JPH07106563B2 - Bulk router - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a bulky router.

(Prior Art) This type of large insertion router is provided with a straight bit for performing flat groove processing and a dovetail groove bit for further forming a dovetail groove on the flat groove formed by the straight bit. The movement of the bit with respect to the work in the X, Y, and Z axis directions that are orthogonal to each other is performed by inserting the router main body in the X and Y axis directions in the plane, for example, a mechanism such as a rack and a pinion with respect to a frame fixed to the work. The handle is manually operated to move the bit, and the Z-axis direction (vertical direction) is also moved vertically by manually operating the handle on each bit with respect to the router body.

As a publication showing such a conventional technique, for example, there is one disclosed in Japanese Utility Model Publication No. 61-27686 by the same applicant as this application.

(Problems to be Solved by the Invention) However, in the conventional large insertion router described above, since the movement of the straight bit and the dovetail groove in the X, Y, and Z axis directions is performed by the handle operation by the operator, The processing accuracy depends on the skill of the worker, and only an experienced person can perform accurate processing. In addition, the conventional processing with the large insertion router is performed along the marking line after first marking, so if the marking size is incorrect, the flat groove or dovetail groove after processing will be used. It had a drawback that the dimensional accuracy of the was deteriorated.

(Means for Solving the Problem) In order to solve the above-mentioned problems of the conventional technology, in the large insertion router of the present invention, the straight bit and the dovetail bit are orthogonal to each other.
A motor for moving in the X, Y, and Z axis directions, and a computer for numerically controlling the X, Y, and Z axis directions of the straight bit and the dovetail groove bit by the motor. This is a large insertion router, in which the computer controls the movement of the straight bit and the dovetail groove bit based on the reference position in the X, Y, and Z-axis directions with respect to the workpiece for the machining of the workpiece. Yes, the X,
The reference position in the Y and Z axis directions can be set by the operator relatively moving the straight bit and the dovetail groove bit and the workpiece, and the reference position in the X axis direction is the center line in the longitudinal direction of the groove. It is characterized by being positioned with respect to each other.

(Operation) In the large insertion router of the present invention, the movement of the straight bit and the dovetail groove bit in the X, Y and Z axis directions is performed by a motor, and the movement amount in the X, Y and Z axis directions by this motor is a numerical value by a computer. Since it is controlled, by inputting necessary data such as the dimensions of the flat groove and the dovetail groove to the computer, the flat groove and the dovetail groove having a desired size and shape can be processed.

Further, the movement control of the straight bit and the dovetail bit in the X, Y and Z directions by the computer in the large entry router of the present invention is set by the operator relatively moving the straight bit and the dovetail bit and the workpiece. The reference position in the X direction is positioned and set with respect to the center line in the longitudinal direction of the groove.

That is, first, the center line of the groove to be machined in the longitudinal direction is drawn, and the router body that supports, for example, the straight bit and the dovetail bit is moved and positioned in the X direction, and this is set in the X direction. Set to the reference position, then Y,
Position the reference position in the Z direction as appropriate. After that, the computer processes the groove having a predetermined shape with reference to these positions.

Therefore, for example, even when the fixed position of the work piece changes or when processing different kinds of work pieces, it is easy if the operator relatively moves the straight bit and the dovetail bit and the work piece. The reference position can be set to.

Embodiment An embodiment of the present invention will be described in detail with reference to the drawings.

First, in order to provide a grasp of the overall configuration of this embodiment,
The conventional bulky router developed by the present applicant will be described. This bulky router is described in detail in Japanese Utility Model Publication No. 61-27686.

FIG. 29 is a perspective view showing a conventional manually controlled electric depositing router and a machining shape machined by the depositing router. In this large insertion router, a large groove A is formed by forming a flat groove A and a dovetail groove B on a work W. The large insertion router main body 1 is installed so as to be manually movable in two horizontal directions (hereinafter referred to as X and Y directions) with respect to a stand (not shown), and the work W is fixed to the stand and processed. The flat groove A is processed by the straight bit 2, and the lever 3 is used to lower the strade bit 2 to a predetermined height.
The flat groove A is machined by the straight bit 2 by manually moving the large insertion router body 1 in two horizontal directions with respect to the work W as appropriate. Next, dovetail B is dovetail bit 4
And the dovetail groove bit 4 is lowered to a predetermined height by using the lever 5, and the large insertion router main body 1
Is manually moved in two horizontal directions with respect to the work W (mainly in the longitudinal direction of the dovetail groove (hereinafter referred to as the Y direction)) to machine the dovetail groove B by the dovetail groove bit 4.

The straight bit 2 and the dovetail bit 4 are belt 6
It is rotated by the motor 7 via. Both the straight bit 2 and the dovetail bit 4 can be independently moved up and down, and are assembled to the main body 1 with a structure that can be rotated by the rotational force from the belt 6.

The overall structure described above is almost the same in the case of this embodiment. In the case of the present embodiment, as will be apparent from the later description, the horizontal movement of the insertion router main body 1 in the two horizontal directions and the vertical movement of the bits 2 and 4 are all automated and improved so as to be operated by numerical control. ing.

Next, this embodiment will be described in detail with reference to FIGS. 1 to 28.

[Mechanical Structure] FIG. 1 is a plan view showing the mechanical structure of this embodiment, and FIG. 2 is a side view.

