JP2012071413A - Sphere rotating device, sphere rotating method, and application machine using the sphere rotating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To evenly rotate a sphere with a simple structure having high versatility.SOLUTION: The sphere rotating device includes: a pair of rollers 3, 4 rotatably supporting a sphere 1; servo motors 27, 28 rotating and driving the pair of rollers 3, 4, respectively; and a controller 7 controlling both servo motors 27, 28 to rotate them so that, when one of the rollers 3, 4 has a high angular velocity, the other has a low angular velocity while changing the angular velocities of the pair of rollers 3, 4 to be high and low during one rotation of the sphere 1. The controller 7 includes a rotation control function 43 changing a time length of the high angular velocity to be long and short during at least one rotation of the sphere 1, in the middle of rotating the pair of rollers 3, 4 while changing the angular velocities to be high and low.

Description

  The present invention relates to a sphere rotating device for rotating a sphere, a sphere rotating method, and an application machine such as a grinding machine using the sphere rotating device.

  In the application device using the sphere rotation device, the sphere rotation method, and the sphere rotation device, a universal joint is connected to each of the base end sides of the roller rotation shafts of the pair of rollers for rotatably supporting the sphere. By rotating the joint synchronously with a motor, using the characteristics of the universal joint, the angular velocity of the pair of rollers is changed high and low during one rotation of the sphere, and when one roller is at a high angular velocity, the other is at a low angular velocity. In this way, the sphere is rotated evenly, and used for, for example, inspection of the sphere surface (Patent Document 1).

Japanese Examined Patent Publication No. 62-50772

  However, in the past, since the characteristics of the universal joint are used, the angular velocity of the pair of rollers changes with a half rotation as a cycle, so that the sphere rotates approximately once during the half rotation of the roller. Therefore, it is necessary to set the roller rotation diameter around the rotation axis of the roller at the contact point between the sphere and the roller to be approximately twice the rotation diameter of the sphere around the rotation axis of the sphere at the contact point. It was inferior in versatility because the sphere could not be rotated once by one rotation, or the sphere could be rotated a plurality of times other than two by one rotation of a pair of rollers. Further, since a pair of universal joints is necessary, the structure is complicated.

  Further, when the universal joint was used, the cross joint portion was easily worn and the durability was poor. Furthermore, when a universal joint is used, the bending angle of the universal joint cannot be increased to, for example, 30 ° or more, and there is a limit to the amount of change in the angular velocity of the pair of rollers, so that the sphere orbits around the polar axis. For example, the sphere needs to be rotated 20 times.

  In view of the above-described problems, the present invention can rotate a sphere more easily and uniformly with a versatile and simple structure, and has a highly durable sphere rotation device, a sphere rotation method, and an application using the sphere rotation device. The purpose is to provide a machine.

The technical means of the sphere rotating device of the present invention that solves this technical problem is as follows.
First, a pair of rollers for rotatably supporting a sphere, a servo motor for rotating the pair of rollers, and an angular velocity of the pair of rollers during one rotation of the sphere by controlling both servo motors. And a control means for rotating so that when one of the rollers is at a high angular velocity, the other is at a low angular velocity.

Secondly, the control means has a rotation control function for changing the length of the high angular velocity in at least one rotation of the sphere while the pair of rollers are rotating while changing the angular velocity. is there.
Thirdly, the control means has a rotation control function of rotating the sphere with a relative speed difference in the middle of rotating the pair of rollers while changing the angular velocity.

Fourth, the distance between the pair of rollers is set to be adjustable.
Fifth, a support means for supporting a sphere that contacts the pair of rollers from below is provided between the pair of rollers, and the support means is formed by a supporting shoe that is in sliding contact with the sphere from below. It is in the point.
Sixth, pressure means is provided between the pair of rollers so as to press the sphere against the pair of rollers and retract from the pressing position. The pressure means is above the sphere and the center of the sphere. It is in the point formed with the pressure sphere which contacts and rotates.

Seventh, there is provided an urging means for urging the pressure means to the sphere so as to suppress the slip of the sphere with respect to the pair of rollers.
The technical means of the sphere rotation method of the present invention for solving the technical problem is as follows.
First, the sphere is rotatably supported by a pair of rollers, the pair of rollers are driven to rotate by a servo motor, and the servo motor is controlled to change the angular velocity of the pair of rollers during one rotation of the sphere. However, when one roller is at a high angular velocity, the other roller is rotated at a low angular velocity.

Secondly, the time length of the high angular velocity in at least one rotation of the sphere is changed in length while the pair of rollers are rotated while changing the angular velocity.
Third, while rotating the pair of rollers while changing the angular velocity, the servo motor is controlled to rotate the sphere with a relative speed difference while simultaneously rotating the pair of rollers.

Moreover, the technical means of the application machine using the sphere rotating device of the present invention for solving the technical problem is as follows.
First, a sphere rotation device is provided, and a grinding mechanism for grinding the surface of the sphere is provided. The grinding mechanism includes a grindstone disposed opposite the sphere, and a tip of the grindstone rotating around the axis. And a grindstone driving means for pressing the portion against the surface of the sphere.

Second, a fixed dimension for controlling the servo motor by measuring the diameter of the sphere by contacting the surface of the sphere on a plane perpendicular to the axis of the pair of rollers and passing through the axis of the sphere and the axis of the grindstone. The device is provided.
Thirdly, a sphere rotating device is provided, and an inspection device for inspecting the surface of the sphere or a measuring device for measuring the surface of the sphere is provided.

