JP3135778B2 - Grinding machine for chamfering - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a chamfering grinding apparatus for chamfering a corner of a work with a grinding wheel.

[0002]

2. Description of the Related Art In the corners of steel ingots (hereinafter referred to as "work") such as general steel (normal steel), special steel (carbon steel), and stainless steel manufactured by a continuous casting method, various corners are provided. Flaws may be present. Such “flaws” include “cracks” and “holes”. Then, when rolling or the like is performed while leaving flaws in the corners of the work, the flaws are enlarged and the yield and quality of products obtained are reduced. For this reason, it is required to grind and remove the above-mentioned flaws before the subsequent process. Conventionally, an operator has moved a grinding wheel to a corner of a flawed work to perform appropriate grinding so as to obtain a desired chamfered shape.

[0003]

However, in the conventional method, since the operator must constantly perform the operation of changing the position and the attitude of the grinding wheel to continue the grinding, a great deal of labor and considerable time are required. However, there is a problem in that the operator is exposed to severe dust during grinding and is placed in a bad environment. Especially when performing chamfering grinding, the rear corner of the work is difficult to see because it is far from the cab,
It was difficult to finish with a certain precision. The present invention has been made in view of such a point, and an object of the present invention is to provide a grinding machine for chamfering, which can automatically chamfer a workpiece with a simple teaching operation.

[0004]

Means for Solving the Problems (1) In the invention described in claim 1, as schematically shown in FIG. 1, a corner for a work 18 is ground with a grinding wheel 14 to be chamfered. An apparatus, which includes a teaching unit 16 for teaching a shape and a chamfered shape of a work 18, stores data taught by the teaching unit 16, and outputs a control signal for grinding a corner of the work 18 based on the data. Grinding control means 10 and the grinding wheel 14 according to the control signal.
After performing the chamfering grinding by moving the grinding wheel 14
Reverses the direction of rotation and occurs along the direction of rotation of grinding wheel 14
And a grinding wheel moving mechanism 12 for performing deburring grinding for removing the deburred grinding burrs . (2) The invention described in claim 2, the workpiece 18 code
For chamfering by grinding the corner with a grinding wheel 14
This is a cutting device that teaches the shape and chamfered shape of the work 18.
Teaching means and the data taught by the teaching means.
Data of the work 18 based on the data.
Control means 10 for outputting a control signal for grinding the grinding machine
The grinding wheel 14 is tilted according to the control signal,
Move the grinding wheel 14 almost vertically to the chamfered surface
And a whetstone moving mechanism 12 that performs chamfer grinding.
Here, "chamfered surface" refers to the workpiece
It is the surface formed at the 18th corner. Below, the book
The same applies in the description. (3) The invention described in claim 3 is described in claims 1 and 2.
In the chamfering grinding device mounted, the teaching means,
Manual control in which the operator manually controls the whetstone moving mechanism 12
Control means and position detection for detecting the current position of the grinding wheel 14
Means and teaching point designating means for teaching the shape of the work 18
Provided, the operator can manually grind
The grinding wheel 14 is moved by controlling the stone moving mechanism 12 so that
The shape of the work 18 is taught by the designated point designating means. (4) The invention described in claim 4 is based on claims 1, 2, 3
In the grinding machine for chamfering described in
The mechanism 12 is provided in a direction substantially orthogonal to the ridge line of the work 18.
Movement of the grinding wheel 14 while grinding in the
The grinding wheel 14 is moved by the pitch width along the ridgeline of the workpiece 18.
The chamfering grinding is performed by repeating the operation of moving only . In this specification, “grinding” means “polishing”
Shall be included.

