JP3622570B2 - Spinning method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a spinning method for a lighting fixture (reflective shade).
[0002]
[Prior art]
In the spinning process, the disk material is clamped in a state of being centered on a mold, and is processed by a processing roller. Conventionally, the following measures have been taken in order to avoid the occurrence of defects in the molded product due to fluctuations in the gap (relative position) during molding between the mold and the processing roller due to atmospheric temperature, heat generated by processing, and the like.
[0003]
That is, as a first means, the position of the processing roller is corrected manually by looking at the state during processing or the forming state of the work before the operator has a problem. As a second means, the mold and the processing roller are heated and cooled in order to keep the temperature of the mold and the processing roller constant.
[0004]
[Problems to be solved by the invention]
However, manual correction differs depending on the worker, and the work takes time and cannot be corrected accurately, resulting in failure.
[0005]
Further, it is technically difficult to make the temperature of the mold and the processing roller constant. For example, since the mold is a rotating body, it is difficult to adjust the temperature through the fluid, and it is difficult to change the temperature in a short time because the heat capacity of the mold is large enough to blow warm air and cold air from the outside.
[0006]
Further, since the processing roller moves, it is difficult to blow the hot and cold air blowout ports following the processing roller. Further, the method of keeping the temperature of the mold and the processing roller constant has a problem that the equipment cost for temperature control is high and the equipment space is increased.
[0007]
Accordingly, an object of the present invention is to provide a spinning processing method that can avoid a product defect due to a change in gap between molding of a mold and a processing roller, and that can achieve low cost and space saving.
[0008]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the spinning processing method according to claim 1 of the present invention is a spinning processing method in which a workpiece is formed by a processing roller in a state of being centered on a mold,The displacement amount of each point of the mold and the displacement amount of the radius of the processing roller are measured by a displacement sensor by the thermal expansion of the mold and the processing roller, respectively.The trajectory data of the processing roller is automatically corrected by the control unit based on the measured value, and the processing roller is driven by the corrected trajectory data.
[0011]
As described above, the displacement amount of each point of the mold and the displacement amount of the radius of the processing roller are measured by the displacement sensor due to the thermal expansion of the mold and the processing roller, and the locus data of the processing roller is obtained based on the measured value. Since the control unit automatically corrects and drives the processing roller based on the corrected trajectory data, the fluctuation of the gap between the mold and the processing roller is automatically corrected. This eliminates the need for correction work and improves automation by enabling automation. In addition, the quality of the product is improved, the number of defects is reduced, it is relatively inexpensive, and a large installation space is not required. Also for measuring displacementWarmThe correction amount is more reliable than the degree feedback method, and a fine correction amount can be calculated for each point without adding a special driving device. Further, since the displacement amount of the radius of the processing roller is measured, a compact eddy current displacement sensor can be used. This sensor is small and easy to install.
[0015]
Claim2The spinning processing method described is a spinning processing method in which a workpiece is formed by a processing roller while being centered on a mold, and a force applied to the processing roller at the time of forming is measured with a measurement load cell, and based on the measured value. When the locus data of the processing roller is automatically corrected by the control unit, the measurement values are averaged at a plurality of points, a correction amount is calculated by providing a boundary in the averaging range, and the corrected locus data is used to calculate the correction amount. The processing roller is driven.
[0016]
In the spinning processing method according to claim 3, wherein the correction is automatically performed by pressure feedback, the molding can be performed with good quality by bringing the measurement value close to the target force, but the correction value is calculated from the measurement point and the measurement value. Deviations may occur in the points to be corrected in the next processing. When such deviations occur, fluctuations in the generated force gradually increase, resulting in irregularities on the inner surface of the product, resulting in defects. For this reason, the measurement values are averaged at a plurality of points as described above, and the correction amount is calculated by providing a boundary in the range of the averaging. Therefore, it is possible to eliminate the fluctuation of the force caused by the deviation. In addition, in the method where the pressure difference between the measured value and the target force is simply averaged and the pressure is fed back, in the part where the pressure difference is large, the average force causes a negative effect and the target force is not approached. However, the measured value formed by automatic correction by separating the range to be averaged with the portion where the machining state is changed as a boundary is close to the target force, and stable machining is possible.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Of this inventionReference example 1The spinning method will be described with reference to FIGS.
[0018]
FIG. 1 illustrates the present invention.Reference example 1FIG. 2 is a conceptual diagram showing a method by temperature feedback in FIG.Reference example 1FIG. 3 is an explanatory view showing a mold temperature measuring method in FIG.Reference example 1FIG. 3 is an explanatory view showing a processing roller temperature measuring method.
[0019]
1 to 3, 1 is a spinning machine mold, 2 is a workpiece, 3 is a tail, 4 is a processing roller, 5 and 6 are radiation thermometers, 7 is an A / D converter, and 8 is a control unit (computer). ), 9 is a driving device. The workpiece 2 is clamped by the tail 3 while being centered on the mold 1. Even if the workpiece 2 of the mold 1 is molded, a black paint is applied to a portion that does not come into contact with the material, and the black paint application portion 10 is measured with a radiation thermometer 5. Similarly, even if the workpiece 2 of the processing roller 4 is molded, a portion of the processing roller 4 that does not come into contact with the material is coated with black paint, and when the processing roller 4 is stopped at a fixed position, the black paint application portion 11 is moved by the radiation thermometer 6. taking measurement. A finishing roller 12 is used by switching to the processing roller 4 and smoothes the inner surface of the work 2.
[0020]
Next, a spinning method using temperature feedback will be described. The mold temperature, processing roller temperature, and equipment temperature are measured before molding, and the measured values are A / D converted by the A / D converter 7 and the temperature data is input to the computer of the control unit 8. The control unit 8 substitutes the temperature data into the calculation formula for calculating the correction amount obtained in advance by experiment to obtain the correction amount, and automatically corrects the trajectory data of the processing roller 4 based on this. The driving device 9 drives the processing roller 4 based on the corrected trajectory data. By repeating the above every time, stable molding can be realized.
[0021]
12A to 12D show graphs of the correction amount, temperature, displacement amount, and machining force of the data model. Here, reference is made to a graph of correction amount and temperature. As shown in the graph, the correction amount changes stepwise as the temperature changes.
[0022]
As aboveReference example 1According to the above, black paint is applied to the rotating metal surfaces of the mold 1 and the processing roller 4, and the black paint application portions 10 and 11 are temperature-measured in a non-contact manner by the radiation thermometers 5 and 6, and based on the measured values. Then, the locus data of the processing roller 4 is automatically corrected by the control unit 8 and the processing roller 4 is driven by the corrected locus data, so that the variation in the gap between the mold 1 and the processing roller 4 is automatically corrected. The This eliminates the need for correction work and improves automation by enabling automation. In addition, the quality of the product is improved, the number of defects is reduced, it is relatively inexpensive, and a large installation space is not required. In general, mirror surfaces such as molds cannot be accurately measured with a radiation thermometer, but the temperature of a part painted with black paint can be measured accurately, and the radiation thermometer can be installed in a non-contact location. So installation is easy. Moreover, since it can be installed in a relatively good environment, it is difficult to break down.
[0023]
First of this invention1The spinning method according to the embodiment will be described with reference to FIGS.
[0024]
FIG. 4 is a conceptual diagram showing a method based on displacement amount feedback in the embodiment of the present invention, FIG. 5 is an explanatory diagram showing a method for measuring a displacement amount of a mold in the embodiment of the present invention, and FIG. 6 is an embodiment of the present invention. It is explanatory drawing which shows the displacement amount measuring method of a processing roller in a form.
[0025]
4 to 6, 13 is an A / D converter, 14 is a control unit (computer), 15 is a driving device, and 16 and 17 are displacement sensors. The displacement sensors 16 and 17 are attached to the holder 4 a of the processing roller 4. One displacement sensor 16 is a laser displacement sensor, and measures the amount of displacement of the mold 1 as shown in FIG. By moving the sensor 16 along the locus along the curved surface of the mold 1 so that the distance between the displacement sensor 16 and the mold 1 is within the measurement range, the displacement amount of each point of the mold 1 can be measured. The other displacement sensor 17 is an eddy current displacement sensor and measures the amount of displacement of the processing roller 4 as shown in FIG. However, this is limited to the case where the processing roller 4 is iron. As the mounting position of the displacement sensor 17, a portion that does not contact the mold 1 and the workpiece 2 during processing is selected. Other,Reference example 1The same components as those in FIG.
[0026]
Next, a spinning method using displacement amount feedback will be described. Before the molding, the displacement sensor 16 attached to the holder 4a of the processing roller 4 is moved along a locus along the curved surface of the mold 1, and the displacement amount of each point of the mold 1 is measured. Further, the displacement sensor 17 measures the amount of displacement of the radius of the processing roller 4. The measured value is A / D converted by the A / D converter 13 and the displacement data is input to the computer of the control unit 14. By the above measurement, the displacement amount of the distance (gap) between the die 1 and the tip of the processing roller 4 at each point can be calculated. The control unit 14 substitutes the displacement amount data into the calculation formula for calculating the correction amount obtained in advance by experiment to obtain the correction amount, and automatically corrects the trajectory data of the processing roller 4 based on this. The driving device 15 drives the processing roller 4 based on the corrected trajectory data. By repeating the above every time, stable molding can be realized.
[0027]
Here, the graph of the correction amount and the displacement amount is referred to in FIG. As shown in the graph, the correction amount changes stepwise as the displacement amount changes.
[0028]
As described above, according to this embodiment, the displacement amount of each point of the mold 1 and the displacement amount of the radius of the processing roller 4 are respectively measured by the displacement sensors 16 and 17 due to the thermal expansion of the mold 1 and the processing roller 4. Based on the measured value, the trajectory data of the processing roller 4 is automatically corrected by the control unit, and the processing roller 4 is driven by the corrected trajectory data. Variations are automatically corrected. This eliminates the need for correction work and improves automation by enabling automation. In addition, the quality of the product is improved, the number of defects is reduced, it is relatively inexpensive, and a large installation space is not required. Further, since the displacement amount is measured, the correction amount is more reliable than the method using the temperature feedback of the first embodiment, and a fine correction amount can be calculated for each point without adding a special driving device. . Furthermore, since the displacement amount of the radius of the processing roller 4 is measured, a compact eddy current displacement sensor can be used. This sensor is small and easy to install.
[0029]
Of this inventionReference example 2The spinning method will be described with reference to FIGS.
[0030]
FIG. 7 shows the present invention.Reference example 2FIG. 8 is a conceptual diagram showing a method using force feedback in FIG.Reference example 2FIG. 9 is a general view showing a method by force feedback in FIG.Reference example 2FIG. 10 is an enlarged view of a measurement load cell used in the present invention.Reference example 2FIG. 11 is an overall view when a calibration load cell is provided in another example of FIG.
[0031]
7 to 9, reference numeral 18 denotes a processing roller holder, 19 denotes a measurement load cell, 20 denotes an A / D converter, 21 denotes a control unit (computer), and 22 denotes a driving device. The holder 18 of the processing roller has a U shape as shown in FIG. 9, and a measurement load cell 19 is attached to the side on which the processing roller 4 is attached. Further, as a measure against damage to the measurement load cell 19, an adjustment bolt 23 is attached on the opposite side, and one side of the measurement load cell 19 is in point contact with the adjustment bolt 23 so that no bending moment is applied to the measurement load cell 19. The point contact part 26 is pressurized with the adjusting bolt 23 so as not to leave. When force is applied to the pressure roller 4, the measurement load cell 19 is compressed. The relationship between the force applied to the pressure roller 4 and the force applied to the measurement load cell 19 is obtained in advance by experiments. The force applied to the processing roller 4 is determined by measuring the compressive force applied to the measurement load cell 19 as described above. Other,Reference example 1The same components as those in FIG.
[0032]
Next, a spinning method using force feedback will be described. The force at each point applied to the processing roller 4 at the time of optimal processing is measured in advance and stored in the control unit 21 as data. The force at each point applied to the processing roller 4 at the time of molding is measured by the measurement load cell 19. The measured value is A / D converted by the A / D converter 20 and input to the control unit 21. The position correction amount of the processing roller 4 at each point is calculated from the difference between the measured force and the optimum force, and the locus data of the processing roller 4 is automatically corrected based on this. Next, the processing roller 4 is driven by the driving device 22 with the corrected trajectory data to perform molding. By repeating the above every time, stable molding can be realized after the second time.
[0033]
Here, in FIG. 12, a graph of the correction amount and the processing force is referred to. As shown in the graph, the correction amount changes stepwise as the machining force changes.
[0034]
As aboveReference example 2According to the above, the force applied to the processing roller 4 at the time of molding is measured by the measurement load cell 19, the locus data of the processing roller 4 is automatically corrected by the control unit based on the measured value, and the processing roller is calculated based on the corrected locus data. 4 is driven, the gap variation during molding of the mold 1 and the processing roller 4 is automatically corrected. This eliminates the need for correction work and improves automation by enabling automation. In addition, the quality of the product is improved, the number of defects is reduced, it is relatively inexpensive, and a large installation space is not required. In addition, the method using displacement amount feedback according to the second embodiment requires measurement in units of microns and is difficult to measure with high accuracy. However, measurement of force makes measurement easier than measurement of displacement. further,Reference example 1The temperature feedback method requires many experiments to find the relationship between temperature and correction amount, but it is easier to calculate the correction amount than temperature measurement by measuring force.sois there. Moreover, the load cell is a commercial product, and has better accuracy, durability, and handleability than the method of attaching a strain gauge.
[0035]
Also,Reference example 2In this case, the relationship between the force applied to the processing roller 4 and the force applied to the measurement load cell 19 may fluctuate due to thermal expansion of the holder 18 of the processing roller. In order to accurately measure the force applied to the processing roller 4, it is necessary to periodically calibrate the force. for that reason,Reference example 2As another example, a calibration load cell 24 is attached to the tip of a cylinder 25 as shown in FIGS.
[0036]
In this case, the processing roller 4 is moved to the front surface of the calibration load cell 24. The cylinder 25 is advanced to press the calibration load cell 24 against the processing roller 4. By simultaneously measuring the force applied to the calibration load cell 24 and the force applied to the measurement load cell 19 attached to the holder 18 of the processing roller, the relationship between the force applied to the processing roller 4 and the force applied to the measurement load cell 19 is required. . The measurement load cell 19 can be calibrated as described above. Such calibration is automatically and periodically performed.
[0037]
As described above, the calibration load cell 24 is pressed against the processing roller 4 to measure the force applied to the calibration load cell 24 and the measurement load cell 19, and the measurement load cell 19 is calibrated based on the measurement result. Thus, the measurement load cell 19 can be calibrated. In addition, the reliability of the measuring force is increased.
[0038]
Also,Reference example 2When automatic correction is performed by pressure feedback as shown in FIG. 4, there is a normal deviation between a measurement point and a point that is corrected from the measurement value and corrected in the next processing. The reason is that a normal inexpensive control system cannot execute two processes at the same time, and there is a possibility that another process (for example, a process to move to the next point) is performed at the time when the pressure at a certain processing point should be measured. For this reason, there is a case where the pressure is measured later than the time that should be measured. In this case, the measurement point of the measured pressure is shifted from the point to be corrected next.
[0039]
If there is a difference between the measurement point and the point to be corrected, if the processing is repeated, the fluctuation of the force generated by the difference gradually increases, resulting in unevenness on the inner surface of the product, resulting in a defect.
[0040]
In addition, in order to eliminate the force fluctuation caused by the deviation, the method of simply averaging the pressure difference between the measured value and the target force at multiple points before and after the measurement point and performing pressure feedback greatly changes the pressure difference. In some parts, an adverse effect due to averaging occurs and the target force is not approached, and thus molding abnormality may occur in that part.
[0041]
First of this invention2The spinning method according to the embodiment solves the above-described problem and is described below. FIG. 13 is a conceptual diagram of a spinning process in which automatic correction is performed by pressure feedback, FIG. 14 is a front view showing an example of a workpiece, and FIG. 15 is a graph showing a measured value of a force applied to a processing roller at each processing point and a target force. 16 is a graph showing the pressure difference (difference between the target force and the measured value) at each machining point calculated from FIG. 15, and FIG. 17 is simply averaged over a plurality of points before and after the measurement point in FIG. FIG. 18 is a graph in which the pressure difference in FIG. 17 is provided at a point A and is averaged at a plurality of points before and after the measurement point. FIG. 19 is a simple average of the pressure difference in FIG. 17 to calculate a correction amount. FIG. 20 is an explanatory diagram showing the position of the point A in FIGS. 15 to 17. FIG. 20 is a graph showing that the pressure partially deviates from the target force when automatic correction processing is performed.
[0042]
In this spinning method, as shown in FIG. 13, the workpiece (material) 2 is formed by the processing roller 4 while being centered on the mold 1,Reference example 2Similarly, the force applied to the processing roller 4 at the time of molding is measured by the load cell 19, and the locus data of the processing roller 4 is automatically corrected by the control unit 21 based on the measured value, and the processing roller 4 is moved by the corrected locus data. Drive.
[0043]
When the workpiece 2 as shown in FIG. 14 is machined by such a method, a measurement value S as shown in FIG. 15 is obtained. By bringing this close to the target force T, molding with good quality can be performed. The target force T is usually set by obtaining a range of force that becomes a non-defective product through an experiment and adopting the center value of the range.
[0044]
Next, when the measured value S and the target force T (pressure difference) are obtained, a curve having a fine undulation as shown in FIG. 16 is obtained. At point A, the pressure difference increases rapidly. This point A is a bending point that changes from linear movement to curved movement as shown in FIG.
[0045]
When the correction amount is calculated and the automatically corrected spinning process is repeated in the state where the fine undulation is present, the fine undulation becomes a large undulation and a molding defect occurs. This is because the pressure difference due to the difference between the measurement point and the correction point is amplified each time.
[0046]
In order to prevent the above problem, when the pressure difference obtained in FIG. 16 is simply averaged at a plurality of points before and after the measurement point, a smooth curve as shown in FIG. 17 is obtained. However, if the portion where the pressure difference suddenly increases at point A is averaged, the point before point A becomes larger than the original pressure difference, and immediately after point A becomes smaller than the original pressure difference. In this case, even if the correction amount is calculated from the pressure difference and the automatically corrected spinning process is repeated, the measured value S deviates from the target force T near the point A as shown in FIG. There is a case.
[0047]
Therefore, if the range in which the pressure difference is averaged is separated with the point A as a boundary, it becomes like the solid line in FIG. 18 and is close to the original pressure difference. When the correction amount is calculated from the pressure difference and automatically corrected, the measured value S is close to the target force T including before and after the point A.
[0048]
As described above, according to this embodiment, the pressure difference between the measured value S and the target force T is averaged at a plurality of points, and automatic correction is performed by separating a range to be averaged with a portion where the machining state is changed as a boundary. The measured value S thus formed is close to the target force T, and stable machining is possible.
[0049]
In addition, although the spinning process itself can be automated by performing automatic correction by pressure feedback, the work incidental to the spinning process also needs to be automated.3-5This will be described as an embodiment. That is, conventionally, an operator wipes off chips generated when cutting the top hole with an oil application jig, and the operator removes the chips adhering to the oil application jig. In the unlikely event that chips remain in the mold and scratches occur on the inner surface of the workpiece after molding, the operator immediately removes the chips adhering to the mold. However, if the spinning process is automated, even if the chips generated when cutting the top hole are wiped with an oil application jig, they cannot be completely wiped off, and the oil application treatment that does not remove the chips adhering to the oil application jig. Chips adhering to the tool may adhere to the mold during oil application. Thus, there is a problem in that scratching occurs on the inner surface of the workpiece when spinning molding is performed with chips remaining on the mold. In addition, the chips once attached to the mold cannot be easily removed, so that unless the person removes the chips, a defective product having scratches on the inner surface of the workpiece will continue to be produced.
[0050]
Therefore, the second3In the embodiment of the present invention, when the spinning process is automated, the chips generated when the top hole is cut are not left in the mold. FIG. 21 is a conceptual diagram showing the state of adhesion of chips generated after cutting the top hole to the mold, and FIG. 22 is a diagram of chips adhering to the mold while applying oil to the mold with an oil application jig using a robot. FIG. 23 is a conceptual diagram illustrating a procedure for wiping off chips, and FIG. 23 is a conceptual diagram for sucking chips adhering to an oil application jig with a suction device. 21 to 23, 30 is a parting roller, 31 is chips, 32 is an oil application jig, 33 is a robot, 34 is an air chuck, 35 is a suction port, and 36 is a suction device.
[0051]
As shown in FIG. 21, the chips 31 generated after the top hole cut adheres to the mold 1. As shown in FIG. 22, the oil application jig 32 is held by the robot 33 and the oil is applied to the mold 1 in the order of the arrows. At this time, the chips 31 adhering to the mold 1 are wiped off by the oil application jig 32. If the oils are applied in the order of the arrows, the probability that the chips 31 adhering to the oil application jig 32 will transfer to the curved surface portion where the scratches should not remain even if the chips 31 transfer again to the mold 1 is reduced (the straight portions are small scratches). May remain).
[0052]
Next, as shown in FIG. 23, the chips 31 adhering to the oil application jig 32 are sucked by the suction device 36, and the chips 31 are removed. Thereby, there is no fear that the chips 31 adhering to the oil application jig 32 are transferred to the mold 1 when the oil is applied next. Even if this suction operation takes time, the application of oil to the mold 1 is finished, and if the suction operation is performed during the spinning molding, the production time will not be prolonged.
[0053]
As described above, even if the spinning process is automated, the spinning process in which the chips 31 generated when the top hole is cut does not remain in the mold 1 is possible, and no defect occurs on the inner surface of the workpiece.
[0054]
Conventionally, as a first method, as shown in FIG. 24, chips 42 generated at the time of trimming are dropped into a box 38 by a chute 37, and when a certain amount of the chips are accumulated, an operator discards the chips 42 from the box 38 into a scrap box. It was. As a second method, as shown in FIG. 25, the chips 42 that have fallen from the chute 37 are finely crushed with a crusher 40 by a conveyor 39 and discarded into a scrap box 41.
[0055]
However, in the first method, it is necessary to increase the drop between the chute 37 and the box 38 in order to stock a large amount of the trimmed cut chips 42 in the box, and if the step cannot be increased, the box 38 is frequently used. It is necessary for the operator to discharge the chips 42 accumulated in In the second method, the conveyor 39 and the crusher 40 are required, and a large space and equipment cost are required. In addition, the conveyor becomes an obstacle during mold replacement and equipment maintenance.
[0056]
Therefore, the second4In this embodiment, the trimmed and cut chips are automatically discharged for a long time without waste of large equipment space and cost, and are discharged into a scrap box so as not to obstruct mold replacement and equipment maintenance. FIG. 26 is an explanatory view of a method for curling the trimmed cut chips with a backing plate, and FIG. 27 is an explanatory view for discharging the chips curled with the backing plate to a scrap box by a robot. 26 and 27, 43 is a trimming cutter, 44 is a backing plate, 45 is a chute, 46 is a box, 47 is a robot, 48 is an air chuck, and 49 is a scrap box. As shown in FIG. 26, the trimmed and cut chips 42 are curled against the abutting plate 44 when they come out of the cutter 43. 27, the curled chips 42 are dropped into a box 46 by a chute 45, the box 46 is held by a robot 47, and the chips 42 are discharged into a scrap box 49. The box 46 emptied after discharge is returned to its original position. Since the robot 47 discharges the chips 42 each time it is processed, the size of the box 46 may be sufficient to receive the chips 42 for one time. This operation can be performed at a time when the production time is not affected, and there is no fear that the production time becomes long.
[0057]
As described above, the chip 42 generated at the time of trimming cut is curled by the contact plate 44, dropped into the box 46 by the chute 45, the box 46 is held by the robot 47, and the chip 42 is discharged to the scrap box 49, The trimmed cut chips 42 can be discharged into the scrap box 49 automatically for a long time without taking a large facility space and cost, and without interfering with mold replacement and facility maintenance.
[0058]
Further, conventionally, a plurality of robot hands are prepared, and the hands are exchanged by work to perform work. However, when the robot hand is exchanged for work, the exchange time is required and the production time becomes long. In addition, there is a problem that the cost of the robot hand is high for exchanging the hand.
[0059]
Therefore, the second5In the embodiment of the present invention, a plurality of tasks can be performed with a single robot hand so that automatic production is possible. FIG. 28 is a structural diagram of a robot hand capable of performing a plurality of tasks. In the figure, 50 is a material, 51 is a finished product, 52 is a suction pad (for material), 53 is a suction pad (for waste material cut from the top hole), 54 is a claw, 55 is an air chuck, 56 is a pencil cylinder (material) 57 is a forward limit sensor. As shown in FIG. 28, the material 50 loaded by the four outer suction pads 52 is sucked and supplied to the spinning machine. When adsorbing the loaded material 50, the pencil cylinder 56 is advanced, and when the tip of the pencil cylinder 56 hits the material 50, the advance limit sensor 57 of the pencil cylinder 56 is cut off, so the height of the loaded material 50 is increased. Can be detected. Next, the oil application jig shown in FIG. 22 is chucked inside the claw 54 of the three-jaw air chuck 55 (chuck closed), and oil is applied to the mold. Next, after the spinning molding is finished, the waste material cut by the top hole is sucked by the three suction pads 52 beside the air chuck and discharged into the scrap box. Next, the finished product is chucked on the outside of the three claws (chuck open) and loaded on the finished product loading device. Also, as shown in FIG. 27, the box containing the trimming chips is chucked inside the three claws (chuck closed), and the chips are discharged into the scrap box.
[0060]
As described above, the structure of the robot hand as shown in FIG. 27 makes it possible to perform the following plural tasks, and the spinning process can be automated using the robot.
[0061]
1. Work to adsorb the loaded material and supply it to the spinning machine
2. Work to apply molding oil to the mold
3. Work to adsorb waste material cut from the top hole and discharge it to a scrap box
4). Work to grab the finished product and load it on the finished product loading device
5). Work to discharge trimming chips into scrap box
[0063]
【The invention's effect】
Claim 1 of the present inventionAccording to the spinning method described above, the displacement amount of each point of the die and the displacement amount of the radius of the processing roller are measured by the displacement sensor due to the thermal expansion of the die and the processing roller, and processing is performed based on the measured value. The roller trajectory data is automatically corrected by the control unit, and the machining roller is driven by the corrected trajectory data, so that fluctuations in the gap between the mold and the molding roller are automatically corrected. This eliminates the need for correction work and improves automation by enabling automation. In addition, the quality of the product is improved, the number of defects is reduced, it is relatively inexpensive, and a large installation space is not required. Also for measuring displacementWarmThe correction amount is more reliable than the degree feedback method, and a fine correction amount can be calculated for each point without adding a special driving device. Further, since the displacement amount of the radius of the processing roller is measured, a compact eddy current displacement sensor can be used. This sensor is small and easy to install.
[0066]
Claim2According to the spinning method described above, the measurement values are averaged at a plurality of points, and the correction amount is calculated by setting a boundary in the range of the averaging. Can be eliminated. In addition, in the method where the pressure difference between the measured value and the target force is simply averaged and the pressure is fed back, in the part where the pressure difference is large, the average force causes a negative effect and the target force is not approached. However, the measured value formed by automatic correction by separating the range to be averaged with the portion where the machining state is changed as a boundary is close to the target force, and stable machining is possible.
[Brief description of the drawings]
FIG. 1 of the present inventionReference example 1It is a conceptual diagram which shows the method by temperature feedback in FIG.
FIG. 2 of the present inventionReference example 1It is explanatory drawing which shows the metal mold | die temperature measuring method.
FIG. 3 shows the present invention.Reference example 1FIG. 3 is an explanatory view showing a processing roller temperature measuring method.
FIG. 4 shows the first aspect of the present invention.1It is a conceptual diagram which shows the method by displacement amount feedback in embodiment of this.
FIG. 5 shows the first aspect of the present invention.1It is explanatory drawing which shows the displacement amount measuring method of a metal mold | die in this embodiment.
FIG. 6 shows the first aspect of the present invention.1It is explanatory drawing which shows the displacement amount measuring method of a processing roller in the embodiment.
FIG. 7 shows the present invention.Reference example 2It is a conceptual diagram which shows the method by force feedback in FIG.
FIG. 8 shows the present invention.Reference example 2It is a general view which shows the method by force feedback in FIG.
FIG. 9 shows the present invention.Reference example 2It is an enlarged view of the load cell for measurement used for.
FIG. 10 shows the present invention.Reference example 2It is a whole view at the time of providing a load cell for calibration in another example of.
11 is a view taken in the direction of arrow A in FIG.
12A is a graph of the correction amount of the data model, FIG. 12B is a temperature, FIG. 12C is a displacement amount, and FIG.
FIG. 13In the second embodiment of the present inventionIt is a conceptual diagram of the spinning process which performs automatic correction | amendment by pressure feedback.
FIG. 14 is a front view showing an example of a workpiece.
FIG. 15 is a graph showing a measured value of a force applied to a processing roller at each processing point and a target force.
16 is a graph showing the pressure difference (difference between the target force and the measured value) at each processing point calculated from FIG.
17 is a graph obtained by simply averaging the pressure difference in FIG. 16 at a plurality of points before and after the measurement point.
18 is a graph in which the pressure difference in FIG. 17 is averaged at a plurality of points before and after a measurement point with a boundary at point A. FIG.
FIG. 19 is a graph showing that the pressure partially deviates from the target force when the correction amount is calculated by simply averaging the pressure difference of FIG. 17 and automatic correction processing is performed.
FIG. 20 is an explanatory diagram showing the position of point A in FIGS.
FIG. 21 is a conceptual diagram showing a state where chips generated after the top hole is cut are attached to the mold.
FIG. 22 is a conceptual diagram showing a procedure for wiping off chips adhering to a mold while applying oil to the mold with an oil application jig using a robot.
FIG. 23 is a conceptual diagram of sucking off chips adhering to an oil application jig with a suction device.
FIG. 24 is an explanatory view of a conventional method for putting trimmed cut chips into a box with a chute.
FIG. 25 is an explanatory diagram of a conventional method of transporting trimmed cut chips on a conveyor, crushing them with a crusher, and putting them in a scrap box.
FIG. 26 is an explanatory diagram of a method for curling trimmed cut chips with a contact plate.
FIG. 27 is an explanatory diagram for discharging chips curled by a contact plate to a scrap box by a robot.
FIG. 28 is a structural diagram of a robot hand capable of performing a plurality of tasks.
[Explanation of symbols]
1 Mold
2 Work
3 Tail
4 Processing roller
5,6 Radiation thermometer
7, 13, 20 A / D converter
8, 14, 21 Control unit
9, 15, 22 Driving device
10,11 Black paint application part
16, 17 Displacement sensor
19 Measurement load cell
24 Calibration load cell

Claims (2)

A spinning method in which a workpiece is formed by a processing roller in a state where the workpiece is centered on the die , and the amount of displacement of each point of the die and the amount of displacement of the radius of the processing roller are determined by thermal expansion of the die and the processing roller. A spinning method comprising: measuring each with a displacement sensor; automatically correcting the locus data of the processing roller by a control unit based on the measured value; and driving the processing roller with the corrected locus data. A spinning method in which a workpiece is formed by a processing roller while being centered on a mold, and a force applied to the processing roller during molding is measured by a measurement load cell, and locus data of the processing roller is based on the measured value. When the control unit automatically corrects the measured values, the measured values are averaged at a plurality of points, a correction amount is calculated by providing a boundary in the averaging range, and the processing roller is driven by the corrected trajectory data. A characteristic spinning method.

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