  According to the present invention, the pair of rollers can be rotationally driven by the pair of servo motors, and the angular velocities of the pair of rollers can be changed by controlling both servo motors. It can be rotated around the polar axis. In addition, one rotation of the pair of rollers can rotate the sphere one time, or one rotation of the pair of rollers can rotate the sphere a plurality of times, so that versatility is great and a pair of universal joints is unnecessary. And the structure becomes simple.

  Further, since the universal joint is not used, the cross joint portion of the universal joint is not worn and the durability is improved. Furthermore, the amount of change in angular velocity of the pair of rollers can be set to be large or small, and can be freely changed. When the pair of servo motors are used to rotate the pair of rollers, respectively. The angular velocity of a pair of rollers is set to 4 to 5 times that when a universal joint is used to change the angular velocity, and the sphere is, for example, 20 in the conventional case where the universal joint is used to circulate the sphere around the polar axis. It is possible to rotate the sphere around the polar axis by, for example, six rotations of the sphere 1.

1 is an overall configuration diagram of a sphere rotation device showing a first embodiment of the present invention. It is a top view of the same spherical body rotation apparatus. It is a front view of the same spherical body rotation apparatus. It is a side view of the same spherical body rotation apparatus. It is front sectional drawing of the same spherical body rotation apparatus. It is side surface sectional drawing of the same spherical body rotation apparatus. It is a perspective view of the principal part of the same spherical body rotation apparatus. It is explanatory drawing which shows the relationship between the angular velocity change of the same pair of taper roller, and rotation of a spherical body. It is explanatory drawing which shows the rotation state of the same spherical body. It is another explanatory drawing which shows the rotation state of the same sphere. It is another explanatory drawing which shows the rotation state of the same sphere. It is explanatory drawing which shows rotation control of the taper roller by the control means. It is explanatory drawing for demonstrating rotation of the same spherical body. It is explanatory drawing which shows the other example of control of a pair of roller drive means and grinding mechanism by a control means. It is a whole block diagram of the spherical body rotating apparatus which shows 2nd Embodiment. It is a graph for demonstrating the effect of embodiment of this application. It is explanatory drawing corresponding to FIG. 9 for demonstrating the effect of embodiment of this application. It is side surface explanatory drawing of the spherical body rotating apparatus which shows 3rd Embodiment. It is front explanatory drawing of the spherical body rotating apparatus which shows the same 3rd Embodiment.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 13 show a first embodiment. In FIG. 1, a sphere rotation device A1 is formed in a tapered shape in the opposite inward direction, is disposed opposite to the same axis M, and has a pair of taper rollers 3 and 4 that rotatably receive the sphere 1; There are provided roller drive means 5 and 6 for rotationally driving the pair of taper rollers 3 and 4, respectively, and a control means 7 for controlling both roller drive means 5 and 6. The sphere rotating device A1 and the grinding mechanism 8 for grinding the surface of the sphere 1 constitute a sphere polishing machine (application machine) B1.

  1 to 7, an upper frame 14 is supported on a support frame 13 of a sphere rotating device A1 so as to be movable in the front-rear direction, and a pair of left and right supports 15, 16 are positioned on the upper frame 14 in the left-right direction. It is supported in an adjustable manner. A boss-like rail member 17 projects upward from the upper frame 14, and the dovetail grooves 11 of the pair of support members 15, 16 are fitted to the rail member 17 so as to be movable left and right, and tightened by a fixing lever 18. It is configured to be fixed at an arbitrary position.

  Bearing bodies 19 and 20 are mounted and fixed on the pair of left and right supports 15 and 16, respectively, and servo motors 27 and 28 are attached via support members 29 and 30, respectively. Roller rotating shafts 21 and 22 having tapered rollers 3 and 4 attached to the tip end portions thereof are supported on the bearing bodies 19 and 20 through bearings so as to be rotatable around the axis. The base end sides of the roller rotation shafts 21 and 22 are connected to the rotation shafts 27a and 28a of the servomotors 27 and 28 via couplings 25 and 26, respectively.

  Thus, by adjusting the position of the taper rollers 3 and 4 together with the pair of supports 15 and 16 in the left-right direction by the loosening operation of the fixing lever 18, the spacing width of the pair of taper rollers 3 and 4 facing each other in the axial direction. Is adjustable. The adjustment of the separation width is performed for correcting the contact position with the sphere 1 when the tapered rollers 3 and 4 are worn. Moreover, since the separation width of the taper rollers 3 and 4 can be adjusted, it can be made to correspond to the size of the sphere 1 and is versatile and convenient.

  Each of the roller driving means 5 and 6 is composed of servo motors 27 and 28, couplings 25 and 26, bearing bodies 19 and 20, and roller rotating shafts 21 and 22, respectively. The rotary shafts 27a and 28b of the 27 and 28 are linearly connected to each other, and are in a direct rotational drive state. By controlling the servo motors 27 and 28 by the control means 7, the taper rollers 3 and 4 can be set to a synchronous rotation state and an independent rotation state, respectively.

As shown in FIG. 7, in addition to the pair of left and right tapered rollers 3 and 4, the sphere rotating device A 1 includes a support roller 9 that receives the weight of the sphere 1 in combination with the pair of tapered rollers 3 and 4, and a pair of tapered rollers 3. , 4 is provided with a pressure roller 10 for pressing the sphere 1.
The support roller 9 is a roller that rotates in contact with the sphere 1 from below, and supports the sphere 1 that faces the pair of rollers 3 and 4 and supports the sphere 1 that contacts the pair of rollers 3 and 4 from below. Is configured.

