JPH07108448A - Chamfering method and device for platelike material - Google Patents

Abstract

PURPOSE:To recognize the teaching data of a platelike material in a short time by recognizing the teaching data of the platelike material, moving a chamfering grinding wheel according to the data, and correcting the position of the chamfering grinding wheel so that reaction recognized by means of a reaction detecting means may become target reaction. CONSTITUTION:A CCD line camera 22 that conducts the image pick up of an area on the extension line of the rotation center of a glass plate 24, is provided, and by this, the edge data of the glass plate 24 are detected, and then, the glass plate 24 is rotated once, and the approximate contour data (teaching data) of the glass plate 24 are recognized from the taken-in edge data. Next, by means of a CPU 34, the grinding speed data of a chamfering grinding wheel are set on the basis of the contour data, and the chamfering grinding wheel is moved along the end surface of the glass plate 24 by means of a chamfering grinding wheel movement means 14, and when the end surface of the glass plate 24 is ground by means of the chamfering grinding wheel, distortion is detected by means of the force sensor 40 of a reaction detecting means 17, and grinding thrust force is operated by means of a reaction operating portion 44, and the chamfering grinding wheel is moved in the axis direction of the grinding thrust force by driving a motor 48 according to a difference between target reaction and the grinding thrust force.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a chamfering method and apparatus for a plate-shaped material which moves a chamfering grindstone along the end surface of the plate-shaped material such as a glass plate to grind the end surface of the plate-shaped material.

[0002]

2. Description of the Related Art As shown in FIG. 8, a chamfering device for a plate-like material such as a glass plate 2 is configured to move along an end surface of the glass plate 2 by NC control of a grinding head. The grinding head is provided with a chamfering grindstone 4, and the chamfering grindstone 4 moves along the end surface of the glass plate 2 while being in contact with the end surface of the glass plate 2 when the grinding head moves along the end surface of the plate-shaped material. And moves to grind the end surface of the glass plate 2.

[0003]

However, the conventional chamfering device for plate-shaped materials uses NC sample plates for NC data to obtain shape data for NC control, so it takes a long time to change jobs. There is. Also,
When the end surface is ground by NC control of the grinding head, there is a problem in that a position shift occurs when the work is mounted and a deflection occurs when the work is mounted, and furthermore, the chamfered shape of the work cannot be quantitatively analyzed. Further, in the case of NC control, there is a problem that the work must be positioned with high accuracy. As a method for solving these problems, an end surface grinding method by reaction force control has been devised.

However, in the case of the end surface grinding method by reaction force control, since it is necessary to constantly detect the traveling direction of the grinding head simultaneously with reaction force control, the grinding speed is set constant regardless of the shape of the work. Also, in the case of the end surface grinding method by reaction force control, the amount of change in reaction force due to control delay is small when the contour of the plate-shaped material is straight, and changes when the contour of the plate-shaped material is curved. Is big. Therefore, if the grinding speed is set according to the straight line portion of the contour, the reaction force control becomes insufficient at the curved portion of the contour and grinding failure occurs, and if the grinding speed is set according to the curved portion of the contour, the grinding time will be long. Become. For this reason, when the apparatus does not recognize the contour of the plate-like body at all, the grinding speed is set to a constant value in accordance with the curved portion of the contour, which causes a problem that the grinding time becomes long.

On the other hand, a method of obtaining shape data of a work by image processing is also known. However, in order to improve the accuracy of the shape data obtained by the image processing, it is necessary to increase the resolution of the camera, which results in a high cost, and in the case of the image processing, the processing time is long and the job change time is long. There is a problem. The present invention has been made in view of such circumstances, and it is possible to shorten the job change time and the grinding time, and further, it is possible to realize a plate-shaped material that does not require high-precision positioning of a workpiece. It is an object of the present invention to provide a chamfering method and device.

[0006]

DISCLOSURE OF THE INVENTION The present invention provides a chamfering method for a plate-shaped material, in which a chamfering grindstone is moved along the end surface of the plate-shaped material to grind the end surface of the plate-shaped material. Teaching data indicating a contour point of the plate-shaped material through the line sensor camera each time the line-sensor camera is arranged so that an area on the extension line of the center can be imaged and the plate-shaped material or the line sensor camera is rotated by a predetermined angle. And the process of capturing
Based on the teaching data of the plate-shaped material, the step of setting the grinding speed data so that the straight line portion of the contour of the plate-shaped material is fast and the curved portion is slow, and the teaching data of the plate-shaped material and the set The chamfering grindstone is moved based on the grinding speed data of the chamfering grindstone, and the position of the chamfering grindstone is corrected so that the reaction force that the chamfering grindstone receives from the end face of the plate-shaped material becomes a target reaction force. The method for chamfering a plate-shaped material, and the apparatus for carrying out the same.

[0007]

According to the present invention, the shape recognition means arranges the line sensor camera so as to be able to image the area on the extension line of the rotation center of the plate-shaped material, and the line sensor camera is lined every time the plate-shaped material or the line sensor camera is rotated by a predetermined angle. It is captured as teaching data indicating the contour points of the plate-shaped material via the sensor camera. The chamfering grindstone moving means moves the chamfering grindstone along the contour of the plate-shaped material based on the teaching data of the plate-shaped material, and grinds the end surface of the plate-shaped material with the chamfering grindstone. Then, the reaction force detection means recognizes the reaction force that the chamfering grindstone receives from the end surface of the plate-shaped material when grinding the end surface of the plate-shaped material with the chamfering grindstone, and the position correction means recognizes the detected reaction force as the target reaction. Correct the position of the chamfering whetstone so that it is helpful.

In this way, the teaching data of the plate-shaped material is recognized, the chamfering grindstone is moved according to the recognized teaching data of the plate-shaped material, and the reaction force recognized by the reaction force detection means is Since the position of the chamfering grindstone is corrected so as to obtain the target reaction force, the teaching data of the plate-shaped material may be roughly recognized. Further, by calculating the grinding speed data of the chamfering grindstone corresponding to the curvature of the contour of the plate-shaped material on the basis of the recognized teaching data of the plate-shaped material, the chamfering grindstone of the chamfering grindstone is associated with the contour of the plate-shaped material. The grinding speed can be changed to the optimum speed.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The method and apparatus for chamfering a plate-like material according to the present invention will be described in detail below with reference to the accompanying drawings. FIG. 1 shows a block diagram of a chamfering device for plate-like materials according to the present invention. As shown in FIG. 1, the plate-shaped material chamfering device 10 includes a shape recognition means 12, a chamfering grindstone moving means 14, and a position correcting means 16.

The shape recognizing means 12 is the CCD line camera 2
2, the CCD line camera 22 is a glass plate 2
4 is arranged above (see FIGS. 2 and 3). Also,
A high-frequency lighting tube 26 is arranged above the glass plate 24. The irradiation light 26A projected from the high-frequency lighting tube 26 is reflected by the area 27 (see FIG. 2) and is incident on the CCD line camera 22. The area 27 is positioned on an extension line of the center of a rotary shaft 25A (described later) of the glass plate 24. Further, the glass plate 24 is placed on the rotating means 28, and the glass plate 24 rotates around the rotation shaft 25A of the rotating means 28. Therefore, the glass plate 24 has the rotating shaft 25A.
When it makes one rotation around, the edge of the glass plate 24 is detected via the CCD line camera 22.

On the other hand, the rotary motor 30 of the rotating means 28 is provided with an encoder 32, and a pulse signal representing the number of rotations of the rotary motor 30 is inputted from the encoder 32 to the CPU 34. When the number of rotations of the rotary motor 30 input from the encoder 32 reaches a predetermined value, the CPU 34
Glass plate 2 detected via CCD line camera 22
The edge of 4 is taken in as edge data. For example, if 500 acquisition points are set when the glass plate 24 is rotated once, edge data of 500 points is acquired by the CPU 34. As a result, the rough outline data (teaching data) of the glass plate 24 is recognized such that the range A of the glass plate 24 is the straight line portion and the range B of the glass plate 24 is the curved line portion as shown in FIG. When a hole or the like is formed in the glass plate 24, the CPU 34 recognizes only the outermost contour of the glass plate 24 as rough contour data of the glass plate 24.

Further, the speed setting means 35 of the CPU 34 sets the grinding speed data of the chamfering grindstone based on the recognized outline data of the glass plate 24. For example, the grinding speed of the chamfering grindstone is set to be relatively high in the range A where the glass plate 24 is recognized as the straight line portion, and the grinding speed of the chamfering grindstone is compared in the range B where the glass plate 24 is recognized as the curved part. Is set to a very low speed.

The chamfering grindstone moving means 14 controls the servo amplifier 18 based on the recognized outline data of the glass plate 24 and the grinding speed data of the chamfering grindstone 36 to control the X-axis motor 48 and the Y-axis. The motor 50 for driving is driven. Thereby, the grinding speed of the chamfering grindstone is relatively high, and the glass plate 24 is recognized as the curved part, corresponding to the contour shape of the glass plate 24, that is, in the range A where the glass plate 24 is recognized as the straight part. In the range B, the chamfering grindstone 36 is moved along the end face of the glass plate 24 while changing the grinding speed of the chamfering grindstone 36 so that the grinding speed of the chamfering grindstone is relatively low.

The reaction force detecting means 17 has a force sensor 40 (see FIGS. 1 and 4). The force sensor 40 is attached to the head attachment base 42, and the chamfering grindstone 3 is attached.
In 6, the distortion when grinding the end surface of the glass plate 24 is detected. In this case, the force sensor 40 is rotated so that the force sensor 40 is positioned in a fixed direction with respect to the tangential direction of the glass plate 24. Then, the reaction force calculation unit 44 calculates the reaction force (grinding back force F _n ) that the chamfering grindstone 36 receives from the end surface of the glass plate 24 from the detected strain.

Here, the grinding back force F _n will be described. As shown in FIG. 4, when the chamfering grindstone 36 moves along the end surface of the glass plate 24 while the end surface of the glass plate 24 is being ground, the chamfering grindstone 36 receives a grinding reaction force F from the end surface of the glass plate 24. (See Figure 5). Grinding reaction force F is the main grinding force component F
_This is a combined force of _t and the grinding back force F _n , and the grinding back force F _n , the grinding speed V of the chamfering grindstone 36, and the grinding amount ΔD satisfy the relationships of the following equations (1) and (2).

ΔD∝F _n (1) (however, grinding speed V: constant) V∝F _n (2) (however, grinding amount ΔD: constant) Therefore, the grinding amount ΔD is constant and the grinding speed V is When variable, the grinding back force F _n must be proportional to the grinding speed V. For example, since the grinding speed of the chamfering grindstone 36 is relatively high in the range A (see FIG. 2) where the glass plate 24 is recognized as the straight line portion, the grinding back force F _n is set to a large value, and the glass plate 24 is curved. Since the grinding speed of the chamfering grindstone 36 is relatively low in the range B recognized as, the grinding back force F _n is set small.

