JPH05200655A - Follow-up machining device - Google Patents

Abstract

PURPOSE:To apply a job for specified finishing to a work even in the case where there are some variations on an external form of this work by installing a control means which drives a slider means on the basis of a detection signal out of a load sensor, making a working tool unit retractable to the work, and controls pressing force so as to accord with the setting pressing force. CONSTITUTION:With a work 8 rotated, a pressure-contact state in a working tool 33 to the work 8 is varied by a change of contour form in the work 8. This variation is detected as a change of pressing force by a load sensor 41. On the basis of the detection signal, a slider means is driven by a control means 43 so as to make the pressing force accord with the setting pressing force, thereby making a working tool unit 21 properly retractable to the work 8. With this operation, a pressure-contact state of the working tool 33 with the work 8 is kept constant.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial part (hereinafter referred to as "workpiece") manufactured by a method such as injection molding, press punching, lost wax casting, die forging, and the like according to its contour shape. Or a follow-up processing device that performs processing for finishing the end surface to a constant processing surface roughness,
In particular, the present invention relates to a work that enables a predetermined processing according to the change of the contour shape even when the contour shape of the work has variations.

[0002]

2. Description of the Related Art For example, there is a work shown in FIG. 4 as a work manufactured by a method such as injection molding, press punching, lost wax casting, and die forging. As shown in the figure, the two-dimensional contour of the work 101 shown in FIG. 4 is relatively complicated due to the connection of straight lines and curved lines.
Further, the work 101 has a flange shape, and a through hole 103 through which a shaft (not shown) penetrates is formed in a central portion, and through holes 105 through which fastening bolts (not shown) penetrate are formed at four corners. .. Also, through hole 1
An annular recess 107 is formed on the outer peripheral portion of 03.
The annular recess 107 is provided with protrusions 109 at a plurality of locations. The work 101 having such a configuration is fastened and fixed together with another work (not shown) to complete a predetermined device.

By the way, the work 10 as shown in FIG.
In the case of ₁ , high dimensional accuracy is required for the pitches P ₁ and P ₂ between the through holes 105 and 105, but the absolute dimensional accuracy of the contour shape is not so important. On the other hand, it is necessary to remove the so-called "burrs" that occur on the outer periphery of the manufacturing process. or,
It is necessary to chamfer according to the contour shape and to finish the end surface to a constant machined surface roughness. At that time, if only deburring is to be performed, a flexible tool such as a brushing wheel or a wire wheel may be used, but chamfering is performed according to the contour shape or the end surface has a constant surface roughness. For finishing, a cutting tool such as an end mill, rotary bar or chamfer cutter will be used.

As a cutting device for performing finishing using the above cutting tool, for example, there are those shown in FIGS. 5 and 6. First, there is a base 201, and on this base 201 is an index table device 203 of a constant peripheral speed type.
Is installed. Work piece 20 to be cut
5 is mounted on this index table device 203. It is clamped by a pneumatic work clamp unit 207 provided above it.

On the other hand, a slide table 209 is installed on the base 201.
The air cylinder 211 is moved back and forth in the direction of the work 205. As shown in FIG. 6, a coil spring 213 is attached to the base end of the slide table 209. The slide table 2
A cutter drive unit 215 is attached to the tip of 09. A rotary bar 217 is attached to the tip of the cutter drive unit 215. The rotary bar 217 is pressed against the outer peripheral edge of the rotating work 205 to perform cutting. A predetermined pressing force at the time of pressure contact is provided by the coil spring 213.

The index table device 20 already described
A work shape model cam 219 is attached to the lower end of 3. On the other hand, a stylus roller 223 is attached to the slide table 209 side via an arm 221. The work shape model cam 219 also rotates due to the rotation of the index table device 203, whereby the slide table 209 moves back and forth along the outer shape of the work shape model cam 219 via the stylus roller 223. With such an operation, the position of the rotary bar 217 with respect to the work 205 is controlled, and the work 205 is cut in accordance with the contour shape of the work shape model cam 219. In the figure, reference numeral 221 is an operation control panel, and reference numeral 223 is a chamfering amount adjusting knob.

Another cutting device is shown in FIGS. 7 and 8. First, there is a base 301, and on this base 301, the XY servo slide unit 30 is provided.
3 are installed. This X / Y servo slide unit 303, as shown in FIG.
And a Y-direction slider 307 attached to the X-direction slider 305. A cutter drive unit 308 is attached to the Y-direction slider 305. An end mill 309 is attached to the tip of the cutter driving unit 308.

The Y direction slider 307 is moved in the X direction by the X direction slider 305, and the cutter driving unit 308 is moved in the Y direction by the Y direction slider 307. Therefore, the cutter driving unit 308 moves in the X direction and the Y direction, and moves to the place of the arbitrary (X, Y) coordinate value.

A three-jaw air chuck 311 is installed on the base 301, and a work 313 is placed and fixed on the three-jaw air chuck 311. Further, on the base 301 and above the operation panel 31
5. A servo slide unit controller 317 is installed. Further, at the cutting position by the end mill 309, as shown in FIG. 9, a cutting oil nozzle 319 and an air boule nozzle 321 are arranged to supply cutting oil and pressurized air, respectively. or,
Various switches 323 such as a start switch and an emergency stop switch are installed on the base 301 and below the base 301.
Reference numeral 325 in FIG. 8 indicates a stopper member for positioning the work.

According to the above structure, the work 313 is held at a predetermined position by the three-jaw air chuck 311. On the other hand, the servo slide unit controller 31
7, through a teaching box (not shown),
The trajectory information of the end mill 309 is input and stored in advance. This trajectory information is information for finishing the work 313 into a predetermined size and shape. Then, by the control signal from the servo slide unit controller 317,
The XY servo slide unit 303 is driven to cause the end mill 309 to perform an operation according to predetermined trajectory information. As a result, the work 313 is subjected to predetermined cutting.

[0011]

The above-mentioned conventional structure has the following problems. In the case of the work as shown in FIG. 4, the absolute dimensional accuracy of the contour shape is not so important as already described, and the contour shape of the actually manufactured work has variations. As described above, it is necessary to remove burrs and perform a predetermined chamfering according to the contour shape for a large number of workpieces having different contour shapes, and it is necessary to finish the end surface to a constant machined surface roughness. is there.

Considering the above-mentioned conventional cutting apparatus in view of the above circumstances, in any case,
All workpieces 205 and 313 are uniformly cut according to the workpiece shape model cam 219 or along the trajectory information preset based on the model workpieces. Therefore, when the contour shapes of the works 205 and 213 vary, the cutting depth also varies, and depending on the location, the cutting depth becomes too deep and the chamfer width becomes large. In some cases, the tool was damaged. On the contrary, the cutting depth becomes too shallow and the chamfer width becomes small, and in extreme cases, some burr remains. As described above, in the case of the conventional cutting device, there is a problem in that the finish state varies due to the variation in the contour shape of the work.

Another problem is that the work is difficult. This is a remarkable problem particularly in the case of the cutting device shown in FIGS. 7 and 8. That is, in the case of this cutting device, as described above, it is necessary to previously input and store the trajectory information according to the work. Specifically, this work involves setting a large number of programming points along the contour shape, setting (X, Y) coordinate values of those programming points, and inputting / storing them using the teaching box. It goes.
This work is by no means easy, and it is necessary to do it each time the type of work is changed. Moreover, the more complicated the contour shape of the work, the more programming points increase and it becomes difficult. Will be required.

The present invention has been made on the basis of such a point, and an object thereof is to perform a predetermined finishing process according to the contour shape of the work even when the contour shape of the work varies. It is an object of the present invention to provide a follow-up processing device that enables the above-mentioned processing and eliminates the need for difficult programming work.

[0015]

[Means for Solving the Problems] To achieve the above object
The follow-up processing device according to the present invention includes a base and the base.
Holds the workpiece to be processed and rotates it
Work holding means and a slider installed on the base.
Means, and attached to the slider means and processed
Holds the tool rotatably and slides it with slider means.
Processed by pressing the above-mentioned processing tool against the above-mentioned work
Press the tool unit and the above-mentioned machining tool into contact with the workpiece to
Load sensor that detects the pressing force when machining the workpiece
Based on the detection signal from the load sensor,
Drive the lidar means to turn the above machining tool unit into a work
The pushing force matches the set pushing force by moving it back and forth.
And a control means for controlling so as to
It is what At that time, the drive part of the processing tool unit
And torque change or motor load via
Monitor the fluctuations and the setting pressure based on those changes
It is conceivable to change the power appropriately.

[0016]

For example, an arbitrary value is preset as the preset pressing force. Next, the work is held and rotated by the work holding means. In that state, drive the slider means,
The machining tool unit is slid in the direction of the workpiece, and the rotating machining tool is pressed against the workpiece. As a result, the work is subjected to predetermined processing. When the workpiece rotates, the contour shape of the workpiece changes, so that the pressure contact state of the processing tool with respect to the workpiece changes. This change is detected by the load sensor as a change in pressing force. Based on the detection signal, the slider means is driven so that the pressing force matches the set pressing force, and the working tool unit is appropriately moved back and forth with respect to the work. As a result, the pressed state of the processing tool with respect to the work is kept constant. Further, in the case where the change of the torque or the number of revolutions or the change of the motor load is monitored through the driving unit or the rotating unit of the machining tool unit and the set pressing force is appropriately changed based on those changes, The set pressing force is not always constant, but will be changed according to wear of the processing tool.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described below with reference to FIGS. First, there is a base 1, and a work holding means 3 is installed on the base 1. The work holding means 3 includes an air cylinder (not shown), a rotary actuator 5 installed on the air cylinder,
It is composed of a chuck portion 7 installed on the rotary actuator 5. A work 8 is fixed on the chuck portion 7. When fixing the work 8,
It is desirable that the center of the maximum inscribed circle in the contour shape be the axis of rotation. In consideration of such a point, the chuck portion is provided with three claws that form a holding portion that matches the contour shape of the work 8. Further, the work holding means 3 rotates the held work 8 at a constant peripheral speed. That is, the distance between the axis of rotation and the machining point is detected, and the week speed of the machining point is controlled to be always constant based on the detected value. The distance is detected by a linear scale described later.

Slider means 9 is installed on the base 1 at a position facing the work holding means 3.
The slider means 9 moves relative to the driving unit (for example, a servomotor) 11, two rails 12 laid in parallel (only one is shown in the drawing), and these two rails 12. It is composed of slide blocks 14 (only one is shown in the figure) and the like, each of which is provided with two pieces as possible. Further, the slider means 9 relatively slides two rails and four slide blocks by a ball screw method, for example.

An arm member 15 is attached to the side of the two rails 12 or the side of the four slide blocks 14, and the arm member 15 is moved by the slider means 9 in the left-right direction in the figure (direction of arrow b). It is arranged to be movable. A linear scale 17 is attached to a lower portion of the arm member 15, and the linear scale 17 includes a detection head 19. This linear scale 17
As described above, indirectly detects the distance between the rotation axis of the work 8 and the machining point.

A machining tool unit 21 is attached to the tip of the arm member 15. The machining tool unit 21 includes an L-shaped bracket 23, and a drive motor 27 is mounted on a horizontal member 25 of the bracket 23. Further, a tool spindle 31 is mounted inside the vertical member 29 of the bracket 23,
A cutting tool 33 is attached to this lower part. The rotation of the drive motor 27 is transmitted to the tool spindle 31 via a belt 35 and a pulley (not shown) (a pulley on the drive motor 27 side and a pulley on the tool spindle 31 side).

The processing tool unit 21 having the above structure is
As shown in FIG. 2, the holding piece 3 at the tip of the arm member 15
7, 37 ', vertical walls 38, 38' and shaft members 39, 3 protruding from the horizontal member 25 of the bracket 23 above the horizontal member 25.
It is attached by 9 '. The machining tool unit 21 is attached to the arm member 15 so as to be capable of swinging in the counterclockwise direction (direction of arrow c) in the figure with the shaft members 39, 39 'as the swing center. Incidentally, the swinging of the machining tool unit 21 in the clockwise direction in the figure is restricted by the stopper 40.

The tool spindle 31 and the arm member 15
A load sensor 41 is attached to the arm member 15 side between. The load sensor 41 detects the pressing force when the cutting tool 33 is pressed against the work 8 to perform cutting. In the case of the present embodiment, the slider means 9 is controlled on the basis of the detection signal detected by the load sensor 41 to move the arm member 15 and thus the machining tool unit 21 back and forth with respect to the work 8, and thereby the work. Predetermined finishing is performed while maintaining a constant pressure contact state of the cutting tool 33 with respect to 8.

A control panel 43 is provided on the side of the base 1 and above the base 1.
Is installed, and a coolant tank 45 is installed below. The control panel 43 has a built-in structure corresponding to the control means according to the present invention. A magnet separator 4 is provided above the coolant tank 45.
7 is installed. Cutting oil is stored in the coolant tank 45, and this cutting oil is circulated by the pump 46 and supplied to the cutting portion by the cutting tool 33. The supplied cutting oil is returned to the coolant tank 45 side while containing cutting chips, and at this time, the magnetic grinding chips are adsorbed and removed by the magnetic separator 47. In the figure, reference numeral 49 indicates an opening / closing door.

When the finishing process is started, the machining tool unit 2 is moved by the slider means 9 via the arm member 15.
1 is fed in the direction of the work 8, and at that time, it is fast-forwarded to shorten the feeding time. In addition, the machining tool 33 moves the work 8 by the rapid feed.
Work 8
A sensor (not shown) for roughly confirming the contour shape of the is attached. The type and mounting structure of the sensor are determined in consideration of the detection function of the sensor so as not to be affected by disturbance factors such as cutting chips and cutting fluid.

The operation will be described based on the above configuration. First, the work 8 is fixed by the chuck portion 7 of the work holding means 3. The work 8 is rotated in the direction of arrow a at a constant peripheral speed. On the other hand, a predetermined set pressing force is set, and the work 8 is cut while controlling so that the pressing force detected by the load sensor 41 matches the set pressing force. When setting the set pressing force, for example,
It is arbitrarily set based on the material of the work 8, the type of the cutting tool 33, the cutting amount, and the like. The details will be described below.

First, the machining tool unit 21 is moved toward the work 8 by the slider means 9, and the cutting tool 33 of the machining tool unit 21 is brought into pressure contact with the work 8. The tool spindle 31 of the processing tool unit 21 is the drive motor 2
7, and the cutting tool 33 also rotates.
Thereby, the work 8 is cut. At that time, the pressure contact state of the cutting tool 33 with respect to the work 8 changes due to the change in the contour shape of the work 8. As a result, the pressing force detected by the load sensor 41 also changes. In the case of the present embodiment, cutting is performed while controlling the pressing force so as to match the preset pressing force.

A more specific description will be given with reference to FIG. For example, when the work 8 rotates and the pressure contact position by the cutting tool 33 shifts from the large-diameter portion to the small-diameter portion of the work 8 (shifts from the state shown by the virtual line to the state shown by the solid line in FIG. 3), cutting The pressing force of the tool 33 is reduced.
This is detected by the load sensor 41, and based on the detection signal, the slider means 9 is driven (the servo motor 11 is rotated in one direction by a predetermined amount) to move the arm member 15 and thus the machining tool unit 21 in the work 8 direction. Move a predetermined amount. As a result, the processing tool 33 is brought closer to the workpiece 8 by a predetermined amount, whereby the pressing force increases and becomes in a state where it matches the set pressing force.

On the contrary, when the work 8 rotates and the press contact position by the cutting tool 33 shifts from the small diameter portion to the large diameter portion of the work 8 (shift from the state shown by the solid line to the state shown by the phantom line in FIG. 3). Yes, the pressing force on the cutting tool 33 increases. This is also detected by the load sensor 41, and based on the detection signal, the slider means 9 is driven (the servo motor 11 is rotated in the other direction by a predetermined amount) to move the arm member 15 and thus the machining tool unit 21 in the opposite work 8 direction. Move a predetermined amount. Thereby, the cutting tool 33 is separated from the work 8 by a predetermined amount,
As a result, the pressing force is reduced and the set pressing force is reached. By performing the control as described above, the cutting tool 33 is always brought into pressure contact with the work 8 in a constant pressure contact state to perform grinding.

According to this embodiment, the following effects can be obtained. First, even when the contour shape of the work 8 has a variation, a predetermined finishing process can be performed according to the contour shape without being influenced by the variation.
This is to control the slider means 9 so that the pressing force detected by the load sensor 41 becomes a preset pressing force, and move the machining tool unit 21 back and forth with respect to the work 8 to cut the work of the cutting tool 33. This is because the pressure contact state with respect to 8 is kept constant. That is, the contour shape of the work 8 is detected in real time, and the pressure contact state of the cutting tool 33 with respect to the work 8 is changed accordingly. Therefore, even if the contour shape of the work 8 varies, it is possible to prevent the chamfer width from varying, and it is possible to provide a predetermined finishing state.

Further, the structure of the following processing device is simpler than that of the conventional cutting device. That is, when the work shape model cam is mounted and cutting is performed in a state of following the work shape (the cutting device shown in FIGS. 5 and 6), a structure for mounting the work shape model cam and a structure for copying the work shape model cam are required. However, such a thing is unnecessary in the case of the follow-up processing apparatus of this embodiment. In addition, a configuration in which the cutting tool is biaxially controlled and controlled while being positioned at arbitrary (X, Y) coordinate values (grinding device shown in FIGS. 7 and 8) has a configuration in which X and Y directions are respectively set. Although a slide means is required, the follow-up machining apparatus of this embodiment may have a uniaxial slider means.

Further, the operation is simple and the working time is short. For example, in a configuration in which a cutting tool is biaxially controlled and controlled while being positioned at arbitrary (X, Y) coordinate values, trajectory information of the cutting tool according to the contour shape of the work is input and stored in advance. Although necessary, such work is unnecessary in this embodiment. This is each work 8
This is because the contour shape of is detected and controlled in real time.

The present invention is not limited to the above embodiment. First, although the above-mentioned one embodiment does not particularly mention the change of the set pressing force, it is conceivable to control it so as to change it appropriately. In other words, it is expected that the same finished pressing state cannot be obtained with the same set pressing force due to wear of the cutting tool 33 due to aging, or various other factors. So, for example,
It is conceivable to detect the torque via the tool spindle 31 and appropriately change the set pressing force according to the torque. Similarly, it is conceivable to detect the load or rotation speed of the drive motor 27 and appropriately change the set pressing force based on it. In addition, set the time in advance,
A configuration in which the set pressing force is changed is also conceivable. In this way, by controlling so that the set pressing force is changed appropriately, it becomes possible to perform finishing with high accuracy for a long period of time.

The structure of the slider means 9 is not limited to that shown in the figure, and any means is acceptable as long as it can slide the machining tool unit 21. Similarly, the work holding means 3 is not limited to the illustrated one. Further, the work 8 is carried in and out by a work transfer robot (not shown), and the opening / closing operation of the opening / closing door 49 is performed.
It is also conceivable to carry in, carry out, and carry out the work 8 automatically. In addition, it is possible to provide a trouble display to quickly display a defective portion to facilitate maintenance and inspection work. Furthermore, in the case of the above-mentioned one embodiment, cutting is shown as an example, but it is needless to say that the same can be applied to the case of grinding.

[0034]

As described above in detail, according to the follow-up machining apparatus of the present invention, the pressure contact state of the machining tool with respect to the workpiece is detected in the form of pressing force via the load sensor, and this is matched with the set pressing force. As described above, the slider means is driven so that the pressure contact state of the processing tool with respect to the work is constantly maintained.Therefore, even if the contour shape of the work is fluctuated, the predetermined machining can be surely performed according to the fluctuation Can be given. Further, when the set pressing force can be changed, it is possible to always perform processing with high accuracy irrespective of changes over time of the processing tool.

[Brief description of drawings]

FIG. 1 is a diagram showing an embodiment of the present invention and is a front view of a following processing device.

FIG. 2 is a plan view of a follow-up processing device, showing an embodiment of the present invention.

FIG. 3 is a diagram showing an embodiment of the present invention for explaining the operation.

FIG. 4 is a plan view of an industrial part (workpiece) used for explaining a conventional example.

FIG. 5 is a front view of a cutting device showing a conventional example.

FIG. 6 is a plan view of a cutting device showing a conventional example.

FIG. 7 is a front view of a cutting device showing another conventional example.

FIG. 8 is a plan view of a cutting device showing another conventional example.

[Explanation of symbols]

 1 base 3 work holding means 8 work 9 slider means 21 machining tool unit 43 control panel (control means)

Claims (2)

[Claims] 1. A base, work holding means for holding and rotating a work to be processed which is installed on the base, slider means installed on the base, and attached to the slider means. A machining tool unit that rotatably holds the machining tool and is slid by slider means to bring the machining tool into pressure contact with the workpiece,
A load sensor that presses the machining tool against the work to detect the pressing force when machining the work, and the slider means is driven based on the detection signal from the load sensor to move the machining tool unit to the work. A follow-up processing apparatus comprising: a control unit that controls the pressing force to match a set pressing force by advancing and retreating. 2. The follow-up processing apparatus according to claim 1,
The present invention is characterized in that a change in torque, the number of revolutions, a change in motor load, etc. is monitored via a drive unit and a rotating unit of a machining tool unit, and the set pressing force is appropriately changed based on those changes. Follow-up processing device.