JP6620436B2 - Grinder - Google Patents

Description

  The present invention relates to a grinding machine.

  When grinding the crankpin of the crankshaft, grinding is started after the grinding wheel is positioned at a position matching the crankpin. The shorter the axial length of the crankpin, the higher the rigidity of the crankshaft. Therefore, it is required to shorten the axial length of the crankpin. Therefore, when grinding the crankpin, it is necessary to position the grinding wheel with respect to the crankpin with high accuracy. Therefore, the end face position of the crankpin is measured before grinding. In addition, in order to grind the crankpin, the phase of the crankpin must also be measured.

  Therefore, in order to detect the position and phase of the end face of the crankpin with the crankshaft installed on the main spindle device of the grinding machine, the contact of the measuring instrument should be in direct contact with the end face of the crank web and the outer peripheral face of the crankpin. It has been known. Patent Document 1 describes that a preset station for measuring each part is provided in an area different from the processing area of the grinding machine.

Japanese Patent No. 5315927

  However, in a state where the crankshaft is installed in the main spindle device of the grinding machine, the method in which the contact of the measuring instrument is brought into direct contact with the corresponding location requires the measuring instrument to be moved to a position where it contacts the crankpin and the crank web. Therefore, much time is required for the measurement. Further, when performing measurement at the preset station, it is necessary to secure the area of the preset station, which leads to an increase in size and complexity of the apparatus.

  The present invention provides a grinding machine capable of reducing measurement time while eliminating the increase in size and complexity of the apparatus by acquiring information necessary for grinding in a state where the crankshaft is supported by the spindle device of the grinding machine. The purpose is to provide.

(1. First grinding machine)
The first grinding machine is a grinding machine for grinding a crankpin or a crank journal of a crankshaft, a spindle device that rotatably supports the crankshaft, and an axial direction of the crankshaft with respect to the spindle device A grinding wheel base that is relatively movable in a certain Z-axis direction and an X-axis direction that is orthogonal to the Z-axis direction, a grinding wheel that is rotatably provided on the grinding wheel base and grinds the crank pin or the crank journal, and the grinding wheel base. Non-contact detection that detects the position of the crank pin or the crank journal with the crank shaft supported by the spindle device at a position away from the crank shaft in the X-axis direction. A position detector for calculating the phase of the crank pin based on detection information by the non-contact detector; The non-contact type detector is moved to a position corresponding to the crank pin or the crank journal by moving the grindstone table in the Z-axis direction, and detection by the non-contact type detector is performed at the position. after the, and a control unit for performing the crank pin or grinding of the crank journal by prior Symbol grinding wheel, the non-contact-type detector, the crank pin or camera that captures the crank journal from the X-axis direction Imaging information of the crank pin or the crank journal is detected as the position state, and the position calculating device sets the distance from the focus of the non-contact detector to the detection surface of the imaging sensor as Ls, the distance from the center of rotation of the shaft to the focal point and L0, the X-axis direction between the rotation center and the center position of the crank pin a and to and the Y-axis direction distance as H1, and the center of the turning radius of the center of the crankpin and R, detecting surface position and the image sensor corresponding to the center position of the crank pin at a position in said image sensor H1 and the angle to the crankpin at the focal point is α1, and the X-axis direction distance between the center position of the crankpin after turning the crankshaft and the rotation center is Lb and the Y-axis direction The distance is H2, and the distance between the position on the imaging sensor corresponding to the center position of the crankpin after turning and the center on the detection surface of the imaging sensor is h2, and after the turning at the focal point. When the angle to the crankpin is α2 and the phase of the crankpin after turning is θ2, the following equations (1) to (9) are solved. Or, in a state where the crankshaft is not turned, the X axis direction distance between the center position and the rotation center of another crank pin located at a different phase from the crank pin is Lc and the Y axis direction distance is H3, The distance between the position on the image sensor corresponding to the center position of the other crank pin and the center on the detection surface of the image sensor is h3, and the angle to the other crank pin at the focal point is α3. In this case, the phase θ1 of the crank pin is calculated by solving the following equations (21)-(27) .

tan α1 = h1 / Ls (1)
tan α2 = h2 / Ls (2)
H1 = (L0−La) × tan α1 (3)
H2 = (L0−Lb) × tan α2 (4)
H1 = La × tan θ1 (5)
H2 = Lb × tan θ2 (6)
sin θ1 = H1 / R (7)
sin θ2 = H2 / R (8)
θ1 + θ2 = 90 ° (9)

tan α1 = h1 / Ls (21)
tan α3 = h3 / Ls (22)
H1 = (L0−La) × tan α1 (23)
H3 = (L0−Lc) × tan α3 (24)
H1 = La × tan θ1 (25)
H1 = H3 (26)
sin θ1 = H1 / R (27)

(2. Second grinding machine)
The second grinding machine is a grinding machine for grinding a crankpin or a crank journal of a crankshaft, a spindle device that rotatably supports the crankshaft, and an axial direction of the crankshaft with respect to the spindle device A grinding wheel base that is relatively movable in a certain Z-axis direction and an X-axis direction that is orthogonal to the Z-axis direction, a grinding wheel that is rotatably provided on the grinding wheel base and grinds the crank pin or the crank journal, and the grinding wheel base. Non-contact detection that detects the position of the crank pin or the crank journal with the crank shaft supported by the spindle device at a position away from the crank shaft in the X-axis direction. A position detector for calculating the phase of the crank pin based on detection information by the non-contact detector; The non-contact detector is moved to a position corresponding to the crank pin or the crank journal by moving the grindstone table in the Z-axis direction, and the non-contact detector detects at the position. A control device that grinds the crank pin or the crank journal by the grinding wheel, and the non-contact detector measures a distance in the X-axis direction to the crank pin or the crank journal. a measuring device, wherein to detect the distance to the crank pin or the crank journal as said position state, the position calculating unit, the distance from the rotation center at said non-contact-type detector or the crankshaft and L0, wherein the distance of the non-contact-type detector to the outer peripheral surface of the crank pin and L1, the center position and the rounds of the crank pin The X-axis direction distance as La and Y-axis direction between the center and H1, the radius of the crank pin is d, the angle to the crank pin in the non-contact-type detector and [alpha] 1, the center of the crankpin In the non-contact detector, the turning radius of the crankshaft is set to R, the distance between the center position of the crankpin after turning the crankshaft and the rotation center is set to Lb, and the distance in the Y-axis direction is set to H2. When the angle to the crankpin after the turn is α2 and the phase of the crankpin after the turn is θ2, the following equation (11)-(19) is solved, or the crankshaft Lc is the distance in the X-axis direction between the center position and the rotation center of another crankpin that is positioned in a phase different from that of the crankpin without turning, and the distance in the Y-axis direction is H3. When the distance to the outer peripheral surface of the other crank pin by the non-contact detector is L3 and the angle to the other crank pin in the non-contact detector is α3, the following formula ( 31)-(37) is calculated to calculate the crank pin phase θ1 .

cos α1 = (L0−La) / (L1 + d) (11)
cos α2 = (L0−Lb) / (L2 + d) (12)
H1 = (L0−La) × tan α1 (13)
H2 = (L0−Lb) × tan α2 (14)
H1 = La × tan θ1 (15)
H2 = Lb × tan θ2 (16)
sin θ1 = H1 / R (17)
sin θ2 = H2 / R (18)
θ1 + θ2 = 90 ° (19)

cos α1 = (L0−La) / (L1 + d) (31)
cos α3 = (L0−Lc) / (L3 + d) (32)
H1 = (L0−La) × tan α1 (33)
H3 = (L0−Lc) × tan α3 (34)
H1 = La × tan θ1 (35)
H1 = H3 (36)
sin θ1 = H1 / R (37)

(3. Effect)
According to the grinding machine, the non-contact detector detects the position state of the crank pin or the crank journal in a state where the crank shaft is supported by the spindle device. Therefore, since a preset station or the like is unnecessary, the apparatus is not increased in size and complexity.

  Further, the control device moves the grindstone table in the Z-axis direction to move the non-contact detector to the Z-axis direction position corresponding to the crankpin or the crank journal. At this position, the non-contact detector detects the position state of the crank pin or the crank journal. Thus, the non-contact detector detects the position state at a position away from the crankshaft in the X-axis direction. Therefore, it is not necessary to move the detector to the vicinity of the crankpin or the crank journal, and the time required for detection can be shortened.

  A non-contact detector and a grinding wheel are provided on the grinding wheel base. Therefore, as the grinding wheel platform moves in the X-axis direction, the non-contact detector moves in the X-axis direction and the grinding wheel moves in the X-axis direction. For this reason, after the detection operation by the non-contact type detector, the moving amount of the grinding wheel head to the grinding position can be reduced, so that grinding by the grinding wheel can be started quickly.

It is a top view of the grinding machine in the embodiment of the present invention. It is a block block diagram of the non-contact-type detector, position calculation apparatus, control apparatus, and each motor which comprise a grinding machine. It is a flowchart which shows the process of the 1st example by a control apparatus. It is a figure which shows the detection position by the non-contact-type detector in S3 of FIG. It is a figure which shows the moving direction of the grindstone base in S6, S7 of FIG. It is a figure which shows the positional relationship of the non-contact type detector as a crankpin and a camera in S3 of FIG. 3, and S25 of FIG. It is a figure which shows the positional relationship of the non-contact type detector as a crankpin and a camera in S5 of FIG. It is a figure which shows the positional relationship of the non-contact type detector as a crankpin and a laser measuring device in S3 of FIG. 3, and S25 of FIG. It is a figure which shows the positional relationship of the non-contact type detector as a crankpin and laser measuring device in S5 of FIG. It is a flowchart which shows the process of the 2nd example by a control apparatus. It is a figure which shows the detection position by the non-contact-type detector in S23, S25 of FIG. It is a figure which shows the positional relationship of the non-contact type detector as a crankpin and camera in S23 of FIG. It is a figure which shows the positional relationship of the non-contact-type detector as a crankpin and laser measuring device in S23 of FIG.

(1. Configuration of grinding machine)
As an example of the grinding machine 1, a grinding wheel base traverse type grinding machine that traverses the grinding wheel base 14 with respect to the bed 11 (movement in the Z-axis direction) will be described as an example. However, the grinding machine 1 of the present invention can also be applied to a table traverse type grinding machine in which the spindle device 12 traverses (moves in the Z-axis direction) the bed 11.

  The workpiece by the grinding machine 1 is a crankshaft W. The crankshaft W includes a crank journal Wa, a crankpin Wb, and a crank web Wc. The parts to be ground by the grinding machine 1 are a crank journal Wa and a crank pin Wb.

  The grinding machine 1 will be described with reference to FIGS. 1 and 2. The grinding machine 1 is configured as follows. The bed 11 is fixed to the installation surface, and the spindle device 12 and the tailstock device 13 that support the crankshaft W at both ends rotatably are attached to the bed 11. The crankshaft W is supported by the spindle device 12 and the tailstock device 13 so as to rotate around the crank journal Wa. That is, the crank pin Wb is located at a position eccentric from the rotation center of the crankshaft W. The main shaft device 12 includes a motor 12a that rotationally drives the crankshaft W.

  Further, on the bed 11, a grindstone base 14 is provided that can move in the Z-axis direction (axial direction of the crankshaft W) and the X-axis direction (direction orthogonal to the axial line of the crankshaft W). The grinding wheel base 14 is moved in the Z-axis direction by the motor 14a, and is moved in the X-axis direction by the motor 14b.

  A grinding wheel 15 for grinding the crank pin Wb or the crank journal Wa is rotatably provided on the grinding wheel base 14. The grinding wheel 15 is rotationally driven by a motor 15a. Further, the grindstone platform 14 is in a non-contact state with respect to the position of the crank pin Wb or the crank journal Wa when the crankshaft W is supported by the main spindle device 12 at a position away from the crankshaft W in the X-axis direction. A non-contact detector 16 for detection is provided.

  An example of the non-contact detector 16 is a camera that images the crank pin Wb or the crank journal Wa from the X-axis direction, and detects imaging information of the crank pin Wb or the crank journal Wa as the position state described above. Another example of the non-contact detector 16 is a laser measuring device that measures the distance in the X-axis direction to the crankpin Wb or the crank journal Wa, and the distance to the crankpin Wb or the crank journal Wa is the position state described above. Detect as.

  Further, the bed 11 is provided with a sizing device 17 for measuring the outer diameter of the crank pin Wb or the crank journal Wa that is a grinding portion of the crankshaft W. Furthermore, the grinding machine 1 is provided with a control device 18. The control device 18 controls the motors 12 a and 15 a that rotate the spindle device 12 and the grinding wheel 15, and controls the motors 14 a and 14 b that move the grinding wheel 15 or the non-contact detector 16 relative to the crankshaft W. .

  The other configuration of the grinding machine 1 will be described with reference to FIG. As shown in FIG. 2, the grinding machine 1 includes a position calculating device 19 in addition to the above. The position calculation device 19 calculates the end face position and phase of the crank pin Wb or the crank journal Wa based on the detection information from the non-contact detector 16. A calculation method used when the position calculation device 19 calculates the end face position and phase will be described later.

(2. Processing of the first example by the control device)
Next, in the case of grinding a plurality of crank pins Wb, of the processing by the control device 18, the processing until the end of the position and phase of the crank pin Wb is detected and the grinding is started will be described with reference to FIGS. To explain. In the case where the crank journal Wa is ground, the following description is substantially common except for a portion where the phase of the crank pin Wb is detected.

  First, a robot (not shown) conveys the crankshaft W to a support position by the spindle device 12. At this time, the robot holds the rotation posture of the crankshaft W so as to be within a predetermined phase range. And the control apparatus 18 performs the support process by the spindle apparatus 12 and the tailstock apparatus 13 (S1). That is, the crankshaft W is gripped by the spindle device 12 and the tailstock device 13. In this state, the rotational posture of the crankshaft W is within a predetermined phase range, but is not positioned so accurately as to enable grinding.

  Subsequently, as shown in FIG. 4, the control device 18 moves the grinding wheel base 14 from the origin position in the Z-axis direction (left side in FIG. 4), and moves the non-contact detector 16 to the crank closest to the spindle device 12. Positioning is performed at a detection position corresponding to the pin Wb (S2). As shown in FIG. 4, the detection position is a position away from the corresponding crank pin Wb in the X-axis direction and is a position facing the crank pin Wb in the X-axis direction. Here, when the grinding wheel base 14 is moved in the Z-axis direction from the detection position, the detection position is a member attached to the grinding wheel base 14, that is, the grinding wheel 15 and the non-contact detector 16 interfere with the crankshaft W. It will be a position not to. That is, the detection position is not only away from the crank pin Wb in the X-axis direction but also away from the crank web Wc in the X-axis direction.

  Subsequently, the control device 18 performs detection processing by the non-contact detector 16 (S3). The detection process is a process of detecting the position state of the crank pin Wb in a state where the crankshaft W is supported by the main spindle device 12. In the case of a camera, the non-contact detector 16 images the crankpin Wb and its surroundings, and in the case of a laser measuring device, the outer peripheral surface and end surface of the crankpin Wb and the distance to the end surface of the crank web Wc. Measure.

  Subsequently, the control device 18 controls the motor 12a of the spindle device 12 to turn the crankshaft W by a predetermined angle (S4). In this embodiment, the turning angle is 90 °. Again, the control device 18 performs detection processing by the non-contact detector 16 (S5). In this way, the non-contact detector 16 performs detection processing on the two phases of one crank pin Wb.

  Here, the position calculation device 19 calculates the end face position and phase of the crank pin Wb based on the detection information regarding the position state of the two positions of the crank pin Wb detected by the non-contact detector 16 (S10). . This process will be described later.

  Subsequently, as shown in FIG. 5, the control device 18 moves the grinding wheel base 14 in the Z-axis direction based on the end face position of the crank pin Wb calculated by the position calculating device 19 to crank the grinding wheel 15. The pin Wb is positioned at the grinding position (S6). At this time, the grindstone base 14 moves from the detection position to the grinding position without returning to the origin position.

  The grinding position is a state in which the grinding wheel 15 is located at the center in the axial direction of the crank pin Wb. That is, during grinding, the distance between both end faces of the grinding wheel 15 and the end face of the crank web Wc is substantially equal. Subsequently, as shown in FIG. 5, the control device 18 moves the grindstone table 14 in the X-axis direction to perform grinding (S7).

(3. Phase calculation processing by position calculation device when non-contact type detector is a camera)
Next, in the case where the non-contact detector 16 is a camera, the calculation process of the phase of the crankpin Wb by the position calculation device 19 will be described with reference to FIGS. 6 and 7 in addition to the flowchart of FIG. . The detection process (imaging process) of the position state (detection information, imaging information) of the crank pin Wb1 before turning the crankshaft W in S3 of FIG. 3 is shown in FIG. Moreover, the detection process (imaging process) of the position state (detection information, imaging information) of the crank pin Wb2 after the turning of the crankshaft W in S5 of FIG. 3 is shown in FIG.

  6 and 7, the rotation center of the crankshaft W is P0, the turning radius of the center of the crankpin Wb is R, the focal point of the non-contact detector 16 which is a camera is P10, and the imaging sensor ( The detection surface of the image sensor) is S, the distance from the rotation center P0 to the focus P10 is L0, and the distance from the focus P10 to the detection surface S of the image sensor is Ls.

  The center position of the crankpin Wb1 before turning in the state shown in FIG. 6 is P1, the position corresponding to the position P1 in the image sensor is P11, and the Y-axis direction distance between the sensor center and the position P11 on the detection surface S of the image sensor , H1, the X-axis direction distance between the center position P1 of the crank pin Wb1 and the rotation center P0 is La, and the Y-axis direction distance is H1. The phase of the crankpin Wb1 is θ1, and the angle to the crankpin Wb1 at the focal point P10 is α1.

  The center position of the crankpin Wb2 after turning in the state shown in FIG. 7 is P2, the position corresponding to the position P2 in the imaging sensor is P12, and the Y-axis direction distance between the sensor center and the position P12 on the detection surface S of the imaging sensor , H2, the distance in the X-axis direction between the center position P2 of the crank pin Wb2 and the rotation center P0 is Lb, and the distance in the Y-axis direction is H2. The phase of the crank pin Wb2 is θ2, and the angle to the crank pin Wb2 at the focal point P10 is α2.

  In this case, the following expressions (1) to (9) are established. L0, Ls, and R are known. h1 and h2 are detectable values. Therefore, the phase θ1 is calculated by solving the equations (1)-(9).

  Here, in the above calculation method, the position calculation device 19 calculates the positions P11 and P12 based on the outer peripheral surface positions of the crank pins Wb1 and Wb2. Here, the position calculating device 19 can calculate the positions P11 and P12 based on one point on the outer peripheral surface of the crank pins Wb1 and Wb2.

  However, the position calculation device 19 may calculate the positions P11 and P12 by performing, for example, an average process or an approximation process based on a plurality of axial positions on the outer peripheral surfaces of the crank pins Wb1 and Wb2. Specifically, the position calculation device 19 calculates a plurality of axial positions on the outer peripheral surface of the crankpin Wb, and calculates the phase of the crankpin Wb based on the plurality of axial positions. In this case, for example, when foreign matter adheres to the surfaces of the crankpins Wb1 and Wb2, the influence can be reduced, and the phase can be calculated with high accuracy.

(4. Initial positioning phase of crankshaft W)
Here, before S1 of FIG. 3 of the processing by the control device 18, when the robot (not shown) transports the crankshaft W to the support position by the main spindle device 12, the robot changes the rotation posture of the crankshaft W. It is gripped so as to be within a predetermined phase range.

  As shown in FIG. 4, in the initial state, the crankshaft W is supported by the main shaft device 12 so that the phase θ1 of the crankpin Wb1 is about 45 °. Then, the control device 18 turns the crankshaft W by 90 ° in S4 of FIG. That is, as shown in FIG. 5, the crankshaft W is supported by the main shaft device 12 so that the phase θ2 of the crankpin Wb2 is around 45 °.

  That is, the phase of the crankshaft W in the initial state is determined so that the phases θ1 and θ2 before and after turning are within the predetermined phase range. In other words, as shown in FIG. 5, the X-axis direction distance ΔL between the center position P1 of the crankpin Wb1 before turning and the center position P2 of the crankpin Wb2 after turning is set within a predetermined value.

  As described above, since the distance from the imaging sensor surface S of the non-contact detector 16 is the same at the two detected phases, the detection error by the non-contact detector 16 is reduced. As a result, the phase θ1 of the crankpin Wb1 is calculated with high accuracy.

(5. Phase calculation processing by the position calculation device when the non-contact detector is a laser measuring device)
Next, in the case where the non-contact detector 16 is a laser measuring instrument, the calculation process of the phase of the crankpin Wb by the position calculation device 19 will be described with reference to FIGS. 8 and 9 in addition to the flowchart of FIG. explain. FIG. 8 shows detection processing (imaging processing) of the position state (detection information, imaging information) of the crankpin Wb1 before turning the crankshaft W in S3 of FIG. Moreover, the detection process (imaging process) of the position state (detection information, imaging information) of the crank pin Wb2 after the turning of the crankshaft W in S5 of FIG. 3 is shown in FIG.

  Here, in FIG. 8, the position of the laser measuring device is P10, the distance from the outer peripheral surface of the crankpin Wb1 by the laser measuring device is L1, and the radius of the crankpin Wb1 is d. In FIG. 9, the distance from the outer peripheral surface of the crankpin Wb2 by the laser measuring instrument is L2. Other symbols are the same as those in FIGS.

  In this case, the following expressions (11) to (19) are established. L0, R, and d are known. L1 and L2 are detectable values. Therefore, the phase θ1 is calculated by solving the equations (11)-(19).

(6. End face position calculation processing by position calculation device)
Next, the position calculating device 19 calculates the end surface position (end surface position of the crank web Wc) of the crank pin Wb1 before turning the crankshaft W in S3 of FIG. In the case of a camera, the non-contact detector 16 detects the imaging information of the crank pin Wb1 as the position state of the crank pin Wb1.

  Then, the position calculation device 19 calculates the end face position of the crankpin Wb1 (end face position of the crank web Wc) based on the imaging information. Here, the position calculating device 19 can calculate the end face position of the crank pin Wb1 based on a certain point corresponding to the end face position of the crank pin Wb1.

  However, the position calculation device 19 may calculate the end face position by performing, for example, an average process or an approximation process based on a plurality of positions corresponding to the end face position of the crankpin Wb1. Specifically, the position calculating device 19 calculates a plurality of radial positions on the end surface of the crank web Wc, and calculates an end surface position of the crank pin Wb based on the plurality of radial positions. In this case, for example, when foreign matter is attached to the surface of the crank web Wc, it is possible to reduce the influence thereof, and the end face position can be calculated with high accuracy.

(7. Processing of second example by control device)
Next, the process of the 2nd example by the control apparatus 18 is demonstrated with reference to FIGS. 10-11. First, a robot (not shown) conveys the crankshaft W to a support position by the spindle device 12. And the control apparatus 18 performs the support process by the main axis | shaft apparatus 12 and the tailstock apparatus 13 (S21).

  Subsequently, as shown in FIG. 11, the control device 18 moves the grindstone base 14 from the origin position in the Z-axis direction (left side in FIG. 11), and moves the non-contact detector 16 to the second position from the spindle device 12. Positioning is performed at a detection position corresponding to the crankpin Wb3 (S22). As shown in FIG. 11, the detection position is a position away from the corresponding crankpin Wb3 in the X-axis direction and a position facing the crankpin Wb in the X-axis direction.

  Subsequently, the control device 18 performs detection processing by the non-contact detector 16 (S23). The detection process is a process of detecting the position state of the crank pin Wb in a state where the crankshaft W is supported by the main spindle device 12.

  Subsequently, as shown in FIG. 11, the control device 18 further moves the grindstone table 14 in the Z-axis direction (left side in FIG. 11), and moves the non-contact detector 16 to the crank pin Wb <b> 1 closest to the spindle device 12. (S24). Again, the control device 18 performs detection processing by the non-contact detector 16 (S25). Here, the crank pins Wb1 and Wb3 are located at different phases. That is, the non-contact detector 16 performs detection processing on the position states of the two crank pins Wb1 and Wb3 located at different phases.

  Here, the position calculation device 19 calculates the end face position of the crank pin Wb based on one of the detection information regarding the position state of the two crank pins Wb1 and Wb3 detected by the non-contact detector 16 ( S30). Further, the position calculation device 19 calculates the phase of the crank pin Wb based on the detection information regarding the position state of the two crank pins Wb1 and Wb3 detected by the non-contact detector 16 (S30). This process will be described later.

  Subsequently, the control device 18 moves the grinding wheel base 14 in the Z-axis direction based on the end face positions of the crank pins Wb1 and Wb3 calculated by the position calculating device 19 without returning the grinding wheel 15 to the original position. The crank pin Wb is positioned at the grinding position (S26). Subsequently, the control device 18 performs grinding by moving the grinding wheel base 14 in the X-axis direction (S27).

(8. Phase calculation process by position calculation device when non-contact detector is a camera)
Next, in the control process of the second example, when the non-contact detector 16 is a camera, the calculation process of the phase of the crankpin Wb by the position calculation device 19 is shown in addition to the flowchart of FIG. 6 and FIG. FIG. 12 shows the detection process (imaging process) of the position state (detection information, imaging information) of the crankpin Wb3 in S23 of FIG. Moreover, the detection process (imaging process) of the position state (detection information, imaging information) of the crankpin Wb1 in S25 of FIG. 10 is shown in FIG. Note that FIG. 6 is as described above.

  The center position of the crankpin Wb3 in the state shown in FIG. 12 is P3, the position corresponding to the position P3 in the imaging sensor is P13, and the Y-axis direction distance between the sensor center and the position P13 on the detection surface S of the imaging sensor is h3. The distance in the X-axis direction between the center position P3 of the crank pin Wb3 and the rotation center P0 is Lc, and the distance in the Y-axis direction is H3. The phase of the crankpin Wb3 is θ1, and the angle to the crankpin Wb3 at the focal point P10 is α3.

  In this case, the following expressions (21) to (27) are established. L0, Ls, and R are known. h1 and h3 are detectable values. Therefore, the phase θ1 is calculated by solving the equations (21)-(27).

(9. Phase calculation processing by the position calculation device when the non-contact detector is a laser measuring device)
Next, in the case of the control process of the second example, when the non-contact detector 16 is a laser measuring instrument, the calculation process of the phase of the crankpin Wb by the position calculation device 19 is performed in addition to the flowchart of FIG. This will be described with reference to FIGS. 8 and 13. The detection process (imaging process) of the position state (detection information, imaging information) of the crankpin Wb3 in S23 of FIG. 10 is shown in FIG. Moreover, the detection process (imaging process) of the position state (detection information, imaging information) of the crankpin Wb1 in S25 of FIG. 10 is shown in FIG. Note that FIG. 8 is as described above.

  Here, in FIG. 13, the distance to the outer peripheral surface of the crankpin Wb3 by the laser measuring instrument is L3, and the radius of the crankpin Wb3 is d. Other symbols are the same as those in FIGS.

  In this case, the following expressions (31) to (37) are established. L0, R, and d are known. L1 and L3 are detectable values. Therefore, the phase θ1 is calculated by solving the equations (31)-(37).

(10. Effects of the embodiment)
The grinding machine 1 described above grinds the crank pin Wb or the crank journal Wa of the crankshaft W. The grinding machine 1 is relatively movable in a main shaft device 12 that rotatably supports the crankshaft W, and a Z-axis direction that is an axial direction of the crankshaft W and an X-axis direction that is orthogonal to the main shaft device 12. A grinding wheel base 14, a grinding wheel 15 that is rotatably provided on the grinding wheel base 14 and grinds the crank pin Wb or the crank journal Wa, a grinding wheel base 14, and a crankshaft W supported by the spindle device 12. The non-contact detector 16 that detects the position of the crank pin Wb or the crank journal Wa at a position distant from the crankshaft W in the X-axis direction and information detected by the non-contact detector 16 The position calculation device 19 for calculating the end face position of the crank pin Wb or the crank journal Wa and the control device 18 are provided.

  The control device 18 moves the grindstone base 14 in the Z-axis direction to move the non-contact detector 16 to a position corresponding to the crank pin Wb or the crank journal Wa, and the non-contact detector 16 at that position. Next, based on the end face position calculated by the position calculating device 19, the grinding wheel base 14 is relatively positioned in the Z-axis direction, and the grinding wheel 15 is ground by the grinding wheel 15 or the crank journal Wa. .

  Further, the position calculation device 19 calculates the phase of the crankpin Wb based on the information detected by the non-contact detector 16, and the control device 18 calculates the grindstone based on the end face position and phase calculated by the position calculation device 19. The stand 14 is relatively positioned in the Z-axis direction, and the grinding pin 15 is ground by the grinding wheel 15.

  Note that the position calculating device 19 may calculate only the end face position of the crankpin Wb or the crank journal Wa, or may calculate only the phase of the crankpin Wb.

  According to the grinding machine 1, the non-contact detector 16 detects the position state of the crank pin Wb or the crank journal Wa in a state where the crankshaft W is supported by the spindle device 12. Therefore, since a preset station or the like is unnecessary, the apparatus is not increased in size and complexity.

  Further, the control device 18 moves the grindstone table 14 in the Z-axis direction, thereby moving the non-contact detector 16 to the Z-axis direction position corresponding to the crank pin Wb or the crank journal Wa. At this position, the non-contact detector 16 detects the position state of the crank pin Wb or the crank journal Wa. Thus, the non-contact detector 16 detects the position state at a position away from the crankshaft W in the X-axis direction. Therefore, it is not necessary to move the non-contact detector 16 to the vicinity of the crankpin Wb or the crank journal Wa, and the time required for detection can be shortened.

  A non-contact detector 16 and a grinding wheel 15 are provided on the grinding wheel base 14. Therefore, as the grinding wheel base 14 moves in the X-axis direction, the non-contact detector 16 moves in the X-axis direction, and the grinding wheel 15 moves in the X-axis direction. Therefore, after the detection operation by the non-contact type detector 16, the moving amount of the grinding wheel base 14 to the grinding position can be reduced, so that grinding by the grinding wheel 15 can be started quickly.

  Further, as a first example, the non-contact detector 16 is a camera that images the crank pin Wb or the crank journal Wa from the X-axis direction, and detects imaging information of the crank pin Wb or the crank journal Wa as a position state. . In this case, the position calculation device 19 can easily and reliably calculate the end surface position and phase of the crank pin Wb or the end surface position of the crank journal Wa based on information captured by the camera.

  Further, as a second example, the non-contact detector 16 is a laser measuring device that measures the distance in the X-axis direction to the crank pin Wb or the crank journal Wa, and the distance to the crank pin Wb or the crank journal Wa is measured. Detect as position status. Also in this case, the position calculating device 19 can easily and reliably calculate the end surface position and phase of the crank pin Wb or the end surface position of the crank journal Wa based on the distance measured by the laser measuring instrument.

  Further, as described as the processing of the first example of the control device 18, the non-contact detector 16 determines the position state of the crank pin Wb in at least two phases positioned by turning the crankshaft W, respectively. The position calculating device 19 may detect and calculate the phase of the crankpin Wb based on the detection information on the plurality of phases of the crankpin Wb. In this case, the phase of the crankpin Wb can be reliably calculated.

  In addition, the two phases of the crank pin Wb at the time of detection by the non-contact detector 16 are set to phases in which the distances from the non-contact detector 16 to the respective crank pins Wb are included in a predetermined range. The For example, the phases θ1 and θ2 are set to have the same angle. Thereby, since the error can be reduced, the phase can be calculated with high accuracy.

  Further, as described in the processing of the second example of the control device 18, when the crankshaft W includes a plurality of crankpins Wb positioned at different phases, the non-contact detector 16 detects the crankshaft W. The position calculation device 19 may detect the position of each of the plurality of crank pins Wb in a state where the plurality of crank pins Wb are not turned, and the position calculation device 19 may calculate the phases of the plurality of crank pins Wb based on the detected information of the plurality of crank pins Wb. it can. Also in this case, the phase of the crankpin Wb can be calculated reliably.

  Further, the position calculating device 19 calculates a plurality of radial positions on the end surface of the crank web Wc of the crankshaft W based on the detection information detected by the non-contact detector 16, and based on the plurality of radial positions. Thus, the end face position of the crank pin Wb or the crank journal Wa may be calculated. In this case, even if foreign matter adheres to the end face of the crank web Wc, it can be made less susceptible to the influence, and the end face position of the crank pin Wb or the crank journal Wa can be calculated with high accuracy.

  Further, the position calculation device 19 calculates a plurality of axial positions on the outer peripheral surface of the crankpin Wb based on the detection information detected by the non-contact detector 16, and the crankpin based on the plurality of axial positions. The phase of Wb may be calculated. In this case, even when foreign matter is attached to the outer peripheral surface of the crankpin Wb, it can be made less susceptible to the influence, and the phase of the crankpin Wb can be calculated with high accuracy.

  Further, the control device 18 moves the grinding wheel base 14 to the grinding position without returning the grinding wheel base 14 to the origin position after moving the grinding wheel base 14 to the detection position by the non-contact detector 16. Thereby, grinding can be started at an early stage after calculation of the end face position and phase.

1: Grinding machine, 11: Bed, 12: Spindle device, 13: Tailstock device, 14: Grinding wheel base, 15: Grinding wheel, 16: Non-contact type detector, 17: Sizing device, 18: Control device, 19 : Position calculation device, W: Crankshaft, Wa: Crank journal, Wb: Crank pin, Wc: Crank web

Claims (7)

A grinder for grinding a crankpin or crank journal of a crankshaft,
A spindle device for rotatably supporting the crankshaft;
A whetstone base that is movable relative to the main shaft device in the Z-axis direction that is the axial direction of the crankshaft and the X-axis direction that is orthogonal to the Z-axis direction;
A grinding wheel that is rotatably provided on the grinding wheel table and grinds the crank pin or the crank journal; and
The position of the crank pin or the crank journal provided in the grindstone table and supported by the spindle device is contactless at a position away from the crank shaft in the X-axis direction. A non-contact detector to detect,
A position calculating device that calculates the phase of the crankpin based on detection information by the non-contact detector;
The non-contact type detector is moved to a position corresponding to the crank pin or the crank journal by moving the grindstone table in the Z-axis direction, and detection by the non-contact type detector is performed at the position. after the, a control device according to pre-Symbol grinding wheel perform the crank pin or grinding of the crank journal,
With
The non-contact detector is a camera that images the crank pin or the crank journal from the X-axis direction, detects imaging information of the crank pin or the crank journal as the position state,
The position calculating device sets the distance from the focal point of the non-contact detector to the detection surface of the imaging sensor as Ls, the distance from the rotation center of the crankshaft to the focal point as L0, and the center position of the crankpin A distance corresponding to the center position of the crankpin at the position of the imaging sensor , where La is the distance in the X-axis direction from the center of rotation and H1 is the distance in the Y-axis direction , R is the turning radius of the center of the crankpin. The distance from the center of the detection surface of the imaging sensor is h1, and the angle to the crankpin at the focal point is α1,
The distance between the center position of the crankpin after turning the crankshaft and the rotation center is set to Lb and the distance in the Y-axis direction is set to H2, and the position of the crankpin after turning is the position in the image sensor. The distance between the position corresponding to the center position and the center of the detection surface of the imaging sensor is h2, the angle to the crankpin after the turn at the focal point is α2, and the phase of the crankpin after the turn is θ2. By solving the following equations (1)-(9),
Alternatively, when the crankshaft is not rotated, the distance between the center position of another crankpin positioned at a phase different from that of the crankpin and the rotation center is set to Lc, and the distance in the Y-axis direction is set to H3. The distance between the position corresponding to the center position of the other crank pin and the center of the detection surface of the imaging sensor is h3, and the angle to the other crank pin at the focal point is α3. A grinding machine that calculates the phase θ1 of the crankpin by solving the following equations (21)-(27) .

tan α1 = h1 / Ls (1)
tan α2 = h2 / Ls (2)
H1 = (L0−La) × tan α1 (3)
H2 = (L0−Lb) × tan α2 (4)
H1 = La × tan θ1 (5)
H2 = Lb × tan θ2 (6)
sin θ1 = H1 / R (7)
sin θ2 = H2 / R (8)
θ1 + θ2 = 90 ° (9)

tan α1 = h1 / Ls (21)
tan α3 = h3 / Ls (22)
H1 = (L0−La) × tan α1 (23)
H3 = (L0−Lc) × tan α3 (24)
H1 = La × tan θ1 (25)
H1 = H3 (26)
sin θ1 = H1 / R (27) A grinder for grinding a crankpin or crank journal of a crankshaft,
A spindle device for rotatably supporting the crankshaft;
A whetstone base that is movable relative to the main shaft device in the Z-axis direction that is the axial direction of the crankshaft and the X-axis direction that is orthogonal to the Z-axis direction;
A grinding wheel that is rotatably provided on the grinding wheel table and grinds the crank pin or the crank journal; and
The position of the crank pin or the crank journal provided in the grindstone table and supported by the spindle device is contactless at a position away from the crank shaft in the X-axis direction. A non-contact detector to detect,
A position calculating device that calculates the phase of the crankpin based on detection information by the non-contact detector;
The non-contact detector is moved to a position corresponding to the crank pin or the crank journal by moving the grindstone table in the Z-axis direction, and the non-contact detector detects at the position. A control device for grinding the crankpin or the crank journal by the grinding wheel;
With
The non-contact detector is a laser measuring device that measures the distance in the X-axis direction to the crank pin or the crank journal, and detects the distance to the crank pin or the crank journal as the position state.
The position calculating device, the distance from the rotation center between the non-contact-type detector of the crankshaft and L0, the distance to the outer peripheral surface of the crank pin according to the non-contact-type detector and L1, the crank The distance between the center position of the pin and the center of rotation in the X-axis direction is La, the Y-axis direction distance is H1, the radius of the crankpin is d, and the angle to the crankpin in the non-contact detector is α1. , And the turning radius of the center of the crankpin is R,
The distance between the center position of the crankpin after turning the crankshaft and the rotation center is set to Lb and the distance in the Y-axis direction is set to H2, and the non-contact detector is connected to the crankpin after turning. When the angle is α2 and the phase of the crankpin after the turn is θ2, by solving the following equations (11)-(19),
Alternatively, when the crankshaft is not turned, the distance between the center position of another crankpin located at a phase different from that of the crankpin and the rotation center is set to Lc, and the distance in the Y-axis direction is set to H3. When the distance to the outer peripheral surface of the other crankpin by the equation detector is L3 and the angle to the other crankpin in the non-contact detector is α3, the following equations (31)-(37 ) To calculate the phase θ1 of the crankpin.

cos α1 = (L0−La) / (L1 + d) (11)
cos α2 = (L0−Lb) / (L2 + d) (12)
H1 = (L0−La) × tan α1 (13)
H2 = (L0−Lb) × tan α2 (14)
H1 = La × tan θ1 (15)
H2 = Lb × tan θ2 (16)
sin θ1 = H1 / R (17)
sin θ2 = H2 / R (18)
θ1 + θ2 = 90 ° (19)

cos α1 = (L0−La) / (L1 + d) (31)
cos α3 = (L0−Lc) / (L3 + d) (32)
H1 = (L0−La) × tan α1 (33)
H3 = (L0−Lc) × tan α3 (34)
H1 = La × tan θ1 (35)
H1 = H3 (36)
sin θ1 = H1 / R (37)   The position calculating device calculates an end surface position of the crank web facing in the Z-axis direction based on detection information by the non-contact detector, and connects to the crank web based on the end surface position of the crank web. The grinding machine according to claim 1 or 2, wherein an end face position in an axial direction of the crank pin or the crank journal is calculated. The position calculating device calculates the phase of the crankpin based on detection information by the non-contact detector,
The said control apparatus positions the said grindstone base relatively in the said Z-axis direction based on the said end surface position calculated by the said position calculation apparatus, and grinds the said crankpin with the said grinding wheel. The grinding machine described. The position calculation device calculates a plurality of radial positions on one end surface of the crankshaft facing the Z-axis direction of the crank web based on detection information detected by the non-contact detector, The grinding machine according to claim 3 or 4 , wherein an end face position of the crank pin or the crank journal is calculated based on a plurality of radial positions. The position calculation device calculates a plurality of axial positions on an outer peripheral surface of one crankpin based on detection information detected by the non-contact detector, and based on the plurality of axial positions The grinding machine according to claim 4 or 5 , wherein a phase of one crank pin is calculated. Wherein the control device, the wheel head after moving to the position detected by the non-contact-type detector, without returning the wheel head to the home position, moving the wheel head grinding position, according to claim 1 6 The grinding machine as described in any one of items.

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