The pressure roller 10 is a roller that rotates in contact with the sphere 1 above the sphere O and faces the pair of rollers 3 and 4 so as to press and hold the sphere 1 against the pair of rollers 3 and 4. The pressure means R that can be retracted from the position X is configured.
A mounting base 23 is attached to the center of the upper frame 14 in the left-right direction, and the support roller 9 and the pressure roller 10 are attached to the mounting base 23. The support roller 9 is disposed below the sphere 1 and is constituted by a bearing, and its outer ring supports the sphere 1 so as to be rotatable around the left and right axes.

The pressure roller 10 is disposed in front of the sphere 1 and is constituted by a bearing, and the outer ring is in contact with the sphere 1.
As shown in FIG. 6, the pressure roller 10 is supported by a tip end portion of a support arm 31 so as to be rotatable about a rotation axis in the left-right direction. The support arm 31 is supported by the mounting base 23 so as to be rotatable around a support shaft 32 in the left-right direction. A spring 24 and a sliding body 34 for springing between the end of the support arm 31 and the mounting base 23 are provided. Is provided.

The tip of the support arm 31 is urged around the support shaft 32 in the direction of arrow j by the spring of the spring 24 and the sliding body 34, whereby the pressure roller 10 holds the sphere 1 against the pair of taper rollers 3 and 4. It is supposed to be attached. The sliding body 34 may be repelled with compressed air instead of the spring 24.
The urging means 33 of the pressure roller 10 is constituted by the support arm 31, the sliding body 34, the spring 24, and the like, and the urging means 33 suppresses the slip of the spherical body 1 with respect to the pair of taper rollers 3 and 4. Therefore, the slip of the sphere 1 can be effectively prevented, the sphere 1 can be smoothly rotated as the taper rollers 3 and 4 rotate, and the sphere 1 can be ground and measured satisfactorily.

  An operation lever 35 protrudes from the support arm 31, and the support arm 31 is pressed against the pressure roller 10 against the spring 24 by rotating the operation lever 35 around the support shaft 32 in the arrow k direction. It can be moved from X to a retractable position Y. Therefore, by rotating the operation lever 35 around the support shaft 32 in the direction of the arrow k, the support arm 31 can be easily moved from the pressing position X of the pressure roller 10 to the position Y that can be retracted against the biasing means 33. By moving the pressure roller 10 away from the pressing position X, the sphere 1 can be easily put in and out of the support roller 9.

  The grinding mechanism 8 includes a grindstone 39 that is disposed on an axis F that is perpendicular to the axis M of the pair of tapered rollers 3 and 4 and that passes through the sphere 1 of the sphere 1 and is formed in a cylindrical shape, and a grindstone holder 38. And a bearing case 40 that rotatably supports the grindstone holder 38 and a grindstone driving means 41 that presses the tip of the grindstone 39 against the surface of the sphere 1 while rotating the grindstone 39 about the axis F. The bearing case 40 is mounted on an apparatus frame (not shown) to which the support frame 13 is attached.

Here, the pressing of the tip of the grindstone 39 to the surface of the sphere 1 (pressing in the direction of the axis F) is performed by, for example, pressurization of fluid such as air by an air cylinder incorporated in the grindstone holder 38 to cut the pressurization. Thus, the pressing of the grindstone 39 to the sphere 1 is released, and the pressing of the grindstone 39 to the sphere 1 is started by applying pressure.
The control means 7 controls the roller driving means 5 and 6 and the grinding mechanism 8 by outputting control signals to the servo motors 27 and 28 and the grindstone driving means 41, and the pair of tapered rollers 3 during one rotation of the sphere 1. , 4 is rotated so that when one of the taper rollers 3 and 4 is at the highest angular velocity, the other is at the lowest angular velocity. However, the maximum angular velocity and the minimum angular velocity of the taper rollers 3 and 4 are allowed to be slightly different from each other as long as the high angular velocity and the low angular velocity correspond to each other.

  That is, as shown in FIG. 8, the roller rotation diameter d around the rotation shafts 21 and 22 of the taper rollers 3 and 4 at the contact point between the sphere 1 and the taper rollers 3 and 4, and the rotation axis L of the sphere 1 at the contact point. In a state where the rotational diameter D of the surrounding sphere is set to be approximately equal, a change in the angular velocity is given to the rotation of the servo motors 27 and 28 in a sine wave, and the phases of the high angular velocities of both the tapered rollers 3 and 4 are shifted by 180 ° from each other. . Due to this change in angular velocity, the peripheral speed changes at the contact point of the sphere 1 in contact with the taper rollers 3 and 4, and the rotational axis L of the sphere 1 swings back and forth around the sphere O as a fulcrum.

When the sphere 1 rotates approximately one rotation around the rotation axis L by one rotation around the axis M of the pair of taper rollers 3 and 4, when the rotation angle of the taper rollers 3 and 4 is 0 °, the left taper roller 3 and the right taper roller 4 Since the angular velocities are equal, the rotation axis L of the sphere 1 is parallel to the axis M of the taper rollers 3 and 4.
When the rotation angle of the taper rollers 3 and 4 approaches 90 ° from 0 °, the angular velocity of the left taper roller 3 gradually becomes larger than the angular velocity of the right taper roller 4, so that the rotational axis L of the sphere 1 is moved from the left taper roller 3 side. As it moves away, it swings around the ball center O so as to approach the right taper roller 4 side.

When the rotation angle of the taper rollers 3 and 4 approaches 90 ° to 180 °, the angular velocity of the left taper roller 3 and the angular velocity of the right taper roller 4 gradually become equal. It swings around the ball center O so as to be parallel to the axis M.
When the rotation angle of the taper rollers 3 and 4 approaches 180 ° to 270 °, the angular velocity of the right taper roller 4 gradually becomes larger than the angular velocity of the left taper roller 3, so that the rotation axis L of the sphere 1 moves from the right taper roller 4 side. As it moves away, it swings around the ball center O so as to approach the left taper roller 4 side.

When the rotation angle of the taper rollers 3 and 4 approaches from 270 ° to 360 °, the angular velocity of the left taper roller 3 and the angular velocity of the right taper roller 4 gradually become equal. It swings around the ball center O so as to be parallel to the axis M.
FIG. 9 shows a state in which the angular velocity of the pair of taper rollers 3 and 4 is increased or decreased during one rotation of the sphere 1 as shown in FIG. 8 so that when one of the taper rollers 3 and 4 has the highest angular velocity, the other has the lowest angular velocity. In order to investigate the movement of the sphere 1 when it is rotated, a pen is placed on the sphere 1 surface (upper center of the sphere 1) at the tip perpendicular to the axis M of the tapered rollers 3 and 4, and the figure drawn by the pen is displayed. It is a thing.

  As shown in FIG. 9A, figures such as [1] to [8] are sequentially drawn by two rotations of the taper rollers 3 and 4 or the sphere 1, and FIG. ) Is drawn. Therefore, while the sphere 1 rotates about the rotation axis L, the rotation locus gradually moves in the direction of the arrow a, and the sphere 1 moves around the polar axis S connecting the upper pole P1 and the lower pole P2 of the sphere 1. It can be seen that a rotation locus rotating is drawn (see FIG. 13).

  FIG. 10 shows a state in which the angular velocity of the pair of taper rollers 3 and 4 is increased or decreased during one rotation of the sphere 1 as shown in FIG. When it is rotated, a circle E is attached to the sphere 1 to show how it moves. As shown in FIG. 10A, when the mark E is attached to the upper pole P1 of the sphere 1, the mark E rotates around the rotational axis L of the sphere 1. As shown in FIG. 10 (b), when the mark E is attached to the right side of the upper pole P1 of the sphere 1, the mark E is rotated around the rotation axis L of the sphere 1 and is constant at one rotation. It is gradually reciprocated left and right within the range of the circle C as shown by the two-dot chain line while drawing a spiral with an angle f shift. As shown in FIG. 10 (c), when the circle mark E is attached to the right end of the center portion in the front-rear direction of the sphere 1, the circle mark E rotates and moves around the rotation axis L of the sphere 1 and is constant at one rotation. The sphere 1 reciprocates from the left end to the right end as shown by a two-dot chain line while drawing a spiral with an angle f.

  As shown in FIG. 11, the angular velocity of the pair of taper rollers 3 and 4 is increased or decreased during one rotation of the sphere 1 so that when one of the taper rollers 3 and 4 has the highest angular velocity, the other has the lowest angular velocity. FIG. 6 shows what kind of locus the right end (point g) of the center portion of the sphere 1 draws when rotated. FIG. 11A shows that when the taper rollers 3 and 4 rotate around the roller rotation shafts 21 and 22, the rotation axis L of the sphere 1 reciprocates back and forth. 11 (b), 11 (c), and 11 (d), when the tapered rollers 3 and 4 rotate around the roller rotation shafts 21 and 22, while the sphere 1 rotates around the rotation axis L, the rotation axis L swings back and forth. Therefore, the right end (point g) of the center part in the front-rear direction of the sphere 1 moves from the right end to the left end while spirally rotating from the right end, and from the left end to the right end while rotating spirally from the left end. , It shows moving to repeat this action.

  Therefore, when the angular velocity of the pair of taper rollers 3 and 4 is changed while the rotation of the sphere 1 is rotated so that when one of the taper rollers 3 and 4 is at the maximum angular velocity and the other is at the minimum angular velocity, the rotation of the sphere 1 is performed. While the shaft center L swings in the front-rear direction, the sphere 1 rotates around the swinging rotation shaft center L, and a meridian passing through the upper pole P1 and the lower pole P2 circulates in the direction of arrow a. As a result, the right end (point g) of the center portion in the front-rear direction of the sphere 1 rotates in a spiral around the rotation axis L, and a certain point (for example, the point g) of the sphere 1 corresponds to each surface of the sphere 1. Will pass all the way through.

  As the sphere 1 circulates in the direction of arrow a, an upper pole point P1 and a lower pole point P2 are formed, and the same part of the sphere 1 frequently passes through the upper pole point P1. Therefore, when the sphere 1 is ground by rotating around the polar axis S more than once, in order to grind the sphere 1 with higher accuracy by arranging the grindstone 39 on the spherical surface of the sphere 1, the upper pole P1 of the sphere 1 is ground. It is preferable to move the position at every predetermined period.

