JP3087075B2 - Scroll shape processing device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention is used for compressors, pumps, and the like, and mainly performs high-speed cutting or grinding of a scroll-shaped wall formed by an involute curve. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a scroll shape processing apparatus that automatically measures both a processing tool side and a workpiece in order to perform precision processing, and performs automatic correction control of each part based on a dimensional error thereof.

[Prior Art] When processing a scroll-shaped wall mainly formed by an involute curve, which is used for a compressor or a pump or the like, errors and variations in the shape of the involute curve and the shape of an arc are always problems. Conventionally, based on data obtained empirically for changes in thermal displacement, cutting tools, cutting conditions, etc., which cause such errors, the correction amount must be set in advance in the part program before machining using parameters, etc. Was set. In addition, a method of interrupting the processing and measuring the workpiece to control the accuracy has been generally adopted. In addition, as a processing device for processing a scroll-shaped wall surface, a numerically controlled machine tool simultaneously moves an orthogonal coordinate system on the X-Y axis so as to follow the scroll surface of the cutting tool, so that the cutting tool and the scroll part can be moved. In general, processing is performed by the relative movement of. When XY interpolation is performed by such a rectangular coordinate system, the error of the moving path of the cutting tool becomes large at the center of the scroll component due to the delay of the servo of the NC device, so that the feed speed can be increased. There is a problem in that there is no error, and a discontinuous error such as a step, a reduced radius or a projection occurs when switching the XY axis representation.

For this reason, as disclosed in JP-A-62-57856, the center of the cutting tool moves on the tangent to the base circle of the involute curve of the scroll component, and the scroll component rotates around the center of the base circle of the involute curve. There is also known an apparatus which performs processing by controlling the feed speed so as to be completely proportional to a straight-moving axis by rotating the apparatus as a center. In this case, the moving direction of the cutting tool is the normal direction of the involute curve, so that high-speed and high-accuracy machining can be performed.

[Problems to be Solved by the Invention] The means for presetting the correction amount by the above-mentioned part program or for controlling the precision of the workpiece by interrupting the processing cannot obtain the precision as expected. Labor saving and unmanned operation are both difficult.

In the case of the technique disclosed in Japanese Patent Application Laid-Open No. 62-57856, after the cutting tool is always offset by the radius of the base circle of the involute curve of the scroll part, it must be moved straight on the tangent of the base circle. In order to avoid this, the movable platform in two orthogonal directions and the rotating shaft for rotating the scroll component have a stacked structure. Since a moving table is also required in the cutting direction of the cutting tool, the number of moving axes increases,
Errors caused by stacking are inevitable, and the size of the apparatus is larger than that of the workpiece, resulting in a problem that the cost is increased.

In addition, the simultaneous two-axis control that allows the cutting tool or the workpiece to move in one direction by rotating the scroll component, and a configuration in which a single axis that can also move in the cutting direction of the cutting tool is also considered, Due to the configuration of the moving table in two directions orthogonal to each other, an error occurs due to overhang or stacking, so that the speed cannot be increased and the processing accuracy is limited. Further, in the conventional configuration, there was no satisfactory connection or proximity of an unmanned mechanism such as an automatic tool changer (ATC) or an automatic workpiece changer (autoloader).

The present invention was conceived to solve the above problems, etc., in the same machining equipment to reduce the management accuracy required for products such as the accuracy of involute curves and arc shapes and the accuracy of depth dimensions. Or, during the grinding process, the dimensions of the working tool and the dimensional accuracy of the workpiece are automatically measured as needed, and the data is taken in and the calculation means is used to perform a comparison operation with the desired accuracy. When an error with respect to accuracy is measured, for example, the Z-axis coordinate system is automatically used for the depth direction, and the X-axis or Y-axis coordinate system (W-axis moving device) is automatically used for an error in the shape or wall thickness. Correct the position, and if any defects or abnormalities are found in the processing tool, etc., change the processing tool by the function of the automatic tool changer added to the device of the present invention and perform continuous processing. Is possible.

Further, in the present invention, since the headstock is provided with a Y-axis coordinate system that moves the headstock vertically and vertically, it is possible to arbitrarily cope with a change in radius caused by the base circle diameter of the involute curve and the external dimensions of the processing tool. Further, it is another object of the present invention to provide a scroll-shaped processing apparatus in which the apparatus structure is compact, high-precision high-speed processing is possible, and the installation area and equipment cost can be reduced.

Means for Solving the Problems In order to achieve the above object, the present invention provides an X-axis slide base slidably mounted on a fixed-side bed along the X-axis direction. An X-axis moving table, a rotary table mounted on the X-axis moving table and driven to rotate around a C-axis to rotate a workpiece at a rotation angle φ, and a Z-axis mounted on the bed A Z-axis moving base slidably supported along the Z-axis direction on a slide base, and a work tool supported movably along the Y-axis direction on the Z-axis moving base and detachably holding a processing tool A headstock that rotationally drives a processing tool, and an automatic tool changer that is supported on a gantry placed on the bed across the headstock and that detachably holds a large number of the processing tools. In the apparatus, the length and diameter of the processing tool mounted on the X-axis moving table A V-axis moving table having a first measuring device for automatic measurement and slidably supported along a V-axis direction parallel to the Y-axis, the processing tool and the workpiece stored in the automatic tool changing device And a control device for controlling the rotational movement of the X-axis moving table, the rotary table, the Z-axis moving table, and the headstock and having a position correction control means. The Z-axis moving base is formed of a portal-shaped upright column slidably supported on the Z-axis slide base, and the headstock is attached to the portal-shaped upright column. A headstock moving device that slides in the axial direction and a headstock guide holding device that fixes the headstock at a predetermined position are provided.
A W-axis moving device fixed to the portal-shaped upright column side to reciprocate a first wedge-shaped member having an inclined surface along an axial direction; and an inclined surface of the first wedge-shaped member fixed to the headstock side. And a second wedge-shaped member that abuts and engages. Further, the headstock guide holding device includes a slide member provided on a peripheral edge of the headstock, a guide member fixed to the portal-shaped upright column side to slidably support the slide member, and the spindle. A clamp plate fixed to a position substantially near the center of gravity of the base, and a clamp plate holding device that removably engages with the clamp plate and releases the clamp plate only when the headstock moves in the Y-axis direction. And characterized in that:

[Operation] The workpiece is gripped by the rotary table, and the processing tool is automatically mounted in the headstock by the automatic tool changer. X
When the axis moving table and the Z-axis moving table move to predetermined positions and the workpiece and the processing tool rotate, scroll processing is performed by synchronous control by the control device. On the other hand, the headstock is accurately positioned at a predetermined Y-direction position by the headstock moving device, and is stably supported by the headstock guide holding device.

The length and diameter of the processing tool are measured by the first measuring device, and the correction amount of the difference from the reference value is obtained. The workpiece is measured by a second measuring device mounted on the headstock side, and a correction amount is obtained. The position correction control means of the control device controls the movement of each section based on the correction value.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

1 and 2, the overall structure of the present embodiment will be described.

An X-axis slide base 51 is placed on the bed 50,
The shaft moving table 2 is slidably supported on an X-axis slide base 51. The X-axis moving servomotor 16 (hereinafter, referred to as a first-axis servomotor 16) is interposed between the X-axis slide base 51 and the X-axis moving table 2, and moves the X-axis moving table 2 along the X-axis direction. Move.

The turntable 1 is mounted on an X-axis moving base 2, and the internal structure thereof will be described later in detail. The rotary table 1 has a rotary drive servomotor 19 (hereinafter, a fourth axis servomotor 19).
), And a gripping chuck 52 for detachably gripping the workpiece 14 is provided, and the workpiece 14 is rotationally driven by the fourth axis servomotor 19. The rotation axis of the workpiece 14 by the fourth axis servomotor 19 is tentatively referred to as C axis. With the above structure, the workpiece 14 is rotated by the rotation angle φ about the C-axis and is supported movably by X in the X-axis direction.

On the other hand, a Z-axis slide base 53 is placed on the bed 50, and the Z-axis moving base 5 is slidably supported on the Z-axis slide base 53 along the Z-axis direction. Note that the Z axis coincides with the axial direction of the C axis, and is orthogonal to the X axis. The Z-axis servomotor 17 (hereinafter, referred to as a second-axis servomotor 17) drives the Z-axis moving base 5. The Z-axis moving table 5 is composed of a headstock moving device 8 mounted on a portal-shaped upright column 10 and a headstock guide holding device 9 for clamping the headstock 3. The headstock moving device 8 will be described in detail later.
An axis servomotor 18 (hereinafter, referred to as a third axis servomotor 18) is provided.

The headstock 3 is slidably supported by the Z-axis moving base 5 along the Y-axis direction, and moves in the Z-axis direction as the Z-axis moving base 5 moves in the Z-axis direction. The cutting tool 15 is detachably gripped by gripping means (not shown) provided inside the headstock 3.

On the X-axis moving table 2, a V-axis moving table 6 that supports the first measuring device 7 slidably in the V-axis (parallel to the Y-axis) direction is mounted. The W-axis moving base 6 has a V-axis servomotor 20 (hereinafter, referred to as a “servo motor”).
A fifth axis servomotor 20) is provided.

The automatic tool changer 11 includes a gantry 54 mounted on a bed 50.
Magazine device 55 supported by the tool and tool changing means 56
It is composed of The gantry 54 is arranged just over the headstock 3 and is used when the cutting tool 15 is changed.
In the X-axis direction is unnecessary, and the time required for tool change is reduced. The tool magazine device 55 has a tool magazine 12 having a holder 57 for accommodating a large number of cutting tools 15 on a circumference. In the tool magazine 12, a second measuring device 13 is housed together with the cutting tool 15. I have. The tool magazine 12 is indexed and rotated by an indexing rotation motor 58.

On the other hand, the tool changing means 56 reciprocates a tool changing arm 59 having claws (not shown) for gripping the cutting tool 15 at both ends and a tool changing arm 59 by a predetermined length along the Z-axis direction. And a tool changing arm driving device 60 (the internal structure is not shown) which is configured to rotate by 90 °, 180 °, and 270 ° around the axis. The rotation angles 90 ° and 180 ° are sequentially turned in the CW direction, and the rotation angles 270 ° are turned in the CCW direction.
The tool changing arm driving device 60 is driven by a rotary motor 61.

As shown in FIG. 2, the workpiece moving / exchanging device 62 includes a transfer table 63 for storing a large number of workpieces 14 and a completed workpiece 14a.
64, and a workpiece exchange means 65 and the like provided between the transfer tables 63 and 64 and the rotary table 1 side. The workpiece exchange means 65 is formed so as to be movable and rotatable in a multidimensional direction, and is configured to allow the workpiece 14 and the completed workpiece 14a to enter and exit the chuck 52 of the rotary table 1. The transfer tables 63 and 64 are provided near the bed 50.

As shown in FIG. 1, chips generated during processing are discharged into a chip collection box 67 via a chip conveyor 65a and an elevator 66 arranged on the bed 50 side.

FIG. 3 shows the internal structure of the turntable 1. A rotating shaft 69 is pivotally supported by the case body 68 via bearings 70a and 70b, and is supported by a thrust bearing 70c. Further, the rotor 30a of the angle detector 30 is fixed behind the rotating shaft 69, and the stator 30b is fixed to the case body 68 at a position facing the rotor 30a. A large gear 72 is connected to the rotating shaft 69 via a connecting member 71.
Are linked. On the front side of the turntable 1, a chuck 52 for gripping the workpiece 14 is provided. Although the detailed structure of the gripping chuck 52 is omitted, a workpiece support member 73 that can be replaced according to the shape and size of the workpiece 14,
And a work support 74 for confirming seating. Note that a passage 75 through which the pressure medium passes is provided in the workpiece support 74. Workpiece support member 73
Is connected to a support member main body 76 formed to be elastically deformable. The support member body 76 is supported by the cylinder body 77 fixed to the connecting member 71. The cylinder body 77
A piston 78 is slidably supported therein. Piston 78
The other end of the empty member 79 that abuts one end on the support member body
Held by 76.

On the other hand, inside the rotating shaft 69, double pressure medium supply pipes 80 and 81 through which the pressure medium passes are provided. A pressure medium supply pipe 81 disposed at the center of the rotating shaft 69 communicates with a passage 75 of the workpiece support 74. On the other hand, the pressure medium supply pipe 80 provided outside the pressure medium supply pipe 81 opens to the back of the piston 78. The pressure medium supply pipes 80 and 81 are both connected to the rotary cylinder 82. The rotary cylinder 82 is connected to a pressure medium supply source (not shown).

On the other hand, a drive shaft 84 is
Are arranged, and are pivotally supported by bearings 85 and the like. The drive shaft 84 is connected to the fourth axis servomotor 19 via a coupling 86.
Note that the fourth axis servomotor 19 is fixed to the case body 68. The drive shaft 84 is provided with a pinion gear 87, and the pinion gear 87 meshes with the large gear 72. With the above structure, the fourth
By rotating the axis servo motor 19, the pinion gear
87, the gripping chuck 52 and the like connected to the rotating shaft 69 via the large gear 72 are rotationally driven.

On the other hand, when the pressure medium is supplied into the passage 80 from the rotary cylinder 82 side, the piston 78 is pushed forward, and accordingly the empty member 79 is also pushed, so that the support member 76 made of an elastic body is deformed and processed. The workpiece support member 73 moves in a direction away from the workpiece 14, and the workpiece 14 is unclamped. In addition,
By stopping the supply of the pressure medium, the workpiece 14 is clamped by the restoring force of the support member 76 made of an elastic body. On the other hand, by supplying a pressure medium into the passage 81,
Is confirmed by a seating confirmation sensor (not shown).

Next, the detailed structure of the Z-axis moving base 5 will be described with reference to FIGS. 4, 5, and 6. FIG.

As shown in FIGS. 4 and 6, on the Z-axis slide base 53, a portal-shaped upright column 10 made of a highly rigid structure is erected, and slidably supported in the Z-axis direction as described above. Is done. The connection shaft 88 in the lower part of FIG. 6 is connected to the rotary shaft of the second shaft servomotor 17 and the feed screw and screwed together (detailed structure omitted). The headstock moving column 8 and the headstock guide holding device 9 are provided on the portal-shaped upright column 10 as described above.

As shown in FIG. 4 and FIG.
A first wedge-shaped member 90 which forms an inclined surface 89 along the Z-axis direction on the upper surface side and forms a screw portion therein, and is screwed thereto;
A W-axis moving device 8a including a feed screw shaft 91 arranged along the W-axis direction in parallel with the Z-axis direction, and a third axis servomotor 18 and the like connected to the feed screw shaft 91 via a coupling 92; A second wedge-shaped member 93 and the like are fixed to the lower surface side of the headstock 3 and are in contact with the inclined surface 89 of the first wedge-shaped member 90. As shown in FIG. 6, the first wedge-shaped member 90 is slidably supported in the W-axis direction along the guide member 94 of the upright pillar 10 so that the direction of the inclined surface 89 can be stably positioned. I have. In the present embodiment, the gradient of the first wedge-shaped member 90 and the second wedge-shaped member 93 is 1/10, but the present invention is not limited to this. Further, the feed screw shaft 91 is pivotally supported by the portal upright column 10 by a bearing 95 or the like while being restricted from moving in the axial direction. The third axis servomotor 18 is fixed to the portal-shaped upright column 10 via a bracket 96. With the above structure, the third
When the shaft servomotor 18 is driven, the first wedge-shaped member 90 screwed to the feed screw shaft 91 moves, and the headstock 3 is moved in the Y-axis direction via the second wedge-shaped member 93 abutting on the inclined surface 89 thereof. I do.

The headstock guide holding device 9 is, as shown in FIG.
A slide member 98 fixed to the four corners of the periphery of the headstock main body 97 of the headstock 3, a guide member 99 fixed to the gate-shaped upright column 10 at a position opposed to the slide member 98;
And a pair of clamp plates 100 projecting outward and fixed to the headstock body 97 at a position corresponding to the position of the center of gravity of the main body, a clamp plate holding device 101 for holding the clamp plates 100, and the like. The headstock 3 is a slide member 98
Are supported slidably in the Y-axis direction while being supported by the guide member 99, and are always clamped and unclamped by the medium pressure without being biased by the medium pressure supplied to the clamp plate clamping device 101. . Note that the clamping force by the clamp plate clamping device 101 is released only when the headstock 3 moves. In addition, since the pair of clamp plates 100 is arranged at the position of the center of gravity of the headstock 3, the headstock 3 is stably supported and can move smoothly along the Y-axis direction.

The spindle 102 of the headstock 3 is formed with a tapered hole in which the cutting tool 15 and the taper holder of the second measuring device 13 are mounted, and has a gripping means (not shown) for detachably holding the cutting tool 15 and the like. Is done. Further, a spindle motor 103 for rotating and driving the spindle 102 is provided.

FIG. 7 is a front view showing a schematic structure of the automatic tool changer 11.

As described above, a gate-shaped gantry mounted on a bed 50 is provided around a gate-shaped upright column 10 disposed around the headstock 3.
54 are arranged.

The tool magazine 12 of the tool magazine device 55 has an indexing rotation motor 58 supported by a bracket 104 on a mount 54.
Is rotated by indexing. Further, a plurality of (twelve in the figure) holders 57 are arranged in the tool magazine 12. As described above, the unillustrated cutting tool 15 and the second measuring device 13 are housed in the holder 57. In this embodiment, the second
The measuring device 13 employs a touch probe.

The tool changing arm 59 of the tool changing means 56 is
Forming a claw 105 for gripping the like, and rotating by 90 ° CW by the tool change arm driving device 60, then by 180 ° CW, indexing and rotating by 270 ° CCW, and in the Z-axis direction Reciprocated. When one of the claws 105 is arranged at a position facing the holder 57 of the tool magazine 12, the other claw 105 is arranged at a position exactly facing the spindle 102 of the headstock 3. Dimensions are formed. The tool exchanging arm driving device 60 is suspended from the mount 54 via the bracket 106, and is driven by the rotary motor 61 as described above.

Next, a schematic structure of the V-axis moving base 6 will be described with reference to FIGS.

A support 107 is erected on the X-axis movable base 2, and a movable base 108 holding the first measuring device 7 is slidably supported along the V-axis direction on the support 107.

A guide rod 109 is fixed to the column 107. Two pairs of pinch rollers 110 are disposed in pressure contact with both side surfaces of the guide rod 109, and their rotation shafts 111 are pivotally supported by the moving table 108. A gear 112 and a pulley 113 are fixed to one side of the rotating shaft 111. A gear 114 having the same shape as the gear 112 is fixed to the other rotating shaft 111. The gear 114 meshes with the gear 112. The V-axis servomotor 20, that is, the fifth-axis servomotor 20 is fixed to the moving table 108 side. A pulley 117 is attached to the rotation shaft 116 of the fifth axis servomotor 20, and transmits rotation to the pulley 113 via a belt 118. In addition, the fifth
A brake device that controls the rotation of the shaft servomotor 20
119 is attached. With the above structure, the pinch roller 110 is rotated by driving the fifth axis servomotor 20, and the first measuring device 7 supported by the moving table 108 is moved in the V axis direction along the guide rod 109. In this embodiment, the first measuring device 7 and the touch probe are employed.

A control method in the present embodiment will be described with reference to FIG.

The cutting tool 15 and the involute curve 120 are point A (X =
(R, φ) moves to point B, which is a minute distance away from point A, the X-axis moving table 2 moves dx (A
C) and the turntable 1 needs to rotate by dφ.

Assuming that the length of the arc AB is ΔL and the radius of the base circle 121 is Rg, ΔL ² ≒ (BC ² + AC ² ) = (R−dx) ² tanφ + dx ² (1) R = Rg / cos θ, θ + φ = tan θ, and R is a function R (φ) of φ. Therefore, ΔL ^{2 in} equation (1) is as follows.

ΔL ² = (R (φ) −dx) ² tan ² dφ + dx ² ≒ R (φ) ² · dφ ² + dx ² (2) Also, if the time from point A to point B is dt, Equation (3) is obtained.

(ΔL / dt) ² = v ² = R (φ) ² (dφ / dt) ² + (dx / dt) ² ... (3) Therefore, dφ / dt, dx / dt
Can be calculated. Next, a more specific control method will be described below.

R = X = Rg / cosθ ··· (4) ΔL = dx / cosθ ··· (5) (4) from equation dR = dx = Rg · sinθ / cos 2 θ · dθ ··· (6) φ = tan θ−θ dφ = (sec ² θ−1) dθ = tan ² θ · dθ (7) From formulas (5), (6) and (7), ΔL = 2 · Rg / sin2θ · dθ (8) ΔL = K = ε · v / 60.

Where ε = command speed function (sec), v / 60 = feed speed (m
m / min) From equation (8), K = 2Rg / sin2θ · dφ dφ = K / 2Rg · sin2θ (9) φn + 1 = φn−dφ Xn + 1 = Xn−dx From the current value Xn, the next acceleration / deceleration override Value (hereinafter referred to as an override value) Xn + 1, and at the same time, a corresponding φn + 1, and φn + 1 and φn and
By calculating the difference between Xn + 1 and Xn and controlling the moving speed and the rotational angular speed φ of the X-axis moving table 2 and the rotary table 1 in the X direction, the workpiece 14 can be moved at a constant speed with respect to the cutting tool 15.

FIG. 12 is a flowchart for explaining the control operation of the present embodiment.

The current position Xn of the X-axis moving base 2 is detected (step 20).
0), and a corresponding rotation angle φn of the turntable 1 is detected (step 201). Next, dx and dφ are obtained to obtain the next override value Xn + 1 (step 202), and at the same time, the override value φn + 1 is obtained (step 203), and the respective override values Xn + 1 and φn + 1 are output (steps 204 and 205). The control device 4 performs an operation for controlling the X-axis and the C-axis based on these values (step 206), and outputs it to the X-axis moving table 2 and the rotary table 1 (step 207). As a result, the moving acceleration speed x (mm / sec ² ) of the X-axis moving table 2 and the rotation angle acceleration / deceleration c (θ / sec ² ) of the rotary table 1 are controlled (steps 208 and 209). The marginal figure in FIG.
This indicates that the values of x and c need to decrease as the radius R increases, and the lower diagram shows that the scroll workpiece has a constant cutting speed V by the above control method.
It shows that it is processed by.

As described above, in the present embodiment, the workpiece 14 is automatically processed simply by moving the X-axis moving table 2 in the X direction while rotating the rotary table 1, thereby forming a scroll. In this case, since the cutting is performed at a constant cutting speed along the involute curve, the processed surface is uniformly cut, and the involute curve having a constant surface roughness and the shape precision surface on the curve are formed smoothly, which is ideal. Involute curve shape is created. Thereby, processing accuracy in high-speed processing can be improved.

Next, the contents of the control device 4 and the position adjustment control means 43 for controlling the first to fifth axes, the first and second measuring devices 7, 13 in the present device will be described with reference to FIGS. 13 and 14. I do.

As shown in FIG. 13, the first axis servomotor 16 is provided with a speed detector 21 and a position detector 26 for detecting a position in the X-axis direction is provided on the X-axis movable base 2. .
Similarly, the second axis servomotor 17, the third axis servomotor 18, and the fifth axis servomotor 20 are provided with speed detectors 22, 23, 25 and position detectors 27, 28, 29, respectively. The fourth axis servomotor 19 of the turntable 1 is provided with a speed detector 24 and an angle detector 30 for detecting a rotation angle.

As shown in FIG. 15, a scale 123 is attached to the position detector 122.
Is provided, and a detection value is input to the control device via the counter 124. On the other hand, as shown in FIG. 16, the angle detector 125 includes a rotor 126 and a stator 127,
The detection signal is input to the control device via the preamplifier 128 and the A / D converter 129.

As shown in FIG. 13, the first axis, the second axis, the third axis, the fifth
The axis position detectors 26, 27, 28 and 29 are connected to the control device 4 via a first axis counter 37, a second axis counter 38, a third axis counter 39 and a fifth axis counter 41, and the angle detector 30 Is connected to the control device 4 via the amplifier 31 and the fourth axis A / D converter 40.

The control device 4 includes a feed speed override calculator 42, an axis control calculator 44, an axis position controller 45, and the like.
Further, position correction control means 43 for position correction is provided. The X-axis command and C
An axis (fourth axis) command and a speed command (F) are input.

On the other hand, the touch probe 7 as the first measuring device 7 and the touch probe 13 as the second measuring device 13 are connected to the PC device 46 via the interface 49. The PC device 46 includes a PC data processing unit 47 and a measurement data calculation unit 48, both of which are connected to the control device 4.

1st to 5th axis servomotors 16, 17, 1
The motor speeds of 8, 19, and 20 are input to the axis control calculator 44 of the control device 4 via the speed detectors 21, 22, 23, 24, and 25, and the correction amount is calculated by the feed speed override calculator 42. The data is fed back to the first-axis servo motor 16 to the fifth-axis servo motor 20 via the first-axis servo amplifier and the fifth-axis servo amplifiers 32, 33, 34, 35, and 36 via the axis control calculation unit 44. Thereby, automatic correction is performed by closed loop control.

On the other hand, position detectors for the first axis, the second axis, the third axis, and the fifth axis
The respective position detection signals from the angle detectors 26, 27, 28, 29 and the fourth axis are converted into a first axis counter 37, a second axis counter 3
8, 3rd axis counter 39, 5th axis counter 40 and amplifier 31,
It is input to the axis position control unit 45 via the fourth axis A / D converter 40, calculates a necessary correction amount, and the position correction control unit 43 controls each position.

FIG. 14 shows the control system of the touch probes 7, 13 shown in FIG. 13 in more detail. Means for transmitting a detection signal from the touch probe include wireless means, non-contact signal transmission / reception means, and wired signal transmission / reception means, and a wireless probe, a non-contact probe, and a touch probe, respectively. Is called. The detection signal of the touch probe is the interface 49
Is input to the measurement data calculation unit 48 via the. As shown, the interface 49 is provided with start, reset, error, low battery, power supply, and arm terminals.

The measurement data calculation unit 48 is connected to the control device 4 and the PC device 46 as described above. It is connected to the start, reset, error, and low battery terminals of each terminal interface 49 of the PC device 46.

FIG. 17 is a flowchart showing a correction operation after detection of the probings 7 and 13 (detailed description is omitted).

 Next, the operation of the present embodiment will be described in detail with reference to the drawings.

The workpiece 14 is mounted on the holding chuck 14 of the rotary table 1 by an autoloader 62 or the like. On the other hand, the second axis servo motor
17 is driven to move the Z-axis moving table 5 to position the headstock 3 at the tool changing position. The tool changing arm 59 of the automatic tool changing device 11 is rotated to a storage position of a desired cutting tool 15 in the tool magazine 12, and the cutting tool 15 is gripped. The tool changing arm driving device 60 is driven to move the tool changing arm 59 in the Z-axis direction. The tool changing arm 59 holds the cutting tool 15 with the claw 105, and the tool changing arm 59 drives the tool changing arm. The cutting tool 15 is rotated by 90 ° CW, 180 ° CW, and 270 ° CCW sequentially by the device 60 to rotate and position the cutting tool 15 at a position opposed to the spindle 102 of the headstock 3. In this state, the tool changing arm 59 is reversed in the Z-axis direction,
The cutting tool 15 is mounted inside. The Z-axis moving table 5 is advanced in the Z-axis direction, and the cutting tool 15
Position. In the above operation, the headstock 3 is moved in the Y-axis direction by driving the third-axis servomotor 18 even when the position of the spindle 102 of the headstock 3 does not match the turning position of the tool changing arm 59. Is possible, so that accurate positioning can be performed.

When the alignment between the workpiece 14 and the cutting tool 15 is completed, the first axis servomotor 16 and the fourth axis servomotor 19 are driven, and the main axis motor 103 is driven. , A predetermined scrolling process is performed.

Next, the second axis servomotor 17 is operated, the cutting tool 15 is cut, and the same operation as described above is performed.
All 14 processes are completed. The X-axis moving base 2 and the headstock 3 are returned to the original positions, and the automatic tool change of the cutting tool 15 is performed as necessary, and the processed workpiece 14a is gripped by the workpiece replacement means 65 or the like. It is transferred to the carrier 64 side.

Next, a method of correcting the tool length and the diameter of the cutting tool 15 using the touch probe 7 of the first measuring device will be described.