[0005]

According to the first aspect of the present invention, when the shape of the workpiece and the chamfered shape are taught by the teaching means, the grinding control means transmits the data taught by the teaching means. It stores the control signal and outputs a control signal for grinding the corner of the work 18. And the whetstone moving mechanism 1
2 is for performing chamfering grinding by moving the grinding wheel 14 in accordance with a control signal output from the grinding control means 10.
The direction of rotation of the grinding wheel 14 is reversed,
Deburring to remove grinding burrs generated along the rolling direction
Perform grinding. Therefore, the operator only needs to teach the shape of the work 18 and the chamfered shape, and can perform other operations and the like during the actual chamfering grinding. Also, grinding burrs are removed.
To be able to finish the accuracy of the chamfer
it can. (2) According to the invention described in claim 2, the teaching means 1
6, the shape of the work 18 and the chamfered shape are taught.
Then, the grinding control means 10 transmits the data taught by the teaching means 16.
For grinding the corners of the work 18
Outputs control signal. Then, the grinding wheel moving mechanism 12
The grinding wheel 14 is tilted according to the control signal of
Chamfering while moving the grinding wheel 14 along the ridge line 8
Perform grinding. In this way, chamfer grinding can be performed faster
it can. (3) According to the invention described in claim 3, the operator
When the user teaches the shape of the work 18, manual control means
The grinding wheel moving mechanism 12 is manually controlled by the
Should be moved and taught by the teaching point designation means.
You. Workpieces with arbitrary shapes taught in this way
Thus, chamfer grinding can be performed. (4) According to the invention described in claim 4, a whetstone moving machine
The structure 12 is in a direction substantially orthogonal to the ridge line of the work 18.
Movement of the grinding wheel 14 while grinding
Move grinding wheel 14 by pitch width along ridgeline 18
And the operation of causing only the repetition. Therefore, the chamfer
It can be finished more accurately.

[0006]

An embodiment of the present invention will be described below with reference to the drawings. 2 to 4 show examples of the chamfering grinding line. FIG. 2 shows a plan view, FIG. 3 shows a front view, and FIG. 4 shows a side view. The same elements in FIGS. 2 to 4 are denoted by the same reference numerals.

In FIG. 2, the chamfering grinding line 100 is roughly provided with grinding devices 102 and 106 and a reversing device 104. The chamfering grinding line 100 includes a work 150 (for example, ordinary steel) which is one of the works 18.
Are intermittently sent from the loading side to the unloading side by the conveyor 108 shown in FIG. That is, the work 15
0 is sent in the direction of arrow D1. Specifically, the work 15
The conveyor 108 stops while 0 is being ground by the grinding devices 102 and 106, and otherwise moves in the direction of the arrow D1.

The grinding devices 102 and 106 are both one of the grindstone moving mechanisms 12 and are constituted by the same elements.
These grinding devices 102 and 106 grind the corners of the work 150 with the grinding wheels 14 provided respectively. The reversing device 104 is provided between the grinding device 102 and the grinding device 106 and reverses the work 150. Thus, the grinding device 10 is sequentially moved from the loading side to the unloading side.
In step 6, the corner of one surface of the work 150 is ground, and in the grinding device 102, the corner of the opposite surface of the work 150 is ground. In addition, after the workpiece 150 is continuously cast,
A material that has been gas cut or sheared into a substantially uniform shape.

Next, the configuration of the grinding devices 102 and 106 will be schematically described. Here, the grinding device 102
Since the grinding device 106 and the grinding device 106 are configured by the same components, the configuration of the grinding device 102 will be described. FIG.
It is a figure which shows the AA cross section in FIG. In the figure,
Two rails 12 laid so as to sandwich the work 150
A carriage 142 having wheels 122 and 126 is movably mounted over 0 and 128. This cart 142
Is in the front-rear direction with respect to the transport direction of the work 150 (hereinafter, this direction is defined as the Y axis, and the deflection angle is defined as 90 degrees).
Moving. In other words, when viewed from the side, it moves in the direction of arrow D5 as shown in FIG.

Above the carriage 142, there are provided several columns for supporting the rail beam 114 and the rail beams 114 and 118 shown in FIG. Then, on the rail beams 114 and 118, the rails 112 and 1 are sequentially placed.
16 are respectively fixed. Here, the carriage 142 is moved by the Y-axis motor 332, and the movement amount is Y
It is detected by the shaft encoder 324. The Y-axis encoder 324 includes a gear, and the gear
20 meshes with the rack provided in parallel. Note that Y
The movement data detected by the shaft encoder 324 is sent to a grinding control device 300 described later.

FIG. 4 is a view showing a BB section in FIG. In the figure, a carrier 130 having wheels 132, 134 is movably mounted over rails 112, 116. The carrier 130 moves in a direction that intersects the cart 142 at right angles (hereinafter, this direction is defined as the X axis, and the deflection angle is defined as 0 degree). In other words, when viewed from the front, it moves in the direction of arrow D3 as shown in FIG.
Here, the carrier 130 is moved by the X-axis motor 330, and the amount of movement is detected by the X-axis encoder 322 provided in the X-axis motor 330. The drive axis of the X-axis motor 330 is the rail beam 11
4 meshes with the rack provided on the inner side surface. Note that X
The movement data detected by the shaft encoder 322 is sent to a grinding control device 300 described later. Further, the X-axis encoder 322 and the Y-axis encoder 324 embody the position detecting means.

Next, referring to FIG. 3 and FIG.
0 is provided with a grinding wheel 14.
4, a grinding wheel rotation motor 334 for rotating the grinding wheel 4 forward and backward, a swing cylinder 336 for swinging the grinding wheel 14, and a work 150
A grinding press cylinder 338 that presses the grinding wheel 14 when grinding the corners, and a rotation cylinder 340 that rotates the grinding wheel 14, the wheel rotation motor 334, and the like in a horizontal plane. The grinding device 102 is a large-sized device, and is provided with a duct 110 for collecting dust generated when grinding a corner of the work 150 and an operation room 140 for an operator to operate the grinding device 102. I have. An operation panel 320 (not shown) that teaches the shape and the like of the work 150 and a grinding control device 300 that controls the entire grinding device 102 are provided in the cab 140. Here, the operation panel 320 embodies the teaching means 16.

Next, a specific configuration of the grinding control device 300 will be described. FIG. 5 is a block diagram showing a configuration of the grinding control device 300, and shows a minimum configuration necessary for implementing the present invention. The same elements as those in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted. In the figure, a grinding control device 300 includes a CPU (processor) 302, an RO
M304, RAM 306, input processing circuit 308, display control circuit 310, display device 312, and output processing circuit 31
4.

The CPU 302 controls the entire grinding controller 300 according to a control program stored in the ROM 304. EPROM, EEPROM in the ROM 304
Alternatively, a flash memory is used, and various programs such as a grinding processing program and a chamfering processing program are stored in addition to the control program. An SRAM or the like is used as the RAM 306, and stores various data such as the shape of the work 150 and input / output signals. The above-mentioned various programs are stored in the ROM 304 and also in an external storage device.
M306 (or rewritable ROM 304) may be stored.

The input processing circuit 308 includes an operation panel 320 and X
Upon receiving the respective data signals sent from the axis encoder 322 and the Y axis encoder 324, the grinding control device 3
The data is converted into a data format that can be processed in the file system 00 and transferred to the CPU 302 or the RAM 306 via the bus 316. The display control circuit 310 converts the display data into a display signal and sends a corresponding signal to the display device 312 according to the display data sent from the CPU 302 via the bus 316. The display device 3
A CRT, a liquid crystal display device, a plasma display device, or the like is used as 12.

An output processing circuit 314 controls the movement or forward / reverse rotation of the grinding wheel 14 by using the CPU 302 or the RAM.
In response to a control signal sent from the bus 306 via the bus 316, the control signal is sent to the X-axis motor 330, the Y-axis motor 332, the grinding wheel rotation motor 334, the grinding press cylinder 338, and the rotation cylinder 340, respectively. Each of the above components is connected to the bus 316.

An example of a specific process of the grinding control device 300 having the above configuration will be described with reference to FIGS. FIG. 6 is a flowchart showing a main processing procedure. This flowchart corresponds to the RO shown in FIG.
The grinding processing program stored in M304
2 is executed.

First, in FIG.
Initialization processing of the entire grinding control device 300 such as M306 and each input / output device is performed (step S10). Next, work 1
The operator was instructed about the 50 shapes and the work 1
The teaching of the shape 50 is received (step S12). Here, a method for the operator to teach the shape of the work 150 will be described with reference to FIG.

FIG. 7 is a view showing an example of the shape of the work 150. 7A shows a case where a rectangle is taught, FIG. 7B shows a case where a general quadrangle is taught, and FIG. 7C shows a case where one of the four sides is a curve. The case where the shape to be performed is taught is shown.

When teaching the rectangle shown in FIG. 7A, for example, two points on a diagonal line, that is, a point P10 and a point P1
2 may be specified. Specifically, the operator first manually controls the grinding device 102 using the operation panel 320 shown in FIG. 5 which is one of the manual control means, and moves the grinding wheel 14 on the work 150. Next, the operator further uses the operation panel 320, which is one of the teaching point designating means, to set two points P10 and P12 of the diagonal corners of the work 150.
Is specified. By this designation, the position detecting means (that is, the X-axis encoder 322 and the Y-axis encoder 32
Since 4) detects the current position of the grinding wheel 14, the shape of the work 150 can be taught. in this way,
Since it is possible to teach a rectangle with the minimum number of points,
The time required for the teaching operation can be reduced.

As a method other than specifying two points on the diagonal line, there is a method of inputting the lengths L10 and L12 of two sides of the rectangle as numerical data from the operation panel 320. This method of inputting the length is effective when the size of the work 150 (length in each of the vertical and horizontal directions) is known in advance.

When a square shown in FIG. 7B is designated, the operation panel 32 is designated in the same manner as in the case of teaching the above-mentioned rectangle.
The grinding device 102 is manually controlled using the
The grinding wheel 14 is moved on 2 to specify four points P20, P22, P24, and P26 at each corner of the work 152. By this designation, the position detecting means detects the current position of the grinding wheel 14, so that the shape of the work 152 can be taught. Although the above example shows a case of a quadrangle, if the shape of the work 152 is other than a quadrangle, the shape can be specified by designating each corner of the shape. This makes it possible to chamfer a workpiece having an arbitrary shape.

To specify the shape shown in FIG.
Similarly to the case of teaching the above-described rectangle, the grinding device 102 is manually controlled using the operation panel 320 to move the grinding wheel 14 on the work 154, and the four points P30, P32, and P34 of each corner of the work 154 are provided. , P38 and
A point P36 on the curve connecting the points P34 and P38 is designated. With this designation, the position detecting means detects the current position of the grinding wheel 14.

Further, the operator uses the operation panel 320, and only the line segment connecting the points P34 and P38 is a curve,
The other line segments are commanded to be straight lines. With this command, a curve interpolated by interpolation processing such as spline interpolation or Bezier interpolation is recognized as a line segment from point P34 to point P38 through point P36. Thus,
It is possible to teach the shape of the work 154 constituted by not only a straight line but also a curved line.

In the above example, one of the four sides of the workpiece 154 has a curved shape. However, even when two or more of the four sides are curved, the above-described configuration is applied to each side. By performing the teaching operation of the above, the shape can be specified. Thereby, it is possible to perform chamfering even on a workpiece having each side having an arbitrary shape. Similarly, the present invention can be applied to a case in which not only four sides but also three or more sides are formed of a curve, and the shape can be specified.

Returning to FIG. 6, a corner for grinding the work 150 whose shape is taught is selected (step S14). In the following description, FIG.
The case of the rectangular work 150 shown in FIG. The corner position of the work 150 is shown in FIG.
In the drawings, the lower side of the drawing is the front side, the upper side of the drawing is the rear side, the left side of the drawing is the left side, and the right side of the drawing is the right side. Then, the operator is instructed about the chamfered shape, and the shape of the corner of the work 150 is ground (step S16).
Here, a method for the operator to teach the chamfered shape will be described with reference to FIG.