The entire device consists of a base frame 10, a router body 60, and a router body 60.
A moving mechanism 40 for moving the base frame 10 in two horizontal directions, a clamp mechanism 20 for fixing the base frame 10 to the work W,
It is composed of a device control system.

Base frame 10 is X rear frame 12, X front frame 14, Y
The left frame 16 and the Y right frame 18 are formed into a substantially rectangular frame shape.

A clamp mechanism 20 is provided below the base frame 10. The clamp mechanism 20 is rotatably connected to the vice lever 24 by a pin 26 and a vice lever 24 rotatably attached to the X rear frame 12 via a pin 22. Pipe 28, a plate 30 fixed to the tip of the pipe 28, a screw portion 32 that is screwed through the plate 30, and fixed to the tip of the screw portion 32. The pipe 28 or the screw portion 32 moves back and forth. It is formed with a vice 34 that does.

The work W is placed between the X front frame 14 and the vice 34, and the vice 34 is advanced toward the X front frame 14 by operating the vice lever 24 or the screw portion 32, so that the work W and the entire device are separated. Can be firmly fixed. Since the clamp mechanism 20 has a structure very similar to that of Japanese Utility Model Publication No. 61-42777, detailed description thereof will be omitted.

Next, a moving mechanism 40 for moving the router body in two horizontal directions with respect to the base frame 10 will be described. The moving mechanism 40 is a normal XY
It is a two-axis moving mechanism in which the Y-direction moving body 42 moves in the Y-axis (vertical direction in FIG. 1) direction, and the router body 60 moves in the Y-direction moving body.
It is a structure that moves in the X direction (left and right direction in FIG. 1) with respect to 42.

First, a mechanism for moving the Y-direction moving body 42 in the Y direction will be described. The Y-direction moving body 42 includes a left frame 43, a right frame 46,
The X rear pipe 44 and the X front pipe 45 are configured so as to form a substantially rectangular frame. A pair of left and right Y pipes 47, 48 are fixed to the base frame 10 in parallel with the pair of left and right Y frames 16, 18, and the Y pipes 47, 48 are Y-shaped.
The left frame 43 and the right frame 46 of the direction moving body 42 are slidably assembled. Y left frame 1 of base frame 10
6, rack teeth are formed on the upper edge of the Y light frame 18. A Y-axis motor 50 is fixed to the Y-direction moving body 42, and a pair of gears 52 and 54 are assembled so as to be rotatable about a shaft 56 at the same time. The gears 52 and 54 can mesh with the rack teeth and are rotated by the Y-axis motor 50 via a gear train.

With the above structure, the Y-direction moving body 42 advances and retreats in the Y direction with respect to the base frame 10 by the forward or reverse rotation of the Y-axis motor 50.

The X front frame 14 has a Y-axis limit switch.
102 is provided, and it is detected whether the Y-direction moving body 42 is at the position closest to the front side (origin position).

Next, a mechanism for moving the router main body 60 in the X direction on the Y direction moving body 42 will be described.

The router main body 60 has two through holes, and the X rear pipe 44 and the X front pipe 45 of the Y-direction moving body 42 penetrate the through holes, and the router main body 60 guides the X rear pipe 44 and the X front pipe 45 in the X direction. It is mounted so that it can slide. An X-axis motor 58 is fixed to the Y-direction moving body 42, and a screw 59 is rotatably coupled to the motor 58 via a gear train. The screw 59 penetrates the router body 60 and is screwed with the side wall of the router body 60.

With the above structure, the router body 60 moves forward and backward in the X direction on the Y-direction moving body 42 by the forward or reverse rotation of the X-axis motor 58.

An X-axis limit switch 103 is fixed to the Y-direction moving body 42 to detect whether or not the router body 60 is at the center position (origin position) in the X direction.

Next, the structure of the router body 60 will be described. A motor 61 that rotates a straight bit 82 and a dovetail bit 84 is incorporated in the router body 60. The rotation of the motor 61 is transmitted to the pulleys 63 and 64 via the belt 62. Spindle shafts 65 and 66 are attached to the pulleys 63 and 64 by a key so that they cannot rotate relative to each other. However, the spindle shaft 6
The key grooves of 5,66 are sufficiently long in the axial direction, and can be moved relative to the pulleys 63, 64 in the axial direction (the vertical direction in FIG. 2, hereinafter referred to as the Z axis or Z direction). . The spindle shafts 65, 66 are assembled relative to the shaft casings 67, 68 by a pair of bearings 69, 70 to 71, 72 so that they can rotate relative to each other and cannot move relative to each other in the axial direction. Pins 73 and 74 are fixed to the outer walls of the shaft casings 67 and 68. The pins 73 and 74 are engaged with the cam groove described below.

A Z-axis motor 80 is housed in the router body 60. or,
Cams 75 and 76 are rotatably assembled in parallel with the shaft casings 67 and 68. The cams 75 and 76 are rotated by a Z-axis motor 80 via gear trains.

As well shown in FIGS. 3 and 4, the cams 75, 76 have substantially spiral cam grooves 77, 78 on the outer periphery in the vertical direction, and the cam grooves 77, 78 have the pins 73, 78 mentioned above. 74 engaged. The cam grooves 77 and 78 are formed so that the spiral turning directions are opposite to each other, as shown in FIGS. 3 and 4.

With the above structure, the cams 75 and 76 and the pins 73 and 74 are the Z-axis motor 80.
Of the straight bit 82 and the dovetail groove bit 84 to form a conversion mechanism for converting the up and down movements in opposite directions. That is, when the Z-axis motor 80 rotates, the cams 75 and 76 rotate, and the pins 73 and 74 engaged with the cam grooves 77 and 78 respectively move at the same speed and the same distance in opposite directions. That is, if the pin 73 moves upward, the pin 74 moves downward. When the pin 73 moves upward, the shaft casing 67 also rises, and accordingly, the spindle shaft 65 also rises. Pin at this time
74 descends, and the shaft casing 68 and the spindle shaft 66 descend.

In this way, the straight bit 82 chucked at the lower end of the spindle shaft 65, the spindle shaft 66
The dovetail bit 84 chucked at the lower end of the structure moves in the Z-axis direction such that when one of the dovetail bits 84 is raised by the rotation of the Z-axis motor 80, the other is lowered and the dovetail bit 84 is rotationally driven by the motor 61. ing.

A Z-axis limit switch 104 is fixed to the router body 60 so that it can detect whether the spindle shaft 65 is at a predetermined height. Besides, an arm 105 is attached to the output shaft of the Z-axis motor 80. This arm 1
A magnet is attached to the tip of 05. Also the router body
The Hall element 106 is fixed to the 60 side.
Is used to detect whether or not the output shaft of the Z-axis motor 80 is at a predetermined rotation angle position. This operation will be described in detail later.

Now, the large insertion router having the above-mentioned mechanical structure can be operated by the numerical control method. Next, a control device for this purpose will be described.

[Regarding Configuration of Control System] FIG. 5 is a system block diagram showing the overall configuration of the control system. The system is a central processing unit (CPU).
And a microcomputer 90 having a read-only memory (ROM) and a writable / readable memory (RAM). A keyboard 91 for input is connected to the microcomputer 90.
After the necessary data processing is performed according to the processing procedure described in detail later based on the input signal from the microcomputer 90, the microcomputer 90 outputs the data to the driver 95,
A signal 95 amplifies this signal and converts it into driving power for the motor and supplies it to the motor. With this configuration, the X-axis motor 58,
Microcomputer 90 for Y-axis motor 50 and Z-axis motor 80
Controlled by. In addition to the above, a liquid crystal display 92, a buzzer 93, and a display lamp 94 are connected to the microcomputer 90 for displaying data. Also, a watchdog timer 100 is connected, which constantly checks for abnormal operation of the CPU. Further, the microcomputer 90 is connected with XYZ limit switches 102, 103, 104 and a Hall element 106 in order to execute the data processing described below, and is connected with a detection circuit 97 for detecting the drive current of the motor 61. On / off of 61 is controlled by the microcomputer 90.

FIG. 6 shows a keyboard 91, in which the 24 types of keys shown in the figure are arranged in a matrix.

In addition, keyboard 91, liquid crystal display 92, indicator lamp
93 is disposed on the upper surface 101 of the X front frame 14 in FIG.

FIG. 7 shows the meaning of the data used in this control system. The dimensions of the flat groove A are set by the depth, width and straight depth, and the sliding dimensions can be set as necessary. The size of the dovetail groove B is set by the dovetail depth, the dovetail width (this is set as the value obtained by adding the dovetail width correction to the diameter of the dovetail groove bit 84 in this embodiment) and the dovetail depth.

FIG. 8 is a diagram showing the movement loci of the straight bit 82, which is controlled based on the above-mentioned data, in two horizontal directions by arrows. In the case of this figure, the straight bit 82 is rotating clockwise. In the case of this embodiment, the straight bit 82 first moves along the outer periphery of the groove, and finally the inner peripheral side is carved to form the flat groove A.

FIG. 9 shows another movement pattern of the straight bit 82, showing an example in which the groove is formed by first cutting the inner peripheral side and then cutting the outer peripheral side. Each pattern has one long end, and a fine flat groove A can be formed by fine adjustment according to each pattern. This fine adjustment will be described later in detail.

FIG. 10 is a view showing the movement locus of the dovetail groove 84 when the dovetail groove B is formed, and the width of the dovetail groove B is the dovetail groove bit.
It can be seen that it is formed by adding the diameter of 84 and the dovetail width correction.

FIG. 11 shows a movement locus of the dovetail groove bit 84 for chamfering the entrance side of the dovetail groove B.

10 and 11, the moving order of the dovetail groove bits 84 is indicated by corresponding circled numbers. The dovetail groove bit 84 descends to the position indicated by ○ in the figure, and then descends diagonally toward the position indicated in FIG. This is actually achieved by rotating the X-axis motor 58 by one pulse every time the Z-axis motor 80 advances by two pulses. The dovetail bit 84 moves from the position of to the position of and then moves horizontally towards the subsequent position. The dovetail bit 84 moves horizontally thereafter. The dovetail bit 84 moves to the position of and then rises diagonally toward the position of.
This is carried out by appropriately operating the Z-axis motor 80 and the X-axis motor 58. The movement locus of the dovetail groove bit 84 is carefully designed so as to prevent the occurrence of edge cutouts and the like.

The positions shown in FIGS. 8 to 11 are determined on the basis of various data shown in FIG. The locus of movement of the bits shown in these figures will be described in more detail later with reference to the numerals and symbols other than the circled numerals in the figures.

[Control Procedure] Now, in FIG. 12, the data shown in FIG. 7 is input, and based on this data, the straight bit 82 and the dovetail bit 84 are input.
FIG. 10 shows a processing procedure for controlling movement of the pattern in a pattern as shown in FIGS. 8 to 11.

When the power is turned on, the microcomputer 90 is initialized and the device is ready for operation. Step S1
0 is a step to judge whether the power is turned on while the password key is pressed, and it is a step when operating normally.
Go to S12. The operation of turning on the power while pressing the secret code is performed when the Z-axis adjustment mode is required (step S11). This will be described in detail at the end with reference to FIGS. 17 and 18.

In a normal operating state, the process proceeds to step S12, and it is determined whether the Y-direction moving body 42 is at the origin position by determining whether the Y-axis limit switch 102 is on or off. If the Y-direction moving body 42 is not at the origin position, careless operation of the router may damage the work W unexpectedly. Therefore, only the operation in the manual mode described later is possible, and the automatic operation mode is enabled. I can't go to. When it is confirmed in step S12 that the Y-direction moving body 42 is at the origin position, the process starts the process for automatic operation. First, in step S13, the router is set in all directions of the X, Y, and Z axes. Return to the origin position of. This procedure is
This is explained in detail in FIGS. 13 to 15.

FIG. 13 shows a procedure for moving the router main body 60 in the X direction with respect to the Y direction moving body 42 and returning it to the original position. First, in step S30, it is determined whether the X-axis limit switch 103 is on or off, and if it is off, the loop L31 is repeated until the X-axis limit switch 103 is turned on. This loop ends immediately after the X-axis limit switch 103 is turned on, and thus the router main body 60 is returned to the X-direction origin position with respect to the Y-direction moving body 42 in step S32. Step S30
If the X-axis limit switch 103 is already on, loop L33 is repeated until the X-axis limit switch 103 is turned off, and then loop L31 is repeated to return to the origin.

FIG. 14 shows a processing procedure for returning the Y-direction moving body 42 to the origin position in the Y direction with respect to the base frame 10.
In advance, the Y-axis motor 50 is driven to the off side by a predetermined pulse in advance. In this state, in step S41, the Y-axis limit switch 102
Is determined to be on or off, and if it is on, an error is displayed in step S42. This will occur if the device has any failures and will require necessary repairs. Step
When it is determined to be off in S41, loop L42 is repeated until the limit switch is turned on. As a result, the Y-direction moving body 42 returns to the origin position in step S43.

The origin return process in the Z-axis direction is performed based on FIG. This processing is different from the origin return processing in the X direction shown in FIG. 13 only in step S45. This is an improvement used to improve the accuracy of the origin return position in the Z-axis direction as compared with the X- and Y-directions, and the details of the same process will be better understood with reference to FIG.

In FIG. 16, the horizontal axis represents the rotation speed of the Z-axis motor 80. The Z-axis limit switch 104 can be switched on and off with respect to the rotation speed of the Z-axis motor 80 at a predetermined value as a boundary, but the accuracy with which the Z-axis limit switch 104 switches on and off is not very good. If the origin position is determined only by the output of the Z-axis limit switch 104, it is inevitable that the origin position deviates within the range P in the figure. On the other hand, the Hall element 106 described above becomes high only when the arm 105 fixed to the output shaft of the Z-axis motor 80 faces the Hall element 106, and the detection error thereof is smaller than the detection error of the limit switch. However, since the hall element becomes high each time the Z-axis motor 80 makes one revolution, it is not possible to detect whether or not it is the origin only by the output of the hall element 106. In this example, by detecting that the Z-axis limit switch 104 is on and the Hall element output is high, the accuracy of the origin return position in the Z-axis direction is improved. Now, when the origin return processing in the X, Y, Z directions is executed in this way, the processing advances to step S15 in FIG.

In step S15, "auto / same size?" Is displayed.
If "high" is input here, the process proceeds to step S22, which will be described later, but here, the case where the automatic operation is not performed again with the same dimensions will be described first.

If the manual key is pressed while the process repeats the loop L14, the mode is switched to the manual mode shown in step S17. This manual mode is described in detail in FIG.

When the machining condition key is pressed, the mode is switched to the machining condition setting mode shown in step S19. This processing condition setting mode is described in detail in FIG.

When the Yes key is pressed in response to "Auto / same dimension?" Displayed in step S15, the mode is switched to the machining dimension setting mode in step S21 in which a new machining dimension can be input. The machining dimension setting mode is described in detail in FIG.

[Description of Manual Mode] First, a case where the manual key is input will be described. When the manual key is pressed, step S1
The manual mode shown in FIG. 7 is switched to, and the manual mode shown in FIGS. 19 and 20 is executed. Step S50
Then, determine the type of key pressed during the manual mode. Step S51 is a step of determining whether or not a condition for ending the manual mode is satisfied, which will be described later. In step S52, the device is operated according to the type of the pressed key determined in step S50.

The correspondence between the types of keys and the operation of this device is as shown in FIG. If the fast forward keys are pressed simultaneously, the X, Y, and Z axis motors are rotated at high speed,
The movement in the direction is accelerated.