The first axis servomotor 16 moves the X-axis moving table 2 and the second axis servomotor 17 moves the Z-axis moving table 5. At the same time, the five-axis servo motors 20 are driven to move the touch probe 7 in the V-axis direction. As described above, the cutting tool 15 and the touch probe 7 can be brought into contact with each other. The tool length is measured by bringing the tip of the touch probe 7 into contact with the front end of the cutting tool 15, and the tool diameter is measured by the cutting tool.
This is performed by bringing the touch probe 7 into contact with the top and bottom of the 15. The measurement result of the touch probe 7 is processed based on the block diagram shown in FIG. 17, calculated by the PC device 46 and the control device 4 as shown in FIGS. 13 and 14, compared with the reference value, The correction amount is determined. Cutting tools
The tool length and the tool diameter are automatically corrected by performing correction control of each part related to the 15 tool lengths and diameters based on the correction amount.

Next, a method of measuring the workpiece 14 by the touch probe 13 of the second measuring device will be described.

The touch probe 13 housed in the tool magazine 12 is gripped by the tool changing arm 59 and mounted in the spindle 102 of the headstock 3. The Z-axis moving base 5 is moved, and the processed product 14a and the touch probe 13 are engaged. The control device 4 operates the X-axis moving table 2 and the rotary table 1 under the same conditions as in the machining, to bring the touch probe 13 into contact with the wall surface of the completed workpiece 14a and to bring the touch probe 13 into contact with the bottom of the scroll to scroll. Measure the curve shape and scroll wrap height. As described above, the difference from the reference value is obtained by the control device 4 to determine the correction amount. Each part is corrected based on the correction amount.

In this embodiment, the case where the workpiece 14 is cut by the cutting tool 15 has been described. However, scroll grinding can be performed by using a grindstone in place of the cutting tool 15.

[Effects of the Invention] According to the present invention, the following remarkable effects are obtained.

1) By providing the first and second measuring devices, the dimensions such as the length and diameter of the processing tool and the dimensional accuracy of the workpiece can be automatically measured during the processing or at the completion of the processing, and the calculating means of the control device can be used. The correction amount is determined by comparing with the reference value,
Since the X, Y, and Z coordinate systems are automatically corrected, high-precision machining can be performed.

2) Since a mechanism for moving the headstock in the Y-axis direction is provided, it is possible to easily and quickly cope with a change in radius due to the base circle diameter of the involute curve or the external dimensions of the processing tool. Further, the positioning of the headstock in the Y-axis direction is also easily performed.

3) The headstock that moves along the Y-axis direction is formed so as to be able to move smoothly along the Y-axis direction, and is securely held at a predetermined position, so that high-speed processing with a processing tool becomes possible.

4) Since the X-axis moving table and the Z-axis moving table are not configured in a stacked structure and each part is compactly assembled,
High-speed processing becomes possible, and the installation area and equipment cost can be reduced.

5) Since all operations are automatically performed by the control device, labor saving and unmanned operation are performed.

[Brief description of the drawings]