Therefore, as shown in FIG. 12, the control means 7 is provided with a rotation control function 43 for rotating the sphere 1 with a relative speed difference while rotating the pair of taper rollers 3 and 4 while changing the angular velocity. ing.
The rotation control function 43 of the control means 7 is performed by the grinding mechanism 8 while rotating the sphere 1 around the rotation axis L while rotating the sphere 1 around the rotation axis L by changing the angular velocity of the pair of taper rollers 3 and 4. The pressing of the grindstone 39 on the surface of the sphere 1 is released, and then the relative speed difference is given while simultaneously rotating the pair of taper rollers 3 and 4 to place the sphere 1 in a direction different from around the rotation axis L and the polar axis S. It is made to rotate. That is, a relative speed difference section V for rotating the sphere 1 with a relative speed difference while simultaneously rotating the pair of taper rollers 3 and 4 in the middle of an angular speed height change section U in which the pair of taper rollers 3 and 4 is changed in angular speed. Is provided.

More specifically, the control means 7 controls the pair of roller driving means 5 and 6 and the grinding mechanism 8 as follows, for example.
That is, as shown in FIG. 12 (a), while rotating the pair of taper rollers 3 and 4 while changing the angular velocity, the grindstone 39 is pressed while rotating around the axis to grind the surface of the sphere 1. In the middle of the process, first, the pressure of the grindstone 39 is turned off, and then the left taper roller 3 is rotated at a high speed and the right taper roller 4 is rotated at a low speed, respectively, thereby rotating the pair of taper rollers 3 and 4 simultaneously with a speed difference. The sphere 1 is rotated by the speed difference between the taper rollers 3 and 4 to move the position facing the upper pole point P1 of the sphere 1.

Next, the pair of taper rollers 3 and 4 are rotated while changing the angular velocity again and again, and the grindstone 39 is pressurized while rotating around the axis. The surface of the sphere 1 is ground with the grindstone 39 while the above operation is repeated and the position facing the upper pole point P1 of the sphere 1 is sequentially moved every predetermined period.
Or, as shown in FIG. 12 (b), the pair of taper rollers 3 and 4 are rotated while changing the angular velocity, and the grindstone 39 is pressed while rotating around the axis to grind the surface of the sphere 1. In the middle of the process, first, the pressure of the grindstone 39 is turned off, and then the rotation of both the tapered rollers 3 and 4 is stopped. Next, the rotation of both the taper rollers 3 and 4 is started and the left taper roller 3 is rotated at a speed faster than that of the right taper roller 4. Rotate to move the position facing the upper pole point P1 of the sphere 1. Thereafter, the rotation of the taper rollers 3 and 4 is stopped, and then the pair of taper rollers 3 and 4 are rotated while changing the angular velocity, and the grindstone 39 is pressurized while rotating around the axis. The surface of the sphere 1 is ground with the grindstone 39 while the above operation is repeated and the position facing the upper pole point P1 of the sphere 1 is sequentially moved every predetermined period.

When the pressure of the grindstone 39 is turned off (the pressing of the grindstone 39 to the sphere 1 is released), the grindstone 39 is separated from the sphere 1 and the grinding of the surface of the sphere 1 by the grindstone 39 is stopped. Alternatively, the grinding of the surface of the sphere 1 by the grindstone 39 may be stopped by stopping the rotational driving around the axis of the grindstone 39 without separating the grindstone 39 from the sphere 1.
Thus, as shown in FIG. 13, when the rotational axis L of the sphere 1 when both the tapered rollers 3 and 4 have the same angular velocity is L1, the rotational axis L1 is parallel to the axial center M of the tapered rollers 3 and 4. As a result, the rotation axis L1 becomes a straight line in the left-right direction passing through the ball center O. When the sphere 1 rotates around the rotation axis L1 and the angular velocity of the taper rollers 3 and 4 is changed in height, a polar axis S perpendicular to the rotation axis L1 is formed. If a straight line perpendicular to the axis M of the tapered rollers 3 and 4 and the rotation axis L1 of the sphere 1 is a vertical line N, the polar axis S is a straight line perpendicular to the rotation axis L1 of the sphere 1 and the vertical line N. The polar axis S passes through the spherical center O, and the sphere 1 circulates around the polar axis S. If a speed difference is applied to the taper rollers 3 and 4 during the rotation of the sphere 1, the taper rollers 3 and 4 cause a difference in the movement of the sphere 1 at the left and right contact points. The sphere 1 rotates so that S tilts. Circulation of the sphere 1 is rotation of the polar axis S in the longitude direction.

  That is, while the servo motors 27 and 28 are rotated synchronously and the angular velocity of the pair of taper rollers 3 and 4 is increased or decreased during one rotation of the sphere 1, when one of the taper rollers 3 and 4 has the highest angular velocity, the other has the lowest angular velocity. , The rotational axis L of the sphere 1 reciprocates back and forth from a state parallel to the axis M of the taper rollers 3 and 4, and the rotational axis L of the sphere 1 reciprocally oscillates. As the taper rollers 3 and 4 rotate, the sphere 1 rotates. As a result, the sphere 1 rotates around the polar axis S by a certain angle for each rotation. Then, the servo motors 27 and 28 are independently rotated to drive the taper rollers 3 and 4, and the sphere 1 is displaced due to the speed difference rotation of the taper rollers 3 and 4, and the direction around the rotation axis L and the rotation around the polar axis S are different The sphere 1 rotates.

The position where the polar axis S is formed in the sphere rotating device A1 is unchanged, but for the sphere 1, the four upper poles P1 are displaced to the upper pole P1 ′, and the polar axis S is tilted.
As described above, at the upper pole P1, the same part of the sphere 1 passes frequently, but the control means 7 gives a relative speed difference while rotating the pair of taper rollers 3, 4 while changing the angular speed level. Therefore, as shown in FIG. 13, the upper pole P1 and the portion that was in the vicinity thereof gradually shift from the upper center position, as shown in FIG. A cylindrical grindstone 39 disposed at a right angle to the axis M of the taper rollers 3 and 4 and facing the sphere O of the sphere 1 rotates around the axis to form a ring-shaped tip on the surface of the sphere 1. When press contact is made, it becomes possible to grind the surface of the sphere 1 with extremely high accuracy by the grindstone 39.

  Accordingly, the pair of taper rollers 3 and 4 can be rotationally driven by the pair of servo motors 27 and 28, respectively, and the servo motors 27 and 28 can be controlled to change the angular velocity of the pair of taper rollers 3 and 4, so that the servo By controlling the motors 27 and 28 with the control means 7, it is possible to easily rotate the sphere 1 by one rotation of the pair of taper rollers 3 and 4, and to change the program of the control means 7. Thus, it is possible to easily rotate the sphere 1 by a plurality of rotations other than two rotations by one rotation of the pair of taper rollers 3 and 4, and the versatility is great. In addition, a universal joint is not required and the structure is simplified. Moreover, the sphere 1 can be rotated with high accuracy evenly.

  Further, since the universal joint is not used, the cross joint portion of the universal joint is not worn and the durability is improved. Furthermore, the amount of change in the angular velocity of the pair of taper rollers 3 and 4 can be set to be large or small, and the pair of taper rollers 3 and 4 can be changed by the pair of servo motors 27 and 28. When each of them is driven to rotate, as shown in FIG. 16, the change in angular velocity of the pair of taper rollers 3 and 4 is set to 4 to 5 times that when the universal joint is used, and the sphere 1 is formed. In the case of the embodiment of the present application, as shown in FIGS. 17 (a) and 17 (b), the sphere needs to be rotated, for example, 20 times in the conventional case where the universal joint is used to circulate around the polar axis S. The sphere 1 can be rotated around the polar axis S by rotating the sphere 1 4 to 5 times. As a result, if the sphere rotating device A1 is used in a grinding machine that grinds the surface of the sphere 1 using the grindstone 39, the sphericity of the sphere 1 can be improved and the surface of the sphere 1 can be measured. The surface of the sphere 1 can be measured quickly.

FIG. 14 shows another control example of the pair of roller driving means 5 and 6 and the grinding mechanism 8 by the control means 7.
Although not shown, the roller rotation diameter d around the rotation shafts 27a, 28a of the taper rollers 3, 4 at the contact point between the sphere 1 and the taper rollers 3, 4 is about the rotation axis L of the sphere 1 at the contact point. The sphere 1 is set to approximately twice the sphere rotation diameter D, and the sphere 1 is rotated approximately once while the taper rollers 3 and 4 are rotated halfway.

The control means 7 changes the angular velocities of the taper rollers 3 and 4, and the control means 7 controls the pair of taper rollers 3 and 4 so that the phases of the pair of taper rollers 3 and 4 are reversed so that the rotation speed of the sphere 1 is one cycle. Is to repeat.
Therefore, the control means 7 gives both the taper rollers 3 and 4 a change in the angular velocity, and the one taper roller 3 and 4 has the highest angular velocity while changing the angular velocity of the pair of taper rollers 3 and 4 during one rotation of the sphere 1. The other is rotated so that the other has the lowest angular velocity, the phase of the high angular velocity portion of both tapered rollers 3 and 4 is shifted by 180 ° with respect to one rotation of the sphere 1, and during the half rotation of the pair of tapered rollers 3 and 4 The angular velocity becomes a sine wave and changes with the rotation period of the sphere 1.

  Then, the control means 7 rotates the pair of rollers 3 and 4 while changing the angular velocity level (turning around the polar axis S while rotating around the rotation axis L), and the pair of rollers 2 in two rotations of the sphere 1. The taper rollers 3 and 4 have a rotation control function 43 that changes the time length of the high angular velocity and the time length of the low angular velocity. That is, in the middle of the angular velocity height changing section U in which the pair of taper rollers 3 and 4 are changed at the same time length, the time lengths of the high angular velocity and the low angular velocity are changed while the pair of taper rollers 3 and 4 are simultaneously rotated. The time length change section W to be provided is provided.

More specifically, the control means 7 controls the pair of roller driving means 5 and 6 and the grinding mechanism 8 as follows, for example.
As shown in FIG. 14 (b), the pair of taper rollers 3 and 4 are rotated while changing the angular velocity, and the grindstone 39 is pressurized while rotating around the axis to grind the surface of the sphere 1, and in the middle Thus, the high angular velocity region of the left taper roller 3 and the low angular velocity region of the right taper roller 4 are shortened on the first half side of the time length change section W without cutting the pressure of the grindstone 39, and the time length change section W On the second half side, the high angular velocity region of the left taper roller 3 and the low angular velocity region of the right taper roller 4 are formed long, and the time lengths of the high angular velocity and the low angular velocity are changed while the left taper roller and the right taper roller 4 are changed in synchronism. As shown in FIG. 14A, the sphere 1 is rotated as indicated by 1 to 13 and the position facing the upper pole P1 of the sphere 1 is moved.

The surface of the sphere 1 is ground with the grindstone 39 while the above operation is repeated and the position facing the upper pole point P1 of the sphere 1 is sequentially moved every predetermined period. Therefore, also in this case, the rotation control function 43 of the control means 7 causes the portion that was previously the upper pole point P1 to gradually shift from the upper center position, and each point on the surface of the sphere 1 is made extremely high by the grindstone 39. It can be ground accurately.
In the case of another control example of the pair of roller driving means 5 and 6 and the grinding mechanism 8 by the control means 7 shown in FIG. 14, the pressure of the grindstone 39 is cut before and after the time length changing section W. May be.

