JP2010188443A - Device for grinding outer periphery of platelike workpiece - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To rapidly control an outer periphery grinder of a polar coordinate type by an inexpensive controller comprising a combination of a sequencer and motion. <P>SOLUTION: The controller 1 comprising a combination of the sequencer 11 and the motion 12 is used as the controller 1 for controlling the outer periphery grinder of a polar coordinate type. A touch panel incorporated in a personal computer 14 is mounted as a touch panel 13 attached to the sequencer. Calculation of fine moving blocks which has been conventionally carried out by the motion is carried out by the personal computer 14. The calculated fine moving blocks are sequentially transferred or a plurality of the fine moving blocks are together transferred to the motion 12. The motion 12 controls to store the transferred fine moving blocks and output on a timely basis. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a peripheral grinding device for a plate-like workpiece made of a hard brittle material, for example, a device for shaping and chamfering the outer periphery of a glass substrate for a liquid crystal display, and in particular, various shapes such as a dome shape and a rounded polygon. The present invention relates to the above apparatus suitable for grinding a plate material.

  The peripheral grinding of the plate-like workpiece is performed by relatively moving the periphery of the workpiece so that the rotating grindstone is in contact with the outer circumference of the desired shape of the workpiece. This outer peripheral grinding is performed while moving the rotating grindstone two-dimensionally on the XY plane along the outer periphery of the fixedly held workpiece (hereinafter referred to as “rectangular coordinate type”), and Patent Literature. As described in 1, the work is fixed to a work shaft that rotates about an axis in a direction perpendicular to the surface of the work, and the rotating grindstone is moved in the direction of approaching and separating from the work shaft according to the rotation angle of the work shaft. Structure (hereinafter referred to as "polar coordinate type"). The latter structure is particularly suitable for processing a small workpiece, and by adopting the structure, a compact outer peripheral grinding apparatus having a small installation floor area can be provided.

  However, while the work shape of the workpiece is usually specified by the rectangular coordinate type, the latter structure is a polar coordinate type of rotation of the workpiece axis and the proximity and movement of the rotating grindstone. It is necessary to perform control while converting the numerical data given in (5) into a polar coordinate type.

  That is, in the polar coordinate type outer peripheral grinding apparatus, it is necessary to numerically control the rotation angle of the workpiece axis and the position of the rotating grindstone corresponding to the rotation angle continuously or every minute time interval. Requires an operation including coordinate transformation. Numerical control including such calculation can be easily performed by using an NC device that is used for controlling a lathe, a machining center, or the like.

  However, the peripheral grinding device for plate-like workpieces does not require the advanced numerical control required for a lathe or a machining center, and the device itself is small and inexpensive. When a high-function NC device is attached to such a small and relatively simple device, there is a problem that not only the device becomes large to accommodate the control device, but also the device price increases significantly.

  Therefore, a control unit called a motion controller (hereinafter referred to as “motion”) is provided as a control unit for numerically controlling a relatively simple operation. The motion includes a low-function CPU and a memory, and is a control unit used in combination with a sequence controller (hereinafter referred to as “sequencer”). In addition, the motion has a small program registration area in the memory, and can register a program.

  As is well known, the sequencer is a controller that controls operations such as gripping and opening of a workpiece, supply of machining fluid, and opening and closing of a protective cover according to a control program registered in a storage device in the sequencer. The motion receives a numerically controlled motor rotation command or the like from the sequencer, calculates numerical data for each minute time interval in the motion, and controls the motor and the like.

  The current general control equipment configuration including a sequencer includes a touch panel for instructing the sequencer to manually operate the apparatus, change the setting value of the control program, and the like. Control by a combination of a sequencer and motion is widely used in welding robots and the like. Also in the peripheral grinding apparatus for hard and brittle plates, it is possible to provide the apparatus at low cost by using a control apparatus based on a combination of a sequencer and motion as the control apparatus.

JP 2005-271105 A

  As shown in FIG. 4, an outer peripheral grinding apparatus that grinds the outer periphery 9a of the workpiece 9 by the rotation C of the workpiece 9 around the workpiece axis 5 and the approaching / separating operation X of the rotating grindstone 6 with respect to the workpiece axis 5, In the case of controlling with 12 sets of controllers, a calculation program for generating a minute movement block by calculation including coordinate transformation is registered in the program registration area of motion 12, and the rotation of the workpiece axis 5 and the movement of the rotating grindstone 6 are performed. When the command is issued, the machining shape data of the workpiece recorded in the sequencer is read into the memory of the motion 12, and the minute movement block for designating the rotation angle of the workpiece axis 5 and the movement destination position of the rotating grindstone 6 for each minute unit. Is output to the C-axis motor 28 that rotationally drives the workpiece shaft 5 and the X-axis motor 51 that moves the rotating grindstone 6. For example, in the case of the rectangular workpiece shown in the figure, the minute moving block is configured such that the rotation angle of the workpiece shaft 5 and the moving destination position of the rotating wheel 6 are moved each time the contact between the workpiece and the rotating wheel moves by a minute distance obtained by dividing one side into 300 equal parts. This is a block to be commanded (one line of the NC program).

  As described above, the polar coordinate type peripheral grinding device can be made compact and the installation area thereof can be reduced as compared with the rectangular coordinate type peripheral grinding device. However, since a calculation including coordinate conversion for each minute unit is required to control the rotation angle of the workpiece and the position of the rotating grindstone, the burden on the motion 12 increases.

  In other words, since the processing capacity of the motion 12 is small and the capacity of the memory is small, when trying to increase the processing speed, the calculation time of the next minute moving block is longer than the processing time of the previous minute unit. It takes a long time, and a phenomenon called “so-called feed” occurs in which the rotation of the workpiece or the movement of the rotating grindstone stops waiting for calculation for every minute unit, and the machining speed cannot be increased. In particular, recent liquid crystal panels of mobile terminals often have special shapes such as rounded trapezoids, which often takes time to calculate, and the above means can control a polar coordinate peripheral grinding device. There was a problem that it could not be done smoothly. In addition, since the motion memory has a small capacity, there is a problem that only simple rectangular machining shape data and calculation programs can be registered.

  This invention enables small-sized, small installation area, high-speed and smooth peripheral grinding by enabling the control of a polar coordinate peripheral grinding machine at high speed with an inexpensive control device that is a combination of a sequencer and motion. An object of the present invention is to obtain a peripheral grinding device that can be used.

  In the present invention, a controller 1 comprising a combination of a sequencer 11 and a motion 12 is used as a controller 1 for controlling a polar-coordinate peripheral grinding apparatus, and a touch panel 13 with a built-in personal computer 14 is attached as a touch panel 13 attached to the sequencer. The calculation of the minute moving block that has been conventionally performed on the motion side is performed on the personal computer 14 side, and the calculated minute moving block is transferred to the motion 12 sequentially or in batches, and the motion 12 is transferred. The above-mentioned problem is solved by performing control of storing the minute moving block and outputting it in a timely manner.

  The peripheral grinding device for a plate-like workpiece according to the present invention includes a workpiece shaft 5 that holds and rotates the plate-like workpiece 9, a rotating grindstone 6 that moves linearly or circularly in a direction perpendicular to the axis of the workpiece shaft 5, and a controller 1. And a C-axis motor 28 that rotates the workpiece shaft 5 to a target angle that is numerically output from the controller 1, and an X-axis motor 51 that moves the rotating grindstone 6 to a target position that is numerically output from the controller 1. Yes.

  The controller 1 includes a general motion 12 having a CPU and a small-capacity memory, and a sequencer 11 to which an input device 13 such as a touch panel and a keyboard incorporating a personal computer 14 is attached. The sequencer 11 stores a plurality of types of two-dimensional graphic patterns in the storage device, and the personal computer 14 is a calculation means including polar coordinate conversion stored in the sequencer 11 itself or a graphic pattern selection signal input from the input device 13. From the workpiece shape data determined on the basis of one two-dimensional figure pattern called from the sequencer 11 based on the above and the dimension data similarly inputted from the input device 13, the C-axis motor 28 and the X-axis motor 51 The numerical output values given sequentially are calculated and output to the motion 12 via the sequencer 11. The motion 12 outputs the received numerical output value to the C-axis motor 28 and the X-axis motor 51 as numerical values.

