Abstract: An apparatus for detecting contact between a contact detection member and a rotating body such as a grinding wheel rotably carried on a wheel head which is movable toward the contact detection member in a grinding machine for example. The apparatus comprises an AE sensor, a rectangular pulse generator, a sampling circuit and a processing device such as a microcomputer. The AE sensor generates an electric signal in response to vibration of the contact detection member. The rectangular pulse generator outputs a rectangular pulse whose duration corresponds to that of vibration. The sampling circuit delivers to the processing device an output indicating the duration of the rectangular pulse. The processing device processes the output delivered thereto so as to decide the occurrence of an actual contact between the rotating body and the contact detection member.

Abstract: A method and a system for recognizing the location of a cylindrical shaft is provided for use in positioning an end effector of an industrial robot which handles said shaft. In the method and system, a multilevel gray image of the cylindrical shaft which is generated by a change coupled device (CCD) image sensor is first differentiated, and the absolute values of picture elements constituting the differentiated gray image are then binarized on the basis of a threshold value so as to extract an accentuated pattern image which is inherent to the shape of the cylindrical shaft. The accentuated pattern image thus extracted is then collated with a reference accentuated pattern image (template) so as to generate a normal curve signal which has its peak point at a position where the axis of said cylindrical shaft is located. The normal curve data is then binarized on the basis of another predetermined threshold value to generate a single strip image.

Abstract: A method for teaching a machining line to be machined is disclosed. A borderline is formed along the machining line on a workpiece. Then, a borderline sensor is moved across the borderline at each sensing position. The positions of the sensor are stored as a teaching position at each time when the borderline is detected by the sensor. The sensing interval between each teaching position is automatically adjusted according to the change in the curvature of the borderline. At the place where the curvature of the borderline becomes large, the sensing interval is shortened in order to maintain teaching accuracy.

Abstract: A numerical controller for a cam grinding machine, which has a cam drive unit and a grinding wheel drive unit, includes a memory for storing profile data of a cam corresponding to angular positions thereof. A data processor is provided for reading out the profile data from the memory so as to generate a rotational speed command indicating a rotational speed of the cam and a feed rate command indicating a feed rate of the grinding wheel at every unit angle rotation of the cam, wherein the rotational speed command and the feed rate command are so decided as to reduce the rotational speed of the cam and the feed rate of the grinding wheel while the side portions of the cam are ground. A pulse distribution circuit is connected to the data processor and responsive to the rotational speed command and the feed rate command therefrom for distributing pulses to the cam drive unit and the grinding wheel drive unit.

Abstract: An apparatus for removing oil mist includes a cylindrical main body having an air inlet at one end and an air outlet at the other side thereof. A cylindrical rotatable filter having one end open to the air inlet and a centrifugal fan disposed concentrically within the filter and rotatable therewith are positioned within the main body. An oil adsorbent layer is provided on the inner surface of the main body surrounding the filter. The air taken in through the air inlet is passed through the filter into the air outlet causing air-borne oil mist to adhere to the filter. That oil mist which coalesces on the filter is centrifugally forced outward, is adsorbed by the oil adsorbent layer, and thereafter travels through the oil absorbent layer for discharge through an oil drain channel.