FIG. 8 is a diagram showing an example of a chamfered shape.
8A shows a case where the lower angle θ10 is specified, FIG. 8B shows a case where the upper angle θ12 is specified, and FIG. 8C shows both the lower angle θ16 and the upper angle θ14. 8D, FIG. 8D shows the length d16,
FIG. 8E shows a case where d18 is designated, and FIG. 8E shows a case where radius r is designated.

When the operator teaches a chamfered shape by designating an angle using the operation panel 320,
The lower angle θ10 shown in FIG. 8A, the upper angle θ12 shown in FIG. 8B, or the lower angle θ16 and the upper angle θ shown in FIG.
14 may be specified. With this designation, the inclination angle of the chamfered surface is specified. In order to completely specify the chamfered shape, the height d10 in FIG.
In FIG. 8B, the width d12 may be specified, and in FIG. 8C, the height d14 may be specified.

When teaching a chamfered shape by designating a length, a width d16 and a height d18 shown in FIG. 8D may be designated. Further, when the corner is rounded, the radius r shown in FIG. Thus, by specifying the angle, the length (height, width), and the radius, a desired chamfered shape can be specified for each corner. The angle or length (height,
By combining the width and the radius, a more complicated chamfered shape can be specified.

Note that, in addition to the chamfered shape, a grinding load, and the like, for each corner in the shape of the work 150, that is, for each corner such as front side, rear side, left side, and right side.
Grinding conditions such as a transverse grinding speed and a traveling grinding speed can also be designated. By specifying these grinding conditions, it is possible to perform optimal grinding according to each corner, improve finishing accuracy, and shorten the grinding time.

Thereafter, when the chamfered shape is recognized, returning to FIG. 6 again, the operator is instructed as to whether or not there is another corner to be taught on the work 150, and the instruction is received (step S18). If there is another corner to be taught (YES), the process returns to step S14, where the corner is selected again (step S14) and the chamfered shape of the corner is taught (step S16).
If there is no other corner to be taught in step S18 (NO), chamfering grinding is performed on the designated corner of the work 150 (step S20).
The specific processing procedure and grinding method of the chamfer grinding will be described with reference to FIG. 9 and subsequent figures.

FIG. 9 is a flowchart showing the processing procedure of chamfering grinding. This flowchart shows that the chamfering processing program stored in the ROM 304 shown in FIG.
This is realized by execution of U302.

First, rough chamfering grinding is performed (step S30). This grinding step will be described with reference to FIG. FIG. 10 is a diagram showing a specific procedure of rough chamfering grinding. Hereinafter, in the description of the specific procedure of grinding, the work 15
In the case of finishing a chamfered surface having a 45-degree inclination angle with respect to a zero corner, an example in which the grinding wheel 14 is rotated clockwise (clockwise) toward the drawing to perform grinding will be described.

First, grinding is performed by applying the grinding wheel 14 at a corner. The depth at which grinding can be performed at one time differs depending on the material of the work 150. Therefore, in general, FIG.
As shown in FIG. 1, once grinding is performed, the second grinding wheel 14a is used.
, And the third time, the grinding is performed gradually deeper in the direction of the arrow D10 ( almost perpendicular to the chamfered surface) so that the grinding is performed at the position of the grinding wheel 14b. FIG. 10B shows the position of the grinding wheel 14 when the grinding is performed to a depth at which the rough grinding can be performed. As shown in FIG. 10 (C), the grinding is performed while reciprocating one side of the corner of the work 150 from one end to the other, that is, the arrow D12.
The grinding is performed gradually deeper in the direction a and / or the direction of the arrow D12b.

Returning to FIG. 9, lower chamfering grinding (step S32) and upper chamfering grinding are performed (step S3).
4). This grinding step will be described with reference to FIG. FIG. 11 is a diagram showing a specific procedure of chamfering grinding. FIG. 11A shows a case of lower chamfering grinding, and FIG. 11B shows a case of upper chamfering grinding. First, FIG.
As shown in FIG. 10, the grinding wheel 14 is applied to the lower corner, and FIG.
As shown in (C), the grinding is performed while moving one side of the corner of the work 150 from end to end. Next, FIG.
As shown in (B), a grinding wheel 14 is applied to the upper corner, and grinding is performed in the same manner. In the above example, the upper angle is ground after the lower angle is ground. However, the grinding may be performed in the reverse order so that the upper angle is ground and then the lower angle is ground.

After that, returning to FIG. 9 again, the surface finish grinding is performed (step S36). The surface finishing grinding process will be described with reference to FIGS. FIG. 12 and FIG.
3 is a diagram showing a specific procedure of finishing grinding of the left-side chamfered surface. First, as shown in FIG. 12 (A), a grinding wheel 14 is applied to the uppermost part of the chamfered surface.
As shown in (C), the grinding is performed while moving one side of the corner of the work 150 from end to end. Next, the workpiece is shifted downward by a pitch width p below the chamfered surface, and the reciprocating or one-way grinding is performed until the lowermost portion of the chamfered surface is reached. These grindings are performed with a light load.

Here, the pitch width p is set at one time to the grinding wheel 14.
Since the width is smaller than the width that can be ground, the finish grinding of the chamfered surface is performed, and the grinding burrs generated along the rotation direction of the grinding wheel 14 during the finish grinding are removed.
You . FIG. 12B shows the position of the grinding wheel 14 when it reaches the lowermost part of the chamfered surface. By this grinding procedure, the finishing of the chamfered surface can be performed with a certain accuracy. In the above example, the procedure for grinding the left-side chamfered surface has been described. However, when the grinding wheel 14 is rotated clockwise (clockwise) to perform the grinding, the right-sided chamfered surface is grounded from the lowermost portion to the uppermost portion. It is desirable to perform the pitch feed grinding toward the point of improving the finishing accuracy. Also, when grinding by rotating the grinding wheel 14 counterclockwise (counterclockwise), pitch feed grinding is performed from the bottom to the top on the left chamfer, and from the top to the bottom on the right chamfer. Pitch feed grinding is performed. That is, when pitch grinding is performed by moving the grinding wheel 14 in the direction of removing the grinding burrs generated along the rotation direction of the grinding wheel 14, the grinding burrs are removed, so that the finishing accuracy can be improved.

Next, instead of the above finish grinding (or
In addition, the following other finish grinding may be performed. That is, the grinding wheel 14 is applied to the lowermost portion of the chamfered surface, and as shown in FIG. 13A, the grinding is performed with a light load from the lowermost portion to the uppermost portion (in the direction of arrow D14) of the chamfered surface. At this time, the rotation direction of the grinding wheel 14 is a rotation direction opposite to that of the rough chamfering grinding and the chamfering grinding. Then, as shown in FIG. 13B, the width of the grinding wheel 14 that can be ground at one time is set as the pitch width, and the step of grinding from the lowermost part to the uppermost part of the chamfered surface, that is, in the direction of arrow D16, is performed. Repeat from end to end of corner.
That is, an arrow that is substantially perpendicular to the ridge line of the workpiece 150
In the direction of mark D16 (the direction of arrow D14 in FIG.
The operation of moving the grinding wheel 14 while shaving and the work 1
Move grinding wheel 14 by pitch width along 50 ridges
Operation is repeated. Therefore, by performing another finish grinding, the chamfered surface can be more accurately finished.

In the other finish grinding described above, deburring was performed from the lowermost part to the uppermost part of the chamfered surface, but deburring was performed in the reverse direction from the uppermost part to the lowermost part of the chamfered surface. You may. The pitch of the grinding shown in FIG. 13B may be the same as the pitch p of the grinding shown in FIG. As described above, by performing the surface finish grinding in the rotation direction opposite to the rotation direction of the grinding wheel 14 in the rough chamfering grinding and the chamfering grinding, the grinding burr can be reliably removed , and the precision of the chamfered surface can be improved. It can be finished constantly.

Thus, the chamfering grinding according to the processing procedure shown in FIG. 9 is completed for the designated one corner of the work 150 in the taught chamfering shape. Thereafter, returning to FIG. 6 again, it is inspected whether there is another corner to be chamfered and ground on the work 150 (step S22). If there is another corner to be chamfered (YE
S) returns to step S20, and similarly performs chamfering grinding for other designated corners. Step S
If there is no other corner to be chamfered at 22 (NO), the processing procedure ends.

Therefore, the operator only teaches the shape of the work 150 to be chamfered (ie, the position of the corner) and the chamfered shape of the corner by a simple teaching operation. The grinding machine for chamfering of the invention automatically grinds. For this reason,
The operator can perform other operations during the actual chamfering grinding or evacuate to avoid an environment exposed to heavy dust. In addition, since the chamfering grinding is performed in a certain procedure, it is possible to finish with a certain accuracy even in a corner on the rear side of the work 150 which is difficult to see from the cab. In the grinding shown in FIG.
Although the width is smaller than the width that the grinding wheel 14 can grind at one time, the width may be the same as the width that the grinding wheel 14 can grind at one time. Grinding burrs generated in this case are ground by finish grinding shown in FIG. 13 in the next step.

Although the embodiment of the grinding machine for chamfering has been described above, the structure, shape, size, material, number, arrangement, operating conditions and the like of other parts in the grinding machine for chamfering are also described in this embodiment. It is not limited to. For example, the grinding wheel 14 is not limited to a normal grinding wheel, but may be formed of abrasive grains such as diamond or CBN (Cubic Boron Nitride), vitrified grinding wheels, resinoid grinding wheels, rubber grinding wheels, or the like, depending on the material of the work 150. Other abrasives can be applied, such as a grinding tool. When such another grinding material is used as a grinding wheel, optimal grinding can be performed, and the same effect as in the above embodiment can be obtained.

The work 18 (work 15 in the embodiment)
In the case of 0), the present invention is applied to ordinary steel, but iron castings such as special steel (carbon steel) and stainless steel, non-ferrous castings such as aluminum alloys and magnesium alloys, ceramics, wood, synthetic resins such as plastics and rubbers, etc. As described above, the present invention can be similarly applied to a material most suitable for removing a flaw by chamfering a corner. Therefore, even with such a material, chamfering can be easily performed in a desired chamfered shape.

Further, the teaching panel 16, the manual control unit, and the teaching point designating unit are realized by the operation panel 320. However, the present invention can be similarly realized by different input devices (keyboard, mouse, command button, etc.). For example, a keyboard can be applied as the teaching means, a command button as the manual control means, and a mouse as the teaching point designating means. By appropriately selecting and applying such an input device, an environment that is easy for the operator to operate is provided, so that the efficiency of teaching work and the like is improved.

When a swing cylinder 336 for swinging the grinding wheel 14 is additionally connected to the output processing circuit 314 of the grinding control device 300 shown in FIG. 5, the grinding wheel 14 is connected as shown in FIG. Can be tilted . This
At this time, it is almost vertical with the chamfered surface 170 of the workpiece 150
The grinding wheel 14 is inclined such that With the grinding wheel 14 tilted in this manner, as shown in FIG.
The ridge line of the work 150 (that is, the longitudinal direction of the chamfered surface 170)
12) , that is, by moving in the direction of arrow D18 to perform the reciprocating finish grinding, it is possible to execute faster than the finish grinding method shown in FIG. In other words, the grinding wheel 14 is moved with respect to the ridge line of the work 150.
A direction that is substantially perpendicular (ie, how the chamfered surface 170 is shorter)
12B), the chamfering grinding can be performed faster than in the case of moving along the direction (FIG. 12B).

Then, in the above embodiment, the work 150
After the shape of the work 150 is taught, the chamfered shape is taught at each corner. However, the same effect can be obtained by teaching the shape of the work 150 after teaching the chamfered shape. In particular, work 1 with the same chamfered shape
When chamfering each corner of 50, the operation for teaching is simplified, so that the time required for the teaching operation can be shortened.