Further, by using a 6-axis sensor as the force sensor 40, the chamfering grindstone 36 can be monitored for clogging by obtaining the ratio of the grinding main component force F _t and the grinding back component force F _n .
Incidentally, reference numeral 46 in FIG. 4 is a grinding spindle. Also, FIG.
Above, the chamfering grindstone 36 moves to the right (direction of arrow A) and rotates in the clockwise direction (direction of arrow B). The position correction means 16 obtains a target reaction force corresponding to the grinding speed of the chamfering grindstone 36. The target reaction force corresponds to the grinding back force F _n , and the relationship between the target reaction force and the grinding speed V is proportional when the grinding amount ΔD is constant, as described above. The position correction means 16 calculates the relationship between the grinding speed of the chamfering grindstone 36 and the target reaction force based on this relationship. Then, the position correcting means 16 inputs the difference between the calculated target reaction force and the recognized grinding back force component F _n to the chamfering grindstone moving means 14. As a result, when the chamfering grindstone moving means 14 grinds and moves the end surface of the glass plate 24 by the chamfering grindstone 36, the chamfering grindstone moving means 14 drives the motor 48 so that the grinding back force F _n becomes equal to the target reaction force. The grindstone 36 is moved in the axial direction of the grinding force component F _n .

The operation of the plate-shaped material chamfering apparatus according to the present invention constructed as described above will be described with reference to the flowcharts of FIGS. 6 and 7. First, the case of obtaining the shape data of the glass plate 24 will be described based on the flowchart of FIG. With the light emitted from the high-frequency lighting tube 26, the rotation motor 30 of the rotation means 28 is driven to rotate the glass plate 24 about the rotation shaft 25A (step 6).
0). In this case, the irradiation light 26A emitted from the high-frequency lighting tube 26 is reflected by the area 27 (see FIG. 2) and is reflected by the CCD.
It is incident on the line camera 22, and the CCD line camera 22
The edge of the glass plate 24 is detected via.

On the other hand, a pulse signal indicating the number of rotations of the rotary motor 30 is input to the CPU 34 from the encoder 32 provided in the rotary motor 30 of the rotating means 28. Then, the CPU 34 gives an instruction to determine whether or not the rotation speed of the rotary motor 30 input from the encoder 32 is a rotation speed at which the detected edge of the glass plate 24 is captured as edge data (step 62). If the judged result is not the rotation speed for fetching the edge data, the process of step 60 is continued, and if the judged result is the rotation speed for fetching the edge data, the edge of the glass plate 24 detected through the CCD line camera 22. Is taken in as edge data (step 64).

Next, it is judged whether or not the glass plate 24 has made one rotation about the rotary shaft 25A (step 66). If it is judged that the glass plate 24 has not made one rotation, steps 60 to 64 are sequentially repeated. . On the other hand, when it is determined that the glass plate 24 has made one rotation about the rotation axis 25A, rough outline data of the glass plate 24 is recognized from the taken edge data (step 68). For example, if edge data of 500 points is captured by one rotation of the glass plate 24,
From the edge data of 500 points, rough outline data of the glass plate 24 is recognized. Thereby, as shown in FIG. 2, the range A of the glass plate 24 is recognized as the straight line portion, and the range B of the glass plate 24 is recognized as the curved line portion.

Next, the CPU 34 sets the grinding speed data of the chamfering grindstone based on the recognized outline data of the glass plate 24 (step 70). For example, in the range A where the glass plate 24 is recognized as a straight line portion, the chamfering grindstone 36
The grinding speed of the chamfering grindstone 36 is set to a relatively low speed in the range B where the glass plate 24 is recognized as a curved portion.

Next, the case of controlling the chamfering grindstone 36 will be described based on the flowchart of FIG. The chamfering grindstone moving means 14 moves the chamfering grindstone 36 along the end surface of the glass plate 24 based on the recognized rough contour data of the glass plate 24 and the calculated grinding speed data of the chamfering grindstone 36. Then, when the chamfering grindstone 36 grinds the end face of the glass plate 24, the force sensor 40 of the reaction force detecting means 17 detects the strain (step 72).

The detected distortion is A / D converted and the reaction force is reproduced.
The input strain is input to the calculation unit 44, and the reaction force calculation unit 44 inputs the strain
The chamfering grindstone 36 receives from the end surface of the glass plate 24 from the signal.
Grinding back force F_nIs calculated (step 74). Reaction force detection
The means 17 is a target counter corresponding to the grinding speed of the chamfering grindstone 36.
Force is calculated (step 76), target reaction force and grinding back force F _n
The difference is broken (step 78). And asked
Target reaction force and grinding back force F_nIf there is a difference in
The moving means 14 has a grinding back force F_nAnd the target reaction force will be equal
Drive the motor 48 to grind the chamfering grindstone 36.
_n(Step 80). Meanwhile, grinding
If it is judged that there is no difference between the reaction force F and the target reaction force, chamfering grinding
End face of glass plate 24 with chamfering grindstone 36 without correcting stone 36
Continue the process of grinding.

In the above embodiment, the high-frequency lighting tube 26 is arranged above the glass plate 24, and the irradiation light projected from the high-frequency lighting tube 26 is reflected by the area 27, and the reflected light is reflected by the CCD.
Although the case where the edge data of the glass plate 24 is captured by being incident on the line camera 22 has been described, the present invention is not limited to this, and the high-frequency lighting tube 26 is arranged below the glass plate 24 to emit light from the high-frequency lighting tube 26. The irradiation light may be transmitted through the area 27, and the transmitted light may be incident on the CCD line camera 22 to capture the edge data of the glass plate 24.

In the above embodiment, the case where the glass plate 24 is polished has been described, but the present invention is not limited to this, and the glass plate 24 may be used for end face grinding of other plate-shaped materials such as aluminum.

[0026]

As described above, according to the method and apparatus for chamfering a plate-shaped material according to the present invention, the teaching data of the plate-shaped material is recognized, and the surface is determined according to the recognized teaching data of the plate-shaped material. Since the chamfering grindstone is moved and the position of the chamfering grindstone is corrected so that the reaction force recognized by the reaction force detecting means becomes the target reaction force, the teaching data of the plate-shaped material may be roughly recognized. Also, by calculating the grinding speed data of the chamfering grindstone corresponding to the contour of the plate-shaped material based on the recognized teaching data of the plate-shaped material, the grinding speed of the chamfering grindstone corresponding to the contour of the plate-shaped material is calculated. Can be changed to the optimum speed.

Therefore, since the teaching data of the plate-shaped material can be roughly recognized, the teaching data of the plate-shaped material can be recognized in a short time, and it is not necessary to position the workpiece with high accuracy. Further, since the NC data is unnecessary, the job change time is shortened. Also, it is possible to change the grinding speed of the chamfering grindstone according to the contour of the plate-shaped material based on the rough teaching data and select the optimum grinding speed according to the contour of the plate-shaped material, thus shortening the chamfering time. Can be achieved. Further, since the position of the chamfering grindstone is corrected so that the reaction force recognized by the position correcting means reaches the target value, the grinding amount of the plate-shaped material can be controlled to a constant amount.

[Brief description of drawings]

FIG. 1 is a block diagram of a chamfering device for plate-like materials according to the present invention.

FIG. 2 is a plan view of shape recognition means used in the chamfering device for plate-like material according to the present invention.

FIG. 3 is a view on arrow AA of FIG.

FIG. 4 is a perspective view of a chamfering grindstone used in the chamfering device for plate-like materials according to the present invention.

FIG. 5 is an explanatory diagram illustrating a relationship between a grinding speed and a reaction force of a chamfering grindstone used in the chamfering device for a plate-shaped material according to the present invention.

FIG. 6 is a flowchart illustrating the operation of the plate-shaped material chamfering device according to the present invention.

FIG. 7 is a flowchart for explaining the operation of the plate-shaped material chamfering device according to the present invention.

FIG. 8 is an explanatory diagram illustrating a conventional method for chamfering a plate-shaped material.

[Explanation of symbols]

 10 ... Chamfering device for plate-like material 12 ... Shape recognition means 14 ... Chamfering grindstone moving means 16 ... Position correcting means 17 ... Reaction force detecting means 22 ... CCD line camera (camera) 24 ... Glass plate (plate-like material) 28 ... Rotating means 35 ... Speed detecting means 36 ... Chamfering grindstone

Claims (4)

[Claims] 1. A chamfering method for a plate-shaped material, wherein a chamfering grindstone is moved along the end surface of the plate-shaped material to grind the end surface of the plate-shaped material, wherein an area on an extension line of a rotation center of the plate-shaped material is imaged. Arranging a line sensor camera as much as possible, taking in teaching data indicating contour points of the plate-shaped material via the line sensor camera every time the plate-shaped material or the line sensor camera is rotated by a predetermined angle; A step of moving the chamfering grindstone based on the teaching data of the material, and correcting the position of the chamfering grindstone so that the reaction force that the chamfering grindstone receives from the end face of the plate-shaped material becomes the target reaction force. A chamfering method for a plate-shaped material, comprising: 2. A chamfering method for a plate-shaped material, wherein a chamfering grindstone is moved along the end surface of the plate-shaped material to grind the end surface of the plate-shaped material, wherein an area on an extension line of a rotation center of the plate-shaped material is imaged. Arranging a line sensor camera as much as possible, taking in teaching data indicating contour points of the plate-shaped material via the line sensor camera every time the plate-shaped material or the line sensor camera is rotated by a predetermined angle; Based on the teaching data of the material, a step of setting the grinding speed data such that the straight line portion of the contour of the plate-shaped material is fast and the curved portion is slow, and the teaching data of the plate-shaped material and the set chamfering grindstone Of moving the chamfering grindstone based on the grinding speed data, and correcting the position of the chamfering grindstone so that the reaction force that the chamfering grindstone receives from the end face of the plate-shaped material becomes the target reaction force. And a method for chamfering a plate-shaped material. 3. A chamfering device for a plate-shaped material, which moves a chamfering grindstone along an end surface of the plate-shaped material to grind the end surface of the plate-shaped material, wherein an area on an extension line of a rotation center of the plate-shaped material is imaged. A line sensor camera which is arranged so that the plate member or the line sensor camera is rotated, and the line sensor camera is rotated from the line sensor camera every time the plate member or the line sensor camera is rotated by a predetermined angle. Shape recognition means having means for detecting teaching data indicating the contour of the plate-shaped material by taking in the output signal of the plate-shaped material, and chamfering grindstone moving means for moving the chamfering grindstone based on the teaching data of the plate-shaped material. And a reaction force detecting means for detecting a reaction force received by the chamfering grindstone from the end face of the plate-like material during movement of the chamfering grindstone by the chamfering grindstone moving means; Reaction force chamfering device of the plate-shaped member having and a position correcting means for correcting the position of the chamfering abrasive wheel so that the target reaction force is. 4. A chamfering device for a plate-shaped material, which moves a chamfering grindstone along an end surface of the plate-shaped material to grind the end surface of the plate-shaped material, and images an area on an extension line of a rotation center of the plate-shaped material. A line sensor camera which is arranged so that the plate member or the line sensor camera is rotated, and the line sensor camera is rotated from the line sensor camera every time the plate member or the line sensor camera is rotated by a predetermined angle. Shape recognition means having a means for detecting the teaching data indicating the contour of the plate-shaped material by capturing the output signal of, the linear portion of the contour of the plate-shaped material based on the teaching data of the plate-shaped material is fast, The curved portion is a speed setting means for setting the grinding speed data so as to be slow, and a chamfering grindstone moving means for moving the chamfering grindstone based on the teaching data of the plate-shaped material, A reaction force detecting means for detecting a reaction force received by the chamfering grindstone from the end face of the plate-like material while the chamfering grindstone moving means is moving, and a reaction force detected by the reaction force detecting means is a target. A chamfering device for a plate-shaped material, comprising: a position correcting unit that corrects the position of the chamfering grindstone so as to be a reaction force.