JPH0355145A - Aligning device - Google Patents

Abstract

PURPOSE:To provide aligning possibility while servo-inherent vibration avoided by using an X-axis stage and a Y-axis stage having the same product of the rigidity of stage for the movable direction and the weight applied to the stage, adjusting the timing for the X and Y stages after aligning, and performing servo motion. CONSTITUTION:A servo-off control device 12 receives a signal from an encoder 7, and a command value is fixed, wherein the command value is for a control part 10 to drive an X-stage 1 when the rotational angle of a rotary spindle 5 is such that the X-stage 1 is neutral relative to the gravitation. This is followed by fixation of a command value, which is for the control part 10 to drive a Y-stage 2 when the rotational angle of the rotary spindle 5 is such that the Y-stage 2 becomes neutral relative to the gravitation.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an alignment device, and in particular, the present invention relates to an alignment device that aligns a workpiece attached to a rotating shaft such as the main shaft of a lathe to a predetermined position on the target workpiece according to the rotation of the rotating shaft. This invention relates to an alignment device that rotates around a central axis.

[Conventional technology]

FIG. 2 is a configuration diagram showing an example of a conventional alignment device.

The alignment device shown in FIG. 2 consists of a hollow rotating main shaft 5 that is horizontally supported by a bearing fixed to a base, and an X axis that is attached to the rotating main shaft 5 and whose movable direction is perpendicular to the central axis of the rotating main shaft 5. Stage 1, Y@stage 2, which is attached to the movable part of the X-axis stage 1 and whose movable direction is perpendicular to the center axis of the rotating main shaft 5 and the movable direction of the X-axis stage 1, and a Y@stage 2, which is attached to the X-axis stage 1 and is An X-axis displacement detection sensor 3 detects the displacement of the X-axis stage 1 in the movable direction, and a Y-axis displacement detection sensor 4 attached to the Y-axis stage 2 detects the displacement of the Y-axis stage 2 in the movable direction. , a chuck 8 in which the workpiece fixed and gripped by the movable part of the Y-axis stage 2 is located approximately on the central axis of the rotating main shaft 5, and an X, Y stage 1 of the rotating main shaft 5. A slip ring 6 is connected to the end face on the opposite side of 2 and performs electrical connection between the rotating part and the fixed part on the base side, and the stage is connected to the X-axis stage 1 and the Y-axis stage 2 via the slip ring 6. Controller 11 and X @ light position detection sensor 3 and Y via slip ring 6
A sensor amplifier 9 connected to the shaft displacement detection sensor 4,
A control device that gives commands to the stage controller llVc so that the outputs of the two axes of the XY axis (corresponding to the outputs of the X-axis displacement detection sensor 3, Y$lI and displacement detection sensor 4) from the sensor amplifier 9 match the respective target values]O Contains.

A workpiece is chucked on the chuck 8, and the rotary spindle 5 is rotated. The outputs of the X-axis displacement detection sensor 3 and the YIllI displacement detection sensor 4 are connected to the slip ring 6 through the hollow part of the rotating main shaft 5, and are output from the sensor amplifier 9 via the slip link 6. The control device 1o controls the stage controller 1 so that the inputs of the sensor amplifier 9 on the X and Y axes correspond directly to the respective targets.
1, the stage controller l1 drives the X-axis stage 1 and the Y-axis stage 2 via the slip ring 6 through the command of the control device 10 (the drive source of the X, Y shelf stages 1 and 2 is For example, using a piezoelectric element).

Rotating master 4I! ] 5, the direction of the load due to gravity applied to each stage 1, 2 changes relative to the movable direction of each stage 1, 2, so the amount of deflection due to the load in the movable direction of each stage 1.2 becomes smaller. This change in the amount of deflection is detected by sensors 3 and 4, and the X and Y axis stages 1. By driving 2 and correcting the bucket, a predetermined position on the shearwork that is not aligned is kept at a constant position (rotation center due to rotation of the rotation main shaft 5)
(4). Alignment is carried out by adjusting the target value given to the control device 10 to position the fi, X, and Y axis stages 1 and 2.

FIG. 3 is an explanatory diagram of the load applied to the stage and the displacement of the stage. Stage rigidity X-axis Stage 1 movable direction,
Y@B for each movable direction of stage 2
If the load applied to the B Y s stage is Wx, WY (WX path rack 8, Y axis stage 2, X@if
The sum of the weights of stage 1 and Y-axis displacement detection sensor 4, Wy is M of each of chuck 8 and Y-axis station 1.
sum of amounts),)[1 stage deflectionklt'lBzW
x cos θ, Y-axis stage movement υ is ByWyc
os(B-90').

This interaction! ) Adjust the sleeve so that the amount is O.

[Special problem that Komei tries to solve]

-5 The conventional alignment device described above has the disadvantage that during alignment, the stage is continuously controlled so as to keep the signal from the displacement detection sensor constant, and the & movement peculiar to the servo is lost.

(Means for Solving the Problems) The alignment device of the present invention comprises: a rotating main shaft whose center axis is horizontal; an It is attached to the river motion part of the X-axis stage, and the movable direction is perpendicular to the center axis of the main shaft and the movable force direction K of the X-axis stage, and the product of the rigidity with respect to the movable direction and the loaded lr weight is the product of the X-axis stage and an equal YIII stage, an X-axis displacement sensor that detects the displacement of the X-axis stage in the movable direction, a Y-shelf displacement ejection sensor that detects the displacement of the Y-axis stage in the OT movement direction, and the Y-axis stage. fixed to the movable part of i″
A chuck whose gripped soak is almost on the center axis of the rotation main shaft, the X-axis displacement detection sensor, and the Ys.
The X-axis stage is moved so that the output of each I displacement detection sensor coincides with the target f. The b-transfer owner JPf, who is neutral against JPf! The control unit fixes the command value for driving the X-axis stage when the rotation angle is J, and the control unit fixes the command value for driving the X-axis stage before Ht. It is configured to include a servo-off control cap that fixes the first shift command to move the Y-axis stage.

[Example] Next, an example of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic diagram showing an embodiment of the present invention.

The alignment device shown in FIG. 1 includes a rotating main shaft 5 that is horizontally supported by a bearing fixed to a base, and an X-axis stage that is mounted on the rotating main shaft 5 and whose movable direction is perpendicular to the central axis of the rotating main shaft 5. 1
is attached to the movable part of the X-axis stage l, and the movable direction is the center axis button of the rotating main shaft 5. Product Bxwx of X-axis stage 1
Y4441 stage 2, which is attached to the X-axis stage 1 and detects the displacement of the X-axis stage 1 in the movable direction; A Y-axis displacement detection sensor 4 that detects displacement in the movable direction of the Y-axis stage 2, a chuck 8 whose gripped workpiece is fixed to the movable part of the Y-axis stage 2 approximately on the central axis of the quadrilateral spindle 5, and a rotary spindle 5 connected to the chuck 8. The slip ring 6 electrically connects the υ rotation part and the fixed part on the pace side, the stage controller 211 which is connected to the X44Il stage 1 and the Y-axis stage 2 via the slip ring 6, and the slip The sensor amplifier 9 is connected to the X-axis displacement detection sensor 3 and the Y-axis displacement detection sensor 4 via the ring 6, and the stage controller is configured to match the outputs of the two XY axes from the sensor amplifier 9 to their respective target values. 11, an encoder 7 that is connected to the rotating main shaft 5 and detects the rotation angle of the rotating main shaft 5, and an encoder 7 that separately sends command values to the X-axis stage 1 and the Y-axis stage 2. and a servo-off control device 12 that gives a command to the control device 10 to maintain a constant value based on a signal from the servo-off control device 12.

A workpiece is chucked on the chuck 8 and the rotating main shaft 5 is rotated. The outputs of the XIplII displacement detection sensor 3 and the Y-axis displacement detection sensor 4 are connected to the slip ring 6 through the hollow part of the rotating main shaft 5, and are output from the sensor amplifier 9 via the slip ring 6 and enter the control device 1o. The control device 10 gives a command to the stage controller 1 to match the inputs of the two X and Y axes from the sensor amplifier 9 to their respective target values, and the stage controller 1 controls the X-axis stage 1 and the Y-axis stage 2 via the slip ring 6. is driven according to the commands of the control device 10. As a result, the X-axis stage 1 and the Y-axis stage 2 are fixed, and by changing the target value given to the control device 1o, the X-axis stage 1 and the Y-axis stage 2 are changed to align the work gripped by the chuck 8.

After that, the X-axis stage 1 becomes in a neutral position with respect to gravity.
The angle of the OJ rotation spindle 5 is detected by the encoder 7, and at this time the servo-off control device 12 turns off the servo of the X-axis stage so that the stage controller 11 commands the X-axis stage 1 to maintain a constant value. Controls the controller 11. Next, the encoder 7 detects the angle of the rotation main shaft 5 at which the Y-axis stage 2 is in a neutral position with respect to gravity, and at this time the servo-off control device 12
The stage controller 1l is controlled so that the servo of the axis stage is turned off and the command value from the stage controller 11 to the Y-axis stage 2 is kept constant from then on. The moving directions of the X-axis stage 1 and the Y-axis stage 2 are shifted by 90 degrees, and when the Y-axis stage 2 is at the neutral position, the X-axis stage 1 whose servo is turned off first is displaced by BXWX. As a result, the XY-axis stage 1.2")--bow is cut off, causing the button to swing υ due to the influence of gravity.

Since the rigidity of each stage is determined so that the product of the M property in the moving direction of the stage and the applied load is for the X-axis stage IY-axis stage 2, BXWX-BYWY 10 This X-axis and Y-axis deflection When combining the times b, from Figure 3, we get: X--B XWX COSθsinθ-'B yW y
cos (θ-90°) sin ((/-90°) BX
WXCOSθsinθ+ByWysinθcosθ=O Y=−BXWXCOSθcosO−ByWycos(θ
-90')cos((/-90')=-B XWX c
os# cosU-B yWy s in (/s i
nO=-BXWX (X, Y is the horizontal deflection of the workpiece and vertical deflection, and θ is the angle between the movable direction of the X-axis stage 1 and the horizontal direction). The work is canceled and the workpiece is moved from the position centered by the target value to the weight applied to the stage (BxW
It will be centered at a position lowered by x). Although the central axis of the rotating main shaft 5 and the central axis of rotation of the workpiece are misaligned, the workpiece is aligned with respect to rotation.

〔Effect of the invention〕

The single-center device of the present invention has an
By using an axis stage and turning off the servo at the appropriate timing for the X and Y axis stages after alignment, there is an effect that alignment can be achieved while avoiding vibrations peculiar to the servo.

[Brief explanation of drawings]

The first country is a configuration diagram showing an example of the main brother 19. Figure 2 is a diagram showing a conventional centering device. Figure 1 shows the 1st stage when the lead 3 round is cut. 1.2 is a diagram explaining the operation. 1...X-axis stage, 2...Y-axis stage, 3...X-axis displacement detection sensor, 4...
・・Yll411f position detection sensor, 5・・・・・・-1
Spindle, 6...Slip ring, 7...
・Encoder, 8... Chuck, 9...
・Sensor amplifier, 10... Control device, 11...
... Stage controller, 12 ... Servo-off control device.

Claims (1)

[Claims] a rotating main shaft whose central axis is horizontal; an X-axis stage that is attached to the rotating main shaft and whose movable direction is perpendicular to the central axis of the rotating main shaft; a Y-axis stage that is perpendicular to the moving direction of the axis and the X-axis stage and whose product of the rigidity in the moving direction and the applied load is equal to that of the X-axis stage;
an X-axis displacement detection sensor that detects the displacement of the axis stage in the movable direction; a Y-axis displacement detection sensor that detects the displacement of the Y-axis stage in the movable direction; and a workpiece fixed to the movable part of the Y-axis stage to be gripped. Control for driving the X-axis stage and the Y-axis stage so that the chuck is located approximately on the central axis of the rotational main shaft, and the outputs of the X-axis displacement detection sensor and the Y-axis displacement detection sensor match target values. an encoder for detecting a rotation angle of the rotary main shaft; and a control unit that receives a signal from the encoder and detects a rotation angle of the rotary main shaft such that the X-axis stage is neutral with respect to gravity. a servo-off control device that fixes a command value for driving the Y-axis stage, and fixes a command value for driving the Y-axis stage by the control unit when the rotation angle of the rotational main shaft is such that the Y-axis stage is neutral with respect to gravity. A centering device characterized by: