JPS60104650A - Grinding device - Google Patents

Abstract

PURPOSE:To make it possible to efficiently carry out a polishing process, by providing a television camera in a device for grinding a workpiece which is moved relative to a grindstone wheel, so that a servo-mechanism is controlled by displaying the shape of the grindstone wheel and an instructed shape on a display device. CONSTITUTION:A designated shape delivered from a shape designating means 16, is delivered to a mixing circuit 23 through a drawing means 20 and a multiplication designating means 21 together with an image signal which is obtained by suitably preprocessing a signal from a television camera 7. The mixing circuit 23 mixes the signal from the television camera 7 with the signal from the shape designating means 16. The result of mixing is adapted with the synthesization of a display device 11 so that the image 3t of a grindstone from the television camera 7 and the image 1c of a designated shape are displayed on one and the same scene at the same reduction scale. A comparing and determining means 25 determines the distance between the grindstone image 3t and the image 1c of a shape to be ground, and computes a control value in accordance with the actual shape of the grindstone wheel 3 which has been worn. This control value is delivered to a numerical control device 31 together with an instruction from a numerical control instructing means 29 to control servo-motors SMX, SMY.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention improves the inefficiency of the copy sheet creation work in the conventional optical copy grinding device by using a television camera, and also improves the inefficiency of the copy sheet creation work in the conventional optical copy grinding device. ．． The present invention relates to a grinding device that improves the problem of automatic correction for wear of a grinding wheel, and furthermore, is capable of teaching a C shape using a model such as a teaching chart paper in special cases such as complicated shapes.

In the conventional optical tracing grinding device, a tracing chart 1 representing the shape of the workpiece to be ground is pasted on the optical projection surface, and the shape of the workpiece is displayed on the chart paper. The purpose is to grind the workpiece according to the shape of the tll grinding rivet.

However, it is a labor-intensive and inefficient work in that the grinding tooth shapes must be created in batches at a predetermined magnification and positioned accurately on the projection screen. In addition, conventional automatic grinding equipment does not have sufficient measures against severe wear of the grinding wheel, and for example, C-correction in relation to dressing equipment is required for core-like workpieces. There was a problem that it was difficult to carry out efficient automatic driving. Furthermore, since it is difficult to compensate for such wear on the grinding wheel, automatic regeneration (playback) using shape teaching based on a general numerical control method is required.
There is a problem in that it is not possible to use the - expression and work cannot be done efficiently.

In view of the above-mentioned state of the prior art, this invention eliminates the need for the copying chart paper in the conventional optical copying grinder Fj11 device,
Also, traditional white! ! Improved the problem of automatic correction in the IJ reconnaissance device, and further improved the teaching chime. - The purpose is to provide a grinding device that can teach the shape using paper, enable automatic regeneration, and perform efficient grinding.
There is.

In order to achieve the above object, the present invention provides a grinding device that moves a grinding wheel and a workpiece in tandem and grinds the workpiece. A television camera is provided to take an image of the grinding wheel, and a shape command means is provided for commanding the shape of the workpiece to be ground, and the shape image of the grinding wheel taken by the television camera and the command issued by the shape command command means A display device is provided that displays the shape of the workpiece on the same screen, and the grinding wheel or the workpiece is displayed while combining four images of the grinding wheel with the shape to be ground of the workpiece shown on the screen of the display device. This is an ω1 cutting device characterized by having an operating device for relatively moving the position of the ω1 cutting device.

In addition, in the ω1 grinding device that grinds the workpiece while relatively moving the grinding wheel and the workpiece, a television camera is provided to image the position of the grinding wheel facing the workpiece. ,
A shape commanding means for commanding the shape to be cut by 1 dl of the workpiece is provided. A distance determination means is provided for determining the distance between the grinding wheel and the workpiece, and the position of the grinding wheel or the workpiece is adjusted relative to the shape of the workpiece to be ground based on the determination value of the distance determination means. This grinding device is characterized by being equipped with a servo drive device that moves the grinding device.