In this manual mode, by appropriately operating the keys shown in FIG. 20, it is possible to perform groove processing while controlling manually. In step S51, Y-axis limit switch 1
If 02 is turned on, it is determined whether or not the auto key is pressed, and if the conditions are satisfied, as shown in steps 53, 54, and 55.
After performing origin return processing in each of the X, Y, and Z directions, the manual mode is released and the process returns to the main routine.

[Explanation of processing condition setting mode] If the processing condition key is pressed while the loop L14 is repeated in the main routine shown in FIG. 12, step S19 is performed.
Press to switch to the processing condition setting mode. The processing in this processing condition setting mode is described in detail in FIG.

Since "Straight diameter?" Is displayed in step S60,
Enter the diameter of the straight bit used accordingly. The input is performed by pressing the high key after inputting the diameter using the numeric keys. Step S62 is a step of determining whether or not the input data is within a predetermined range defined in advance, and if it is not within the range, the input of the diameter of the straight bit is waited again.

When the correct data is input, in step S63, "with ant width correction" or "without ant width correction" is displayed. Here, it is designated whether the shape to be machined from now on is the shape in which the dovetail width correction shown in FIG. 7 is zero or not. The procedure of this designation is, for example, when the "ant width correction is performed" is displayed despite the dove width correction = 0, step S64
Press the No key as shown in. Then, the display is switched to “with width correction without”. In this way, operate the Yes key as necessary to correctly display whether or not there is "antenna width correction" according to the shape to be processed, and press the high key as shown in step S65. By pressing, the presence / absence of ant width correction is set.

For steps S66 to S68, set the depth reference to the 0 mm position or
This sets whether to take the m position. The depth reference is a reference used in the blacking mode described below. Steps S69 to S71 are steps for designating whether or not the flat groove to be machined has the slip shown in FIG. "Yes" and "No" are set by pressing the Yes key.

Steps S72 to S74 are steps for designating whether to handle the data in millimeters or in dimensions in the machining dimension setting mode described below. As in the previous case, use the Yes key to select millimeter or size, and then press the Yes key to select the unit. As a result, the processing condition setting mode ends, and the process returns to the loop L14 of the main routine shown in FIG.

[Explanation of the machining dimension setting mode] Next, in the loop L14 of FIG. 12, the processing procedure when switching to the machining dimension setting mode shown in step S21 of FIG. 12 by pressing the No key is shown in FIG. It will be described with reference to FIG.

This mode is a mode for inputting the dimensions of the flat groove A and the dovetail groove B to be processed. This is executed corresponding to the condition set in the machining condition setting mode executed before that, and if "millimeter" is set as the unit, the input number is input as "millimeter" unit and "dimension" If is set, it is interpreted as data in "dimension" units. This flow chart is expressed in a partially simplified manner for the sake of understanding, and the processing dimension setting mode is completed by repeating the loop from step S81, S82, S83 to the step S81 via the route L84 seven times.

In step S81, the type of data to be input is displayed, and "What is the width?" Is displayed in the first loop. In response to this display, the width of the flat groove A to be machined is pressed, and then the high key is pressed to input the width data. Step S8
In 3, it is determined whether the data input as the width is within the normal range, and if it is abnormal, the input of the width data is requested again via the route L83. Route if normal data is entered
It returns to step S81 via L84. At this time, a different display is made depending on whether "sliding" is "present" or "absent" in the processing condition setting mode. If "Yes" is set now, the loop executes the second time and displays "Slide?". In response to this, the value of the slip of the flat groove A to be processed is input in step S82. Whether or not the input data is within the normal range is determined in S83 in the same manner as in the first loop, and also in subsequent loops.

Now, "Slip" is "None" in the processing condition setting mode.
When it is set, execution of the second loop is omitted, and the first loop immediately shifts to the third loop. Thereafter, “depth”, “ant depth”, “ant width correction”, “straight depth”, and “ant depth” are input interactively by the same procedure. The fifth loop dove width correction input loop is omitted when the dove width correction is not performed in the processing condition setting mode.

As described above, the processing size input mode is completed, and the process returns to the L14 loop of the main routine shown in FIG.

Now, the data setting and the processing condition setting are completed. Therefore, the procedure for automatically operating the present apparatus based on the data set in this way will be described below.

This procedure is executed by inputting the high key in the loop L14 of FIG. This is displayed in step S15 as "Auto: Same size?"
This is an operation of inputting "high". When this operation is performed, the apparatus shifts to a process for automatic operation as described below, and is controlled according to the data set in the processing condition setting mode or the processing dimension setting mode described above. In the loop L14, when the “high” key is directly input without executing the machining dimension setting mode or the like, the data set before that is used as it is for the control of the automatic operation.

In the case of this embodiment, a card reader can be optionally attached. In this case, by inputting the processing condition data and the processing size data in advance and reading the card using the card reader, the input operation in the data setting mode can be replaced. If the dimensional conditions to be processed are limited to several types, it is sufficient to prepare a card for each type, the input procedure is simple, and no input error occurs.

Now, if it is determined in step S14 in FIG. 12 that the high key has been input, then in step S22 "Ink setting mode completed?" Is displayed. If completed, pressing the high key advances to step S25. If the blacking mode is not completed, the blacking mode is executed by using the Yes key.

[Explanation of Blacking Mode] The blacking mode is a procedure for forming a groove at a predetermined position of a work during automatic processing.
In this mode, the position where the groove is formed is set. During automatic machining, grooving is performed based on the position set in this mode. The processing procedure in this mode proceeds as shown in FIG. When the black-matching mode is executed, "horizontal: set" is first displayed. Then, using the "horizontal →" key or the "horizontal ←" key so that the router main body 60 is located on the longitudinal centerline of the dovetail groove B to be machined with respect to the workpiece W chucked in the device. Move 60 in the X direction. By inputting the high key after the movement is completed, the center position in the X direction when the groove is processed is set.

Step S92 is a step of judging whether the groove having the inputted size centered on the set position can be machined or interfered with the base frame 10 to be machined. When it is not possible, the work W is shifted and displayed so that the work W is chucked again, and then the process returns to step S90.

If processing is possible, go to step S94 and set "Depth: Set".
Is displayed. Then, move the router body 60 in the Y direction using the "Okuyuki ↑" key or the "Okuyuki ↓" key, and if the depth reference is set to "0" in the machining condition setting mode, the bit center of the router body 60 will be the work. If the depth reference is set to "15", the bit center of the router main body 60 is moved so that it is located 15 mm from the W end surface of the work until it coincides with the W end surface. By pressing the high key after the correct setting, the depth reference is set correctly, and subsequent automatic processing is executed with the position thus set as the reference. It should be noted that step S96 is for determining whether or not the machining is possible at the reference position, which is exactly the same as that at the time of black marking in the X direction.

Now, when the depth reference is set, the device proceeds to step S97.
As shown in, the Y-direction moving body 42 is moved to the front side in the Y-direction until each bit is positioned so as to be substantially in contact with the end surface of the work W. Here, as shown in step S99, "straight ↑" or "straight ↓" is used to vertically move the straight bit 82 so that the lower end surface of the straight bit 82 is aligned with the upper surface of the work W. By inputting the “high” key when they match, the height reference when processing the groove is set. This ends the black-matching mode, and step S25 of the main routine shown in FIG.
Proceed to.

In step S25, "Start? No?" Is displayed.
When there is some inconvenience and automatic driving is not performed, the Yes key is pressed to return the process to step S15. As a result, the processing conditions can be reset, the processing dimensions can be corrected, and the blacking operation can be redone.

[Regarding Automatic Operation] Now, if all the criteria are completed, by pressing the start key, the process proceeds to step S28, and the large insert dovetailing process is executed fully automatically. That is, in the blacking mode, the point corresponding to a in FIG. 8 is calculated with the position set as the reference position in the X and Y directions as a reference, and the straight bit is moved to that position. The meaning of the Y-direction reference position set in the blacking mode is determined depending on whether the depth reference is 0 or 15 in the processing condition setting mode.
Regarding the coordinates, the point a where the straight bit does not contact the end surface of the work W is calculated. The X coordinate position of the point a is calculated by the width and the straight diameter.

At the point a, the straight bit descends to the reference position in the Z direction set in the blacking mode and the height position determined based on the data input as the straight depth, and the motor 61 starts to rotate and moves straight. The bit also starts to rotate.

Thereafter, the straight bit is moved along the path shown in FIG. 8 based on the dimension designated as the flat groove A, the diameter of the straight bit, and the reference position in the X and Y directions set in the blacking mode.

 As a result, the flat groove A is completed.

In FIG. 8, the number surrounded by a square next to the locus of the straight bit 82 indicates the moving speed number of the cutting edge of the straight bit 82, and its absolute speed is shown in FIGS. 26 and 27. . As is well understood from FIG. 8, the flat groove A
The speed at the time of forming the outer circumference is set to be slower than that of the inner circumference. This is to enable smooth discharge of chips. Further, it is controlled so as to move at an extremely low speed between c and d shown in the figure. This is to prevent the edge from being chipped when the flat groove A is formed.

Move the straight bit 82 as shown in FIG.
Can be formed, and in this case, the speed shown is preferable. In this case, straight bit
Point 82 at point e (At this point, straight bit 82 is work W
It slightly falls on the end face) and lowers. In this way, it is possible to prevent the occurrence of edge chipping. By moving as shown in FIG. 9, generally, chips are removed smoothly, and the finished surface of the flat groove A is finished well.

Note that the above speed is standard, and a program for automatically reducing the speed is prepared, for example, when the work W has a node. This will be described later.

Now, after the flat groove A is formed in this way, this time Z
While the axial motor 80 works to raise the straight bit 82 and lower the dovetail bit 84, the dovetail bit 84 moves to the 10th position.
The X, Y, and Z axis motors are moved so as to move along the paths shown in FIGS. After a series of processing is completed, the chamfered dovetail groove B is formed, and the large insert dovetailing process is completed automatically.

When all the machining is completed, the bit or the router body 60 is returned to the origin position in step S29 of the main routine of FIG. 12, and the process returns to step S15. When the processing of the same size is reproduced, by pressing the Yes key, the process returns to step S22, and after the position serving as the processing reference is determined by the blacking mode, the same fully automatic processing is performed again. When the size and the like are to be corrected, it is sufficient to switch to the processing size setting mode and the like, correct the necessary data, and then proceed to the blacking mode.