  When there is a margin in the storage area of the sequencer 11 and peripheral machining of the same shape is repeatedly performed, it is a past practice to store a plurality of sets of workpiece shape data generated in the above in the storage device of the sequencer 11. This is convenient because it saves you the trouble of inputting the shape and dimensional data of the workpiece that has been machined.

  In addition, a plurality of numerical output values sequentially given to the C-axis motor 28 and the X-axis motor 51 calculated by the personal computer 14 are collectively transferred to the motion 12 as a minute moving block of an amount corresponding to the memory capacity of the motion 12. Even when it takes time to calculate the minute moving block, it is more preferable because smooth control of the machine can be realized.

  In the present invention, the shape data of the workpiece 9 is stored in the sequencer 11 as in the prior art. The shape data of the workpiece is determined by using a graphic pattern (rectangle, pentagon, ellipse, etc.) registered in advance in the sequencer 11 and dimension data input from the touch panel 13. This shape data is temporarily stored in the storage device of the sequencer 11, and a calculation program for calculating a minute moving block from the shape data of the work and the calculation result are transferred to the motion 12 via the sequencer 11 to the personal computer 14 with a built-in touch panel. Register the transfer program. When one of the shape data registered in the sequencer 11 is designated and machining of the workpiece is instructed, the personal computer 14 reads the shape data corresponding to the designated workpiece shape from the sequencer 11 and uses the registered calculation program. A predetermined minute movement block for each minute unit (command for instructing the rotation angle of the workpiece axis and the movement position of the rotating grindstone) is calculated. Generally, the calculated plurality of minute movement blocks are stored in the personal computer 14. After being stored in the memory, it is transferred to the memory of the motion 12 via the sequencer 11 at a time. The motion 12 stores the minutely transferred blocks that are collectively transferred, and outputs them as command signals to the C-axis motor 28 that controls the rotation angle of the workpiece axis and the X-axis motor 51 that controls the position of the rotating grindstone 6 when appropriate. .

  If the capacity of the storage device of the personal computer 14 is sufficient, the graphic pattern and workpiece shape data can also be stored on the personal computer side. In general, it is reasonable to store workpiece shape data, which tends to have a large amount of data, on the sequencer side, and store computation programs and transfer programs with a small amount of data on the personal computer side. Less.

(1) Since the calculation of the minute moving block is performed on the personal computer side, the calculation speed is high, and the “slip feed” on the grinding device side due to the calculation delay does not occur. Therefore, the processing speed of the apparatus can be increased.
(2) Since the capacity can be made larger than that of a conventional motion memory by using a storage device of a personal computer, many minute moving blocks can be stored.
(3) Since the processing capability of the personal computer is high, it is possible to easily and rapidly calculate a minute moving block for a workpiece having a complicated shape.
(4) A highly productive peripheral grinding device that grinds the outer periphery of the workpiece using polar coordinate operation can be realized, and for two-axis control of the X axis in the linear or arc cutting direction and the C axis in the workpiece turning direction, The apparatus can be downsized and provided at low cost.

Front view showing an example of a mechanism part of a polar-coordinate peripheral grinding device The block diagram which shows the example of the control system in the outer periphery grinding apparatus of this invention The figure which shows the example of the figure pattern used as the model of a perimeter shape Block diagram showing an example of a conventional control system using a sequencer and motion

  Hereinafter, with reference to the drawings, a preferred embodiment of the peripheral grinding apparatus of the present invention will be described. FIG. 1 is a front view showing a mechanism portion of an outer peripheral grinding apparatus according to the present invention, FIG. 2 is a block diagram showing a control system, and FIG. 3 is a diagram showing an example of a graphic pattern.

