JP3224783B2 - Automatic work equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is used in an automatic drilling machine, an automatic milling machine, and the like, and relates to an automatic operation device for automatically performing operations such as machining by driving a motor.

[0002]

2. Description of the Related Art In order to perform a predetermined machining using a conventional automatic drilling machine, not only an arithmetic program for speed and position control is required but also a worker inputs data such as speed and position. It was necessary to do. Further, for an automatic drilling machine having a teaching function, it was necessary to input at least speed data.

[0003]

However, in the case of the above-mentioned prior art, there is an essential disadvantage that the operator cannot make full use of the processing know-how acquired through many years of experience. In other words, when the conditions such as the material change for the rotation speed and feed of the drill, it is necessary to appropriately adjust it according to the conditions. Is very difficult as a practical matter. Further, when performing complicated machining, it is necessary to perform a complicated operation based on the input speed data and the like to perform motor control, and the control program becomes very complicated. Is a major factor that cannot be fully utilized. This is not a problem unique to the automatic drilling machine alone, but the same can be said for an automatic milling machine and the like.

[0004] The present invention has been made under the above-mentioned background, and an object of the present invention is to provide an automatic working device capable of fully utilizing the know-how of an operator.

[0005]

SUMMARY OF THE INVENTION An automatic working apparatus according to the present invention is a machine capable of not only performing operations such as machining by manual operation but also performing the operations automatically. A work machine having an encoder for detecting a coordinate value of a coordinate system and a motor for automatic operation driven in response to an input of a pulse pattern signal, and a storage medium for sequentially storing pulse pattern signals output from the encoder,
A control unit that sequentially reads out the pulse pattern signals stored in the storage medium and outputs the signals to the motor of the work machine as a command for automatically performing the work .
The control unit is configured to sequentially read the data from the storage medium.
While counting the pulse pattern signal, the encoder
From the pulse pattern signal sequentially output from
Find the deviation value of both counts and compare the deviation value to the set value.
The reading of the storage medium is temporarily stopped.
Output an additional pulse instead,
The deviation value of both counts is smaller than another set value
When the reading of the storage medium is restarted,
It is characterized by having.

In such a configuration, when the work is performed by manually operating the work machine, the work machine is energized in the process.
The pulse pattern signal output from the
It is stored next. After that, the pulse pattern stored in the storage medium is
When the turn signals are sequentially read and output as commands to the motor of the work machine, the same work is automatically performed by the work machine.

[0007] More preferably, the working machine is provided with a clutch for disconnecting the mechanical connection between the handle for manual operation and the motor at the time of manual operation.

In such a configuration, when manually operated using the handle, the mechanical connection between the handle and the motor is disconnected, so that the operator may directly feel a subtle repulsive force applied to the handle. Will be possible.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention will be described below using an automatic drilling machine as an example. FIG. 1 (a)
Is a front view of the automatic drilling apparatus, (b) is a plan view thereof, (c) is a side view thereof, FIG. 2 is an electrical configuration diagram of the apparatus, and FIG. 3 is feedback control performed by a control unit of the apparatus. It is a flowchart of software for use.

The automatic working device (automatic drilling device) described here by way of example can not only perform drilling by manual operation with the handle 8 but also automatically perform drilling by driving the motor 13. Drilling machine A having a function that can be performed, and a pulse pattern signal α (here, an XYZ machine coordinate system) output from an encoder 10 of the drilling machine A when the operation is performed by manually operating the drilling machine A. And a pulse pattern signal α stored in the storage medium 100 are sequentially read out and output to the drilling machine A as a command for automatically performing the drilling. It has a basic configuration including a control unit 200 and the like having functions such as.

First, the mechanical configuration of the apparatus will be described with reference to FIG. A drilling machine A, which is a main component of the apparatus, is arranged on an XY table (not shown).
During automatic drilling, it operates in synchronization with the XY table.

In FIG. 1, reference numeral 1 denotes a drill. The drill 1 is attached to the tip of a spindle 2. An axis 21 in the spindle shaft 2 is connected to a motor 6 such as an induction motor via a pulley 3, a V-belt 4, and a pulley 5, and the drill 1 is rotated by driving the motor 6.

Reference numeral 7 in the figure denotes an axis for moving the drill 1 in the vertical direction (Z-axis direction) in the figure. A handle 8 for manual operation is connected to the shaft 7. The handle 8 is connected to the drill 1 via a pinion 71 attached to an intermediate portion of the shaft 7 and a rack 22 formed on the outer surface of the spindle shaft 2. When the handle 1 is returned to the original position while the drill 1 moves downward in the drawing, the drill 1 moves upward together with the spindle 2 in the drawing.

A touch sensor 14 detects that the handle 8 is at the initial position. When the hand is released from the handle 8, the handle 8 is returned to the initial position by the elastic force of a spring or the like, and the touch sensor 14
Output a signal.

An encoder 10 is connected to an axis of the handle 8 via a coupling 9. Encoder 1
0 is the rotation of the handle 8 and the shaft 7, and thus the Z of the drill 1
The configuration is such that the axial movement amount is detected and output as a pulse pattern signal α.

The shaft 7 has a clutch 11, gears 12a to 12
A motor 13 such as a stepping motor is connected via d. That is, the drill 1 moves in the vertical direction in the figure not only by the manual operation with the handle 8 but also by the driving of the motor 13. At the time of manual operation, the mechanical connection between the handle 8 and the motor 13 is disconnected by the clutch 11.

Next, the electrical configuration of the device will be described with reference to FIG. The pulse pattern signal α sequentially output from the encoder 10 is stored in the storage medium 100 such as an MD via the writing circuit 400 at any time in the same timing. The writing circuit 400 is an interface circuit that converts the pulse pattern signal α into a signal that can be input to the storage medium 100.

On the other hand, the pulse pattern signals α sequentially stored in the storage medium 100 are sequentially output to the driver 300 via the readout circuit 500 so that the driver 300 generates each phase current for driving the motor 13. Has become. The read circuit 500 is an interface circuit that converts the pulse pattern signal α into a signal that can be input to the driver 300. In short, the pulse pattern signal α sequentially read from the storage medium 100 is input to the driver 300 as a command value for driving the motor 13 via the read circuit 500.

The control unit 200 is a microcomputer that controls the entire apparatus as set through the input unit 600, and controls writing / reading of the storage medium 100, control of the clutch 11, and the like. . The signals output from the encoder 10 and the touch sensor 14 are also input to the control unit 200.

A description will be given of a method of using the above-configured apparatus, and an operation of the control unit 200.

First, a manual operation mode is set through the input unit 600. Then, the control unit 200 generates a signal for disconnecting the mechanical connection between the handle 8 and the motor 13 and outputs the signal to the clutch 11.

The workpiece a is placed on an XY table (not shown), a switch (not shown) for operating the motor 6 is turned on, and a skilled worker manually operates the handle 8 to drill the workpiece a. Perform processing.

When the handle 8 is moved forward and an active signal is input from the touch sensor 14 or the like to the control unit 200, the control unit 200 sets the storage medium 100 to the write mode. Therefore, the pulse pattern signal α continuously output from the encoder 10 in the course of this manual operation is stored in the predetermined channel of the storage medium 100 via the writing circuit 400 as needed. The storage of the storage medium 100 is continuously performed until the handle 8 is returned to the original position and an inactive signal is input to the control unit 200 from the touch sensor 14 or the like. The drilling of the workpiece b by manual operation is exactly the same, but the pulse pattern signal α
Is stored in a different channel of the storage medium 100 as needed.

Here, each pulse pattern signal α obtained when drilling the workpieces a and b by manual operation is
It is assumed that they are stored in channels a and b of the storage medium 100, respectively.

The data stored in the storage medium 100 includes not only the position data on the Z-axis of the drill 1 but also the speed data, and includes all the processes from the start to the end of drilling. Storage medium 10
The data finally stored in the channel a of 0 is data necessary for performing a drilling operation on the workpiece a as performed by a skilled processor. Storage medium 10
The same applies to the data finally stored in the channel b of 0, which is data necessary for performing drilling on the processing target b as performed by a skilled processor.

Further, at the time of manual operation, since the mechanical connection between the handle 8 and the motor 13 is disconnected by the clutch 11, the skilled worker directly feels a subtle repulsive force applied to the handle 8 and the like. It is possible to operate the handle 8 easily, and in this respect, it is possible to fully utilize the processing know-how acquired through many years of experience.

Next, an automatic operation mode is set through the input unit 600. Then, the control unit 200 generates a signal for mechanically connecting the handle 8 and the motor 13 and outputs the signal to the clutch 11.

When the workpiece a is placed on an XY table (not shown) and the automatic processing start switch included in the input unit 600 is turned on and the channel of the storage medium 100 is selected as a, the control unit 200 operates the motor 6. At the same time, the storage medium 100 is set to the reading mode.

Then, the pulse pattern signals α sequentially stored in the channel “a” of the storage medium 100 are sequentially read and output to the driver 300 through the read circuit 500. Along with this, the drill 1 moves up and down in accordance with the operation of the motor 13, and as a result, the workpiece a
Drilling is automatically performed as performed by a skilled processor. If the drilling is performed continuously in synchronization with an XY table (not shown), a large number of drills are performed on the workpiece a in a similar manner. The same applies to the drilling of the workpiece b.

The embodiment in which drilling is automatically performed by open-loop control has been described. However, there is a possibility that drilling conditions may change due to wear of the drill 1 and the like, and drilling as performed by a skilled processor may not be realized. Alternatively, drilling may be performed by feedback control.

For example, the driver 300 outputs the pulse pattern signal α reproduced from the storage medium 100 via the read circuit 500 in the same manner as described above. At the same time, the control unit 200 counts the number of pulses, counts the number of pulses input from the encoder 10, compares the count values of the two, and, if necessary,
A function of correcting the output timing or the number of pulses output to 0 is provided.

Specifically, it is preferable to operate the control unit 200 using software as shown in FIG.
Here, A is the number of pulses reproduced from the storage medium 100 and output to the driver 300, B is the number of pulses output from the encoder 10 when the motor 13 is rotated, C is the number of counts determined to require correction, The count number at which the correction is to be completed is D, and the maximum standby time is T.

If | AB | <C, the reproducing operation is continued. At the time when | AB | ≧ C, it is recognized as a position shift, and the reproducing operation is temporarily stopped to wait until | AB | ≦ D. Even after the maximum standby time T has elapsed | A-
If B |> D, a pulse is added so as to rotate at a low speed in the rotation direction immediately before the temporary stop until | AB | ≦ D.

Then, the number of added pulses is stored, and
At the next reversal of the rotation direction, the reproduction is paused, and the stored number of pulses is added in the reverse direction before reproduction.

When drilling is performed by such feedback control, even if the processing conditions change due to wear of the drill 1 or the like, the same drilling performed by a skilled worker can be performed, and continuous drilling can be performed. It is possible to improve the processing quality when drilling.

In the case of the above-mentioned automatic drilling machine, unlike the conventional machine, it is not necessary for the operator to input data such as speed, position and the like. In addition, motor control can be performed without a program, and the know-how of a skilled processor can be fully utilized. Further, when the storage medium 100 storing the data is removed and set in another device, or when the data is reproduced and transferred to another device,
The same drilling can be realized with these devices. Moreover, since the configuration is very simple, it has great significance in achieving high performance and low cost of the device.

The automatic working device of the present invention can be applied not only to an automatic drilling device but also to an automatic milling machine and the like. Further, the present invention is applicable not only to a work such as processing by manual operation but also to a device capable of automatically performing the work by driving a motor, for example, a robot or an automatic care device.

[0038]

The storage medium is not limited to the MD, but may be a storage element such as a ROM, a RAM, an IC memory card, a flash memory card, an MO, a CD, a CD-R, or a CD.
-A phase change storage type storage medium such as RW, DVD, DVD-RAM, etc. may be used. The configuration of the peripheral circuits such as the write circuit and the read circuit is naturally changed according to the type of the storage medium.

The control unit may be configured to realize the same function by pure hardware instead of software.

[0041]

As described above, in the automatic working device according to the first aspect of the present invention, when the work is performed by manually operating the work machine, the pulse pattern signal output from the encoder of the work machine in the process is stored. When the pulse pattern signals stored in the storage medium are sequentially read out and then sequentially read out and output to the motor of the work machine as a command, the same work is automatically performed by the work machine. Therefore, unlike the conventional example, even if the operation is complicated, the motor control can be performed without a program, and the know-how of the operator can be fully utilized. Moreover, since the configuration is very simple, it has great significance in achieving high performance and low cost of the device. Ma
In addition, even if the processing conditions changed,
Since the same automatic processing is performed,
It is possible to improve the quality.

In the case of the automatic working device according to the second aspect of the present invention, when the manual operation is performed using the handle, the connection with the motor is disconnected. The force and the like can be directly felt, and the know-how of the operator can be sufficiently exhibited, and in this regard, the performance of the apparatus can be further improved.

[Brief description of the drawings]

FIGS. 1A and 1B are views for explaining an embodiment of the present invention, wherein FIG. 1A is a front view of an automatic drilling apparatus, and FIG.
Is a plan view thereof, and (c) is a side view thereof.

FIG. 2 is an electrical configuration diagram of the device.

FIG. 3 is a flowchart of feedback control software processed by a control unit of the apparatus.

[Explanation of symbols]

 A drilling machine α pulse pattern signal 13 motor 100 storage medium 200 control unit

────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Shinichi Kawasaki 12 Myaga Inc. Address Mycom Co., Ltd. (56) References JP-A-62-157759 (JP, A) JP-B-52-191 (JP, B2) (58) Fields investigated (Int. Cl. ⁷ , DB name) B23Q 15 / 00 305 G05B 19/423

Claims (2)

(57) [Claims] An encoder and a pulse pattern signal for detecting a coordinate value of a machine coordinate system, wherein the machine is capable of performing not only operations such as machining by manual operation but also automatic operations. A work machine having a motor for automatic operation driven in accordance with the input of the storage device, a storage medium for sequentially storing the pulse pattern signal output from the encoder, and a pulse pattern signal stored in the storage medium for sequentially reading the pulse pattern signal Automatically outputs to the motor of the work machine as a command for performing the work, the control unit sequentially reads out from the storage medium.
While counting the pulse pattern signal
The pulse pattern signals sequentially output from the coder are counted.
The difference between the two counts, and calculate the difference
When reading is larger than
Stop and instead output an additional pulse, then
The deviation value between the two counts is smaller than another set value.
When the reading of the storage medium is resumed,
Automatic working device, characterized in that it it. 2. The automatic working device according to claim 1, wherein the working machine is provided with a clutch that disconnects a mechanical connection between the handle for manual operation and the motor during manual operation.