-10- 11-12- 13-14- 2-51 SAUTER 10 9 8, 3 4 5 3,, ( 2-51C ) 4 5 7 ( 2-51d ) 6 12 11, 13, 14, 2 1 2-51b) 3,, 2.1.5 DNC 2.1.5.1 DNC DNC(Direct Numerical Control, Distributed Numerical Control) DNC (DNC, FMS, CIMS ),, DNC
,, ; DNC FMS CIMS DNC DNC DNC, DNC DNC DNC DNC 1965 DNC 30, DNC DNC CAD/CAM, FMS CIMS DNC CAD/CAM DNC FANUC DNC FMS,,, ( FMS) FMS,, FMS, FMS FMS,,, DNC CAD/CAM ( CAPMS) ( ),, FMS,,, DNC Fanuc Siemens DNC (RS232C, RS-485, RS-422, RS511 ), DNC CAD/CAM CAPMS, DNC 2.1.5.2 DNC DNC, :
DNC DNC (1),(2), (3), (4), (5) DNC DNC DNC DNC 1. DNC DNC 2-52 DNC 2-53a 2-53b (2-53a) NC NC (2-53b), DNC NC 1 2 3 n 2-52 DNC 1 2 3 n 1 2 3 n (a) 2-53 2. DNC (b)
BTR(behind the tape reader),, 2-54 BTR,,,, CNC 3. DNC 2-54 BTR,,, DNC 2-55 DNC, DNC DNC DNC CNC RS232C CNC CNC NC BTR DNC NCCNC 2-55 DNC BTR DNC BTR, DNC ( CNC ) BTR, DNC 2.1.5.3 DNC DNC DNC DNC 1. 1 2 RS232C, 2. FAUNC 8086CPU,
8251 EIA-RS232C, 3. Modem 50m, Modem, Modem, RS232C Modem RS232C Modem 2-56 DNC 2.1.5.4 DNC DNC (1) 1) ( 3000 ): 2) : (2) (3) (4) DNC :
2-57 DNC 1 BLOCKWISE TRANSFER 2 PROGRAM TRANSFER 3 PROGRAM RECEIVE 4 EDIT Q TRANSFER RECEIVE 1 I/O 2 1 2 3 2-57 DNC 2.1.6 FMC FMS 2.1.6.1 FMC FMS FMC DNC FMS FMC DNC FMS FMC DNC FMS FMC 1.
(Flexible Manufacturing Cell) FMC FMC 24 FMS 2-58 2-59 FMC FMC FMS FMC FMS FMC FMS FMC (Automatic Pallet Changer APC) (Robot) (1) FMC FMC 5 2-60 FMC (PLC) 5 FMC FMC 24 FMC FMS 2-58 JCS-FMC1 2-59 JCS-FMC2 FMC FMC 2 FMC (2) (robot)fmc FMC
Robot 2-61 2-62 ROBOT FMC FMC 2-62 CINCINNATI MILACRON Robot FMC Robot Robot 2-63 NC Robot FMC Robot NC 2-63 NC ROBOT FMC 2. FMC FMC (1) FMC (MC) FMC 21.3 50 2.34 2.09 50 23.9 NC FMC 10 (2) 24h FMC 24h 25 600 18h 25 400
(3) FMC MC (4) FMC FMS CIMS 2-8 2-9 FMC MC 2-8 FMC MC MC / FMC MC H15 3000 4 1.2 7 2.1 10P/C 800 4 0.32 80/00/S 220 4 0.088 170 4 0.068 150 4 0.06 1.736 2.1 400 2 800 6 2400 7% 856 2568 0.272 0.771 2-9 FMC MC FMC MC FMC MC 1.736 2.1 B 0.257 0.771 0.08 0.08 C 1.736 2.1 A 2.88 2.88 A-B-C 0.887 0.009 2.1.6.2 FMS 2-64 JCS-FMS-1
2-65 JCS-FMS-2 1. FMS Flexible Manufacturing Systems) FMS (1) FMS (2) (3) (4) (5) FMS FMS FMS 6% ( 1987 70%) " " FMS 2-64 1985 FMS( ) " " JCS-FMS-2(2-65) FMS 2. FMS
( FMS) FMS ( ) FMS (1) 1) 2) 3) (2) 1)FMS 2)FMS 3)FMS (3) FMS 1) 2) 3) ( ) 4) 5) FMS FMS FMS DNC MAS DNC FMS DNC FMS DNC FMS 2.1.6.3 FMS 1.FMS FMS (1) FMS (2) (3) (4) (5) FMS CNC CNC