FIG. 15 shows a second embodiment. The spherical body rotation device A1 includes a pair of tapered rollers 3 and 4, roller driving means 5 and 6, and a control means 7 as in the first embodiment. An application machine (inspection machine or measurement machine) B2 using a sphere rotation apparatus is constituted by the sphere rotation apparatus A1 and the inspection device 51 for inspecting the surface of the sphere 1 or the measurement apparatus 52 for measuring the surface of the sphere. .
The inspector 51 includes an optical sensor, an ultrasonic sensor, and the like, and detects irregularities on the surface of the sphere 1 and defects on the surface of the sphere 1. The measuring device 52 includes an optical sensor, an ultrasonic sensor, and the like, and measures the curvature, roughness, and smoothness of the surface of the sphere 1.

  Also in this case, by controlling the servo motors 27 and 28 by the control means 7, it is possible to easily rotate the sphere by one rotation of the pair of taper rollers 3 and 4. By changing the above, it is possible to easily rotate the sphere 1 a plurality of times by one rotation of the pair of taper rollers 3 and 4, and the versatility is great. In addition, a universal joint is not required and the structure is simplified. In addition, the surface of the sphere 1 can be uniformly inspected or measured by the inspector 51 or the measuring device 52.

  18 and 19 show a third embodiment. As in the first embodiment, the spherical body rotation device A2 includes a pair of tapered rollers 3 and 4, roller driving means 5 and 6, and a control means 7, and the support means G is a substitute for the rotatable roller 9. The pressure means R is formed of a pressure sphere 61 which is in contact with the sphere 1 and is rotatable in any direction, instead of the roller 10, and is provided with a grinding mechanism 8. In place of the inspector 51 and the like, a sizing device T for measuring the sphere diameter is provided. The spherical rotating device A2, the grinding mechanism 8, and the sizing device T constitute an application machine (spherical surface superfinishing device) B3 using the spherical rotating device A2.

  The supporting shoe 59 of the support means G is formed by attaching a shoe 59a formed of smooth metal or ceramic to the tip of the support member 59b, and the center line H perpendicular to the surface of the shoe 59a is the sphere 1 The support member 59b is disposed so as to pass through the ball center O, and is mounted on the mounting base 23 at the center in the left-right direction of the upper frame 14 so that the set position can be adjusted in the direction of the ball center O on the center line H.

The center line H of the supporting shoe 59 is inclined away from the ball center O in a direction away from the taper rollers 3 and 4, and is shifted from the position immediately below the ball 1 to the front side to support the ball 1, and the pressing force of the grindstone 39 (in the direction of the axis F) When the sphere 1 is applied to the sphere 1, a force for pressing the sphere 1 against the tapered rollers 3 and 4 can be generated.
The supporting shoe 59 makes point contact with the surface of the sphere 1, and when the sphere 1 rotates by the pair of taper rollers 3, 4, rotates by changing the angular velocity level, and moves to a position opposite to the upper pole point P 1, their movements are performed. With little resistance.

  Further, since the surface of the shoe 59a does not move in the perspective direction with respect to the sphere 1 on the center line H, the grinding accuracy can be increased. That is, when the sphere 1 is supported by the rotating support roller 9, the sphere 1 is affected by the accuracy such as the roundness of the support roller 9, but the holding shoe 59 does not move at the set position when the sphere 1 rotates. The surface position is always constant, and the surface of the shoe 59a does not move the sphere 1 up and down.

  The pressure sphere 61 of the pressure means R is in contact with the surface of the sphere 1 above the sphere center O and above the extension line of the center line N passing through the axis M and the sphere center O of the tapered rollers 3 and 4. Yes. When the sphere 1 is rotated by a pair of taper rollers 3 and 4, rotated by a change in angular velocity, and moved to a position opposite to the upper pole P 1, the pressure sphere 61 follows the movement of the sphere 1, and the center of the sphere 61 a is centered. The spherical body 1 is pressed against the tapered rollers 3 and 4 and the holding shoe 59 without causing sliding contact resistance with the spherical body 1.

The pressure means R has a ball transfer structure in which the pressure sphere 61 is supported by a large number of small spheres, or a track ball structure in which the pressure sphere 61 is supported by three rollers, and supports the pressure sphere 61 as a backup. .
Similar to the first embodiment, the pressure means R may be movable in the perspective direction with respect to the sphere 1 by the swinging of the support arm 31, but here the center passing through the sphere 1 and the contact point of the sphere 1. The sphere 1 is urged by the urging means 33 so as to be linearly movable in the line J direction.

The sizing device T includes a measuring element 60 that is in contact with the surface of the sphere 1 on a plane perpendicular to the axis M of the pair of rollers 3 and 4 and passing through the sphere 1 and the axis F of the grindstone 39. The diameter of the surface of the sphere 1 is measured and the servomotors 27 and 28 are stopped via the control means 7 when the superfinishing process is completed to the target dimension.
The measuring element 60 is as far as possible from the rollers 3 and 4 and the supporting shoe 59 that support the sphere 1 on the trajectory through which the grindstone 39 passes with respect to the sphere 1 and interferes with the grindstone 39 and the pressure means R. Is disposed between the grindstone 39 and the pressure sphere 61.

  When the spherical body 1 is superfinished with the grindstone 39 while rotating in contact with the rollers 3 and 4 and the supporting shoe 59, the spherical center O moves as the diameter decreases. By moving the measuring element 60 as far as possible on the trajectory of the grindstone 39 with respect to the sphere 1 and at the same distance as possible from the rollers 3 and 4 and the supporting shoe 59 that support the sphere 1, In a state where there is little error due to the above, it is possible to measure up to a target diameter dimension, and superfinishing with the grindstone 39 can be automatically performed to completion while always performing dimension management.

The pair of rollers 3 and 4 that rotatably support the sphere 1 are configured by taper rollers, but the pair of rollers 3 and 4 may not be tapered, for example, a straight shape, a drum shape, or a convex shape. It may be a concave shape or the like.
Further, while the pair of taper rollers 3 and 4 are simultaneously rotated in the relative speed difference section V, the sphere 1 is rotated with a relative speed difference, but instead, the pair of taper rollers 3 and 3 is rotated in the relative speed difference section V. By rotating only one of the four rollers and stopping the other, the spherical body 1 may be rotated with a relative speed difference between the pair of taper rollers 3 and 4.

  Moreover, although the grindstone 39 is formed in the cylindrical shape, it may replace with this and a columnar shape or another shape may be sufficient.

DESCRIPTION OF SYMBOLS 1 Sphere 3 Left taper roller 4 Right taper roller 5 Roller drive means 6 Roller drive means 7 Control means 8 Grinding mechanism 9 Support roller 10 Pressure roller 21 Roller rotating shaft 22 Roller rotating shaft 33 Energizing means (spring)
39 Grinding wheel 41 Grinding wheel driving means 43 Rotation control function 51 Inspection device 52 Measuring device 59 Holding shoe 61 Pressure sphere A Sphere rotation device B Application machine X Holding position Y Retractable position M Axis O Sphere D D Sphere rotation diameter d Roller diameter G Support means R Pressure means T Sizing device

Claims (13)

  A pair of rollers (3, 4) for rotatably supporting the sphere (1), servo motors (27, 28) for rotating the pair of rollers (3, 4), and both servo motors (27) , 28) to control the angular velocity of the pair of rollers (3, 4) during one rotation of the sphere (1), while one roller (3, 4) is at a high angular velocity, the other is at a low angular velocity. And a control means (7) for rotating the sphere to rotate.   The control means (7) is a rotation control function for changing the length of time of the high angular velocity in at least one rotation of the sphere (1) while rotating the pair of rollers (3, 4) while changing the angular velocity. It has (43), The spherical body rotation apparatus of Claim 1 characterized by the above-mentioned.   The control means (7) has a rotation control function (43) for rotating the sphere (1) with a relative speed difference in the middle of rotating the pair of rollers (3, 4) while changing the angular velocity. The spherical body rotation device according to claim 1, wherein   The spherical body rotation device according to any one of claims 1 to 3, wherein a separation width of the pair of rollers (3, 4) is set to be adjustable.   Support means (G) is provided between the pair of rollers (3, 4) so as to support the spherical body (1) contacting the pair of rollers (3, 4) from below. The sphere rotating device according to any one of claims 1 to 4, wherein G) is formed by a holding shoe (59) that is in sliding contact with the sphere (1) from below.   Opposing between the pair of rollers (3, 4) is provided a pressure means (R) capable of pressing the spherical body (1) against the pair of rollers (3, 4) and retracting from the pressing position (X). The pressure means (R) is formed of a pressure sphere (61) that rotates in contact with the sphere (1) above the sphere center (O). A sphere rotating device according to claim 1.   An urging means (33) for urging the pressure means (R) to the sphere (1) is provided to suppress the slip of the sphere (1) with respect to the pair of rollers (3, 4). The sphere rotation device according to claim 6.   The spherical body (1) is rotatably supported by the pair of rollers (3, 4), and the pair of rollers (3, 4) are driven to rotate by the servo motors (27, 28), respectively. The servo motors (27, 28) Is controlled so that the angular velocity of the pair of rollers (3, 4) is increased or decreased during one rotation of the sphere (1) so that when one roller (3, 4) is at a high angular velocity, the other is at a low angular velocity. A method of rotating a sphere characterized by rotating.   The sphere according to claim 8, wherein the time length of the high angular velocity in at least one rotation of the sphere (1) is changed in length while the pair of rollers (3, 4) are rotated while changing the angular velocity. Rotation method.   While rotating the pair of rollers (3, 4) while changing the angular velocity level, the servo motor (27, 28) is controlled so that the pair of rollers (3, 4) are rotated simultaneously and a relative speed difference is added. The method of rotating a sphere according to claim 8, wherein the sphere (1) is rotated.   A sphere rotating device according to any one of claims 1 to 7, comprising a grinding mechanism (8) for grinding the surface of the sphere (1), wherein the grinding mechanism (8) faces the sphere (1). And a grindstone drive means (41) that presses the tip of the grindstone (39) against the surface of the sphere (1) while rotating the grindstone (39) around the axis. An application machine using the featured sphere rotation device.   On the plane perpendicular to the axis (M) of the pair of rollers (3, 4) and passing through the center (O) of the sphere (1) and the axis (F) of the grindstone (39), the sphere (1) A sizing device (T) for controlling a servo motor (27, 28) by measuring a sphere diameter dimension in contact with a surface is provided. Applied machine.   An inspection device (51) for inspecting the surface of the sphere (1) or a measuring device (52) for measuring the surface of the sphere (1), comprising the sphere rotating device according to any one of claims 1 to 7. An application machine using a sphere rotation device characterized by

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