Furthermore, a television camera is installed in a grinding device that relatively moves a grinding wheel and a workpiece to grind the workpiece, and images a position of the grinding wheel facing the workpiece.
(c) A display device is provided that displays the shape of the grinding wheel as seen by the television camera, and the grinding wheel or the workpiece is displayed in accordance with the shape model of the workpiece to be ground, which is displayed on the screen of the display device. An operating device that relatively moves the position is provided to match the shape image of the grinding wheel taken by the television camera to the shape to be ground of the workpiece.
/, : The teaching command means of point 1 to 11 points at the position and the command signal of the teaching command means say N1
a registration means for registering the current position of the stone wheel or the workpiece; and a registration means that interpolates the registered points registered by the registration means and servo-controls the position of the grinding wheel or the workpiece based on the interpolated signal. This is a research device characterized by having four interpolation sections.

Hereinafter, the above invention will be explained with reference to examples.

Figure 1 is a schematic explanatory diagram. A television camera 7 is placed above the grinding wheel 3 that grinds the workpiece 1 through a dust-proof glass or the like.
It is in the installation program. For example, a vidicon, a carnicon, a planbidicon, a saticon, an image dissector, a flying spot scanner, etc. can be used as the blurry camera 7. Further, in this example, a television camera is installed above the grinding wheel so as to avoid the influence of grinding powder, but it is not limited to the above position. The grinding wheel 3 is fixed in the horizontal plane (XY) and can only be moved up and down (Z direction) for dressing etc. The workpiece 1 is attached to the handles 9X and 9Y.
Horizontal direction X and vertical direction
You can move them respectively. In addition, workpiece 1
The movement between the grinding wheel 3 and the grinding wheel 3 is relative C, so the grinding wheel 3
-C is also good. Further, the moving operation device may be operated by a push button or the like in addition to the handle.

When operating the size display device 11, the shape image of the grinding wheel 3 captured by the television camera 7 and the commanded shape image commanded by the shape command means (not shown in FIG. 1) are displayed on the same screen. Installed in a position that is easy to observe, j-C
There is. The display device back 11 may have either a black-and-white screen or a color screen, and is preferably a fine-pitch screen. The image 3t of the grinding wheel 3 taken by the television camera and the shape image *IC of the workpiece 7 to be ground to be ground by the shape command means are superimposed and projected on the display device @11. , The image of the grinding wheel 3 can be directly projected from the TV camera, but the wheel? As with ++, you are free to override the computer processing. Furthermore, if necessary, an image 1t of the workpiece taken by a television camera may be displayed at the same time. If the image is a color screen, it can be divided by color, and if it is a black and white screen, it can be used by distinguishing between J: U, broken lines, solid lines, etc. as shown in FIG. 1.FIG. 2 is an overall functional explanatory diagram. Workpiece 1 is an X-axis circumferential servo motor SMX and a Y-axis circumferential servo motor/1<
It is driven in the horizontal plane by motor SMY. The grinding wheel 3 is driven only in the Z-axis direction, and a position detector 13 is provided to detect the drive position. TV camera 7 and grinding wheel 3
A plurality of lenses T5. with different focal lengths are provided between T5. ．． 15
Interpose it so that an image at any magnification can be obtained. In order to obtain images with even higher magnification, the television camera can be combined with a microscope and, for example, a vidicon.

Note that the position detector 13 has a device C for preventing the focal position C1 from shifting due to movement of the inkstone wheel 6 in the Z-axis direction;
There is a method that enables imaging only when the focus position is correct.

Shape specifying means 16 for specifying the shape of the workpiece to be ground
is by an input device such as a keyboard 17 or a digitizer 19. The specified shape inputted from the shape specifying means 16 is then passed through the drawing means 20 and the magnification specifying means 21 to the television camera 7.
The signal is input to a mixing circuit 23 together with an appropriately preprocessed image signal.

Pre-processing is processing to remove grinding dust, reflection of light, and other noises, or to convert only the contour line into a signal depending on the subsequent processing. It is also possible to determine the image magnification secondarily. The mixing circuit 23 mixes the signal from the television camera 7 and the signal from the shape command means 16. This mixture is adapted to the pixel configuration of the display device 11 so that the grindstone image 3 from the television camera 7 and the command shape image 1C from the shape command means 16 are displayed on the same screen at the same scale. be.