(6) (7) (8) FMS (9) (10) FMS 2. CIMS-ERC CIMS (CIMS-ERC Engineering Research Center) 863 1988 5 1992 SME FMS(FMS Cell Controlling System) 2-66a 2-66b AGV 4 3 2 1 a) CIMS-ERC FMS
HP825S ACER386 VAX 3400 HP340C T T T PLC CNC 950TC I/O PLC I/O PLC PLC CNC PC 850M 6M TC500 TC500 1 2 b) CIMS-ERC 2-66 (FMS ) HP825S HP-UX ORACLE NBS CIMS Acer 386 Micro VAX 3400 HP340C+ X-WINDOWS MONITROL TC500 XH714A (AGV) 3. JCS-FMS-2 13 3600 4 GT MAS : 863/CIMS 863 CIMS/FME( )
CIMS FMS, CAM FMS 1990 JCS-FMS-2, 863/CIMS 2-65 FMS FMS FMS (1) JCS-FMS-2 3-7 1500 / 1) 10 2) 60 40 3) 9 3-5 6-7 6-7 30% JCS-FMS-2 : XH714A TH6350 (BESK-6M CNC) (AGV) TJ-2220 IC-011 2-67 (2) 1) TJ2220 9MB 86MB 400KB 2 1 1 1 (AR3240) 1 CVMS4.4 C GKS 2) IC 011 IBM5531
IC 011 CPU8088 640KB 20MB IBM7534 DOS3.30 C RS 232 C2 40 /40 SECOM2/44 3)DNC STD 4)AGV STD 5) BEEK 6M PC-B (3) 2-67 2-68 FMS, PC/XT AT XENIX XH714A MC APC TH6350 MC APC APC TH6350 MC CELL CONTROLLER AGV AGV AGV 2-67
Cell Controller Micro-VAX II RS232C RS232C 286 RS232C 286 RS232C DNC CNC 6M PC-B DNC CNC 6M PC-B DNC CNC 6M PC-B AGV V-MC H-MC H-MC I/O AGV 2-68 CNC DNC DNC RS-232-C CNC PC-B I/O CNC DNC BEEK-6ME DNC 2.1.6.4 FMS FMS FMS FMS FMS FMS FMS FMS FMS 2-5 FMS CAD/CAM CNC FMS FMS FMS FMS FMS
1. --- FMS FMS 80 90 FMS FMS (1) FMS FMS (2) NC (3) FMS (4)FMS (5)FMS FMS FMS (6) FMS (7)FMS FMS FMS INGERSOLL 1981 33 FMS FMS 2-10 2-10 33 FMS 20% 40% 40% FMS FMS FMS FMS 2. FMS (1) FMS FMS
: 1) 2) 3) ( ) 4) ( ) 5)FMS 6) 7) 8) 9) FMS NC NC FMS 5000-75000 FMS FMS NC FMS (2) 1) 2)
FMS (MAKESPAN) 3) FMS 4) FMS CNC FMS 5) FMS 6 FMS, 7) FMS FMS (AGV)
( 2-69) (AGV) AGV AGV 2-70 NC NC AGV NC ATC APC NC ATC APC NC ATC APC NC ATC APC 2-69 AGV NC APC ATC NC ATC APC NC ATC ATC NC APC 2-70 FMS 2.1.6.5 FMS FMS FMS FMS FMS FMS
FMS FMS FMS FMS 1. FMS FMS NC (1)FMS 1) FMS FMS MICRO VAX-II FMS FMS CAD/CAM NC 2) 3) NC, CNC DNC (2)FMS FMS FMS 14 2-71 1) 2) 3) 4) 5) 6) 7) 8) 9) 10) 11) 12) 13) 14)NC
2-71 CIMS 2. FMS 3. FMS 2.3.1 4. FMS 2.2 OA CAD CAPMS CAPP NC CAQ
1. 2-72 2-72 X Y Z Ferranti International Ferranti Midns X Y Z 750mm 650mm 900mm 400mm/ 6000mm/s 2 50mm/s 3um 2. 2-73
1 2 4 ( ) ( 2-74 ) 2-74 6 360 R K 2-74 (1) (2) (3) (4) (5) 3. ( )
CNC ( ) 100 MAS MAS (1) (2) 2-75 MOTMAN K-30( ) AST-386 PLC PLC AST386 I/O 2.3 2-75 2.3.1 FMS FMS FMS 66% FMS 10 30% FMS 10
15 FMS MAS MAS 1. MAS 2. 3. MAS 4. MAS MAS 60 3 180 2-15 2-15 MAS 2.3.1.1 MAS 2-76 NC1 NCn 2-76 1. ( ) ( ) 2. ( )
(1) (2) ( 60 ) ( 25 ) ( ) 3. MAS ( ) 4. MAS 5. MAS 2-77 2-77 MAS MAS 2-78
D B A B A B A B A C C C C a) D B A B A C C C C C A B b A B A B A B C D 2-78 6. ( )MAS ( ) MAS 7. ( ) 32 8. MAS MAS MAS MAS ( WENER FMS ) ( FMS20-32 )
9. MAS. MAS ( ) ( ) 2.3.1.2 1. (1) 5000-10000R/MIN 2000 300-400M/MIN 500-800M/MIN 600-800M/MIN 1000-1500M/MIN 20% 80% (2) 7 24 AT 4 ( 10" 13") M (QUALIFIED TOOL) 2-79 5 m 2-79 (3) 1988 8-10 900 1500 (4)
2. MC (1) MC 7 24 AT4 ISO7388/I GB10944--89 7 24 40 45 50 2-11 ISO7388 GB10945--89 7 24 40 45 50 A B 2-12 2-13 2-11 (mm) D1 11 R 12 13 D1 D2 g Y 0 0 min min H7 max 6H 0.1 14 +0.5 0-0.3-0.5 40 44.45 68.40 1.20 32 43 8.20 17 19.0 M16 1 56.25 63.55 45 57.15 82.70 2.00 40 53 10.0 21 23.4 M20 1.2 75.25 82.55 3.75 3.20 50 69.85 101.75 2.50 47 62 11.5 25 28.0 M24 1.5 91.25 97.50 f u 0-0.1 F 0.1 t 0-0.4 t1 0-0.4 j 0-0.4 w b H12 R1 0-0.5 D4 0-0.5 R2 0-0.5 D5 0-0.1 X +0.15 0 D 3 D6 0-0.5 0.05 40 15.9 19.1 11.1 22.8 25.0 18.5 0.12 16.1 1 44.7 50 72.30 35 45 29.1 31.3 24.0 0.12 19.3 57.4 63 91.35 35.5 37.7 30.0 0.20 25.7 70.1 80 107.25 50 e min d1 0-0.1 d2 0-0.1 2-12 A d3 d4 d5 d6 0 +0.1-0.2 h6 g6 0 (mm) 11 LDA-40 LDA-45 LDA-50 19 23 28 14 17 21 23 30 36 17 21 25 M16 M20 M24 7 9.5 11.5 54 65 74 12 0.1 13 0.1 14 15 R s 0-0.33 c LDA-40 LDA-45 LDA-50 26 30 34 20 23 25 7 8 10 4 5 5 3 4 5 19 24 30 2 2.5 3 11 d1 0-0.3 D2 0-0.3 2-13 b d3 d4 d5 d6 0 +0.1-0.2 h6 g6 0 R 0-0.5 (mm) C
LDA-40 LDA-45 LDA-50 18.95 24.05 29.10 12.95 16.30 19.60 23 30 36 17 21 25 M16 M20 M24 7.35 9.25 11.55 2.65 2.65 2.65 2 2.5 3 11 12 0-0.3 13 0-0.3 14 15 0-0.5 16 0-0.5 S 0-0.33 LDA-40 LDA-45 LDA-50 44.5 56.0 65.5 16.40 20.95 25.55 11.15 14.85 17.95 7 8 10 3.25 4.25 5.25 1.75 2.25 2.75 19 24 30 (2) ( ) ( TSG ) TMT TSG82 80 ( ) WALTER NOVEX KOMET ABS HERTEL MC KRUPP WIDAFLEX SANDVIK VARILOCK NOVEX TMG10 ( JB/GQ5065) ABS TMG21 1973 TSG 3. MAS
MAS 180 ( ) 4. FMS Wener-Kolb FMS 2.3.2 2.3.2.1 1. 2. ( )
MAS 3. ( ) (Automatic Pallet Changer APC) 2.3.2.2 1. (1) (2) (3) (4) (5) (6) MAS MAS (picture-frame) ( pillar) 90
MAS / ( ) 2. MAS (1) ( ) (2) (3) (4) (5) (6) / (7) ( ) (8) ( ) (9) / (10) / T 100kg ( ) ( 800mm 3 ) Giddings and Lewis 1979 4267mm 1524mm Caterpillar Tractor 3500mm 2500mm Aurora 20t 3. ( )
(1) 2-80 180 2-80 (2) 2-81 2-81 2.4 2-81 2.4.1 1.
2. ( ) 3. (Penalty of Change POC) POC, POC: POC X i Xi A,B,C X 1 (A B) X 2 (A C) X 3 (B A) X 4 (B C) X 5 (C A) X 6 (C B) X n POC P ( X ) P ( X ) i= 1 n n X i i i r i Pn(X i ) i
Pr(X i ) i POC A B 70 30 A 200 500 B 800 POC POC A 200 70 50 30 290( ) POC B 800 70 800 30 800 POC A POC B A B ( ) A B A 20 / B 40 /, A B A B ( ) A 20 B 5 POC A 20 20 4(/ ) POC B 40 5 2(/ ) B A A B ( ) 100 /h 115 /h 100 /h 150 /h 100 /h 200 /h 50% 30% 20% A 0 500 1000 B 50 400 1200 POC A 0 50 500 30 1000 20 350( ) POC B 50 50 400 30 1200 20 385( ) A B 4.
, m n X j 1, j x j 0, j Y ij i j, Y ij =1, Y ij =0; U j j ( ) t t j j ( ) X j m ' X j = Y ij i= 1 Y ij, X' j X j >0 X j =1; X j =0 X j min f 1U X j j (2-1) = n j= 1) n P kj X j j=1 B k P kj j k B k k 2) X h +X j 1 h j 3)
X h -X j 0 j h 4) X h -X j 0 h j h j 5) m j= 1 t j t t 1,t 2,...,t j,...,t m ( ) 6) max J J J t Zt1 t1 t2 t2 Λ tn tn 1 (2-2) t t= n t t ( C )( 1+ i) + ( Z C )( 1+ i) + + ( Z C )( + i) 1 2 t= 0 = 0 0 Z tn n t C tn n t i J n n 2.4.2 1. m n j j j (1,2 m) C ijk i j k S(D j ) j
d kj k j X(j) j 2-82: Y S(k) d kj S(j) k k O X k X j 2-82 X G il i l G il k i l k l q G il 0 i (1,2 n) l (1,2 q) [ G il G G ] = Λ Gn G il =Y, G i(l+1) =Z Y (1,2, m), Z (1,2, m) 11 21 1 G G Λ G 12 22 n2 Λ Λ Λ Λ G G Λ G ( i l Y,i l+1 Z) : min n i= 1 q 1 l= 1 ( Y ) X ( Z ) 1q 2q n3 C X (2-3) iyz s.t. ( Y ) X ( Z ) ( S ( Y ) + S( Z )) X + d YZ (2-4) 2 S ( ) ( Z ) E X Z (2-5) 2 S ( ) ( Y ) X Y (2-6) 2 E : (2-4) (2-5) (2-6) 0 E 2.
2-83 d xkj d ykj k j X Y S(k) L(k) k X Y i l l+1 : il Y dxkj Y j S(k) d xkj Y k L(k) 2-83 G il =F, G i(l+1) =T F (1,2, m), T (1,2, m) ( i l F,i l+1 T) : 1) O X k X j X n i= 1 q 1 C ift min η (2-10) l= 1 ( F ) X ( T ) il ( S( F ) + S( T )) X + d xft 2 ( ) ( ) ( L( F ) + L( T )) y F y T + d yft (2-11) 2 2) X h Y v : ( ) ( ) ( S( F ) + S( T )) x F x T + h 2 ( ) ( ) ( L( F ) + L( T )) y F y T + v 2 3) ( ) ( ) ( S ( F ) + S ( T )) X F X T 2 y(f) y(t) x(f) y(t) 0