[Automatic control of blade edge moving speed] FIGS. 24 and 25 show a system and a processing method for reducing the blade edge moving speed from the standard speed shown in FIGS. 8 to 11 as necessary. It is a thing. This is a mechanism for the case where the work W has, for example, a knot or the like and the processing speed needs to be slowed down, and can deal with wear of the cutting edge and the like.

This system detects that an overcurrent has flown in the bit driving motor 61 and performs necessary processing. As shown in FIG. 24, a voltage proportional to the driving current of the motor 61 is detected by the current sensor CS ( 5th by the current transformer)
It is taken out to the overcurrent detection circuit 97 described with reference to the figure, and this is converted into a direct current by the diode D, smoothed by the resistor R, the capacitor C, etc., and input to the comparator. Here, the variable resistor VR is adjusted in advance so as to have a constant voltage division ratio. The comparator compares with the reference voltage E1 to detect whether an overcurrent is flowing in the motor 61, and inputs the result to the microcomputer 90.

The microcomputer 90 adjusts the moving speed of the cutting edge according to the procedure shown in FIG. That is, the microcomputer 90 has an overcurrent counter, and when the automatic machining operation is started, the counter is cleared to zero in step S100.
During the automatic processing operation, input the output of the comparator at regular intervals,
If it is not overcurrent, the counter is decremented by 1 in step S104, and as shown in step S105, as shown in FIG.
In order to obtain the standard cutting edge movement speed shown in Fig. 11,
Outputs drive current to X, Y, Z axis motors. In this example, all the X, Y, Z axis motors are step motors,
The microcomputer 90 sends pulses to each motor at time intervals so that a standard moving speed is obtained.

When it is determined in step S102 that an overcurrent is flowing in the motor 61, 1 is added to the counter in step S103, and the feed speed is decreased in stop S108. This is executed by lengthening the time interval of the output pulse. However, if the feed speed has already dropped to the minimum speed on the speed chart shown in FIGS. 26 to 28, the speed is not slowed down any more.

When it is determined in step S101 that the automatic machining has ended, as shown in step S109, it is determined whether the overcurrent counter is equal to or more than a predetermined value, and if the value is equal to or more than the predetermined value, the blade is worn. Since there are many, an indication to replace the blade is displayed on the liquid crystal display. After this, after returning to the origin in each of the X, Y, and Z axis directions, the process returns to step S15 in FIG.

By doing so, processing is performed at a predetermined standard speed that is preset, and when it is necessary to reduce the processing speed for some reason, processing that reduces the processing speed as much as necessary is executed so that any situation can be dealt with. Has been done.

[Z-axis adjustment mode] Now that the explanation of the operation of the present embodiment has been almost completed, the device for adjusting in the Z-axis direction incorporated in the present device will be finally described.

As described above, in the apparatus of this embodiment, one Z-axis motor 80
Has a structure in which the straight bit 82 and the dovetail bit 84 are moved up and down like a seesaw, and when returning to the origin position, not only the Z-axis limit switch 104 but also the hall element 106 is used. The accuracy of the origin position is improved. This means that the reproduction accuracy of the origin position is high, but it does not necessarily mean that the straight bit 82 and the dovetail groove 84 have the same height at the origin position. Fig. 18 shows the Z axis motor on the horizontal axis
The rotation speed is 80 and the vertical axis is the bit height. In the cams 75 and 76 shown in FIGS. 3 and 4, since the leads of the cam grooves 77 and 78 are set to be equal, the height change of the straight bit 82 and the height change of the dovetail groove 84 are opposite to each other. It rides on a straight line with the same slope in the direction. When the straight bit 82 and the dovetail groove bit 84 have the same height when returning to the origin, that is, when the origin returning position is 0 in the figure, no special consideration is required, but in reality The heights of the straight bit 82 and the dovetail groove bit 84 may be different at the origin return position due to attachment errors or the like.

In this case, when deciding the processing reference height in the inking mode,
Since the machining reference plane is set using the straight bit 82,
Although the straight depth is processed according to the input data, the depth of the dovetail groove B deviates by the difference in height between points M and N in FIG.

In the case of this device, the following processing method was adopted to avoid this.

Now, when returning to the origin as shown in FIG. 18, when the straight bit 82 is in N and the dovetail bit 84 is in M,
The height of the straight bit 82 when the D pulse Z axis motor 80 is rotated to lower the straight bit 82 is Emm, and the D pulse Z axis motor 80 is rotated in the opposite direction to lower the dovetail groove bit 84. The height of the dovetail groove bit 84 when set is Fmm. Assuming that the height change in which the straight bit 82 and the dovetail bit 84 move up and down for one pulse is a mm, in order to match the heights of both bits, from the origin position. It can be seen that it is necessary to rotate only the pulse. If the value of X is obtained, and the dovetail bit 84 is lowered after descending the flat groove, the dovetail bit 84 is lowered after considering not only the data input as the dovetail depth but also the value of X. The dovetail groove B having the actually designated depth is machined.

FIG. 17 is a flow chart for this adjustment work. This Z-axis adjustment mode is executed by pressing a predetermined secret key when the power is turned on, as shown in the flowchart of FIG. 12, and is not normally executed. Since it may be adjusted once for each device, it is usually performed at the factory shipment stage.

The value of X obtained as described above is stored in the microcomputer 90 and referred to for calculating the number of pulses output to the Z-axis motor 80.

(Effect) In the large insertion router of the present invention, by inputting necessary data such as the dimensions of the flat groove and the dovetail groove to the computer, the flat groove and the dovetail groove having a desired size and shape can be processed. Accurate groove machining can be performed without relying on the experience of, and the work piece does not need to draw a black line along the groove outline, only the center line in the longitudinal direction of the groove to be processed can be drawn. In addition, since the computer performs the grooving based on the reference position set by the relative movement of the work piece and the bit by the operator, the fixed position of the work piece is fixed. When the workpiece changes, or when processing different types of workpieces, pre-calculate the relationship between the reference position in the X, Y, and Z directions according to the workpiece and the fixed position of the workpiece with respect to the insertion router. Then, copy the information Since there is no need for troublesome operations such as inputting to a computer, it has the advantage of being able to quickly and easily cope with changes in the fixed position of the compound to be processed or processing of different types of workpieces, and simplifying computer control. . In particular, when performing the same groove machining on the same workpiece at different positions in the X direction, if the center line of the groove is drawn on the workpiece according to the position to be machined, the workpiece and the bit can be drawn. The work is very simple because it is only necessary to shift in the X direction and align the bits with the center line of the groove to be machined one after another.

[Brief description of drawings]

FIG. 1 shows an embodiment of the present invention. FIG. 1 is a plan view of a large insertion router, a part of which is shown in section, and FIG. 2 is a view of a substantially central section of FIG. 3 and 4 are front views of the main parts of the cam for raising and lowering the straight bit and the dovetail bit shown in FIGS. 1 and 2, respectively, and FIG. 5 is shown in FIGS. 1 and 2. FIG. 6 is a block diagram of the control system of the large insertion router, FIG. 6 is a layout view of the keyboard shown in FIG. 5, and FIG. 7 is a perspective view of a work showing each processing data used in the control system shown in FIG. FIGS. 8 and 9 are plan views of a part of the work showing the trajectories of the straight bit in two horizontal directions based on the data input to the control system shown in FIG. 5, and FIG. 9 shows the other trajectories. 8th
A plan view similar to the figure, FIG. 10 is a plan view of a part of the work similar to FIG. 8 showing the movement trajectory of the dovetail bit, and FIG. 11 is a dovetail bit for chamfering the entrance side of the dovetail groove. Fig. 12 is a front view of a part of the work showing the movement locus of Fig. 12, and Fig. 12 shows movement control of the straight bit and dovetail bit based on the loci shown in Figs. 8 to 11 based on the data input shown in Fig. 7. The flowchart of the control for doing so, and FIGS. 13 and 14 are the flowchart shown in FIG.
And a detailed flowchart for returning to the origin in the Y-axis direction, FIG. 15 is a detailed flowchart for returning the origin of the straight bit and dovetail bit in the Z-axis direction in the flowchart shown in FIG. 2, and FIG. Fig. 17 is a supplementary explanatory diagram of the flowchart shown in Fig. 17, Fig. 17 is a detailed flowchart of the Z-axis adjustment mode in the flowchart shown in Fig. 12, Fig. 18 is a supplementary explanatory diagram of the flowchart shown in Fig. 17, and Fig. 19 is A detailed flow chart of the manual mode in the flow chart shown in FIG. 12, FIG. 20 is an explanatory diagram of operation keys used in the steps in FIG. 19, and FIG. 21 is a machining condition setting mode in the flow chart shown in FIG. 22 is a detailed flowchart of the processing dimension setting mode in the flowchart shown in FIG. 12 and in the flow charter. Shows a kick data displayed as to be input data in each round of the loop,
FIG. 23 is a detailed flowchart of the black-matching mode in the flowchart shown in FIG. 12, FIG. 24 is a diagram showing a system for automatically controlling the moving speed of the cutting edge of a straight bit and a dovetail bit, and FIG. Flowchart of control for automatic processing using the system shown in Fig. 24,
26 to 28 are explanatory diagrams of the speed numbers in the X-axis, Y-axis, and Z-axis directions of the moving speeds of the respective bits shown in FIGS. 8 to 11, and FIG. 29 is of this embodiment. It is a perspective view of the conventional large insertion router shown for the purpose of grasping | ascertaining the whole structure. 50 …… Y-axis motor 58 …… X-axis motor 60 …… Router body 80 …… Z-axis motor 82 …… Straight bit 84 …… Dovetail bit 90 …… Microcomputer

Claims (1)

[Claims] 1. A motor for moving a straight bit and a dovetail bit in mutually orthogonal X, Y, and Z axis directions,
A large insertion router equipped with a computer for numerically controlling the movement of each of the straight bit and the dovetail bit by the motor in the X, Y, and Z axis directions, the computer being a workpiece router. For grooving, the straight bit and dovetail groove bit are controlled to move based on the reference position in the X, Y, Z axis direction relative to the workpiece, and the reference position in the X, Y, Z axis direction is operated. Can be set by the relative movement of the straight bit, the dovetail groove bit, and the workpiece, and the reference position in the X-axis direction is positioned with respect to the center line in the longitudinal direction of the groove. A large-capacity router that features.