The comparison/determination means 25 determines the distance 1liI between the grinding wheel image 3t and the shape image 1C to be cut (tll), and calculates the control value Δx1Δy based on the actual shape of the worn grinding wheel 3. The comparison/judgment means 2 J will be explained in detail in the Examples described below.The control values ΔX, Δ obtained by the comparison/judgment means 25
The y value is input to the numerical control device 31 together with a numerical command from the numerical command means 29.

The numerical control device is capable of controlling the X-axis servo motor SMX and Y-axis servo motor SMY to control the workpiece 1 to a predetermined position. Note that the plotting means 20, the magnification specifying means 21, the mixing circuit 23, the comparing and determining means 25, and the numerical command means (software) 29 are controlled by the CPU 33.

Embodiment of 2 jt + In this example, a shape image 1t of the workpiece 1 taken by a television camera is also displayed at the same time. The operator touches the image 3t of the grinding wheel in the order of points P+, P2, P3...Pn while observing the screen 3b of the display device. (Make the copy by operating the handle and other operating devices as you go)
It's good to have yuripo. At this time, if you want to change the magnification of the part that requires lees and melon (if you want to change the magnification, you can simply command the CPU 33 and it can be easily processed.
Showing progress in work. In this way, copying processing can be performed using a procedure similar to normal optical copying processing, the magnification can be changed extremely easily, and there is no need for copying chart paper, which is time-consuming. This enables efficient copying machining.

An example of automatic rtl+cutting is shown in FIG.
An example of the determination method is shown below. It is now assumed that automatic grinding has progressed to the point P5. The image 3 of the grinding wheel in the mixing circuit 23 and the command shape 1G by the shape command means 16
touches at point P5 and is C.

At this time, assuming that the grinding wheel is moved in the X/J direction by △X (), find the distance Δy between the grinding wheel and the commanded shape of the workpiece,
It is sufficient if Δx1Δy is replaced with the control value.

Correction due to wear of the grinding wheel, this control is all l1ti
Note that there is C included in .

Note that the contact position when the grinding wheel 3t moves by ΔX1 is not limited to the previous contact position (in other words, the wear of the grinding wheel is not necessarily uniform), so any point It is unclear whether or not there will be any contact. Therefore, as shown in Fig. 6, when determining the next movement position from the position where point P7'c on 1C contacts on the commanded shape, C is the position where the grinding wheel is advanced by △X. Instead of calculating the contact point of 1C with the next contact point, for example, for every 1/2ΔX>, normal line II l, 112... is calculated as the intersection point with the grinding wheel. It is preferable to calculate the distance between the
Drive control of MX and Y-axis servo S IVI Y
If the grinding wheel is in contact with the grinding shape 1C, the grinding wheel can automatically perform the grinding process with high accuracy while taking into account the wear of the grinding wheel. In addition, in the automatic machining shown in this example, it is not necessary to display the information on the display device, but if you use the display device, you can observe the cutting results and also perform the copy machining described above. Convenient and efficient grinding process.

Example of Shape Teaching Next, we will explain an example in which the shape of the workpiece is taught using the image of the grinding wheel captured by the television camera 7 and automatically regenerated.As mentioned above, generally the shape command is This can be done by the instruction means 16, but for complex shapes etc., it is possible to display an image of the finished product with a television camera or to paste a teaching chart paper on the screen so that the shape can be taught by imitating the model. The following explanation will be given assuming that the grinding wheel is moving.
If you want to imitate the finished product model, it is best to use a method that moves the positions of the two objects by adding liquid.

FIG. 7 shows a block diagram of the control section 34 provided in the numerical controller 1ifft 31. The image position of the grinding wheel 3 shown on the screen 35 of the display device is shown in the teaching chart 1 - the shape 1 to be ground of the workpiece 1 shown on paper.
11, a teaching command means 37 such as a button type switch is provided for issuing a teaching command for the LC position C point.

The grinding wheel 3 is controlled by the teaching command signal of the teaching command means 37.
The memory etc. registration means 39 for registering the current position of may be a computer memory. The current position in the grinding wheel can be detected by a decoy detector that is linked to the X-axis servo motor SMX and Y-axis servo motor SMY, or can be detected by moving the wheel in conjunction with the moving operation device 0.9, for example. The number of pulses can be determined by such means as a measuring layer. An interpolation section 41'c interpolates the registered points registered by the point registration means 39 into a straight line, a circular arc, etc., and servo-controls the grinding wheel 3 based on the interpolated signal. To command circular interpolation, the clockwise direction indicating means 45 or the counterclockwise it fi direction indicating means 47 is operated to perform C. The control section includes a CPU, a distribution section, a human power section, etc. (not shown). An image 3t of the grinding wheel 3 is displayed on the screen 35, and a state in which the grinding wheel is sequentially moved to points PI2, PI3, and P+4 to teach three points is shown for reference.

FIG. 8 shows a flowchart of control contents regarding point teaching. The registration judgment in step 801 is made in response to a command from the teaching command means 37 shown in FIG. Grind J-shaped shape 1h by operating the moving operation devices 9X and 9Y
i fit! 'U moves the grinding wheel 3 and teaches command means 3
When the 7F command is issued, the teaching point is registered in the registration means 39 in step 802. Registration point 1 of step 803
-Processing includes interpolation processing based on direction commands from instruction means 45, 47, etc., which instruct interpolation contents. Step 8
04, it is determined that the teaching is completed, and step 805r'' is completed.

FIG. 9 shows an enlarged explanatory diagram of the image shown on the screen 35. Figure 10 shows image 3 of the grinding wheel 30 during teaching and teaching wheel 1.
7-1 - The relationship with the shape 111 of the workpiece 1 made of paper is shown in a further enlarged manner. As shown in Fig. 10, the teaching is based on the image 3t of the grinding wheel and the shape 11) of the workpiece to be ground.
This is done while contacting at the contact point P. Set the reference point of the grinding wheel to Po
It should be noted that the difference between the contact point P and the reference point Pa is different from the radius r of an unworn grindstone.

Generally, the wear of the grinding wheel 9 is not uniform; if the C1 contact point is different, the distance between the contact point and the reference point of the C6 wheel is also different. As shown in FIG. 9, the image 3 of the grinding wheel 3 is moved according to the period J'' shape 111 of the workpiece, and contact points 1] 12, P+3, and P++ are obtained.

By registering the current position of the C inkstone 6 wheel according to each contact point and performing circular interpolation on the registered points, it is possible to draw the same trajectory as the shape of the workpiece centered around the center point 01. Become. Incidentally, if we assume the shape of an ideal unworn grinding wheel and draw the reference point PO of the 6th grinding wheel on an arc J with point 02 as the center, the reference point Po of the 6th grinding wheel will be virtual. The actual grinding trajectory follows the line L+ and follows the imaginary line L2, which passes outside the ω1 cutting surface shape 29 especially near medium heat, resulting in a large error. However, in this example, -C can be taught according to the actual wear shape, so it is possible to make U1 match the shape to be cut ``111''.
and steal.

FIG. 11 shows another teaching example. Assuming an arc centered on point o1! In other words, if we take the center point o1 of this arc and perform C arc interpolation, the locus of the actual contact point between the grinding wheel and the workpiece will be closer to the external force than the C arc at the center. This is as explained at a3 in the figure. Furthermore, as shown in FIG. 9, by using an image of an actual grinding wheel and touching the grinding wheel at three points per degree, it was possible to draw a more approximate circular arc locus. However, when the amount of wear on the grinding wheel is large, the above-mentioned three points of human power e are also insufficient. In such a case, as shown in FIG. 11, a plurality of circular interpolation sections may be combined to increase the number of input points. 02 at the interpolation center point ' of contact point PI F2 F3,
I touch JAjPa F4 F5 (7)? 1tlll center point 'i center 3. Set the interpolation center point of contact point P5 POF7 as 04N, set the interpolation center point of contact point P7 F8 F9 as 05, and set C respectively. Next, for example, if the reference point Po of the grinding wheel is placed on an arc centered around points 02 to 05, the contact point between the grinding wheel and the workpiece can more accurately draw an arc trajectory. .

In addition, in FIG. 11, contact 1ji! P I, P
2...The point registration procedure related to F9 can be performed extremely easily. That is, referring to FIG. 7, while aligning the image of the grinding wheel with the contact points P I , P 2 . i! t”C goes, for each interpolation arc,
You can judge whether it is going towards Jiyuu round H or opposite 11.1 m 1 round lJ, but after obtaining all the registered points, specify the interpolation classification, interpolation interval, and direction at once. It is also possible to give commands to In this example, the possibility of continuously teaching a large number of circular interpolation sections is recognized from the beginning, but it is preferable to adopt a one-shot instruction method such as Takuku. At this time, it is of course possible to designate the address of each registered point including registered points such as other linear interpolation sections, and after obtaining all the registered points 1 to 1, command the circular interpolation section.

FIG. 12 shows a general shape and an application example of teaching work. The image 3t of the grinding wheel is sequentially aligned with the shape 111 of the workpiece in the order of 1, 2, 3, . . . , and a plurality of registered points 1 to 1 are obtained. The reason why points pa and pb are added between points 15 and 16 and between points 16 and 17 is for the reason explained in FIG. I can do it. Note that 1) Instead of using the teaching tool I7, place the finished product at the position of the workpiece, take an image of the finished product with the digital camera, and use the teaching tool A.
Of course, it is also possible to perform shape teaching similar to that using paper.

The above-mentioned teaching/playback type grinding device that uses a TV screen for teaching work enables quick and easy shape teaching, and can teach accurate grinding shapes regardless of wear of the grinding wheel, increasing work efficiency. can be improved.

1. J3-C1 is a grinding device that relatively moves a grinding wheel and a workpiece to grind the workpiece, as set forth in claim 1. A television camera is provided to capture a silver image of the grinding wheel, and a shape command means is provided to command the shape of the grinding wheel of the workpiece, and a shape command means is provided to command the shape image of the grinding wheel captured by the television camera and the shape command command. A display device is installed that displays the command shape commanded by the means on the same screen, and the image of the grinding wheel is combined into the shape of the grinding wheel of the workpiece displayed on the screen of the display device. The III grinding tool, which is characterized by being equipped with an operating device that relatively moves the position of the grinding wheel or the workpiece, eliminates the need for a tracing chart;
The grinding wheel image, which is also shown in the TV camera image, can be processed by copying the commanded shape shown in the TV camera image, and the magnification can be freely selected, and work efficiency can be improved.

Further, in the grinding device that grinds the workpiece by relatively moving a grinding wheel and the workpiece, C1 is a position of the grinding wheel facing the workpiece. A television camera is provided to image the workpiece, and a shape command means is provided for commanding the shape of the workpiece to be ground. j A distance determining means for determining the distance from the commanded shape is provided; The Senfill equipment, which is characterized by the installation of a servo drive device that moves the grinding wheel at j = 1, improves the problem of correction caused by the wear of the conventional grinding wheel, and takes into account the correction of the C grinding wheel. It is possible to improve the efficiency of machining operations by using automated operation.

Furthermore, the grinding wheel and the workpiece are relatively moved to grind the workpiece (di
In the grinding device, a television camera is provided to image the position of the grinding wheel facing the workpiece, and a rezo display device is provided to display a shape image of the grinding wheel taken by the television camera, and the display device A workpiece is displayed on the screen (dl l'1llJ). An operating device is installed to relatively move the position of the abrasive or the workpiece), and The shape of the image of the grinding wheel captured by the camera is adjusted to the shape of the workpiece to be ground by a teaching command means for issuing a teaching command from point 1 at the t/j position, and a command signal from the teaching command means. a registration means for registering the current position of the grinding wheel or the workpiece; and a registration means for interpolating the registration points registered by the registration means and for moving the grinding wheel or the workpiece by one position based on the interpolated signal. An interpolation unit is provided to control the device.
- Char 1 ~ It is possible to easily teach the shape of even irregular shapes by using paper or by using the image of the finished product on TV 7J camera, and U (cutting work σ)
It is possible to improve efficiency.

[Brief explanation of the drawing]

The drawings all show examples, and Fig. 1 is an overall explanatory diagram, Fig. 2 is an overall functional explanatory diagram, Fig. 4 is an explanatory diagram of the display screen during copying processing, and Figs. 5 and 6. The figure is an explanatory diagram of the one-value standardization method for automatic machining. Figure 9 shows arc-shaped 3
An explanatory diagram of point teaching, Fig. 10 is an explanatory diagram showing the relationship between the grinding wheel and the shape of the workpiece, Fig. 11 is an explanatory diagram of teaching by dividing the same circular arc into multiple circular interpolation sections, and Fig. 12 is a general diagram. It is an explanatory view showing teaching work when applying to the shape of /j. 1... Workpiece 1C... Commanded shape of the workpiece 1t... Image of the workpiece taken by a television camera 11).
・・Shape of the workpiece using tilate paper for teaching (or image of the finished product taken by a TV camera) 3 ・Grinding wheel 3t ・Image of the grinding wheel taken by a TV camera 7 ・・Television camera 9X...X Axis operating device 9Y...Y-axis operating device 11...Display device 15...Lens 16...Shape command means 20...
Drawing means 21... Magnification specifying means 23... Mixing circuit 25... Comparison/judgment means 31... Numerical control device 34... Control i11 part 37... Teaching command means
39...Registration means 41...Interpolation unit SMX...X-axis servo motor SMY...Y-axis servo motor Figure 1 Figure 2 Figure 8 511!3 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Procedural amendment (voluntary) December 20, 1980 Director General of the Patent Office Kazuo Wakasugi 1, Indication of the case 1982 Patent Application No. 209891 2, Invention Name Grinding device 3, person making the amendment Patent applicant address (residence) 2-1584 Shimokobari Nakajima, Komaki City, Aichi Prefecture;
Agent Postal code: 105 Address: 5th floor, Toranomon Building, 1-2-3 Toranomon, Minato-ku, Tokyo Phone: Tokyo (504) 3075-3076-30
No. 77, (Shipping date: Showa, month, day) 6. Subject of amendment (1) "Detailed description of the invention" column of the specification. (Chain 7 and Figure 8 in Figure 2, Contents of amendment (1) In the 12th line of page 7 of the specification, the phrase [fixed and dressing] has been changed to "fixed and has a dressing width". processing,
"Dressing, etc." is corrected. (21 In the 9th line of the 8th edition of the same document, the phrase ``workpiece 7 should be ground'' is corrected to ``workpiece 1 should be ground''. (As shown in Appendix 3, Figures 7 and 8) 8. List of accompanying documents (1) Drawings 1 copy, Figure 7, Figure 8.

Claims (1)

[Scope of Claims] (1) In a grinding device that grinds the workpiece by relatively moving a grinding wheel and the workpiece, a position of the grinding wheel facing the workpiece is set at a position opposite to the workpiece. A television camera is installed to image the workpiece, and a shape command means is installed to command the shape of the workpiece to be ground. A display device is provided to display the commanded shape on the same screen, and the image of the grinding wheel is adjusted to the shape to be cut by ω1 of the workpiece shown on the screen of the display device. A grinding device characterized by being provided with an operating device that relatively moves the position of a grinding wheel or a workpiece. <2) Relatively move the grinding wheel and workpiece! In the grinding device for grinding the workpiece, a television camera is provided to take an image of a position of the grinding wheel facing the workpiece, and a shape commanding means for commanding the shape of the workpiece to be ground is provided. and a distance determining means for determining the distance between the shape of the grinding wheel imaged by the television camera and the commanded shape commanded by the shape commanding means, and based on the determination value of the distance determining means. A grinding device comprising a servo drive device that relatively moves the position of the grinding wheel or the workpiece while matching the shape of the workpiece to be ground. (3) In a grinding device that grinds the workpiece by relatively moving a grinding wheel and a liquid-containing material, a television camera is installed that displays a silver image at a position of the grinding wheel facing and covering the workpiece.
(c) A display device is provided to display a shape image of the grinding wheel imaged by the television camera, and the grinding wheel is displayed in accordance with the shape model of the workpiece to be ground, which is displayed on the screen of the display device. a teaching command means which is provided with an operating device for moving the position of the workpiece and performs a point teaching command at a position where the shape image of the grinding wheel matches the shape to be ground of the workpiece; A registration means for registering the current position of the grinding wheel or the workpiece according to command No. 15 of the command means; A grinding device characterized by having an interpolation section for controlling the position of a workpiece using a servo.