[0047]

According to the present invention, the corner of the work is automatically chamfered if the operator indicates the shape of the work and the chamfered shape by the teaching means. Therefore, the operator can perform other operations and the like during the actual chamfering grinding. Also, since grinding burrs are removed,
The precision of the slope can be finished to a constant.

[Brief description of the drawings]

FIG. 1 is a conceptual diagram showing a chamfering grinding device of the present invention.

FIG. 2 is a plan view showing an example of a chamfering grinding line.

FIG. 3 is a front view showing an example of a chamfering grinding line.

FIG. 4 is a side view showing an example of a chamfering grinding line.

FIG. 5 is a block diagram illustrating a configuration of a grinding control device.

FIG. 6 is a flowchart illustrating a main processing procedure.

FIG. 7 is a diagram illustrating an example of a chamfered shape.

FIG. 8 is a diagram showing an example of the shape of a work.

FIG. 9 is a flowchart showing a processing procedure of chamfering grinding.

FIG. 10 is a diagram showing a specific procedure of rough chamfering grinding.

FIG. 11 is a view showing a specific procedure of chamfering grinding.

FIG. 12 is a diagram showing a specific procedure of finish surface grinding.

FIG. 13 is a diagram showing a specific procedure of finish surface grinding.

FIG. 14 is a view showing another method of grinding a finished surface;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Grinding control means 12 Wheel moving mechanism 14 Grinding wheel 16 Teaching means 18 Work

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Keiji Morita 3-36 Noritake Shinmachi, Nishi-ku, Nagoya City, Aichi Prefecture Noritake Co., Ltd. (56) References JP-A-1-252340 (JP, A) JP-A-4-2461 (JP, A) JP-A-4-25361 (JP, A) JP-A-1-97554 (JP, A) JP-B-5-41380 (JP, B2) JP-B-2-42628 (JP, B2) (58) Fields investigated (Int. Cl. ⁷ , DB name) B24B 9/00 B24B 27/00 B23Q 15/00

Claims (4)

(57) [Claims] 1. A chamfering grinding apparatus for chamfering a workpiece by grinding a corner of the workpiece with a grinding wheel, wherein the teaching means teaches the shape of the workpiece and the chamfering shape, and data taught by the teaching means is stored. Grinding control means for outputting a control signal for grinding the corner of the workpiece based on the data; and, in accordance with the control signal , moving the grinding wheel to perform chamfering.
After grinding, the direction of rotation of the grinding wheel is
Burrs to remove grinding burrs generated along the direction of stone rotation
A grinding wheel moving mechanism for performing chamfering and grinding; 2. A corner of a work is ground with a grinding wheel.
A chamfering grinding device for chamfering, a teaching means for teaching a shape of a workpiece and a chamfered shape, and data taught by the teaching means are stored.
Control signal for grinding workpiece corners based on data
Control means for outputting the grinding wheel, the grinding wheel is tilted in accordance with the control signal,
Chamfer grinding while moving the grinding wheel along the line
A chamfering grinding device having a whetstone moving mechanism . 3. The grinding for chamfering according to claim 1, 2 or 3.
In the apparatus, the teaching means is such that the operator manually controls the whetstone moving mechanism.
Manual control means to detect the current position of the grinding wheel
Position detecting means and teaching point designating means for teaching the shape of the work
The step is provided, and the operator manually controls the whetstone moving mechanism by manual control means.
Control to move the grinding wheel.
A chamfering grinding machine that teaches the shape of the workpiece. 4. A chamfer according to claim 1, 2 or 3.
In a grinding device, the grinding wheel moving mechanism is substantially orthogonal to the ridge line of the work.
Movement of the grinding wheel while grinding in
Only move the grinding wheel along the ridgeline of the workpiece by the pitch width.
Grinding for chamfering by repeating the operation of chamfering
apparatus.