  The mechanism portion of the polar coordinate type outer peripheral grinding device includes a workpiece shaft 5, a workpiece clamping device 8, and a rotating grindstone 6 for outer periphery processing. The apparatus shown in the drawing includes a rotating grindstone 7 for inner periphery processing in addition to the grindstone 6 for outer periphery processing. However, in the following description, description of the rotating grindstone 7 and inner periphery processing is omitted. The work shaft 5 includes an upper cup-shaped lower clamper 22 on which the plate-shaped work 9 (FIG. 2) is placed at the upper end, a coolant joint 24 having a rotary joint built in the lower end, and a plate directly above the coolant joint 24. A vacuum joint 25 for adsorbing the workpiece on the upper surface of the lower clamper is rotatably connected to the workpiece shaft. The work shaft 5 has a pipe shape, and an air path communicates from the vacuum joint 25 to the mounting surface of the plate work of the lower clamper 22. A water channel communicates from the coolant joint 24 to a recess hole at the center of the upper surface of the lower clamper by a coolant pipe 30 fixed at the center of the inner diameter of the work shaft by the lower clamper 22 and the lower end of the work shaft 5. This water channel is for supplying a grinding liquid when grinding the outer periphery of the plate-like workpiece.

  The work shaft 5 is pivotally supported by a bracket 29 fixed to the column 4, a lower clamper 22 integrated with the work shaft is positioned at the upper end of the bracket 29, and a pulley 26 is disposed at the lower end of the bracket 29 extending to the bottom surface of the column 4. Is attached. The vacuum joint 25 and the coolant joint 24 described above are disposed below the pulley 26. The work shaft 5 is rotationally driven by a C-axis motor 28 via a belt 27 wound around a pulley 26.

  A vertical cylinder 31 is supported at the lower end of the work shaft 5 in a state of being suspended by a mounting frame 32, and a lifting frame 35 is connected to the tip of an upward rod 33 of this cylinder via a universal joint 34. Has been. The elevating frame 35 includes guide rods 36 parallel to the work shaft on both sides of the work shaft 5. The guide rod 36 is guided by a guide sleeve 38 fixed to the column 4 by a bracket 37 so as to be vertically movable. Yes. The ends of the two guide rods 36 are connected to each other by a connecting member 39, and a short cylindrical upper clamper 40 is supported at the center of the connecting member so as to be freely rotatable around the same axis as the work shaft 5.

  The plate-like workpiece 9 to be processed is conveyed onto the lower clamper 22 through the space between the two guide rods 36 by a loader (not shown). Then, by the operation of the cylinder 31, the elevating frame 35 is pulled downward, and the plate-like workpiece 9 on the lower clamper 22 is sandwiched between the upper clamper 40 that has been lowered. When the C-axis motor 28 is rotated after the loader is retracted, the work sandwiched between the upper and lower clampers 22 and 40 at the upper end of the work shaft 5 is rotationally driven.

  A grindstone shaft 41 on which the rotating grindstone 6 is mounted is supported by a grindstone table 43, and the grindstone shaft 41 is rotationally driven by a grindstone motor 45 via a belt 47. The grindstone table 43 is mounted on a vertical moving surface 49 guided in the horizontal direction (X direction) on the vertical surface of the column 4 so as to be movable in the vertical direction (Z direction). The lateral movement table 49 and the grindstone table 43 are screwed into a well-known screw feed mechanism, that is, a ball screw that is rotationally driven by the X-axis motor 51 and the Z-axis motor 53, and move in the lateral direction and the vertical direction.

  In FIG. 2, a sequencer 11 is a control unit that controls the sequential operation of the mechanism unit shown in FIG. 1 and an attached device (not shown) attached thereto. Since the means for controlling the sequential operation is general, it is not shown in the figure. In the storage device of the sequencer 11, a graphic pattern (graphic model) as shown in FIG. 3 is registered in advance. The shape data of the workpiece to be machined designates one of the graphic patterns registered from the touch panel 13, and the dimension data such as the dimension and angle of the side, the radius of the arc portion, etc. are obtained from the touch panel 13 for each graphic pattern. It is determined by inputting a numerical value and stored in the storage device of the sequencer 11.

  The personal computer 14 built in the touch panel 13 uses the shape data of the workpiece to be machined and the radius of the rotating grindstone 6 to determine the rotation angle of the workpiece shaft 5 and the rotating grindstone 6 from the contact position between the workpiece outer periphery and the rotating grindstone outer periphery. And a transfer program for storing the data of the minute moving blocks calculated by this calculation program and transferring them collectively to the memory of the motion 12 at a predetermined timing. A set of a plurality of minute moving blocks that are transferred at a time corresponds to an NC program.

  The motion 12 outputs the minute movement block transferred to the memory to a servo control device that controls the C-axis motor 28 and the X-axis motor 51 for each minute movement block at a predetermined timing.

  In the storage device of the sequencer 11, a plurality of graphic patterns, a minute unit (for example, the number of divisions) for each graphic, the diameter of the rotating grindstone 6, and dimensional data for each graphic pattern are registered. The apparatus includes a calculation program for calculating a minute block, a transfer program for transferring a plurality of calculated minute movement blocks at once, a selection screen for the graphic pattern, an input screen for a minute unit, and an input of a diameter size of a rotating grindstone. A screen and an input screen for dimension data for each graphic pattern are registered.

  Necessary for the operator to select the machining shape corresponding to the machining shape of the workpiece from the registered graphic patterns displayed on the touch panel 13 and determine machining shape data based on the graphics pattern when grinding the outer periphery of the specific workpiece. Input numerical values for the dimension data. The determined shape data is stored in the storage device of the sequencer 11.

  When machining is started, the personal computer 14 reads the shape data stored in the sequencer 11, calculates a minute moving block, and transfers it to the motion 12. Next, under the control of the sequencer 11, the loader conveys the workpiece to the lower clamper 22, and grips the conveyed workpiece by lowering the upper clamper 40. Next, in response to a grinding start command from the sequencer 11, rotation start commands for the grinding wheel motor 45, the C-axis motor 28, and the X-axis motor 51 are output. In response to this command, the motion 12 sequentially outputs the stored minute moving blocks to the C-axis motor 28 and the X-axis motor 51 to grind the outer periphery of the workpiece 9 into a predetermined shape. When the entire circumference of the workpiece 9 is ground, a rotation stop command for the grindstone motor 45, the C-axis motor 28, and the X-axis motor 51 is output by one rotation signal of the C-axis motor 28, and then the upper clamper 40 is lifted and the loader It is instructed to carry out the processed workpiece by, and the processing of one workpiece is finished. By repeating this operation, automatic peripheral grinding of a plurality of plate-like workpieces is performed.

1 Controller 5 Work Axis 6 Rotary Wheel
11 Sequence controller (sequencer)
12 Motion controller (motion)
13 Touch panel
14 PC
28 C-axis motor
51 X-axis motor

Claims (3)

A workpiece shaft (5) that rotates while holding the plate-like workpiece (9), a rotating grindstone (6) that moves linearly or circularly in a direction perpendicular to the axis of the workpiece shaft (5), a controller (1), and a controller The C-axis motor (28) that rotates the work shaft (5) to the target angle that is numerically output from (1), and the rotary grindstone (6) to the target position that is numerically output from the controller (1) X-axis motor (51)
The controller includes a CPU for numerically outputting the target angle and target position, and a motion controller (12) having a memory capable of registering a small-capacity program, a CPU and a storage device for outputting sequential operation commands for the entire machine. A sequence controller (11), and a touch panel or key input device, which itself includes a personal computer (14) and an input device (13),
The sequence controller stores a plurality of types of two-dimensional graphic patterns in the storage device,
The personal computer is an arithmetic means including polar coordinate transformation stored in itself or in the sequence controller, and the same input as one two-dimensional graphic pattern called from the sequence controller based on a graphic pattern selection signal input from the input device A numerical output value sequentially given to the C-axis motor and the X-axis motor from the workpiece shape data determined on the basis of the measured dimension data and output to the motion controller via the sequence controller,
The motion controller numerically outputs the received numerical output value to the C-axis motor and the X-axis motor.
Peripheral grinding device for plate workpiece.   The board according to claim 1, wherein a plurality of sets of workpiece shape data generated on the basis of the selected two-dimensional graphic pattern and the inputted dimension data are stored in a storage device of the sequence controller (11). Peripheral grinding machine.   The peripheral grinding device for plate-like workpieces according to claim 1 or 2, wherein a plurality of numerical output values sequentially given to the C-axis motor (28) and the X-axis motor (51) calculated by the personal computer are collectively transferred to the motion controller. .

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