FIG. 1 is a side view showing the overall structure of one embodiment of the present invention, FIG. 2 is a plan view of FIG. 1, FIG. 3 is an axial sectional view showing the internal structure of the rotary table of the embodiment, FIG. FIG. 5 is a partial axial sectional view of the Z-axis moving table, FIG. 5 is a partial transverse sectional view showing the structure of the automatic clamping device of the Z-axis moving table, FIG. 6 is a front view of FIG. Fig. 8 is a partial front view of the automatic tool changer, Fig. 8 is a top view of the V-axis moving table, Fig. 9 is a cross-sectional view taken along the line IX of Fig. 8, and Fig. 10 is XX of Fig. 8. FIG. 11 is an explanatory diagram for explaining the control method of the present embodiment. FIG. 12 is a flowchart for explaining the control method of the present embodiment. FIG. 13 is a block diagram of a control device of the present embodiment. FIG. 14 is a control block diagram of the measuring device (touch probe) of the present embodiment.
FIG. 15 is a configuration diagram of a position detector, FIG. 16 is a configuration diagram of an angle detector, and FIG. 17 is a processing circuit block diagram of a measuring device (touch probe) of the present embodiment. Reference Signs List 1 ... rotary table, 2 ... X-axis moving table, 3 ... headstock table, 4 ... control device, 5 ... Z-axis moving table, 6 ... V-axis moving table, 7 ... first measuring device , 8 ... headstock moving device,
8a W-axis moving device 9 Headstock guide holding device 11
... Automatic tool changer, 12 ... Tool magazine, 13 ... Second measuring device, 14 ... Work, 14a ... Work completed, 15
... Cutting tool, 16 ... Servo motor for X-axis movement (first axis servo motor), 17 ... Servo motor for Z axis (second axis servo motor), 18 ... Servo motor for W axis (third axis) Servo motor), 19 ... Servo motor for rotary axis (4th axis servo motor), 20 ... Servo motor for V axis (5th axis servo motor), 21, 22, 23, 24, 25 ... Speed detector , 26,27,28,2
9,122 …… Position detector, 30,125 …… Angle detector, 30a ……
Rotor, 30b stator, 31 amplifier, 32 first
Axis servo amplifier, 33… Second axis servo amplifier, 34… Third axis servo amplifier, 35… Fourth axis servo amplifier, 36…
Fifth axis servo amplifier 37 37 First axis counter 38 Second axis counter 39 Third axis counter 40 Fourth axis A /
D converter, 41: 5th axis counter, 42: Feed speed override calculation unit, 43: Position correction control means, 44: Axis control calculation unit, 45: Axis position control unit, 46: PC device , 47 ……
PC data processing means, 48 ... Measurement data calculation section, 50 ... Bed, 51 ... X-axis slide base, 52 ... Grip chuck, 53 ... Z-axis slide base, 54 ... Stand, 55 ... Tool Magazine device, 56 tool changing means, 57 holder, 58 indexing rotating motor, 59 tool changing arm, 60 tool changing arm driving device, 61 rotating motor, 62 machining Automatic material exchange device, 63, 64 …… Carrier, 65
…… Workpiece exchange means, 65a …… Chip conveyor, 66 ……
Elevator, 67… Chip collection box, 68… Case body, 69
…… Rotating shaft, 70a, 70b, 85,95 …… Bearing, 70c …… Thrust bearing, 71 …… Connecting member, 72 …… Gear gear, 73 …… Work supporting member, 74… Work supporting base, 75 ... passage, 76 ... support member body, 77 ... cylinder body, 78 ... piston, 79 ...
... empty member, 80, 81 ... pressure medium supply pipe, 82 ... rotary cylinder, 83 ... pressure medium supply source, 84 ... drive shaft, 8
6, 92 coupling, 87 pinion gear, 88 connecting hole, 89 inclined surface, 90 first wedge-shaped member, 91 feed screw shaft, 93 second wedge-shaped member, 94 …… Guide member, 96
… Bracket, 97… Headstock body, 98… Slide member, 99… Guide member, 100, 104, 106… Clamp plate, 101… Plate holding device, 102… Spindle, 10
3 ... Spindle motor, 105 ... Claw, 107 ... Post, 108 ...
Moving table, 109 …… Guide rod, 110 …… Pinch roller, 11
1,116 rotating shaft, 112,114 gear, 113,117 pulley, 115 support base, 118 belt, 119 brake device, involute curve, 121 base circle, 12
3 ... scale, 124 ... counter, 126 ... rotor, 127
…… stator, 128 …… preamplifier, 129 …… A / D converter.

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B23C 3/34 B23Q 15/04 B23Q 17/20 B23Q 17/22

Claims (4)

(57) [Claims] 1. An X-axis moving base slidably supported along the X-axis direction on an X-axis slide base mounted on a fixed bed, and mounted on the X-axis moving base. And a rotary table which is driven to rotate around a C axis so as to rotate the workpiece at a rotation angle φ, and is slidably supported along the Z axis direction on a Z axis slide base mounted on the bed. A Z-axis moving base, a headstock supported movably along the Y-axis direction on the Z-axis moving base, and configured to detachably grip a processing tool and rotationally drive the processing tool; and the spindle on the bed. An automatic tool changer that is supported by a gantry that is placed across a table and holds a large number of the processing tools in a detachable manner. A first measuring device for automatically measuring the height and diameter,
A V-axis moving table slidably supported along a V-axis direction parallel to the axis, a second measuring device housed in the automatic tool changer, and automatically measuring the processing tool and the workpiece; A scroll shape processing device, comprising: a control device that controls the rotation and movement of an axis moving table, a rotary table, a Z-axis moving table, and a headstock and includes a position correction control unit. 2. The Z-axis moving base is formed of a portal-shaped upright column slidably supported on the Z-axis slide base,
The portal-shaped upright column includes a headstock moving device that slides the headstock in the Y-axis direction and a headstock guide holding device that fixes the headstock at a predetermined position. The scroll shape processing device according to claim 1. 3. The headstock moving device comprises: a W-axis moving device fixed to the portal-shaped upright column side to reciprocate a first wedge-shaped member having an inclined surface along the Z-axis direction; The scroll shape processing device according to claim 2, further comprising a second wedge-shaped member fixed to the base and engaged with the inclined surface of the first wedge-shaped member. 4. A headstock guide holding device comprising: a slide member provided on a peripheral edge of the headstock; and a guide member fixed to the portal-shaped upright column side to slidably support the slide member. A clamp plate fixed in the vicinity of the position of the center of gravity of the headstock, and a clamp that removably engages with the clamp plate and releases the clamp plate only when the headstock moves in the Y-axis direction. The scroll shape processing device according to claim 2, further comprising a plate holding device.