JP7165071B2 - Honing machine - Google Patents

Description

The present invention relates to a honing machine.

BACKGROUND ART Conventionally, a honing machine for grinding the inner peripheral surface of a hole to be machined in a work has been known. For example, Patent Literature 1 discloses a honing system. This honing system includes a work holding jig that holds a workpiece and is transported by a work transport section. This work holding jig includes a jig base movably mounted on a conveying path of a work conveying section, a swinging body provided on the jig base so as to be swingable in three-dimensional directions, and an oscillating body integrated with the swinging body. and a work holder provided on the surface. This rocking body is composed of a first rocking member and a second rocking member. The first swing member is suspended and swingably provided on the jig base via an X-cross pin. The second swinging member is suspended from and swingably mounted on the first swinging member via a Y-cross pin perpendicular to the X-cross pin.

JP-A-7-40230

However, in the honing machine as disclosed in Patent Document 1, the oscillating body oscillates about the cross pin. The misalignment of the workpiece with respect to the honing tool may increase. If the misalignment of the workpiece with respect to the honing tool becomes large in this way, the precision of the honing process is lowered.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a honing machine capable of suppressing a decrease in honing accuracy.

A first invention relates to a honing machine, which includes a tool body formed in a cylindrical shape and having a through hole provided in a peripheral wall portion thereof, and a honing machine arranged in the through hole of the tool body and capable of advancing and retreating in a radial direction. The honing grindstone advances from the tool body and contacts the inner peripheral surface of the hole to be machined in the work, and rotates about the axis of rotation extending in the axial direction, thereby honing the work. A honing tool for grinding an inner peripheral surface of a hole to be machined, a jig base, and a first swing shaft extending in a first direction and swinging about the first swing shaft. The first rocking member has a first rocking member supported by a base and a second rocking shaft extending in a second direction orthogonal to the first direction, and rocks around the second rocking shaft. a floating jig for supporting the work in a floating state, the jig having a second swing member supported by the swing member; A plurality of first actuators arranged to surround a first swing shaft and fixed to the jig base, each of which presses the first swing shaft in a direction toward the axis of the first swing shaft and are arranged to surround the second swing shaft and fixed to the first swing member, and each press the second swing shaft in a direction toward the center of the second swing shaft. and a plurality of second actuators.

In the first invention, the plurality of first actuators arranged to surround the first oscillating shaft presses the first oscillating shaft in a direction toward the axis of the first oscillating shaft, thereby The posture of the first swing member can be fixed by restricting the swing of the swing shaft. Similarly, a plurality of second actuators arranged to surround the second oscillating shaft press the second oscillating shaft in a direction toward the center of the second oscillating shaft, thereby increasing the second oscillating shaft. The posture of the second swing member can be fixed by limiting the swing of the drive shaft. Since the postures of the first swinging member and the second swinging member can be fixed in this way, it is possible to make it difficult for the work to be misaligned with respect to the honing tool. As a result, it is possible to suppress a decrease in the accuracy of the honing process.

In a second aspect based on the first aspect, a plurality of first load sensors each detecting a pressing force of the plurality of first actuators acting on the first swing shaft; and controlling the plurality of first actuators according to the detection results of the plurality of first load sensors; and a control unit that controls the plurality of second actuators according to detection results of two load sensors.

In the second aspect of the invention, by controlling the plurality of first actuators according to the detection results of the plurality of first load sensors, the plurality of first actuators are checked while checking the pressing force of the plurality of first actuators acting on the first swing shaft. can adjust the pressing force of the first actuator. As a result, when the plurality of first actuators perform the operation of fixing the posture of the first swing member, the imbalance between the pressing forces of the plurality of first actuators acting on the first swing shaft becomes large, 1, it is possible to make it difficult to cause a situation in which the posture of the swinging member is shifted. Similarly, by controlling the plurality of second actuators according to the detection results of the plurality of second load sensors, the plurality of second actuators are detected while confirming the pressing force of the plurality of second actuators acting on the second swing shaft. The pressing force of the second actuator can be adjusted. As a result, when the plurality of second actuators perform the operation of fixing the posture of the second swing member, the imbalance between the pressing forces of the plurality of second actuators acting on the second swing shaft increases, 2. It is possible to make it difficult to cause a situation in which the posture of the swinging member is shifted. As described above, misalignment of the workpiece with respect to the honing tool is less likely to occur when the plurality of first actuators and the plurality of second actuators perform the operation of fixing the postures of the first swinging member and the second swinging member. Therefore, it is possible to suppress a decrease in accuracy of honing.

In a third aspect based on the second aspect, the control unit controls the pressing force of the plurality of first actuators acting on the first swing shaft by gradually increasing the pressing force of the plurality of first actuators. is balanced, the pressing forces of the plurality of first actuators are adjusted according to the detection results of the plurality of first load sensors, and the pressing forces of the plurality of second actuators gradually increase until the first 2 adjusting the pressing forces of the plurality of second actuators according to the detection results of the plurality of second load sensors so that the pressing forces of the plurality of second actuators acting on the swing shaft are balanced; It is a honing machine that features.

In the third invention, by gradually increasing the pressing forces of the plurality of first actuators to balance the pressing forces of the plurality of first actuators acting on the first swing shaft, the plurality of first actuators When the operation of fixing the posture of the first swing member is performed, it is possible to prevent the imbalance between the pressing forces of the plurality of first actuators acting on the first swing shaft from increasing rapidly. It is possible to suppress the displacement of the posture of the first swing member due to imbalance in the pressing force of the first actuator. Similarly, by gradually increasing the pressing forces of the plurality of second actuators to bring the pressing forces of the plurality of second actuators acting on the second swing shaft into a balanced state, the plurality of second actuators exert the second It is possible to prevent the imbalance of the pressing forces of the plurality of second actuators acting on the second swing shaft from suddenly increasing when the operation of fixing the posture of the second swing member is performed. It is possible to suppress the deviation of the posture of the second swing member due to the imbalance of the pressing force of the second actuator. As described above, misalignment of the workpiece with respect to the honing tool is less likely to occur when the plurality of first actuators and the plurality of second actuators perform the operation of fixing the postures of the first swinging member and the second swinging member. Therefore, it is possible to suppress a decrease in accuracy of honing.

In a fourth aspect based on the second or third aspect, a first ring having viscoelasticity and provided on the outer circumference of the first oscillating shaft; a second ring provided on the outer periphery, the plurality of first load sensors are arranged between the first swing shaft and the first ring, and the plurality of second load sensors are arranged between the second The honing machine is characterized in that it is arranged between the swing shaft and the second ring.

In the fourth aspect of the invention, by providing the first ring having viscoelasticity on the outer periphery of the first swing shaft, the pressing force of the plurality of first actuators restricts the swing of the first swing shaft, thereby Slippage of the first swing shaft can be suppressed when the posture of the moving member is fixed. Thereby, the posture of the first swing member can be firmly fixed. Similarly, by providing a second ring having viscoelasticity on the outer circumference of the second swing shaft, the pressing force of the plurality of second actuators restricts the swing of the second swing shaft, thereby preventing the second swing shaft from swinging. It is possible to suppress the slippage of the second swing shaft when fixing the posture of the member. As a result, the posture of the second swing member can be firmly fixed.

A fifth invention is the honing device according to any one of the first to fourth inventions, wherein the number of the first actuators is three or more, and the number of the second actuators is three or more. It is a processing machine.

In the fifth aspect, by providing three or more first actuators for the first swing shaft, the first swing motion is more efficient than when only two first actuators are provided for the first swing shaft. The shaft can be pressed from multiple directions. As a result, it is possible to suppress the positional deviation of the first swing shaft, thereby suppressing the positional deviation of the first swing member. Similarly, by providing three or more second actuators for the second pivot axis, the number of actuators for the second pivot axis is greater than when only two second actuators are provided for the second pivot axis. can be pressed from multiple directions. As a result, it is possible to suppress the positional deviation of the second swing shaft, thereby suppressing the positional deviation of the second swing member. As described above, misalignment of the workpiece with respect to the honing tool can be made difficult to occur, so that a decrease in accuracy of honing can be suppressed.

ADVANTAGE OF THE INVENTION According to this invention, the fall of the precision of a honing process can be suppressed.

BRIEF DESCRIPTION OF THE DRAWINGS It is a perspective view which illustrates the structure of the honing machine by embodiment. It is a top view which illustrates the composition of the honing machine by an embodiment. 1 is a cross-sectional view illustrating the configuration of a honing machine according to an embodiment; FIG. It is a top view which illustrates the structure of the principal part of a honing machine. It is a schematic diagram which illustrates the composition of the important section of a honing machine. It is a sectional view which illustrates composition of an important section of a honing machine.

Hereinafter, embodiments will be described in detail with reference to the drawings. The same reference numerals are given to the same or corresponding parts in the drawings, and the description thereof will not be repeated.

(honing machine)
1, 2, and 3 illustrate the configuration of a honing machine 10 according to an embodiment. FIG. 3 is a cross-sectional view taken along line III--III in FIG.

The honing machine 10 is a device that grinds the inner peripheral surface of a hole to be machined in a work W, and includes a honing tool 20 , a drive mechanism 30 , a floating jig 40 and a controller 100 .

In the following description, unless otherwise specified, "axial direction" means the direction of the rotation axis of the honing tool 20, and "radial direction" means the direction of the rotation axis of the honing tool 20. The “circumferential direction” is the direction around the rotational axis of the honing tool 20 . In this example, the axis of rotation of the honing tool 20 extends vertically.

In the following description, the term "coaxial" means a state in which the axes (or axes) of two members can be considered to be aligned with each other. ) is within a predetermined allowable range.

Also, in the following description, the first direction X and the second direction Y are directions orthogonal to each other, and the third direction Z is a direction orthogonal to both the first direction X and the second direction Y. In this example, the first direction X and the second direction Y are directions along the horizontal direction, and the third direction Z is a direction along the vertical direction.

[honing tool]
The honing tool 20 is formed in a bar shape, and one end (base end) thereof is connected to the drive mechanism 30 . The honing tool 20 has a tool body 21 , one or more honing wheels 22 and a rod 23 . As shown in FIG. 4, in this example, three honing wheels 22 are provided.

<Tool body>
The tool body 21 is formed in a tubular shape. The peripheral wall portion of the tool body 21 is provided with one or more through holes 21a. The through hole 21a penetrates the peripheral wall portion of the tool body 21 in the radial direction. In this example, the axis of the tool body 21 is coaxial with the rotation axis of the honing tool 20 . The tool body 21 is provided with three through holes 21a corresponding to the three honing grindstones 22, respectively. The three through-holes 21a are arranged at regular intervals in the circumferential direction of the honing tool 20 . The cross-sectional shape of the through hole 21a in the penetrating direction (that is, the radial direction) corresponds to the cross-sectional shape of the honing grindstone 22 in the radial direction. With such a shape, the through hole 21a retains the honing grindstone 22 so as to be able to move forward and backward in the radial direction.

<Honing whetstone>
The honing grindstone 22 is disposed in the through hole 21a of the tool body 21 and is radially movable. In this example, three honing grindstones 22 are arranged in three through holes 21a of the tool body 21, respectively. Further, the contact surface of the honing grindstone 22 with the rod 23 is an inclined surface that inclines from the outer side to the inner side in the radial direction from the side closer to the drive mechanism 30 toward the far side.

<rod>
The rod 23 is formed like a bar and arranged inside the tool body 21 . The rod 23 moves in the axial direction to move one or more (three in this example) honing grindstones 22 radially. In this example, the cross-sectional shape of the rod 23 is circular. Further, the rod 23 has a first rod portion, a second rod portion, and a third rod portion arranged in order from the side closer to the drive mechanism 30 toward the far side. The first rod portion is formed in a cylindrical shape and connected to the drive mechanism 30 . The second rod portion is formed in a conical shape that gradually tapers from the side closer to the drive mechanism 30 toward the farther side. The second rod portion comes into contact with the honing grindstone 22 when the rod 23 moves in the direction from the side closer to the drive mechanism 30 to the farther side, and advances the honing grindstone 22 in the radial direction. The third rod portion is formed in a cylindrical shape and constitutes the tip portion of the rod 23 . The cross-sectional shape of the third rod portion is larger than the cross-sectional shape of the distal end portion of the second rod portion.

<Forcing member>
The honing tool 20 is provided with a plurality of biasing members (not shown). A plurality of biasing members are provided for biasing the one or more honing stones 22 in a direction toward the rotational axis of the honing tool 20 . In this example, two biasing members are provided at both ends of one honing grindstone 22 in the axial direction. The biasing member is, for example, a leaf spring.

<Advance and retreat of honing grindstone in honing tool>
In the honing tool 20, when the rod 23 moves in the axial direction from the side closer to the drive mechanism 30 toward the far side, the rod 23 (specifically, the second rod portion formed in a conical shape) moves the honing grindstone 22 to the diameter. Push outwards. As a result, the honing grindstone 22 advances in the radial direction, and the advance amount of the honing grindstone 22 increases. On the other hand, when the rod 23 moves in the axial direction from the far side to the near side of the drive mechanism 30, the biasing member (not shown) pushes the honing grindstone 22 radially inward. As a result, the honing grindstone 22 retreats in the radial direction, and the advancing amount of the honing grindstone 22 decreases.

<Operation of honing tool>
In the honing operation for grinding the inner peripheral surface of the hole to be machined of the work W, first, the honing tool 20 is inserted into the hole to be machined of the work W held by the floating jig 40 . After that, the honing tool 20 advances one or more (three in this example) honing wheels 22 from the tool body 21 . The honing tool 20 has one or a plurality of honing grindstones 22 protruded from the tool body 21 and in contact with the inner peripheral surface of the hole to be machined in the workpiece, and the rotation axis extending in the axial direction of the honing tool 20 is rotated. By rotating around the center, the inner peripheral surface of the hole to be machined in the work is ground. Various operations (centering operation, etc.) performed in the honing operation will be described later in detail.

[Drive mechanism]
A drive mechanism 30 drives the honing tool 20 . In this example, the drive mechanism 30 has a rotary spindle, a spindle rotary drive section, a spindle reciprocating drive section, and a grindstone drive section. The rotating main shaft is rotatable about a rotation axis extending in the axial direction, and can reciprocate in the direction of the rotation axis. A honing tool 20 is attached to the rotating main shaft. The rotation axis of the honing tool 20 is coaxial with the rotation axis of the rotation main shaft. The main shaft rotation drive section rotates the main shaft about the rotation axis. The main shaft reciprocating drive section reciprocates the rotating main shaft in the direction of the rotation axis. The grindstone driving section moves the rod 23 of the honing tool 20 in the axial direction. In addition, this drive mechanism 30 may be configured by a known drive mechanism.

[Floating jig]
The floating jig 40 supports the work W in a floating state so that the honing tool 20 and the work W are aligned. The floating jig 40 has a jig base 41 , a first swing member 42 , a second swing member 43 and a work holder 44 . This centered state is a state in which the rotational axis of the honing tool 20 and the axial center of the workpiece W can be regarded as being aligned with each other. It is a state in which the deviation from the axis of the work W is within a predetermined allowable range.

<Jig base>
The jig base 41 swingably supports the first swing member 42 so that the first swing member 42 swings around a first swing shaft 42x, which will be described later. In this example, the jig base 41 has a first bearing portion 41x that swingably supports the first swing shaft 42x. Specifically, the jig base 41 has a base body 41a, two support portions 41b, and two first bearing portions 41x respectively corresponding to two first swing shafts 42x described later. .

The base body 41a is formed in a plate shape extending in the first direction X. As shown in FIG. In addition, the base body 41a faces the first swing member 42 in the third direction Z with a gap therebetween. In this example, the first swing member 42 is arranged above the base body 41a.

The two support portions 41b are each formed in a plate shape extending in the third direction Z. As shown in FIG. The two support portions 41b are arranged so as to face each other in the first direction X with the first swing member 42 interposed therebetween and are fixed to the base body 41a. In this example, the two support portions 41b are erected at both end portions in the first direction X of a base body 41a formed in a rectangular plate shape.

The two first bearing portions 41x are provided on the two support portions 41b, respectively, and face each other in the first direction X with the first swing member 42 interposed therebetween. In addition, the two first bearing portions 41x have respective axial centers along the first direction X, and the respective axial centers are coaxial. Two first swing shafts 42x are respectively inserted into the two first bearing portions 41x. With such a configuration, the two first bearing portions 41x swingably support the two first swing shafts 42x. In this example, the first bearing portion 41x is a cylindrical bush.

<First rocking member>
The first swing member 42 has a first swing shaft 42x extending in the first direction X. As shown in FIG. The first rocking member 42 is supported by the jig base 41 so as to rock about the first rocking shaft 42x. Also, the first swing member 42 is movable in the first direction X within a predetermined range in the first direction X (between the two support portions 41b in this example). Specifically, the first swing member 42 has a first swing body 42a and two first swing shafts 42x.

The first rocking body 42a is formed in an annular shape (more specifically, an annular shape). The first rocking body 42a is arranged between the two first bearing portions 41x of the jig base 41. As shown in FIG. A second swinging member 43 is arranged inside the first swinging body 42a. The first rocking body 42a is movable in the first direction X between the two first bearing portions 41x.

The two first oscillating shafts 42x are respectively provided in two first facing portions of the first oscillating body 42a that face each other in the first direction X, and sandwich the second oscillating member 43 in the first direction X. facing each other. Further, the two first swing shafts 42x are coaxial with each other. The two first rocking shafts 42x protrude from the first rocking body 42a toward the outside of the first rocking body 42a in the first direction X, respectively, and are attached to the two first bearing portions 41x of the jig base 41. inserted respectively. Further, each of the two first swing shafts 42x is movable in the first direction X while being swingably supported by the first bearing portion 41x.

The first swinging member 42 swingably supports the second swinging member 43 so that the second swinging member 43 swings around a second swinging shaft 43y described later. In this example, the first swing member 42 has a second bearing portion 42y that swingably supports the second swing shaft 43y. Specifically, the first swing member 42 has two second bearing portions 42y respectively corresponding to two second swing shafts 43y described later.

The two second bearing portions 42y are provided on two second facing portions of the first oscillating body 42a that face each other in the second direction Y, with the second oscillating member 43 interposed therebetween. facing each other. Also, the two second bearing portions 42y have their respective axial centers aligned with the second direction Y, and their respective axial centers are coaxial. Two second swing shafts 43y are inserted into the two second bearing portions 42y, respectively. With such a configuration, the two second bearing portions 42y swingably support the two second swing shafts 43y. In this example, the second bearing portion 42y is a cylindrical bush.

<Second rocking member>
The second swing member 43 has a second swing shaft 43y extending in the second direction Y. As shown in FIG. The second swing member 43 is supported by the first swing member 42 so as to swing around the second swing shaft 43y. Further, the second swinging member 43 is movable in the second direction Y within a predetermined range in the second direction Y (in this example, inside the first swinging body 42a). Specifically, in this example, the second swing member 43 has a second swing body 43a, two extensions 43b, and two second swing shafts 43y.

The second swinging body 43a is formed in a plate shape extending in the second direction Y. As shown in FIG. A work holder 44 is fixed to the second swinging body 43a. In this example, the work holder 44 is provided in the central portion of the second rocking body 43a formed in a rectangular plate shape.

The two extending portions 43b are formed in plate shapes extending in the third direction Z. As shown in FIG. The two extending portions 43b are arranged so as to face each other in the second direction Y with the work holder 44 interposed therebetween and are fixed to the second swinging body 43a. In this example, the two extending portions 43b are erected at both end portions in the second direction Y of the second rocking body 43a formed in a rectangular plate shape.

The two second swing shafts 43y are provided on the two extensions 43b, respectively, and face each other in the second direction Y with the work holder 44 interposed therebetween. Further, the two second swing shafts 43y are coaxial with each other. The two second swing shafts 43y protrude from the second swinging body 43a outwardly of the second swinging body 43a in the second direction Y, respectively, and are mounted on the two second bearing portions of the first swinging member 42. 42y, respectively. Further, each of the two first swing shafts 42x is movable in the second direction Y while being swingably supported by the second bearing portion 42y.

<Work holder>
The work holder 44 is fixed to the second swing member 43 . The work holder 44 holds the work W. As shown in FIG. In this example, the work holder 44 is configured such that the work W can be attached and detached, and positions and holds the work W. As shown in FIG.

[Control part]
The control unit 100 is electrically connected to each part of the honing machine 10 (for example, the drive mechanism 30) and is capable of transmitting electric signals to and from each part of the honing machine 10. FIG. The control unit 100 controls each part of the honing machine 10 based on signals from each part of the honing machine 10 and signals from the outside of the honing machine 10 . For example, the control unit 100 includes a processor, a memory that stores programs and information for operating the processor, and the like.

[First braking mechanism]
The honing machine 10 has a first braking mechanism 50 . The first braking mechanism 50 limits the swing of the first swing shaft 42x and fixes the posture of the first swing member 42 . In this example, the honing machine 10 has two first braking mechanisms 50 . One first braking mechanism 50 of the two first braking mechanisms 50 limits the swinging of one first swing shaft 42x of the two first swing shafts 42x, and the other first braking mechanism 50 limits the swing of the other first swing shaft 42x.

As shown in FIGS. 5 and 6 , the first braking mechanism 50 has multiple first actuators 51 , multiple first load sensors 52 , and a first ring 53 . The control unit 100 is electrically connected to the plurality of first actuators 51 and the plurality of first load sensors 52, and is capable of transmitting electrical signals therebetween.

<First actuator>
The plurality of first actuators 51 are arranged to surround the first swing shaft 42x and fixed to the jig base 41 . Each of the plurality of first actuators 51 presses the first swing shaft 42x in the direction toward the axis of the first swing shaft 42x. The pressing force of the first actuator 51 against the first swing shaft 42x is controllable.

In this example, three first actuators 51 are provided for one first swing shaft 42x. The three first actuators 51 are arranged at equal intervals in a direction around the axis of the first swing shaft 42x (hereinafter referred to as "circumferential direction of the first swing shaft 42x") and are supported by the jig base 41. 41b.

As shown in FIG. 5, in this example, the first actuator 51 has a first air cylinder 51a and a first air pump 51b. The first air cylinder 51a has a rod extending in a direction perpendicular to the axial direction of the first swing shaft 42x (hereinafter referred to as "radial direction of the first swing shaft 42x"). The rod advances and retreats in the radial direction of the first swing shaft 42x according to the rise and fall of the air pressure inside the . The higher the air pressure inside the first air cylinder 51a, the greater the pressing force of the rod of the first air cylinder 51a against the first swing shaft 42x. The first air pump 51b selectively performs a supply operation of supplying air to the first air cylinder 51a and a discharge operation of discharging air from the first air cylinder 51a.

When air is supplied from the first air pump 51b to the first air cylinder 51a, the air pressure inside the first air cylinder 51a rises, and the pressing force of the rod of the first air cylinder 51a against the first swing shaft 42x increases. Become. On the other hand, when air is discharged from the first air cylinder 51a to the first air pump 51b, the air pressure inside the first air cylinder 51a drops, and the pressing force of the rod of the first air cylinder 51a against the first swing shaft 42x. becomes smaller.

<First load sensor>
The plurality of first load sensors 52 respectively detect pressing forces of the plurality of first actuators 51 acting on the first swing shaft 42x. Specifically, the first load sensor 52 outputs an electrical signal corresponding to the pressing force of the first actuator 51 acting on the first swing shaft 42x. For example, the first load sensor 52 is a strain gauge. The detection results (electrical signals) of the multiple first load sensors 52 are transmitted to the controller 100 .

In this example, three first load sensors 52 corresponding to the three first actuators 51 are provided. The three first load sensors 52 are provided on the outer circumference of the first swing shaft 42x. The three first load sensors 52 are arranged at equal intervals in the circumferential direction of the first swing shaft 42x so as to face the three first actuators 51 in the radial direction of the first swing shaft 42x. contacts the pressing portion of the first actuator 51 (specifically, the rod of the first air cylinder 51a).

<First ring>
The first ring 53 has viscoelasticity. Specifically, the first ring 53 is made of a material having viscoelasticity (for example, rubber) and formed in a cylindrical shape. The first ring 53 is provided on the outer circumference of the first swing shaft 42x. In this example, the multiple first load sensors 52 are provided between the first swing shaft 42 x and the first ring 53 .

[Second braking mechanism]
The honing machine 10 has a second braking mechanism 60 . The second braking mechanism 60 limits the swing of the second swing shaft 43y and fixes the posture of the first swing member 42. As shown in FIG. In this example, the honing machine 10 has two second braking mechanisms 60 . One second braking mechanism 60 of the two second braking mechanisms 60 limits the swinging of one of the two second swing shafts 43y, and the other second braking mechanism 60 limits the swing of the other second swing shaft 43y.

As shown in FIGS. 5 and 6 , the second braking mechanism 60 has multiple second actuators 61 , multiple second load sensors 62 , and a second ring 63 . The control unit 100 is electrically connected to the plurality of second actuators 61 and the plurality of second load sensors 62 and is capable of transmitting electrical signals therebetween.

<Second actuator>
The plurality of second actuators 61 are arranged so as to surround the second swing shaft 43y and are fixed to the first swing member 42 . Each of the plurality of second actuators 61 presses the second swing shaft 43y in the direction toward the axis of the second swing shaft 43y. The pressing force of the second actuator 61 against the second swing shaft 43y can be controlled.

In this example, three second actuators 61 are provided for one second swing shaft 43y. The three second actuators 61 are arranged at regular intervals in the direction around the axis of the second swing shaft 43y (hereinafter referred to as the “circumferential direction of the second swing shaft 43y”), It is fixed to the first swinging body 42a.

As shown in FIG. 5, in this example, the second actuator 61 has a second air cylinder 61a and a second air pump 61b. The second air cylinder 61a has a rod extending in a direction orthogonal to the axial direction of the second swing shaft 43y (hereinafter referred to as "radial direction of the second swing shaft 43y"). The rod advances and retreats in the radial direction of the second swing shaft 43y according to the rise and fall of the air pressure inside the . The higher the air pressure inside the second air cylinder 61a, the greater the pressing force of the rod of the second air cylinder 61a against the second swing shaft 43y. The second air pump 61b selectively performs a supply operation of supplying air to the second air cylinder 61a and a discharge operation of discharging air from the second air cylinder 61a.

When air is supplied from the second air pump 61b to the second air cylinder 61a, the air pressure inside the second air cylinder 61a rises, and the pressing force of the rod of the second air cylinder 61a against the second swing shaft 43y increases. Become. On the other hand, when air is discharged from the second air cylinder 61a to the second air pump 61b, the air pressure inside the second air cylinder 61a drops, and the pressing force of the rod of the second air cylinder 61a against the second swing shaft 43y. becomes smaller.

<Second load sensor>
The plurality of second load sensors 62 respectively detect pressing forces of the plurality of second actuators 61 acting on the second swing shaft 43y. Specifically, the second load sensor 62 outputs an electrical signal corresponding to the pressing force of the second actuator 61 acting on the second swing shaft 43y. For example, the second load sensor 62 is a strain gauge. The detection results (electrical signals) of the multiple second load sensors 62 are transmitted to the controller 100 .

In this example, three second load sensors 62 corresponding to the three second actuators 61 are provided. The three second load sensors 62 are provided on the outer circumference of the second swing shaft 43y. The three second load sensors 62 are arranged at equal intervals in the circumferential direction of the second swing shaft 43y so as to face the three second actuators 61 in the radial direction of the second swing shaft 43y. contacts the pressing portion of the second actuator 61 (specifically, the rod of the second air cylinder 61a).

<Second ring>
The second ring 63 has viscoelasticity. Specifically, the second ring 63 is made of a material having viscoelasticity (for example, rubber) and formed in a cylindrical shape. The second ring 63 is provided on the outer circumference of the second swing shaft 43y. In this example, the multiple second load sensors 62 are provided between the second swing shaft 43 y and the second ring 63 .

[Operation of control unit in honing operation]
Next, the operation of the control section 100 in the honing operation will be described. In the honing operation, the control unit 100 sequentially performs a centering operation, a braking operation, and a machining operation.

<Centering operation>
When the work W is held by the work holder 44 of the floating jig 40, the control section 100 performs a centering operation. In the centering operation, first, the control section 100 controls the drive mechanism 30 so that the honing tool 20 is inserted into the hole to be machined of the work W held by the floating jig 40 . Next, as shown in FIG. 4, the control unit 100 controls the drive mechanism 30 so that the honing grindstone 22 radially advances from the tool body 21 and comes into contact with the inner peripheral surface of the hole to be machined in the workpiece W. do. Thereby, the postures of the first swing member 42 and the second swing member 43 of the floating jig 40 are adjusted so that the honing tool 20 and the work W are aligned.

<Braking action>
When the centering operation is completed, the control section 100 performs a braking operation. In braking operation, the controller 100 drives the two first braking mechanisms 50 and the two second braking mechanisms 60 . As a result, the plurality of first actuators 51 included in each of the two first braking mechanisms 50 restrict the swinging of the first swing shaft 42x, fix the attitude of the first swing member 42, and allow the two first brake mechanisms 50 to move. A plurality of second actuators 61 included in each of the two braking mechanisms 60 restrict the swinging of the second swinging shaft 43y, and the posture of the second swinging member 43 is fixed.

In this example, in the braking operation, the control unit 100 performs the first braking control on each of the two first braking mechanisms 50 and the second braking control on each of the two second braking mechanisms 60. control. The first braking control and the second braking control will be explained later in detail.

<Machining operation>
After the braking operation is completed, the control unit 100 performs the machining operation. In the machining operation, the control section 100 controls the drive mechanism 30 so that the honing tool 20 rotates around the rotation axis. As a result, the inner peripheral surface of the hole to be machined in the work W is ground.

[Imbalance of pressing force in braking operation]
In addition, in the honing machine 10, due to factors such as the shape error of the first swing shaft 42x, the installation error of the plurality of first actuators 51, and the variation in responsiveness of the plurality of first actuators 51, the plurality of first actuators 51 When the actuator 51 performs the operation of fixing the posture of the first swing member 42, the pressing forces of the plurality of first actuators 51 act unbalancedly on the first swing shaft 42x. 1 There is a risk that the posture of the swinging member 42 is shifted. Also, due to the same factor as this, when the plurality of second actuators 61 perform the operation of fixing the posture of the second swing member 43, the plurality of second actuators 61 move toward the second swing shaft 43y. The pressing force acts unbalancedly, and as a result, there is a possibility that the posture of the second swing member 43 is shifted.

[First braking control]
In this example, the control unit 100 causes the plurality of first actuators 51 to move toward the first swing axis 42x in the operation (braking operation in this example) of fixing the posture of the first swing member 42 by the plurality of first actuators 51. In order to reduce the imbalance of the pressing forces, the first braking control is performed for each of the two first braking mechanisms 50 .

In the first braking control, the control unit 100 controls the multiple first actuators 51 according to the detection results of the multiple first load sensors 52 . Specifically, the control unit 100 controls the pressing force of the plurality of first actuators 51 to gradually increase so that the pressing force of the plurality of first actuators 51 acting on the first swing shaft 42x is balanced. , the pressing forces of the plurality of first actuators 51 are adjusted according to the detection results of the plurality of first load sensors 52 . Note that this balanced state is a state in which the pressing forces of the plurality of first actuators 51 can be considered to be substantially equal. It is a state in which it is within the allowable range. In this example, the control unit 100 controls the plurality of first load sensors 52 so that each of the pressing forces of the plurality of first actuators 51 detected by the plurality of first load sensors 52 becomes a predetermined target pressing force. A plurality of first actuators 51 are respectively controlled according to the detection result of 52 .

[Specific example of first braking control]
Specifically, the control unit 100 performs the following processing (steps 1 to 8) in the first braking control.

<Step 1>
First, the control unit 100 sets the target pressing force, which is the target value of the pressing force of the first actuator 51, to a predetermined initial value for each of the plurality of first actuators 51. FIG. The initial value of the target pressing force determined for each of the plurality of first actuators 51 restricts the swinging of the first swing shaft 42x by the pressing force of the plurality of first actuators 51, and the first swing member It is set to the pressing force of the first actuator 51 when the posture of 42 can be sufficiently fixed.

<Step 2>
Next, the control unit 100 sets the pressing force of each of the plurality of first actuators 51 to 1/2 of the target pressing force (initial value) of the first actuator 51 set in step 1. The plurality of first actuators 51 are controlled according to the difference between the detection result of the first load sensor 52 and 1/2 of the target pressing force. As a result, the pressing force of each of the plurality of first actuators 51 gradually increases, and each of the plurality of first actuators 51 performs the first swing with a pressing force corresponding to 1/2 of the target pressing force (initial value). Press the axis 42x. Then, the control unit 100 acquires pressing forces of the plurality of first actuators 51 detected by the plurality of first load sensors 52 .

<Step 3>
Next, the control unit 100 controls the plurality of first actuators 51 so that the pressing force of each of the plurality of first actuators 51 becomes zero (that is, the pressing of the first swing shaft 42x by the plurality of first actuators 51 is released). It controls the first actuator 51 .

<Step 4>
Next, the control unit 100 sets the target pressing force of each of the plurality of first actuators 51 based on the variation in the pressing force of the plurality of first actuators 51 detected by the plurality of first load sensors 52 in step 2. Update.

For example, the control unit 100 subtracts the second largest pressing force from the largest pressing force among the three pressing forces of the first actuator 51 detected by the three first load sensors 52 to obtain the first correction value. Then, the second correction value is derived by subtracting the smallest pressing force from the second largest pressing force. Then, the control unit 100 subtracts the first adjustment amount from the target pressing force of the first actuator 51 having the largest pressing force detected by the first load sensor 52 among the three first actuators 51, and The target pressing force of 51 is updated, and the second adjustment amount is added to the target pressing force of the first actuator 51 having the smallest pressing force detected by the first load sensor 52 among the three first actuators 51, 1 Update the target pressing force of the actuator 51 . Note that the target pressing force of the first actuator 51 having the second smallest pressing force detected by the first load sensor 52 among the three first actuators 51 is not updated.

<Step 5>
Next, the control unit 100 controls the plurality of first load sensors so that the pressing force of each of the plurality of first actuators 51 is ⅓ of the target pressing force of the first actuator 51 set in step 4. A plurality of first actuators 51 are controlled according to the difference between the detection result of 52 and ⅓ of the target pressing force. As a result, the pressing force of each of the plurality of first actuators 51 gradually increases, and the pressing force of each of the plurality of first actuators 51 against the first swing shaft 42x becomes 1 of the target pressing force of the first actuator 51. /3, and the plurality of first actuators 51 with respect to the first swing shaft 42x are in a balanced state.

<Step 6>
Next, the control unit 100 controls the plurality of first load sensors so that the pressing force of each of the plurality of first actuators 51 becomes 1/2 of the target pressing force of the first actuator 51 set in step 4. A plurality of first actuators 51 are controlled according to the difference between the detection result of 52 and 1/2 of the target pressing force. As a result, the pressing force of each of the plurality of first actuators 51 gradually increases, and the pressing force of each of the plurality of first actuators 51 against the first swing shaft 42x becomes 1 of the target pressing force of the first actuator 51. /2, and the plurality of first actuators 51 with respect to the first swing shaft 42x are in a balanced state.

<Step 7>
Next, the control unit 100 controls the plurality of first load sensors so that the pressing force of each of the plurality of first actuators 51 is 3/4 of the target pressing force of the first actuator 51 set in step 4. The plurality of first actuators 51 are controlled according to the difference between the detection result of 52 and 3/4 of the target pressing force. As a result, the pressing force of each of the plurality of first actuators 51 gradually increases, and the pressing force of each of the plurality of first actuators 51 against the first swing shaft 42x reaches 3 of the target pressing force of the first actuator 51. /4, and the plurality of first actuators 51 with respect to the first swing shaft 42x are in a balanced state.

<Step 8>
Next, the control unit 100 controls the detection results of the plurality of first load sensors 52 so that the pressing force of each of the plurality of first actuators 51 becomes the target pressing force of the first actuator 51 set in step 4. and the target pressing force. As a result, the pressing force of each of the plurality of first actuators 51 gradually increases, and the pressing force of each of the plurality of first actuators 51 against the first swing shaft 42x becomes the target pressing force of the first actuator 51, The plurality of first actuators 51 with respect to the first swing shaft 42x are balanced.

[Second braking control]
Further, in this example, the control unit 100 causes the plurality of second actuators 61 to fix the posture of the second swing member 43 (braking operation in this example), with respect to the second swing shaft 43y. In order to reduce the imbalance of the pressing force of the actuator 61, the second braking control is performed for each of the two second braking mechanisms 60. FIG.

In the second braking control, the control unit 100 controls the multiple second actuators 61 according to the detection results of the multiple second load sensors 62 . Specifically, the control unit 100 controls the pressing force of the plurality of second actuators 61 to gradually increase so that the pressing force of the plurality of second actuators 61 acting on the second swing shaft 43y is balanced. , the pressing forces of the plurality of second actuators 61 are adjusted according to the detection results of the plurality of second load sensors 62 . This balanced state is a state in which the pressing forces of the plurality of second actuators 61 can be considered to be substantially equal. It is a state in which it is within the allowable range. In this example, the control unit 100 controls the plurality of second load sensors 62 so that each of the pressing forces of the plurality of second actuators 61 detected by the plurality of second load sensors 62 becomes a predetermined target pressing force. Each of the plurality of second actuators 61 is controlled according to the detection result of 62 .

[Specific example of second braking control]
Specifically, in the second braking control, the control unit 100 performs the same processing as the processing (steps 1 to 8) performed in the first braking control. That is, in the second braking control, the "first swing member 42", the "first swing shaft 42x", the "first actuator 51", and the "first load sensor 52" in steps 1 to 8 above are set to , "second swing member 43", "second swing shaft 43y", "second actuator 61", and "second load sensor 62".

[Effect of Embodiment]
As described above, the plurality of first actuators 51 arranged to surround the first oscillating shaft 42x press the first oscillating shaft 42x in the direction toward the axis of the first oscillating shaft 42x. , the posture of the first swing member 42 can be fixed by limiting the swing of the first swing shaft 42x. Similarly, a plurality of second actuators 61 arranged to surround the second swing shaft 43y press the second swing shaft 43y in the direction toward the axis of the second swing shaft 43y. , the posture of the second swing member 43 can be fixed by limiting the swing of the second swing shaft 43y. Since the postures of the first swinging member 42 and the second swinging member 43 can be fixed in this manner, misalignment of the work W with respect to the honing tool 20 can be made difficult to occur. As a result, it is possible to suppress a decrease in the accuracy of the honing process.

Further, by controlling the plurality of first actuators 51 according to the detection results of the plurality of first load sensors 52, the plurality of first actuators 51 can be controlled while confirming the pressing force of the plurality of first actuators 51 acting on the first swing shaft 42x. , the pressing force of the first actuator 51 can be adjusted. As a result, when the plurality of first actuators 51 perform the operation of fixing the posture of the first swing member 42, the imbalance in the pressing force of the plurality of first actuators 51 acting on the first swing shaft 42x is eliminated. It is possible to prevent the occurrence of a situation in which the posture of the first swing member 42 is shifted due to the increase in size. Similarly, by controlling the plurality of second actuators 61 according to the detection results of the plurality of second load sensors 62, the pressing force of the plurality of second actuators 61 acting on the second swing shaft 43y can be confirmed. While doing so, the pressing force of the plurality of second actuators 61 can be adjusted. As a result, when the plurality of second actuators 61 perform the operation of fixing the posture of the second swing member 43, the imbalance in the pressing force of the plurality of second actuators 61 acting on the second swing shaft 43y is eliminated. It is possible to prevent the occurrence of a situation in which the posture of the second swinging member 43 becomes displaced due to the increase in size. As described above, when the plurality of first actuators 51 and the plurality of second actuators 61 perform the operation of fixing the postures of the first swinging member 42 and the second swinging member 43, the center of the work W with respect to the honing tool 20 is adjusted. Since it is possible to make it difficult for deviation to occur, it is possible to suppress a decrease in the accuracy of the honing process.

In addition, by gradually increasing the pressing forces of the plurality of first actuators 51 and balancing the pressing forces of the plurality of first actuators 51 acting on the first swing shaft 42x, the plurality of first actuators 51 When the operation of fixing the posture of the first swing member 42 is performed, it is possible to prevent the imbalance between the pressing forces of the plurality of first actuators 51 acting on the first swing shaft 42x from suddenly increasing. Therefore, it is possible to suppress the deviation of the posture of the first swing member 42 due to the imbalance of the pressing forces of the plurality of first actuators 51 . Similarly, by gradually increasing the pressing forces of the plurality of second actuators 61 and balancing the pressing forces of the plurality of second actuators 61 acting on the second swing shaft 43y, the plurality of second actuators 61 To prevent imbalance between pressing forces of a plurality of second actuators 61 acting on a second swing shaft 43y from suddenly increasing when the actuator 61 performs an operation to fix the posture of the second swing member 43. Therefore, it is possible to suppress the deviation of the posture of the second swing member 43 due to the imbalance of the pressing forces of the plurality of second actuators 61 . As described above, when the plurality of first actuators 51 and the plurality of second actuators 61 perform the operation of fixing the postures of the first swinging member 42 and the second swinging member 43, the center of the work W with respect to the honing tool 20 is adjusted. Since it is possible to make it difficult for deviation to occur, it is possible to suppress a decrease in the accuracy of the honing process.

In addition, by providing the first ring 53 having viscoelasticity on the outer circumference of the first swing shaft 42x, the pressing force of the plurality of first actuators 51 restricts swinging of the first swing shaft 42x, thereby preventing the first swing shaft 42x from swinging. When fixing the posture of the moving member 42, it is possible to suppress the slippage of the first swing shaft 42x. Thereby, the posture of the first swing member 42 can be firmly fixed. Similarly, by providing a second ring 63 having viscoelasticity on the outer circumference of the second swing shaft 43y, the pressing force of the plurality of second actuators 61 restricts swinging of the second swing shaft 43y. When fixing the posture of the second swing member 43, it is possible to suppress the slippage of the second swing shaft 43y. Thereby, the posture of the second rocking member 43 can be firmly fixed.

(Modification of first braking control)
Note that the target pressing force of each of the plurality of first actuators 51 in the first braking control is determined according to the distribution of the stress acting on the first swing shaft 42x when the honing tool 20 and the work W are in the centered state. may be set. Specifically, the control unit 100 may be configured to perform the following step 11 instead of steps 1 to 4 in the first braking control.

<Step 11>
First, when the honing tool 20 and the workpiece W are in the centered state in the centering operation, the control section 100 acquires the outputs of the plurality of first load sensors 52 . Next, based on the output distribution of the plurality of first load sensors 52 (that is, the distribution of stress acting on the first swing shaft 42x), the control unit 100 determines the target pressing force of each of the plurality of first actuators 51. set. For example, the control unit 100 increases the target pressing force of the first actuator 51 corresponding to the first load sensor 52 as the output of the first load sensor 52 increases. Set the pressing force. Then go to step 5.

(Modified example of the second braking operation)
Further, as in the modified example of the first braking control, when the honing tool 20 and the workpiece W are in the centered state, according to the distribution of the stress acting on the second swing shaft 43y, the plurality of vibrations in the second braking control You may set each target pushing force of the 2nd actuator 61 of . Specifically, the control unit 100 may be configured to perform the same process as in step 11 above instead of the same process as in steps 1 to 4 in the second braking control.

(number of actuators)
In the above description, the case where the number of the first actuators 51 is three and the number of the second actuators 61 is three is taken as an example. The number of first actuators 51 is preferably three or more. Similarly, the number of second actuators 61 is preferably three or more.

As described above, by providing three or more first actuators 51 with respect to the first swing shaft 42x, the number of first actuators 51 can be reduced compared to the case where only two first actuators 51 are provided with respect to the first swing shaft 42x. 1 Swing shaft 42x can be pressed from multiple directions. As a result, it is possible to suppress the displacement of the first swing shaft 42x, so that the displacement of the first swing member 42 can be suppressed. Similarly, by providing three or more second actuators 61 for the second swing shaft 43y, the number of second actuators 61 can be reduced more than when only two second actuators 61 are provided for the second swing shaft 43y. The two swing shafts 43y can be pressed from multiple directions. As a result, displacement of the second swing shaft 43y can be suppressed, and thus displacement of the second swing member 43 can be suppressed. As described above, misalignment of the workpiece W with respect to the honing tool 20 can be made difficult to occur, so that a decrease in accuracy of honing can be suppressed.

(Other embodiments)
In the above description, the case where the honing machine 10 includes the two first braking mechanisms 50 is taken as an example, but one of the two first braking mechanisms 50 is omitted. may be Similarly, one of the two second braking mechanisms 60 may be omitted.

Also, the above embodiments may be combined as appropriate. The above embodiments are essentially preferable illustrations, and are not intended to limit the scope of the present invention, its applications, or its uses.

INDUSTRIAL APPLICABILITY As described above, the present invention is useful as a honing machine.

10 honing machine 20 honing tool 30 drive mechanism 40 floating jig 41 jig base 42 first swing member 42x first swing shaft 43 second swing member 43y second swing shaft 44 work holder 50 first braking mechanism 51 First actuator 52 First load sensor 53 First ring 60 Second braking mechanism 61 Second actuator 62 Second load sensor 63 Second ring 100 Control unit

Claims (5)

A tool body formed in a cylindrical shape and having a through hole provided in a peripheral wall portion thereof, and a honing grindstone arranged in the through hole of the tool body and capable of moving forward and backward in a radial direction, wherein the honing grindstone is moved from the tool body. a honing tool for grinding the inner peripheral surface of the hole to be machined of the workpiece by advancing the honing tool while being in contact with the inner peripheral surface of the hole to be machined of the workpiece and rotating about a rotational axis extending in the axial direction;
a jig base; a first swing member having a first swing shaft extending in a first direction and supported by the jig base so as to swing about the first swing shaft; a second swinging member having a second swinging shaft extending in a second direction perpendicular to the first direction and supported by the first swinging member so as to swing around the second swinging shaft; a floating jig that has a work holder that is fixed to the second swing member and holds the work, and that supports the work in a floating state;
A plurality of first rocking shafts arranged to surround the first rocking shaft and fixed to the jig base, each of which presses the first rocking shaft in a direction toward the center of the first rocking shaft. an actuator;
A plurality of oscillating shafts arranged to surround the second oscillating shaft and fixed to the first oscillating member, each of which presses the second oscillating shaft in a direction toward the axis of the second oscillating shaft. and a second actuator. In claim 1,
a plurality of first load sensors that respectively detect pressing forces of the plurality of first actuators acting on the first swing shaft;
a plurality of second load sensors that respectively detect pressing forces of the plurality of second actuators acting on the second swing shaft;
a control unit that controls the plurality of first actuators according to detection results of the plurality of first load sensors and controls the plurality of second actuators according to detection results of the plurality of second load sensors; A honing machine characterized by comprising: In claim 2,
The control unit
Detection by the plurality of first load sensors such that the pressing forces of the plurality of first actuators gradually increase and the pressing forces of the plurality of first actuators acting on the first swing shaft are balanced. adjusting the pressing force of the plurality of first actuators according to the result;
Detection by the plurality of second load sensors such that the pressing forces of the plurality of second actuators gradually increase and the pressing forces of the plurality of second actuators acting on the second swing shaft are balanced. A honing machine, wherein the pressing force of the plurality of second actuators is adjusted according to the result. In claim 2 or 3,
a first ring having viscoelasticity and provided on the outer periphery of the first swing shaft;
a second ring having viscoelasticity and provided on the outer circumference of the second swing shaft;
The plurality of first load sensors are arranged between the first swing shaft and the first ring,
The honing machine, wherein the plurality of second load sensors are arranged between the second swing shaft and the second ring. In any one of claims 1 to 4,
The number of the first actuators is 3 or more,
The honing machine, wherein the number of the second actuators is three or more.

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