JPH022668B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a numerically controlled glass plate processing machine that processes a plurality of glass plates simultaneously and in parallel using a plurality of working heads.

A plurality of work heads are mounted on a common moving means, for example, a work head support stand, and while being moved numerically, the rotation angle is also controlled by numerical control, that is, turning, around an axis perpendicular to the surface of the glass plate. It relates to a glass plate processing machine that processes glass plates.

For example, wide chamfering (beveling) of a glass plate
When performing edge cutting, the edges are edge-cut (edge-cutting or edge-grinding), chamfer-cutting (bevel-cutting with a diamond wheel), chamfer-cutting (smoothing with a grindstone, etc.), chamfer-cutting. It is necessary to go through various work steps such as polishing the polished surface. However, in order to automatically wide-bevel glass plates of various shapes such as circular, oval, and rectangular shapes, in each of these work processes, each work tool attached to the work head, such as a processing wheel, must be It is necessary to configure the machine so that it runs along the shape, that is, the contour, and to control the movement of each processing wheel. In this case, since there are many operations to be controlled in order to individually and independently control the movements of the processing wheels in each of the above-mentioned work steps, a large number of control devices equipped with one numerical control program are required. In addition, when there are many operations to be controlled, a control device equipped with a numerical control program with complex and advanced content is required.
Furthermore, if the numerical control program for performing the control recorded on a control tape or the like is complex and sophisticated, it becomes difficult to create it.

In addition, multiple work heads can be mounted on a common moving means, such as a work head support stand, and numerically controlled.
When performing processing operations such as polishing on multiple glass plates simultaneously in parallel by moving the coordinates in the etc., when wheels of different diameters are used for the work tools, or when the work tools, such as wheels, have different wear, each work head may not be able to perform the work despite the same numerical control program. Since the working parts of the tools do not follow the same locus of movement, there is a risk that the finished dimensions of the glass plates may differ from each other, or that some glass plates may not be processed at all.

Therefore, an object of the present invention is to maintain the working part (machining point) of the work tool of each work head even if different types of work tools are used in each work head or work tools of different sizes are installed. ) can match each machining operation, and each movement trajectory can be finely adjusted by taking into account grinding allowance, finishing dimensions, etc. An object of the present invention is to provide a numerically controlled glass plate processing machine configured to be able to carry out processing work by enlarging the movement locus of one working tool and reducing the movement locus of a working tool of another working head.

According to the present invention, the object is to provide a plurality of fixing tables for holding glass sheets to be processed, and a plurality of fixing tables for holding glass sheets to be processed, and a plurality of fixing tables for holding glass sheets to be processed, and a plurality of fixing tables for holding glass plates to be processed, and a plurality of fixing tables for holding glass sheets to be processed, and a plurality of fixing tables for holding glass sheets to be processed. a relatively movable work head support; and a first drive device provided between the work head support and the fixed stand for moving the work head support relative to the fixed stand. a plurality of work heads supported by the work head support base so as to rotate around a first axis extending parallel to a third direction orthogonal to the first and second directions; a working tool disposed on a second axis in a plane including the first axis and attached to each of the working heads, and each of the working heads for causing the turning of the working head; one second drive device mechanically coupled to the second drive device; and one second drive device mechanically coupled to the first drive device for relative movement of the work head support with respect to each of the fixed bases, and the second drive device to move the work head supports relative to each of the fixed bases. one numerical control device connected to the first drive device and the second drive device to numerically control the turning, the first axis passing through a working part of the power tool; and the work head is not coaxial with the second axis, and the work head is in a direction in another plane including the first and second directions, and The movement can be adjusted in the normal direction of the processed part of the glass plate that the working part contacts, and in the direction in the other plane, which is orthogonal to the normal direction, and This is achieved by a numerically controlled glass plate processing machine having a fine adjustment means capable of adjusting the angle of the two axes within the one plane.

Hereinafter, specific examples will be explained based on the drawings.

Here, first, as a reference example, the fundamental structure of a numerically controlled glass plate processing machine will be explained with reference to FIGS. 1 to 7.

As shown in FIGS. 1, 2, and 3, a table 30 on which a glass plate is placed and which controls movement in one direction in a horizontal plane, for example, in the X-axis direction, has four tables arranged at equal intervals. A guide rail 34 is installed on the base 33 with a fixed base 31 of the glass plate on the upper side, and a slide bearing 32 on the lower side.
is engaged in. The table 30 is connected to the nut 4 by a screw shaft 36 rotated by a servo motor 35.
0, and can move in the left and right directions in FIG. As shown in FIG. 3, each fixed base 31 is
Vacuum device 38 via flexible hose 37
It is connected to The vacuum device 38 sucks the glass plates placed on these fixing tables 31 and fixes the glass plates during the processing operation. As shown in FIG. 4, a suction structure is formed on the fixing base 31. As shown in FIG. This suction structure forms a boring 41 in the fixed base 31,
A seal plate 44 having a protrusion 43 at the center is movably inserted into the bore 41 with a spring 42 interposed therebetween, and an annular holding plate 45 restricts the seal plate 44 from protruding. ing. A sealing member 46 having a through hole 47 in the center is attached to the outside, and the protrusion 43 is inserted into the through hole 47 so that only the upper part of the protrusion 43 protrudes to the outside. A plurality of through holes 48 are bored in the seal member 46, and these through holes 48 are normally covered by the seal plate 44. The hose 37 is connected to the vacuum device 38 by screwing a nipple into the screw hole 49 for connecting the hose 37. Although suction is not performed in the illustrated state, when the glass plate is placed on the fixing table 31, the protrusion 43 is pushed down and the passage 50
The through hole 48 communicates with the vacuum device 38 through which the glass plate is suctioned and fixed.

A belt conveyor 51 is attached to the table 30 so as to be movable up and down with respect to the table 30. The frames 52, 52 arranged on both sides of the fixed base 31 are connected by a member 53 at the front and rear thereof, and this member 53 is attached to each known screw mechanism, so that a total of four screw mechanisms are provided on the front, rear, left and right sides. 54 raises and lowers the frames 52, 52 simultaneously. A drive pulley 56 and a driven pulley 57 are rotatably attached to each frame 52, 52, respectively, and belts 55, 55 are stretched around the two.
Two drive pulleys 56 are fixed to a drive shaft 59, and both belts 55, 55 are driven synchronously by a motor 58. This belt conveyor 5
1 transports the glass pane from one fixing table to the next.

The head stand 60 constituting the work head support stand is
Four working heads 61 to 64 are provided at positions corresponding to the four fixed stands 31. Head stand 60
is on the frame 65 fixed to the base 33,
It is movable in a direction perpendicular to the paper plane of FIG. 1, that is, in the Y-axis direction. Rails 66, 66 are fixedly provided on the frame 65. Two slide bearings 67, 67 are attached to each side of the head stand 60 in the longitudinal direction and engage with each rail 66, 66 to support the head stand 60. Slide bearing 67,6
7 is constructed so that the head stand 60 can move on rails 66, 66. On the other hand, head stand 6
Nuts 69 are attached to both sides of the frame 65, and screw shafts 68, 68 that engage with the nuts 69 are rotatably provided on both sides of the frame 65 in the longitudinal direction. The servo motor 7 is mounted on the frame 65.
0 is attached. This servo motor 70
The rotational force is extracted via a timing belt 71 to a shaft 72 disposed on a frame 65 in parallel with the head stand 60. Servo motor 70
are engaged with the screw shafts 68, 68 through bevel gears at both ends of the shaft 72, and are configured to rotate both screw shafts 68, 68 in the same direction. 68 moves the head stand 60 forward and backward in the Y-axis direction, that is, in the left-right direction in FIG. Reference numeral 73 denotes bearings on which the screw shafts 68 are rotatably mounted, and are provided at both ends of each screw shaft 68. A first drive device is constituted by the screw shaft 36 and servo motor 35, the screw shaft 68, the timing belt 71, the shaft 72, the bevel gear, and the servo motor 70, that is, the first drive device is connected to the table. 30 and the head stand 60.

The working heads mounted on the head stand 60 are arranged in process order from right to left in FIG.
The work head 61 is for etching, and as shown in FIG. 2, is used to simply cut or grind the edge E of the glass plate G, and uses a disk-shaped diamond wheel 75, which is an example of a work tool. The axis of rotation of this wheel 75 and the surface to be ground P of the glass plate are arranged perpendicularly to the surface to be ground P so as to be perpendicular to the surface to be ground. The work head 62 is for chamfer cutting,
Using a cup diamond wheel 76, which is another example of a working tool, as shown in FIG.
The grinding surface P of the glass plate and the axis of rotation of the wheel 76 are arranged so as to be inclined. The work head 63 is for finishing, and the work head 62 in the previous stage
Grind the chamfered part at
A grinding wheel 77 made of a cup-type grindstone, which is another specific example of a working tool, is used.
Like the working head 62 shown in the figure, it is arranged at an angle. The work head 64 is for polishing, and is used to finish the part that has been chamfered and ground in the previous two stages, and is a cup-type felt wheel 7, which is yet another example of the work tool.
8 is used and arranged at an angle similar to the working head 62 shown in FIG. As mentioned above, the work head 61 shown in FIG. 5 has the motor 80 and the wheel 75 attached to the output shaft 81 including the axis of the motor 80. The motor 80 is attached to a motor support stand 82. Here, the means for adjusting the movement of the motor 80, for example in the vertical direction in FIG. 5, will be explained. Spacers 8 are provided on the front wall 83 of the head stand 60 at intervals vertically.
4,84 are fixed. A feed screw rod 86 is inserted through a through hole 85 provided in the upper spacer 84, and thrust bearings 87 and 88 are arranged above and below the upper spacer 84. The lower thrust bearing 88 is received by a bearing receiver 89 secured to the lead screw rod 86. The upper thrust bearing 87 is pressed by a bearing retainer 90 having a female thread screwed into the threaded portion 91 of the feed screw rod 86, and as a result, both thrust bearings 87,
88 is being held. The feed screw rod 86 is rotatably supported relative to the upper spacer 84 but cannot be moved in the axial direction.
A threaded portion 91 is provided at the lower end of the feed screw rod 86. A nut 92 is screwed into this threaded portion 91, and a slide member 93 to which the nut 92 is attached can slide up and down by the rotation of the feed screw rod 86 while contacting the upper and lower spacers 84, 84. . Since the motor support stand 82 is attached to the slide member 93, when the handle 94 attached to the upper end of the feed screw rod 86 is rotated, the nut 92 moves up and down, and as a result, the motor 80 moves up and down.
The position of the wheel 75 relative to the glass plate G can be adjusted. The movement adjustment means is configured as described above.

In the work head 62 shown in FIG. 6 (which has a structure common to the work heads 63 and 64 as described above), the output shaft 96 including the axis of the work head 62 is located at the center of rotation of the work head 62. A motor 95 arranged obliquely with respect to a certain vertical line Z
, a wheel 76 as a working tool attached to the output shaft 96 of the motor 95, and a wheel 76 as a working tool attached to the output shaft 96 of the motor 95
The work head is arranged in a direction perpendicular to a horizontal plane, which is an XY plane coordinate system constituted by the movement of the table 30 in the X-axis direction and the movement of the head stand 65 in the Y-axis direction, that is, along the vertical direction. means for controlling the rotation angle of the motor 95 by rotating it around an axis other than the axis included in the output shaft 96 of the motor 62, that is, in this case, around a vertical line Z;
That is, it has a turning mechanism 97. This other axis is located in a plane that includes the axis of the working head 62, that is, in a plane that is different from the horizontal plane expressed in the XY plane coordinate system. From these facts, the wheel 76 rotated by the motor 95 simultaneously rotates around the output shaft 96.
When the glass plate is moved along the contour of the glass plate and subjected to a processing operation, the other axis passes through a working portion of the wheel 76 that grinds the glass plate and is non-coaxial with the axis of the output shaft 96. It has a structure that allows numerically controlled turning around the vertical axis Z, that is, the Z axis. In order to perform numerical control in this way, wheel 7
The grinding surface 76a of No. 6 always faces the direction toward the notch for the edge, which is the processed portion of the glass plate G, that is, the normal direction of the edge, and the grinding surface 76a always faces substantially the same direction with respect to the surface to be ground P. Part W (1st
0), and as a result, uniform grinding can be applied to the glass plate. Further, the motor 95 has an angle adjustment means that constitutes a fine adjustment means. This angle adjustment means is fixed to the support base 98 by inserting bolts into arc-shaped long holes 99, 99 provided in the motor support base 98 and tightening them with nuts. In particular, the motor 95 can be rotated about a horizontal axis A (FIG. 10) (in the state shown in FIG. 10, around a line perpendicular to the drawing), and the motor 95 can be rotated about a horizontal axis A (FIG. The angle between the surface 76a and the surface to be ground P of the glass plate G can be adjusted, and as a result, the chamfering angle can be changed freely. That is, the angle adjusting means can adjust the angle of the output shaft 95 of the motor 95 within a perpendicular plane including the normal direction of the processed portion of the glass plate G. This angle adjustment means and the movement adjustment means constitute a fine adjustment means for the working head. The motor support stand 98 is integrated with the rod 100.
0 is the housing 1 of the bearing row 102.
01 and protrudes above this housing 101. Rod 100 has housing 10
The axial movement of the rod 100 relative to the housing 101 is prevented by a nut 103 screwed into the rod 100 above the radial and thrust bearing row 102 arranged in the bearing row 102. This allows the rod 100 to rotate. Housing 1
01 is fixed to a slide member 93 and can be moved up and down by rotation of the feed screw rod 86. A detailed explanation of this slide mechanism is omitted since it has been described above. A spline 105 is provided on the upper part of the rod 100, and the rod 100 is connected to a pulley 106 having a hole that fits the spline 105.
can be slid up and down. As shown in FIG. 1, the pulleys 106, 107 and 108 of the working heads 62, 63 and 64 are linked via a timing belt 109 to a servo motor 110 as a second drive device and are rotated simultaneously. As a result, the rod 100 of each work head is rotated, causing each of the wheels 76, 77 and 78 to pivot about the Z axis.

Above, we have described the basic structure of a glass plate processing machine using numerical control based on the reference examples shown in Figs. 1 to 7.
A preferred example of the numerically controlled glass plate processing machine of the present invention will be described in detail with reference to FIG.

In the example of the basic configuration of a glass plate processing machine using numerical control, which has been explained for reference based on Figs. The table can be moved in two directions (X-axis direction, Y-axis direction) and the head stand can be moved in the other direction (Y-axis direction), but in this specific example, the table is fixed and the head stand can be moved in two directions (X-axis direction and Y-axis direction). ). In the present invention, any of the above configurations may be used, ie, a configuration in which the table and head stand are moved individually, or a configuration in which the head stand is moved in two directions.

In this specific example, the table 130 includes five fixed stands 131, which are fixed to a base 132. The fixing table 131 is connected to a vacuum suction device (not shown) in the same way as in the example of the basic structure described above, and performs suction and fixation of the glass plate placed thereon, thereby keeping the glass plate in a fixed position during processing operations. to hold. Similar to the example of the above-mentioned principle structure, a flexible frame 134 supported and framed by a screw shaft 133 so as to be movable in the vertical direction with respect to the table 130 has two strips with fixed bases 131 arranged in a row sandwiched therebetween. Belts 135, 135 are arranged to form glass plate supply means 136. Each screw shaft 13
3 is rotated by a motor 137 and a timing belt 138. A bevel gear 140 provided on a shaft 139 extending in the longitudinal direction of the table 130
As shown in FIG. 10, they are arranged on both sides of the movable frame 134.

A frame 140 rigidly connected to a vertical frame 141 extending upward from the four corners of the base 132
With respect to a, the cross table 142 is movable in the direction perpendicular to the plane of the paper (Y-axis direction) in FIG.
5 is movable in the left-right direction (X-axis direction) in FIG. That is, the head stand 155 and the cross stand 142 constitute a work head support stand. As a result, the head stand 155 moves in two different axial directions relative to the fixedly provided table 130. 2 fixed on the frame 140a
A slide bearing 144 attached to the lower side of the cross table 142 is engaged with the rails 143, 143 of the strips. As shown in FIG. 9, the cross table 142 is driven by a motor 145 to
46, a bevel gear 148 attached to both ends of the shaft 147, a bevel gear 149 meshing with the bevel gear 148, a screw shaft 150, 150 having the bevel gear 149 at one end, and the cross base 1.
42 and is moved by a nut 151 that engages with a screw shaft 150. That is, the motor 145 is disposed between the cross table 142 and the fixed table 131.

As shown in FIG. 10, two rails 152, 152 are arranged and fixed on the top and bottom of the cross table 142, while a slide bearing 156 is provided on the head table 155 to engage with each of the rails. ing. The head stand 1 engages with a screw shaft 159 rotated via a timing belt 158 by a motor 157 fixed on the cross stand 142.
The head stand 155 is moved on the head stand 142 in the left-right direction in FIG. 9 via a nut 160 fixedly provided on the head stand 55. That is, the motor 157 is disposed between the head stand 155 and the fixed stand 131. In other words, a first drive device composed of the motor 145 and the motor 157 is provided between the work head support base composed of the cross base 142 and the head base 155 and the fixed base 131. ing. On the head stand 155, as shown in FIG.
Five work heads 161, 162, 163, 164, and 165 are installed at positions corresponding to the fixed base 131 of the table, and each work head is attached to the head base 15.
A shaft 168 rotated via a timing belt 167 by a motor 166 fixed on the
and bevel gear train 169. As shown in FIGS. 11 and 12, each work head has its tightening portion 171 attached to the lower end of a rod 170 which is rotatably but immovably suspended in the axial direction, similarly to the example of the above-mentioned basic configuration.
The lower end of the holder 172 slidably supports a slide member 173 having a substantially L-shaped planar shape. That is, a dovetail groove 175 is provided on the outside of one side 174 of the L-shaped slide member 173, and this groove 175 is engaged with a complementary shaped protrusion 176 provided on the holder 172, and a knob 177 having a screw mechanism which is known per se. When rotated, the slide member 17
3 is configured to move forward and backward with respect to the holder 172. The other side 17 of the slide member 173
8, and a slide member 181 having a groove 180 having a complementary shape to the protrusion 179 is provided on the side 178 of the groove 180.
A slide member 181 can be moved forward and backward relative to the side portion 178 by a knob 182 that is engaged with a protrusion 179 and has a screw mechanism in the same manner as described above. That is, by rotating the knob 182, the wheel 186, which is a working tool, is moved to the processing point on the glass plate in a horizontal plane including the two mutually different axial directions.
That is, it is possible to adjust the movement in the normal direction of the processed end of the glass plate, which is the direction of cutting into the glass plate. Furthermore, with a similar configuration, the support plate 183 has a vertical moving means that can move up and down with respect to the slide member 181 by means of a knob 184. 185 is the horizontal axis A (10th
An angle adjusting means is attached which can rotate around the center (perpendicular to the drawing in the state shown in FIGS. 10 and 11). These angle adjustment means,
The fine adjustment means is constituted by the vertical movement means and the movement adjustment means in the normal direction.

As shown in FIG. 8, the working head 162 for etching also has the same screw mechanism.

Next, the head stand 155 that moves in the X-axis direction is equipped with common means for controlling the rotation angle of the work head 162 within the plane of the aforementioned XY plane coordinate system using numerical data. This rotation angle control means is connected to each work head 161-165. That is, as shown in FIG. 8, a bevel gear 191 that meshes with the bevel gear 169 is attached to the upper end of each rod 170. As a result, the shaft 168 is driven by the timing belt by the motor 166, which is an example of a drive device. 167, each holder 172, which is firmly fixed to the rod 170, is rotated through the
The rotation angle is controlled and rotated around the perpendicular axis perpendicular to the plane coordinate system constituted by the axial movement and the movement of the cross table 142 in the Y-axis direction. The normal direction of the movement trajectory line that always follows the contour of the glass plate,
That is, it becomes possible to face the incision direction.
Further, the motor shaft 193 to which the etching wheel 192 is attached is adjusted so that its axis is perpendicular, and this etching wheel 192 is also connected to the other wheels 186, 192.
It is controlled and turned in the same way as 94-196.

That is, the numerically controlled glass plate processing machine of this specific example includes a plurality of fixing tables 131 for holding glass plates to be processed, and fixing tables in the X-axis direction and the Y-axis direction perpendicular to the X-axis direction. a work head support stand configured by a head stand 155 and a cross stand 142, movable relative to the work head stand 131;
The motor 145 and the motor 157 are provided between the work head support base and the fixed base 131 in order to move the work head support base relative to the fixed base 131. A first drive device constituted by a motor 157 and a rod 170 having an axis parallel to a direction orthogonal to the X-axis and Y-axis directions, that is, in this specific example, a vertical direction. a motor including a plurality of work heads 161, 162, 163, 164 and 165 pivotably supported on the work head support and another axis lying in a plane including the axis of the rod 170; Work heads 161, 162, 163, arranged on shaft 193,
wheels 186, 192, 194, 195 and 196 attached to wheels 164 and 165, respectively;
One motor 166 is mechanically connected to each of the working heads 161, 162, 163, 164 and 165 to rotate each of the working heads 161, 162, 163, 164 and 165. The second drive device and the first drive device move the work head support base relative to each of the fixed bases 131, and the second drive device moves the work heads 161, 162, 163, 1.
It has a numerical control device 200 equipped with one numerical control program connected to the first drive device and the second drive device in order to numerically control the rotation of each rod 170. The axis passes through the working parts of wheels 186, 192, 194, 195 and 196, respectively, and each motor shaft 19
The working heads 161, 162, 163, 164 and 165 are
is a direction in which the wheels 186, 192, 194, 195, and 196 are placed in another plane including the first and second directions, and the working portions W (FIG. 10) of each wheel are in contact with each other. The movement of the motor shaft 193 can be adjusted with respect to the normal direction to the processed portion of the glass plate and the direction within the other plane, which is orthogonal to the normal direction. It has a fine adjustment means that can adjust the angle of the axis in the one plane including the perpendicular direction and the normal direction.

Note that in this specific example, the configuration other than those described above is substantially the same as the example of the basic configuration described above.
Further, in this specific example, the grinding wheel 186 and the
In place of each of 94 to 196, these may be replaced with an etching wheel. in this case,
The replaced etching wheels, like the etching wheel 192, need to have their rotational axes vertically arranged, but such adjustment requires rotating the plate 187 around the horizontal axis A. You can do it by leaning. If all the wheels are used for etching, it is especially useful when etching is performed without chamfering, such as car windows, and when mass-producing products of the same quality. By controlling the rotation angle and adjusting the position of the working heads 161 to 165 using the slide members 181, it is possible to perform machining of the same size despite the different amounts of wear on each wheel.

Further, each of the plurality of work heads 161 to 165 is
By adjusting the slide member 173 and slide member 181, each work head 161 to 165
The working parts of the work tools such as each wheel 192 of
Machining is performed with the movement trajectories of the working parts of these power tools aligned in accordance with the XY coordinate position (rotation axis for rotation angle control).

In addition, work tools such as the wheels 192 of each work head 161 to 165 are moved to the slide member 173.
Alternatively, by adjusting the slide member 181, the positions of different types of work tools and work tools of different diameters are adjusted, and the positions are adjusted by adjusting the slide member 181.
5, processing can be performed by matching the movement loci of each working part.

In addition, for example, with respect to the work head 162, the sliding member 181 is adjusted to bring the work tool such as the wheel 192 closer to the axis of rotation in controlling the rotation angle. For example, for the work head 163, adjust the slide member 181 to position the work tool such as the wheel 194 further away from the axis of rotation, thereby reducing the movement trajectory. By enlarging it, it is possible to perform processing operations in which the finished dimensions are adjusted according to the degree of polishing.

Furthermore, even if the working tools such as wheels of each work head 161 to 165 are worn out differently from each other, by adjusting the slide member 181, the position with respect to the moving trajectory line of the working tool, that is, the normal direction of the contour edge of the glass plate can be adjusted. By doing so, their movement trajectories can be matched, and a plurality of glass plates can be processed to the same size simultaneously and in parallel.

The glass plate processing machine configured as described above is
It can be operated under the control of a numerical control device 200 as shown in FIG. Although a known device is used as this device 200, the basic configuration thereof and the operation of the processing machine shown in FIG. do. The input unit 201 includes a paper tape reader 202 that reads programmed functions and numerical data punched in a paper tape, and an input controller that controls the operation of this reader 202, decodes the read data, and transfers it to the next arithmetic unit 203. 204 and a control state of the device 200;
and to instruct the device 200 to perform a certain operation.
It is equipped with an operation panel 205 provided with a function switch, a display, and the like. Arithmetic unit 2
03 operates the work heads 61, 62, 63 and 64 caused by the servo motors 35, 70 and 110 based on data from the input controller 204.
an arithmetic circuit 206 that interpolates and calculates the amount of movement in the X-axis direction, the amount of movement in the Y-axis direction, and the amount of rotation around the Z-axis;
A position counter 20 that counts pulses as a calculation result output from this calculation circuit 206
7, 208, and 209, and a cycle controller 210 that defines the operating cycle of the device 200. The arithmetic circuit 206 employs a so-called digital differential analyzer, which calculates the coordinate axes of the destination read from the reader 202 and the current position coordinate values set in the position counters 207, 208 or 209. are compared, and if there is a difference in this comparison, linear interpolation or circular interpolation is performed sequentially between them to determine the control amount. Therefore, the arithmetic circuit 206 includes the fourteenth
As shown in the figure, a linear interpolation controller 402 that controls the interpolator 401, a circular interpolation controller 403, a command register 404 that stores the coordinate values of the movement destination, and a current position register 405 that stores the coordinate axes of the current position.
A comparator 406 compares the contents of the registers 404 and 405 and outputs the comparison result to the pulse controller 407 and cycle controller 210, and counters 207 and 208 use the interpolation amount as a pulse based on the comparison result of the comparator 406. or a pulse controller 407 that outputs to 209. Note that the register and the comparator are respectively provided for rotation control in the X-axis direction, Y-axis direction, and around the Z-axis, that is, rotation angle control. X-counter 207, Y-counter 2
08 and spin counter 209 respectively count the calculation result pulses output from the calculation circuit 206, and based on the counted values, the servo unit 211
servo circuits 212, 213, and 214 are operated. Each servo circuit 212, 213 and 214
operate the respective servo motors 35, 70 and 110 based on the corresponding count values. Each servo circuit is configured to detect the positional change produced by the motor using inductosin or resolver and tachogenerators 215, 216, and 217 to perform position control, rotation angle control, and speed control. Such inductosin, resolver and tachogenerator 215,
The position control and speed control of 216 and 217 are well known in the field of so-called automatic control technology, so their explanation will be omitted.

The glass plate processing machine shown in FIG. 1 is preferably controlled by such a numerical control device 200. Next, to explain the outline of the control operation, first, when you press the start switch on the main operation panel 218 provided on the side of the glass plate processing machine,
A start signal is input to cycle controller 210, which instructs input controller 204 to read data from reader 202.
As a result, the programmed data on the tape is read from the reader 202 and input controller 204
The data is decoded and input to the arithmetic circuit 206. Incidentally, the glass plate G has already been attached to all the fixed bases 31.
It is placed and fixed on the work heads 61, 6.
2, 63, and 64 are assumed to be placed at the starting point of the grinding process. Therefore, at this time, the data input to the arithmetic circuit 206 are the amount of movement in the X-axis direction, the amount of movement in the Y-axis direction, and the amount of rotation around the Z-axis, and these are input to the respective command registers 404. . The value input to the command register 404 is compared with the value of the current position register 405 indicating the current position, that is, the origin position, and in this comparison, a signal indicating that there is a difference is sent to the pulse controller 40.
7, the pulse controller 407
The signals from the interpolator 401 are sequentially output to the counter. In addition, in interpolation, it can be set by the program whether to perform linear interpolation or circular interpolation.
For example, when linear interpolation is set, the interpolator 40
1 is operated under the control of a linear interpolation controller 402. Therefore, the interpolator 401 first sends a signal indicating the minute movement amount in the X-axis direction to the pulse controller 4.
07, and the pulse controller 407 outputs a series of pulses to the counter 207 in order to set the value corresponding to the minute movement amount in the counter 207 based on this signal.
Output to 7. When the counter 207 is set to such a value, the servo circuit 212 that receives it
The servo motor 35 is operated to slightly move the table 30 in the X-axis direction. When the servo motor 35 is driven, the screw shaft 36 is rotated and the table 30 is moved in the X-axis direction, thereby changing the position of the fixed base 31, that is, the glass relative to the wheels 75, 76, 77, and 78 provided at each work head. The position of plate G is slightly displaced in the X-axis direction. Here, wheels 75, 7 are rotated by motors 80 and 95 of the working head which are previously driven.
6, 77, and 78, the glass plate G is processed while the processing position is slightly displaced in the X-axis direction. The minute displacement amount and movement speed generated by the servo motor 35 are detected by the inductosin and tachogenerator 215 and returned to the servo circuit 212, and are accurately set. Next, the Y input to the command register 404 regarding the Y axis
When the amount of movement in the axial direction is compared with the value of the current position register 405 indicating the current position in the Y-axis direction, that is, the origin position, and a signal indicating that there is a difference in this comparison is input to the pulse controller 407. In response to the signal from the interpolator 401, the pulse controller 407 outputs a pulse indicating a minute displacement amount to the counter 208. When the counter 208 is set to such a value, the servo circuit 213 that receives it
The servo motor 70 is operated to slightly move the work heads 61, 62, 63, and 64 in the Y-axis direction. As a result, the screw shaft 68 is rotated, the head stand 60 is moved in the Y-axis direction, and the wheels 75, 76, 77 and 78 provided on each work head are rotated.
The position relative to the glass plate G is slightly displaced in the Y-axis direction. Therefore, the working head motors 80 and 9
The glass plate G is processed by the wheels 75, 76, 77, and 78 rotated by the wheels 5, and the processing position is slightly displaced in the Y-axis direction. The minute displacement position and movement speed caused by this servo motor 70 are controlled by the inductosin and tachogenerator 2.
16 and fed back to the servo circuit 215 for accurate setting. Furthermore, the amount of spin input into the command register 404 regarding spin, which is turning, is compared with the value of the current position register 405 indicating the current position around the Z axis, that is, the origin position, and this comparison indicates that there is a difference. When the signal is input from the comparator 406 to the pulse controller 407, the pulse controller 407 converts the pulse indicating the minute displacement amount into the counter 2 according to the signal from the interpolator 401.
Output on 09. When the counter 209 is set to a value indicating a small amount of displacement by this pulse, the servo circuit 214 turns the servo motor 110 to slightly rotate the heads 62, 63, and 64 around the Z axis.
make it work. When the servo motor 110 is driven, the timing belt 109 runs, the respective pulleys 106, 107 and 108 are rotated, and the work heads 62, 63 and 64 are rotated around the Z axis. As a result, the positions of the wheels 76, 77 and 78 provided on each working head relative to the glass plate G are slightly displaced around the Z-axis. Therefore, the glass plate G is processed by the wheels 76, 77, and 78 rotated by the motor 95 of the work head, and the processing position is slightly displaced around the Z axis due to the small angle and movement caused by the servo motor 110. The speed is detected by the resolver and tachogenerator 217 and fed back to the servo circuit 214 to be accurately set. As described above, one-step interpolation operations are performed in the X-axis direction, the Y-axis direction, and the Z-axis. The position register 405 is set with the contents of the counters 207, 208, and 209, that is, the position after movement. Therefore, after one step of interpolation operation, the command register 404 and the current position register 405 are again compared for each axis, and if there is a difference in the contents, the above operation is repeated and the contents of the current position register are compared. is updated. On the other hand, if the contents of the command register 404 and the contents of the current position register 405 match, the corresponding comparator 406 outputs a signal instructing the cycle controller 210 to read the next data, and the cycle control Similarly to the above, the input controller 204 instructs the input controller 204 to read data, and the input controller decodes the data read from the reader 202 and sends this data again to the arithmetic circuit 20.
Supply to 6. Here, when this data is data indicating the next movement destination, this data is stored in the corresponding command register 404. Note that storage of new data into the command register 404 is not necessarily performed simultaneously around the X, Y, and Z axes. When the amount of movement is different, each movement may be performed individually. In this way, the new destination is the command register 40 again.
When set to 4, the interpolation operation is again performed and the table 30 and each work head is moved and spun around the X, Y, and Z axes. As described above, processing is performed on the glass plate G sequentially based on the program data, and finally
When the origin position around the axis, Y axis, and Z axis, that is, the original data, is read out from the tape reader 202, the calculation unit 203 repeats the interpolation operation up to this origin position as described above, and each wheel 75 with respect to the glass plate G , 76, 77 and 78 are set to their original positions. Table 3 at the origin position
0 and each working head 61, 62, 63 and 64 are reset, each comparator 406 instructs the cycle controller 210 to read the next data from the reader 202. The input controller 204 decodes the data from the reader 202 and supplies the data to the arithmetic circuit 206. At this time, the data read out is data for moving each work head 61, 62, 63, and 64 by a certain amount from the processing position, for example, from the position shown in FIG. 2 by a certain amount to the right. The movement destination data is set only in the command register 404 regarding the Y axis, and the servo circuit 213 operates to operate the servo motor 70 based on the set value of the command register 404. Therefore, the shaft 68 is rotated and each working head 61, 6
2, 63, and 64 are removed from the processing position by a certain amount with respect to the Y axis. In this operation, the Y-axis command register 404 and the current position register 405
If the contents match, the operation of the pulse controller 407 is stopped, and at the same time, the servo circuit 213
The operation of servo motor 70 is stopped and cycle controller 210 instructs input controller 204 to read the next data from reader 202 . Based on this instruction, the input controller 204 reads the data punched on the tape from the reader 202 and decodes the data. At this time, the data to be read is determined by stopping the operation of the vacuum device 38 to release the adsorption of the glass plate G to the fixing base 31, and
The hydraulic cylinder 54 is actuated to cause the glass plate G to be lifted by the belt conveyor 51 via the belt conveyor 2 and 52, and then the motor 58 is actuated to convey each glass plate G to the next fixed table 31. This is the data that makes it possible. Upon reading this data, the input controller 204 issues a control signal to each drive control device (not shown), which causes each drive control device to stop the vacuum device 38 and actuate the hydraulic cylinder 54. , actuates the motor 58. The belt conveyor 51 is activated by the operation of the motor 58.
is run, and all the glass plates G placed on this belt conveyor 51 are transferred, for example, to the left in FIG.
It is transported up to 1. Note that the glass plate G to be newly processed is placed on the rightmost fixing table 31 by the operator or automatically. When each glass plate G is accurately conveyed to the next fixed table 31,
In response to a signal from a detector (not shown) that detects this, each drive control device stops the operation of the motor 58 and at the same time operates the hydraulic cylinder 54 in order to release the lifting of the glass plate G by the belt conveyor 51. Then, the vacuum device 38 is operated to adsorb the glass plate G to the fixing table 31. After completing these operations, each drive control device outputs an operation completion signal to the cycle controller 210. The cycle controller 210 then switches the input controller 2 to read data from the reader 202 again.
04, and the input controller 204 instructs the reader 20
Read the next data from 2 and decode it.
The data read here consists of origin return command signals and origin position coordinates for table 30 and work heads 61, 62, 63, and 64, and these data are transferred to arithmetic circuit 206 again. By the way, the work heads 61, 62, 63
and 64 are displaced from the origin only in the Y-axis direction as described above, so the arithmetic circuit 206 performs operations only in the Y-axis direction. Therefore, the signal output from the counter 208 causes the servo circuit 213 to operate so as to operate the servo motor 70, thereby operating the work heads 61, 62, 63, and 64.
is moved leftward in the relationship shown in FIG. 2 and returned to the original position. As a result, the command register 404 and current position register 4 related to the Y-axis
05, this matching signal is input to the cycle controller 210, and the cycle controller 210 outputs a command signal to read the data from the reader 202 to the input controller 204 in order to perform the next processing again. . The same applies hereafter, and the calculation unit 2
03 performs an interpolation calculation based on the data obtained from the input controller 204, and outputs this result to the servo unit 211, which then
The servo motors 35, 70, and 110 are operated, and the servo motors 35, 70, and 110 move the table 30 and each working head corresponding to the processing portion of the glass plate G. Incidentally, the control operation by such numerical control device 200 can also be preferably applied to the machine shown in FIG. 8 by slightly changing the program and changing the circuit configuration.

From the above, the numerically controlled glass plate processing machine of the present invention simultaneously controls the rotation of the plurality of work heads about the first axis in the rotation angle control using numerical data, and When machining a series of glass plates is performed repeatedly and in succession, the work tools attached to each work head are subject to different amounts of wear, resulting in the wear and tear of one glass plate and the work tool that processes this glass plate. Even if there is a difference in the positional relationship between another glass plate and the working tool that processes this glass plate, the fine adjustment means allows each of the working tools to be adjusted to the first position. and the working tool by adjusting the movement in the normal direction to the processed portion of the glass plate in a plane including the second direction, and in the direction orthogonal to the normal direction in the plane. Each can be placed in an initial predetermined position.

In particular, the attachment position of one work head to one fixed base for holding a glass plate may shift during use of the processing machine, and the attachment position of the other fixed base and work head may differ. Also, the first working head is moved in the normal direction of the processed portion of the glass plate and in the direction orthogonal to the normal direction, and the second axis, which is the axial center of the working head, is aligned with the first axis. An angular adjustment in another plane containing the center allows rapid return to the original mounting position.

From the above, in the numerically controlled glass plate processing machine of the present invention, even if there are deviations in the mounting positions of various work heads, it is sufficient to perform the fine adjustment according to each deviation, and the program may be revised frequently. The processing of the glass plate can be repeated continuously while maintaining the same working conditions without any problems. Therefore, each working head maintains a stable state with respect to the glass plate that is equal to the initial working condition. It is possible to always carry out machining work without any unevenness.

[Brief explanation of drawings]

Figure 1 is a front view showing the basic structure of a glass plate processing machine, and Figure 2 is a side view taken from the - line direction in Figure 1, with the etching wheel in the position shown in Figure 1. Figure 3 is a sectional view taken along the - line in Figure 1, and Figure 4 shows the processing wheel in a position 180 degrees displaced from the position shown in Figure 1. is a detailed cross-sectional view of the fixed base,
Figure 5 is a detailed view of the support of the working wheel without pivoting, Figure 6 is a detailed view of the support of the working head with pivoting, and Figure 7 shows the working wheel pivoting along the edge of the glass plate. FIG. 8 is a front view showing a specific example of the glass plate processing machine of the present invention, with a part cut away, and FIG. 9 is a plan view of the same,
10 is a sectional view taken along the line -- in FIG. 8, FIG. 11 is a side view of the rotating work head, FIG. 12 is a front view thereof, FIG. 13 is a block diagram of the NC device, and FIG. 14 is a side view of the rotating work head. , is a block diagram of an arithmetic circuit. 30...table, 51...belt conveyor,
60...Head stand, 61-64...Work head,
130...Table, 131...Fixed stand, 142
...Cross stand, 155...Head stand, 161-1
65...Work head.

Claims (1)

[Claims] 1. A plurality of fixed stands for holding glass plates to be processed, and a work head support movable relative to the fixed stands in a first direction and a second direction perpendicular to the first direction. a first drive device provided between the work head support base and the fixed base for moving the work head support base relative to the fixed base;
The first direction extends parallel to the third direction orthogonal to the direction of
a plurality of work heads supported by the work head support base so as to rotate around the axis of the work head; and a plurality of work heads disposed on a second axis in a plane including the first axis, a working tool attached to each of the working heads; a second drive mechanically coupled to each of the working heads for effecting the pivoting of the working heads; 1 connected to the first drive device and the second drive device for numerically controlling the relative movement of the work head support with respect to each of the fixed bases and the rotation of each of the work heads by the second drive device; said first numerical control device;
passes through the working portion of the power tool and is non-coaxial with the second shaft, and the work head moves the power tool in other directions including the first and second directions. A direction in a plane that is normal to the processed part of the glass plate that the working part of the working tool comes into contact with, and a direction in another plane that is orthogonal to the normal direction. A numerically controlled glass plate processing machine having fine adjustment means capable of adjusting the movement in each direction and adjusting the angle of the second axis within the one plane.