JP2000061828A - Work carrier stop position control device for epicyclic gear type parallel flat surface finishing machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate bad influence to a work while stabilizing the operation of a work carrier by decelerating and stopping the work carrier at a target stop position computed on the basis of the position of the work carrier during the machining so as to attach or detach the work. SOLUTION: When each driving motor 4, 6, 11, 12 is rotated for drive so as to start the machining, angle of rotation of a sun gear 2 and an internal gear 3 detected by position detecting units 5, 7 are computed so as to store the accumulated. Continuously, when a request for stopping the machining is input, accumulated angle of rotation and revolution of the work carrier 1 are computed on the basis of the position at starting machining and the real position of the sun gear 2 and the internal gear 3. Continuously, a target stop angle of the carrier 1 is computed on the basis of this accumulated angle of rotation, and a command speed for decelerating the driving motors 4, 6 is computed for deceleration so as to stop the carrier 1 at the target stop angle, and while motors 11, 12 are decelerated. The carrier 1 stops at the target stop angle by repeating this decelerating operation till the rotating speed becomes zero.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a planetary gear type parallel plane processing machine for performing plane processing such as lapping and polishing. The present invention relates to a work carrier stop position control device that stops a work carrier at a predetermined position when the work carrier is detached from the carrier. 2. Description of the Related Art Conventionally, in a planetary gear type parallel plane processing machine, a work is attached to and detached from a work carrier by using an automatic attachment / detachment device for work in order to automate the operation. For that purpose, it is necessary to stop the work carrier at a position where the automatic work attaching / detaching device can be operated when stopping the processing board. FIG. 2 is a diagram showing a power transmission system of a planetary gear type parallel plane processing machine, and FIG. 3 is a diagram showing a movement locus of a work carrier in FIG. As shown in FIG.
Work carrier 1 includes sun gear 2 and internal gear 3
The work W to be held is uniformly processed by the planetary gears driven by. The movement trajectory of the work W at this time is, for example, indicated by an arrow line AB. [0003] Further, as shown in FIG.
Is driven by a sun gear drive motor 4 and its rotational position is detected by a sun gear position detector 5. The internal gear 3 is driven by an internal gear drive motor 6 and its rotational position is detected by an internal gear position detector 7. The upper platen 8 and the lower platen 9 are driven by an upper platen drive motor 11 and a lower platen drive motor 12, respectively. Conventionally, when the processing of the processing board is completed and the processing board is stopped, the position at which the work carrier 1 stops is random, and is usually shifted from the mounting / removing position of the automatic work mounting / removing device. The work carrier 1 is aligned by driving the null gear 3. [0004] However, when the sun gear 2 or the internal gear 3 is driven to align the work carrier 1, the work carrier 1 carries out planetary motion, so that both gears are driven. The calculation of the driving amount is complicated and troublesome. At this time, when the sun gear 2 or the internal gear 3 is driven while the upper platen 8 is raised and the lower platen 9 is stopped, the operation of the work carrier 1 becomes unstable, and the work comes off the work carrier 1. The work may be unnecessarily scratched or damaged. In order to solve the above-mentioned problems, a first aspect of the present invention is a work in which a tooth surface is formed on an outer periphery and a plurality of work holding holes are uniformly formed in a rotational direction. A plurality of carriers are mounted between the sun gear and the internal gear, and the work carrier is sandwiched between the lower surface plate and the upper surface plate that can move up and down while the work is mounted in each work holding hole. A work carrier of a planetary gear type parallel plane processing machine that rotates the null gears with drive motors to rotate and revolve the work carrier, and simultaneously rotates and drives the lower surface plate and the upper surface plate to perform parallel plane processing of the work. Means for detecting and storing the revolving position and the rotation position of the work carrier at the start of machining; Means for detecting the rotation of the sun gear and the internal gear to calculate the cumulative rotation angle from the start of processing, and when a command to finish processing is input during processing, the cumulative rotation angle of the sun gear and internal gear at that time Means for calculating the revolving position and rotation position of each work carrier from, a means for determining a target stop position for attaching and detaching the work from the work carrier based on the calculated revolving / rotating position and rotation speed of the work carrier, and Means for generating and outputting a command to decelerate the drive motors of the sun gear and the internal gear in order to stop the carrier at the target stop position. An embodiment of the present invention will be described below with reference to the drawings. Here, the planetary gear type parallel plane processing machine applied to the embodiment has the same configuration as the processing machine shown in FIG. FIG. 1 is a flowchart showing the operation of the present invention. First, the sun gear position detected by the sun gear position detector 5 and the internal gear position detected by the internal gear position detector 7 are stored, and at the same time, the revolution position and the rotation position of the work carrier at that time are detected. It is stored (S1). Next, the driving motors 4, 6,
The processing is started by rotating and driving the gears 11 and 12 at a predetermined ratio (S2). At this time, the rotation angles of the sun gear 2 and the internal gear 3 are calculated based on the detection values output from the position detectors 5 and 7, and the accumulated values are stored. Next, when a machining stop request is input, it is determined whether or not the rotational speeds of the sun gear 2 and the internal gear 3 at that time are zero (S).
3). Here, since the machining is being performed, the speed is not zero (S4 No), and therefore, the cumulative rotation angle of the rotation and revolution of the work carrier 1 is calculated from the start of machining and the current positions of the sun gear 2 and the internal gear 3 (S5). ). Next, a target stop angle of the work carrier 1 is calculated from the calculated cumulative rotation angle of rotation and revolution, and the drive motors 4 and 6 are decelerated so that the work carrier 1 stops at the target stop angle. Command speed is calculated (S6). Note that the target stop angle of the work carrier 1 is a position at which the work attaching / detaching operation is performed by the work attaching / detaching device. As shown in FIG. 3, five work carriers 1 are evenly arranged on one circumference, and When nine workpieces are mounted, the stop position on the revolution is 72
Set at intervals. Further, the work attaching / detaching device is a work carrier 1
When it is required to stop at a predetermined angle also for the rotation position of, the stop position on the rotation is set at intervals of 40 degrees. A stop position which can reach these stop positions from the rotational speed during the processing at the shortest possible deceleration of the normal drive motors 4 and 6 is calculated as a target stop angle. Next, the command speed calculated in this way is sent to the drive motors 4 and 6, and deceleration is started (S7). At the same time, the motors 11 and 12 for driving the upper and lower platens 8 and 9 also start decelerating similarly. Thereafter, the work carrier 1 is stopped at the target stop angle by repeating the deceleration processing of S4 to S7 until the rotation speed becomes zero (S4 Yes). Next, after the upper stool 8 is raised, the work attaching / detaching device is operated to attach / detach the work W to / from the work carrier 1. In this embodiment,
During machining, the drive motors 4 and 6 are driven at a ratio for obtaining the predetermined rotation speed and the revolving speed of the work carrier 1, and
When a processing stop request is input, a target stop angle at which the workpiece can be attached or detached is calculated at that time, and the deceleration of the drive motors 4 and 6 is started so as to gradually stop at that position. At the start of the deceleration, the ratio of the rotational speeds of the drive motors 4 and 6, which has been constant up to that point, is changed, and the sliding locus of the upper and lower platens 8, 9 of each work changes. The time is a short time before stopping, and does not cause a problem in machining the workpiece. In addition, a work W having only one work carrier 1 at a time by the work automatic attaching / detaching device.
When attaching or detaching the work W, the sun gear 2 or the internal gear 3 is further driven, and the work carrier 1 located next to the sun gear 2 is sequentially moved to the attachment / detachment position of the automatic work attachment / detachment device to attach / detach the work W. . In the embodiment,
Although a case has been described in which five work carriers capable of mounting nine works are evenly arranged, the present invention can be similarly applied to other combinations of arrangements. As described above, according to the present invention, if a stop request is made during processing when a workpiece is attached or detached, a target stop at which the workpiece can be attached or detached from the current position of the work carrier. The position is calculated, and thereafter, each drive motor is decelerated to automatically stop at that position. As a result, after stopping the processing board, there is no need
The work can be attached and detached using the work attaching / detaching device as it is. In addition, since the workpiece is decelerated from the machining state and stopped at a predetermined position, there is no rotation / revolution for positioning without the upper surface plate, and the adverse effect on the workpiece is eliminated.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a flowchart illustrating the operation of the present invention. FIG. 2 is a diagram showing a power transmission system of a planetary gear type parallel plane processing machine to which the present invention is applied. FIG. 3 is a diagram showing a movement locus of a work carrier in FIG. 2; [Description of Signs] 1 Work carrier 2 Sun gear 3 Internal gear 4 Sun gear drive motor 5 Sun gear position detector 6 Internal gear drive motor 7 Internal gear position detector 8 Upper surface plate 9 Lower surface plate 11 Upper surface plate drive motor 12 Lower surface plate drive motor W Work

Claims (1)

Claims: 1. A plurality of work carriers each having a tooth surface formed on an outer periphery and having a plurality of work holding holes formed uniformly in a rotation direction are mounted between a sun gear and an internal gear.
With the work mounted in each work holding hole, both sides of the work carrier are sandwiched between the lower surface plate and the upper surface plate that can move up and down, and the sun gear and the internal gear are rotated by the drive motors to rotate the work carrier. A work carrier stop position control device of a planetary gear type parallel plane processing machine for performing parallel plane processing of a workpiece by simultaneously rotating and driving a lower surface plate and an upper surface plate, the work carrier revolving at the start of processing. Means for detecting and storing the position and rotation position; means for detecting the rotation of the sun gear and the internal gear during processing to calculate the cumulative rotation angle from the start of processing; and a command to end processing during processing. Is input, the revolving position and rotation position of each work carrier are calculated from the accumulated rotation angles of the sun gear and internal gear at that time. Means for determining a target stop position for attaching and detaching a work from the work carrier based on the calculated revolving / rotating position and rotation speed of the work carrier; a sun gear for stopping the work carrier at the target stop position; Means for generating and outputting a command to decelerate the drive motor of the internal gear, and a work carrier stop position control device for a planetary gear type parallel plane processing machine, characterized by comprising: