JP6231826B2 - Grinding machine and method thereof - Google Patents

Description

  The present invention relates to a grinding machine and a method thereof, and more particularly, to a grinding machine and a method for reducing a machining error with respect to a master tool when grinding a plurality of tools.

  The workpiece W to be processed is various exchangeable tools (W1 to W5) as shown in FIG. 14, and the forming and grinding of the cutting edge is performed. Here, machining is performed by relatively moving the workpiece W and the grindstone. Then, machining is performed using a machining program PG (NC program or the like).

  In general, interchangeable tools often perform multiple machining operations, so trial machining of the first workpiece and fine adjustment of the machining start position on the machining program PG so that it is within the tolerances indicated on the drawing. Thereafter, the plurality of workpieces W to be processed are repeatedly processed. This first product machining work is referred to as “master work MW”.

  A plurality of workpieces W to be processed are attached by a worker directly to a jig or the like installed on a table, or automatically supplied by a workpiece automatic changer or the like, as shown in FIGS. 15 (a) and 15 (b). As shown, an attachment error occurs. That is, the gap DIS may be formed or may be inclined by the angle ANG.

  Similarly, as shown in FIG. 16, even if a work index device 12 that can index a plurality of works installed on a table is used, an attachment error and a turning error are generated.

  In any case, generally, when machining a plurality of workpieces W as described above, a difference occurs in the attachment position with the master workpiece MW. That is, when the gap DIS is formed as shown in FIG. 17 (a), or when the angle ANG is inclined as shown in FIGS. 17 (b) and 17 (c), or an error corresponding to the angle ANG due to turning occurs. There is.

  Therefore, when machining a plurality of workpieces W to be machined, the master workpiece MW shown in FIG. 19A is used by using the measuring element 11 (touch probe or the like) shown in FIGS. 18A, 18B, and 18C. On the other hand, by measuring the attachment position error of the workpiece W shown in FIG. 19B, the machining start position PT on the machining program PG is shifted by the error in the direction of the arrow AR shown in FIG. This eliminates mounting position errors and achieves high-precision machining.

  On the other hand, as shown in FIGS. 20A and 20B, in actual machining, after measuring the reference block 14 installed at a fixed position on the table, the master workpiece MW and the workpiece W to be measured are measured. I do. Thereby, the position error accompanying the taking in / out of the measuring element 11 is eliminated.

JP 58-120109 A JP-A-1-83103

  As a method of measuring the attachment position error of the workpiece W to be processed with respect to the master workpiece MW according to the conventional technique, information such as a drawing so that the master workpiece MW, the measurement location on the workpiece W, the measurement direction, etc. are suitable for the workpiece shape. Therefore, it is necessary to create a measurement program PG (NC program or the like).

  However, since the workpiece shapes of the workpieces (Wa, Wb, Wc, and Wd) shown in FIGS. 21A, 21B, 21C, and 21D are various and the measurement locations and the measurement directions are various, each workpiece shape is different. In addition, a program PG for measurement must be created, and machining cannot be performed easily.

  In the present invention, when performing a plurality of processes in forming and grinding of the cutting edge of the exchangeable tool of various workpiece shapes, without creating a measurement program PG for each workpiece shape, The object is to easily measure the attachment position of the workpiece W and to perform subsequent machining.

The present invention is for solving the above-mentioned problems, and the invention according to claim 1 is a correction system that measures and corrects the relative mounting position of a trial-worked master workpiece and a workpiece to be machined with a probe. The manual measurement is performed in accordance with the measured measurement position of the master workpiece, the manually measured coordinates are stored, and the automatic measurement is performed in accordance with the measurement position of the master workpiece based on the manually measured coordinates. Means for storing the automatically measured coordinates, means for performing automatic measurement similar to the master workpiece on the workpiece before machining of the workpiece to be machined, and a master workpiece based on the automatic measurement, Means are provided for obtaining a difference in the attachment position of the workpiece to be machined and correcting the difference on the machining program.

The invention according to claim 2 is a processing machine that repeatedly measures a plurality of workpieces by measuring a relative attachment position between a trial-worked master workpiece and a workpiece to be machined using a measuring element. Means for teaching two points respectively relating to the measurement positions of the two measurement surfaces; and means for teaching one point at any position apart from the master work for every two measurement surfaces of the master work ; Means for automatically measuring toward the taught measurement position and storing the automatically measured coordinates; means for performing automatic measurement similar to the master workpiece on the workpiece to be machined before machining the workpiece to be machined; And a means for obtaining the difference between the attachment positions of the workpiece to be machined and shifting the difference at the machining start position in the machining program. To.

  The invention according to claim 3 is characterized in that the machine tool is a grinding machine and the workpiece W is an exchangeable tool.

According to a fourth aspect of the present invention, there is provided a correction method for measuring and correcting a relative attachment position between a trial-worked master workpiece and a workpiece to be machined by a measuring element, and performing manual measurement according to the taught measurement position of the master workpiece Storing the manually measured coordinates, performing the automatic measurement according to the measurement position of the master work based on the manually measured coordinates, and storing the automatically measured coordinates; A step of performing automatic measurement similar to the master workpiece on the workpiece to be machined before machining the workpiece to be machined, and obtaining a difference between the attachment position of the master workpiece and the workpiece to be machined based on the automatic measurement, and machining the difference And a step of correcting on the program.

According to a fifth aspect of the present invention, there is provided a machining method in which a relative attachment position between a trial-worked master workpiece and a workpiece to be machined is measured with a measuring element and a plurality of workpieces to be machined is repeatedly machined. Teaching each of two points related to the measurement positions of the two measurement surfaces, and teaching one point at any position apart from the master work for every two measurement surfaces of the master work ; , A step of automatically measuring toward the taught measurement position and storing the automatically measured coordinates, a step of performing automatic measurement similar to the master workpiece on the workpiece to be machined before machining the workpiece to be machined, and a master workpiece And a step of obtaining a difference between the attachment positions of the workpiece to be machined and shifting the difference at a machining start position on the machining program. To.

  The invention according to claim 6 is characterized in that the processing method is a grinding method and the workpiece W is an exchangeable tool.

  Before processing the workpiece W to be machined, teach two measurement points on any two surfaces of the master workpiece MW and teach one point for specifying the measurement movement direction with respect to the measurement surface. Then, an attachment position error of the workpiece W to be processed with respect to the master workpiece MW is obtained by automatic measurement.

  The attachment position of the workpiece W can be easily and automatically measured without creating a separate measurement program for each shape of the workpiece W. The measurement result is reflected so as to shift the machining start position on the machining program PG, and high-precision machining can be realized.

It is the schematic which shows the outline of a grinding machine. It is explanatory drawing explaining a grinding part. It is explanatory drawing explaining a grinding part. It is explanatory drawing explaining a grinding part. It is explanatory drawing explaining the coordinate axis of a grinding machine. It is explanatory drawing explaining the process of the workpiece | work with a grindstone. It is explanatory drawing explaining the processing program of a process target workpiece | work. It is explanatory drawing explaining a control part. It is explanatory drawing explaining the teaching of a measurement position. It is a flowchart which shows the measuring method of a masterwork. It is a flowchart which shows the measuring method of a masterwork. It is a flowchart which shows the measuring method of a workpiece to be processed. It is a flowchart which shows the measuring method of a workpiece to be processed. It is explanatory drawing explaining the shaping | molding process of a tool. (A) and (b) are explanatory drawings explaining attachment to a work holder of a work. It is explanatory drawing explaining a rotary type work holder. (A) (b) (c) is explanatory drawing explaining a rotary work holder. (A) (b) (c) is explanatory drawing explaining the measurement by a measuring element. (A) (b) (c) is explanatory drawing explaining the relationship between a master work and a workpiece | work. (A) (b) is explanatory drawing explaining a reference | standard block. (A) (b) (c) (d) is explanatory drawing explaining the shape of a tool.

  Embodiments of the present invention will be described with reference to the drawings.

  Please refer to FIG. An outline of the grinding machine 1 is shown. The grinding machine 1 includes a grinding unit 2 for grinding tools and the like, and a control unit 3 for controlling the machine. The control unit 3 includes a display unit 4 that displays information and an operation unit 5 that performs operations.

  Please refer to FIG. 2, FIG. 3 and FIG. FIG. 2 is a view of the grinding machine 1 as seen from the Z-axis direction. FIG. 3 is a view of the grinding machine 1 as seen from the Y-axis direction. FIG. 4 is a view of the grinding machine 1 as seen from the X-axis direction.

  The grinding unit 2 includes a grindstone 6, a spindle 7, a table 8, a work holder 9, a work clamping device 10, a measuring element 11 (touch probe or the like), a reference block 14 (see FIG. 20), and the like.

  The grindstone 6 performs the forming process of the workpiece W (exchangeable tool or the like) to be processed.

  The main shaft 7 has a grindstone 6 attached to the tip.

  The table 8 moves in the horizontal plane as a direct control axis XY. A work holder 9 is mounted thereon. The cutting edge of the workpiece W (interchangeable tool or the like) is formed by XY simultaneous interpolation movement.

  The work holder 9 cooperates with the work clamp device 10 to fix the master work MW and the workpiece W to be processed (exchangeable tool or the like).

  The master work MW (exchangeable tool or the like) is used for trial machining for accuracy confirmation. A plurality of workpieces become the workpiece W to be machined.

  The measuring element 11 (touch probe or the like) contacts the side surface of the master work MW and the workpiece W (exchangeable tool or the like) to obtain a position in the horizontal plane. The control unit 3 reads the coordinates when touched.

  The reference block 14 (see FIG. 20) is installed in order to eliminate the change in the position of the probe 11 due to the insertion / extraction of the probe 11 (touch probe or the like), and before the measurement of the master workpiece MW or the workpiece W to be processed. The reference block 14 is measured, and the measurement result of the master work MW or the workpiece W is the distance from the reference block 14.

  Please refer to FIG. The grindstone 6 and the movement axis of the table 8 are shown. The grindstone 6 can be moved and positioned on the U axis, the V axis, and the W axis, and can be rotated and positioned in the A axis, B axis, and C axis directions with respect to the respective axes. The table 8 is configured to be movable and positionable in the X-axis, Y-axis, and Z-axis directions. In addition, a CCD camera 12 is provided, and the master work MW and the workpiece W to be processed projected by the light irradiated from the optical axis 13 are imaged and displayed on the display unit 4.

  Please refer to FIG. The grindstone 6 is movable and rotatable with respect to the above-described axes, and is configured to be movable on the locus of an arrow AR, for example. During this movement, the inclination of the grindstone 6 is adjusted so that it does not contact the workpiece W except for the portion to be machined.

  Please refer to FIG. A machining program PG (NC program) for controlling the movement of the grindstone 6 is shown. The machining program PG is stored in a memory provided in the control unit 3 and controls operations of the grindstone 6 and the table 8.

  FIG. 8 shows details of the control unit 3. The control unit 3 is composed of a computer and has a CPU to which a ROM and a RAM are connected. The control unit 3 further functions as a correction system.

  Then, the operation of each control axis, the execution of the machining program PG, the monitor screen display, the keyboard input, the touch sensor signal input, the execution of the dialogue software, and the storage of the teaching coordinates are performed.

  The interactive software is executed on the control unit 3 and is displayed and executed in an interactive manner on the monitor screen. The interactive software displays the teaching coordinates and the teaching position during teaching.

  The manual pulse handle 3B moves the X axis and the Y axis to bring the master workpiece MW, the workpiece W to be processed, etc. into contact with the measuring element 11 (touch probe, etc.).

  The soft key 4A teaches the position of pressing the soft key 4A after contacting the master work MW and the probe 11 (touch probe or the like). The keyboard 3A performs various input of dialogue software.

  In a state where the master work MW that has undergone trial machining is attached to the work holder 9, the measuring element 11 (touch probe or the like) is lowered to a measurable state.

  Refer to teaching result 4B. The manual pulse handle 3B is operated to bring it into contact with the measurement surface 1 of the master work MW, and two points are taught from the dialogue software by operating the soft key 4A.

  Subsequently, one point is taught at a position away from the measurement surface 1. The control unit 3 stores these three teaching coordinates.

  Similarly to the measurement surface 1, the measurement surface 2 teaches two contact points and one non-contact point.

  Since the taught coordinates at the four contact points taught were taught after positioning by manual operation, the accuracy of the coordinate values is lacking. Therefore, the XY axes are moved by automatic operation from the dialog software, and the probe 11 (touch probe) Etc.) is read, and this is updated and stored as teaching coordinates at four contact points. This completes the processing of the master work MW.

  Hereinafter, measurement and processing steps of a plurality of workpieces W to be processed will be described.

  After the workpiece W to be machined is attached to the workpiece holder 9, the probe 11 (touch probe or the like) is automatically lowered by dialogue software, and one of the two contact points taught on the measurement surface 1 is automatically measured. The direction of this measurement movement is the direction from the taught non-contact point side to the measurement surface. Similar to the measurement surface 1, one point of contact taught on the measurement surface 2 is automatically measured.

  Since the position error (ΔX, ΔY) of the workpiece to be processed with respect to the master workpiece MW can be calculated from the automatically measured coordinates of the two points, the position shifted by this error amount is processed as the processing start position on the new processing program PG. To start.

  Please refer to FIG. It can be seen that the measurement position is taught by the contact position of the probe 11 to the master work MW.

  With reference to FIG. 10, FIG. 11, operation | movement of the control part 3 of the grinding machine 1 is demonstrated in detail. The processes in steps SA01 to SA05 are manual processes. The processes in steps SA06 to SA09 are automatic processes.

  In step SA01, the master work MW and the measuring element 11 are brought into contact with each other to teach one point and store the point coordinates. In step SA02, the master work MW and the probe 11 are brought into contact with each other, one point is taught, and the point coordinates are stored.

  In step SA03, the measuring element 11 teaches the position where the third point is away from the master work MW, and stores the point coordinates. The third point means that it is outside the master work MW.

  In step SA04, similarly, the master work MW and the measuring element 11 are brought into contact with each other to teach two points and store the respective point coordinates.

  In step SA05, the measuring element 11 teaches a position away from the master work MW, the sixth point, and stores the point coordinates. The sixth point means that it is outside the master work MW.

  In step SA06, a straight line 1 on the measurement surface from point 1 to point 2 that has been taught is obtained.

a ₁ x + b ₁ y + c ₁ = 0 (line 1 formula)
A straight line 1 ′ having an arbitrary measurement approach amount offset from the straight line 1 to the point 3 side is obtained.

a ₁ x + b ₁ y + c ₁ '= 0 (straight line 1' equation)
A perpendicular is dropped from the point 1 to the straight line 1 ′, and the intersection is defined as a point 1 ′.

  A perpendicular is drawn from the point 2 to the straight line 1 ′, and the intersection is defined as a point 2 ′.

  In step SA07, automatic measurement movement is performed from point 1 'in the direction of point 1, and the point 1 coordinate is updated with the XY coordinates at the time when the measuring element contacts the master work MW and the skip signal is input.

  Similarly, automatic measurement movement from the point 2 ′ to the point 2 direction is performed, and the point 2 coordinates are updated.

  The updated point 1 and point 2 coordinates are to be compared in the subsequent measurement of the workpiece W to be machined.

  In step SA08, a straight line 2 on the measurement surface from point 4 to point 5 that has been taught is obtained.

a ₂ x + b ₂ y + c ₂ = 0 (Line 2 formula)
A straight line 2 ′ with an arbitrary measurement approach amount offset from the straight line 2 to the point 6 side is obtained.

a ₂ x + b ₂ y + c ₂ '= 0 (straight line 2' formula)
A perpendicular line is drawn from the point 4 to the straight line 2 ', and the intersection is defined as a point 4'.

  A perpendicular line is dropped from the point 5 to the straight line 2 ', and the intersection is defined as a point 5'.

  In step SA09, automatic measurement movement from point 4 'to point 4 is performed, and the point 4 coordinates are updated with the XY coordinates at the time when the measuring element contacts the master work MW and the skip signal is input.

  Similarly, automatic measurement movement from the point 5 'to the point 5 direction is performed to update the point 5 coordinates.

  The updated point 4 and point 5 coordinates are to be compared in the subsequent measurement of the workpiece W to be machined.

  Please refer to FIG. In step SB01, the workpiece W to be processed is attached to a predetermined position on the table. This attachment may be performed manually by the operator, automatically loaded by the workpiece W, or automatically supplied by the workpiece index device 12 on the table.

  In step SB02, the workpiece W is measured as in the automatic measurement of the point 1 of the master workpiece MW.

  The XY coordinates at the time when the tracing stylus 11 contacts the workpiece W and the skip signal is input are stored.

  In step SB03, the workpiece W is measured as in the automatic measurement of the point 4 of the master workpiece MW.

  The XY coordinates at the time when the measuring element contacts the workpiece W and the skip signal is input are stored.

  In step SB04, the intersection coordinates (Xg, Yg) of the straight line 1g passing through the point 1 obtained by the measurement of the workpiece W to be processed and parallel to the straight line 1 and the straight line 2g passing through the point 4 and parallel to the straight line 2 are obtained.

  When the intersection coordinates of the straight line 1 and the straight line 2 are (Xm, Ym), the attachment position error of the workpiece W to be processed with respect to the master workpiece MW is as follows.

ΔX = Xg-Xm
ΔY = Yg-Ym
In step SB05, machining is started with a position obtained by shifting the relative position of the grindstone by (ΔX, ΔY) relative to the master workpiece MW as a machining start position on the new machining program PG.

  Please refer to FIG. The following method can be easily corrected depending on the type of workpiece W to be processed, and will be described here.

  In step SC01, a machining program PG is created by an automatic programming device or the like and stored in the machine body machining program memory.

  In step SC02, when a single machine (non-AWC specification), one workpiece W is mounted on the table. In the case of an articulated robot (AWC specification), a large number of workpieces W to be processed are set in the stocker.

  When the workpiece index device 12 (AWC specification) is used, a plurality of workpieces W to be machined are mounted on the device.

  In step SC03, necessary items are set on the main screen. Teach the processing conditions and the positional relationship between the grindstone 6 and the workpiece W to be processed. Teach workpiece measurement position.

  In step SC04, the machining cycle is started from the fixed cycle mode.

  In step SC05, the workpiece W to be processed is automatically loaded when the articulated robot (AWC specification) is used. When the workpiece index device 12 (AWC specification) is used, the workpiece W to be processed is indexed to the grindstone facing position.

In step SC06, after the measurement of the reference block 14, the mounting posture of the workpiece W to be processed is measured using the probe 11 (touch probe or the like). (Measurement of 2 points)
In step SC07, based on the measured angle, the work index device 12 is slightly rotated to correct the mounting posture.

  In step SC08, the upper surface and the side surface (position) of the workpiece W are measured using the probe 11 (touch probe or the like).

  In step SC09, the machining program PG is called and finishing machining (the machining start position is corrected from the workpiece measurement result).

  In step SC10, it is determined whether or not the processing is finished. The process ends when it is determined that the processing has been completed. If it is determined that the processing has not been completed, the process proceeds to step SC11.

  In step SC11, the workpiece W to be processed is automatically unloaded when the articulated robot AWC specification is used. At the time of the workpiece index device 12 (AWC specification), the next workpiece W to be processed is indexed to the grindstone facing position.

  Then, the process returns to step SC05.

  This is because, when the work index device 12 that can be swiveled in a vertical horizontal plane is mounted, the change in the posture with respect to the master work is grasped by measuring the measurement surface of the work W to be machined at two locations, and machining is performed before machining. The posture of the target workpiece W is corrected.

The present invention is not limited to the embodiments of the invention described above, and can be implemented in other modes by making appropriate modifications.

DESCRIPTION OF SYMBOLS 1 Grinding machine 2 Grinding part 3 Control part 4 Display part 5 Operation part W Work MW Master work

Claims (6)

In a correction system that measures and corrects the relative mounting position of a trial-worked master workpiece and the workpiece to be machined using a probe.
Perform manual measurement according to the taught measurement position of the master workpiece, store the manually measured coordinates, perform automatic measurement according to the measurement position of the master workpiece based on the manually measured coordinates , Means for storing the automatically measured coordinates, means for performing automatic measurement similar to the master workpiece on the workpiece to be machined before machining the workpiece to be machined, and a master workpiece and a workpiece to be machined based on the automatic measurement A correction system comprising: a means for obtaining a difference in a work attachment position and correcting the difference on a machining program. In a processing machine that repeatedly measures multiple workpieces by measuring the relative mounting position of the trial-worked master workpiece and workpiece to be machined,
Means for teaching each of two points related to measurement positions of two arbitrary measurement surfaces in the master work;
Means for teaching one point at an arbitrary position apart from the outside of the master work for every two measurement surfaces of the master work ;
Means for automatically measuring the taught measurement position and storing the automatically measured coordinates;
Means for performing automatic measurement similar to the master workpiece on the workpiece before machining the workpiece,
A processing machine comprising: a means for obtaining a difference between attachment positions of a master workpiece and a workpiece to be machined and shifting the difference at a machining start position on a machining program.   The processing machine according to claim 2, wherein the machine tool is a grinding machine, and the workpiece to be processed is an exchangeable tool. In the correction method to measure and correct the relative mounting position of the trial-worked master workpiece and workpiece to be machined,
Perform manual measurement according to the taught measurement position of the master workpiece, store the manually measured coordinates, perform automatic measurement according to the measurement position of the master workpiece based on the manually measured coordinates , The step of storing the automatically measured coordinates, the step of performing automatic measurement similar to the master workpiece on the workpiece to be machined before machining the workpiece to be machined, and the master workpiece and the workpiece to be machined based on the automatic measurement. And a step of obtaining a difference between the attachment positions of the workpiece and correcting the difference on the machining program. In a machining method that repeats machining of multiple workpieces by measuring the relative mounting position of the trial workpiece and the workpiece to be machined using a probe.
Teaching each of two points related to measurement positions of two arbitrary measurement surfaces in the master work;
Teaching one point at an arbitrary position outside the master work for every two measurement surfaces of the master work ;
A process of automatically measuring toward the taught measurement position and storing the automatically measured coordinates;
A process of performing automatic measurement similar to the master workpiece on the workpiece to be machined before machining the workpiece to be machined,
A processing method comprising: obtaining a difference between attachment positions of a master workpiece and a workpiece to be machined, and shifting the difference at a machining start position on a machining program.   The processing method according to claim 5, wherein the processing method is a grinding method, and the workpiece to be processed is an exchangeable tool.

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