JPS62188661A - Grinding machine for glass plate by means of numerical control - Google Patents

Abstract

PURPOSE:To simultaneously control operating movements in various processes with a single or small number of controlling devices by controlling the angles of machining tools which are installed on machining heads respectively while making them move in their respective plane coordinates system. CONSTITUTION:Machining heads 61-64 for edging, chamfering, finishing, and polishing which are loaded on a head base 60 machines a glass plate on a fixed table 31 along a prescribed track by means of rotating machining wheels 75-78, by numerically controlling the X-direction movement of a table 30 and the Y-direction movement of the head base 60. The angles of the machining heads 62-64 are adjusted by controlling a servo-motor 110 and rotating these machining heads 62-64 which are inclined by certain angles to a Z-axis, via a timing belt 109 and pulleys 106-108. Thereby, various machining of the end face of a glass plate can be favorably carried out with a small number of numerical controlling devices.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is capable of beveling glass plates of various shapes such as circular, oval, rectangular, and various curves while controlling the operation of the machine using numerical commands. , 1ltll relates to a chamfering machine and grinding method.

For example, when performing μ-middle chamfering (beveling) on a glass plate, the edge cutting process (edge cutting or edge grinding), chamfering (bevel cutting with a diamond wheel), and the chamfered surface are performed. It is necessary to go through various processes such as chamfer grinding (smoothing with a grindstone or the like) and polishing process to polish the chamfered surface. However, in order to automatically chamfer glass plates of various shapes as described above, the J3 is used in each of these processes, and the machining head and by extension each machining wheel is configured to run along the edge of the glass plate, and the movement of each machining wheel is controlled. It is necessary to control each of them. In this case, in order to individually and independently control the movements of the processing wheels in each of the above steps, there are many operations to be controlled, so a large number of control devices are required, and a complex and sophisticated control device is required. Also, the program for making the control tape is complicated and becomes rAfl.

Therefore, the present invention mechanically connects a group of machining wheels that perform a large number of complex movements that govern the processing of each of the above steps, so that each group of machining wheels performs the same movement.
Another object of the present invention is to provide a chamfering machine in which working motions in each process can be numerically controlled simultaneously using a small number of numerical control devices.

Furthermore, another object of the present invention is to sequentially line up devices for performing each of the above-mentioned processing steps in a straight line, and automatically supply, transport, and automatically position the glass plate to the devices for each of these processing steps. To provide a machine that performs speedy automatic chamfering.

Still another object of the present invention is to provide a grinding wheel as a processing wheel at an angle with respect to a vertical axis in a required processing head among processing heads each having one rotatable processing wheel. To provide a chamfering machine configured to rotate a grinding wheel around a vertical axis so that the grinding surface of the grinding wheel and the surface to be ground of a glass plate always maintain substantially the same contact angle.

Still another object of the present invention is to provide a chamfering machine configured to numerically control the movement of each machining wheel in two axes (X-axis direction, Y-axis direction) in a horizontal plane and the turning movement.

Still another object of the present invention is to rotate a grinding wheel provided on a grinding head around a vertical axis passing through a grinding point, and to create a space between the grinding wheel and a glass plate in two axial directions (X-axis direction) in a horizontal plane. , Y-axis direction),
To provide a method for grinding a glass plate in which the same part of a grinding wheel is always used for grinding.

Hereinafter, specific examples will be explained based on the drawings.

As shown in Figures 1 to 3, place the glass plate,
The table 30, which controls movement in one direction in a horizontal plane, for example, in the , is engaged with a guide rail 34 installed on a base 33, and is advanced by a threaded shaft 36 rotated by a servo motor 35 via a hinge 40, and is moved from side to side in FIG. As shown in FIG. 3, each fixed table 31 is connected to a vacuum device 38 via a flexible bow 37,
! It suctions the glass plate being placed and fixes it during processing. As shown in FIG. 4, a suction port is formed. Fixed stand 31
A bore 41 is formed in the bore 41, a spring 42 is interposed in the bore 41, and a seal plate 4 having a protrusion 43 in the center is formed.
4 is inserted in a movable state, and an annular pressing plate 45 restricts the seal plate 44 from protruding.

A sealing member 46 having a through hole in the center is attached to the outside, and the protrusion 43 is inserted into the through hole 47.
Only the upper part of the frame should protrude to the outside. A plurality of through holes 4B are bored in the seal member 46, and these through holes 48 are normally covered by the seal plate 44. screw hole 49
Screw in the hose connection nipple and connect it to the vacuum device. Although suction is not performed in the illustrated state, when the glass plate is placed on the fixing table 31, the protrusion 43 is pushed down, and the through hole 48 communicates with the vacuum device via the passage 50.
Aspiration takes place.

A belt conveyor 51 is attached to the table 30 so as to be movable up and down relative to the table. Frames 52 and 52 arranged on both sides of the fixed base 31 are connected by members 53 at the front and rear thereof, and each of these members 53 is attached to a screw mechanism known in itself, so that a total of four screw mechanisms 54 are provided on the left and right sides of yJi1. This raises and lowers the frames 52 and 52 at the same time. A driving pulley 56 and a driven pulley 57 are provided on each frame 52 and 52, respectively, so that both belts are driven synchronously from the rotation point. This belt conveyor 51 transports the glass plate from one fixed table to the next fixed table i2i
be done.

The head stand 60 supports four processing heads 61 to 64.
It is located at a position corresponding to the fixed base 31 of the base, and is movable on a frame 65 fixed to the base 33 in a direction perpendicular to the paper plane of FIG. 1, that is, in the Y-axis direction. Rails 66, 66 are fixedly provided on the frame 65, and slide bearings 67, 67, two each of which are attached to both sides of the head stand 60 in the longitudinal direction, engage with each rail 66, 66 to support the head stand. , and this rail 6
6, formed so that the head stand 60 can move on 66,
On the other hand, nuts 69 are attached to both sides of the head stand 60, and screw shafts 68, 68 that engage with the nuts are rotatably provided on both sides of the frame 65 in the longitudinal direction. A servo motor 70 is mounted on the frame 65, and the rotational force of this servo motor is taken out to a shaft 72 arranged on the frame in parallel with the head stand 60 through timing and timing belt material, The screw shafts 68 and 68 are engaged with each other through bevel gears, and both screw shafts are rotated in the same direction, and the head stand 60 is moved forward and backward by the rotation of both screw shafts. Reference numeral 73 denotes bearings on which the screw shafts 68 are rotatably mounted, and are provided at both ends of each screw shaft.

The processing heads mounted on the head stand 60 are arranged in order of process from right to left in FIG. The processing head 61 is for etching, and as shown in FIG.
A disc-shaped diamond wheel 15 is used, and the rotational axis of this wheel and the surface to be ground P of the glass plate are arranged perpendicular to each other. The machining head 62 is for chamfer cutting, and uses a cup-type diamond wheel 76, and as shown in FIG. Placed. The machining head 63 is for finishing and grinds the chamfered portion of the preceding machining head 62, using a grinding wheel 77 made of a cup-type grindstone, and is arranged at an angle as shown in FIG. The machining head 64 is for polishing, and is used to finish the part that has been chamfered and ground in the second stage of the moe, and uses a cup-type felt wheel 78, which is arranged at an angle as shown in FIG.

As mentioned above, among the multiple processing heads, the processing heads other than those for etching are used for cutting glass plates,
It is used for grinding to grind a chamfered part and for polishing to polish a ground part, and in this specification and claims, all of these are collectively referred to as "grinding" for the above-mentioned etching. Sometimes I do.

The processing head 61 shown in FIG. 5 consists of a motor 80 and a wheel 75 attached to an output shaft 81 of the motor 80. The motor 80 is attached to a motor support stand 82. Spacers 84.84 are fixed to the front wall 83 of the head stand 60 at intervals vertically, a feed screw 86 is inserted through the through hole 85 set in the upper spacer, and thrust bearings 87.84 are installed above and below the spacer. 88, and the lower thrust bearing 88 is received by a bearing receiver 89 fixed to the rod 86, - the wrestler's thrust bearing 87
is pressed by a bearing holder 90 having a female thread that is screwed into the thread of the feed screw 86, and as a result, both the thrust bearings are held between the bearing receiver 89 and the bearing holder 90, and the feed screw 86 is pushed upward. It is rotatably supported with respect to the spacer 84 but not movable in the axial direction. A threaded portion 91 is provided at the lower end of the feed screw 86.

A nut 92 is screwed into the threaded portion 91, and a slide member 93 to which the nut 92 is attached can slide up and down by rotation of the rod 86 while contacting the upper and lower spacers 84,84. Since the motor support stand 82 is attached to the slide member 93, when the handle 94 attached to the upper end of the rod 86 is rotated, the nut 92 moves up and down, and as a result, the motor 80 moves up and down. On the other hand, Wheel Fuji 0th place Il1 section is created.

The processing head 62 shown in FIG. 6 (as mentioned above, this structure is common to the processing heads 63 and 64) includes a motor 95 whose output shaft 96 is arranged at an angle with respect to the vertical line; It consists of a wheel 76 attached to the output @96 of this motor 95, and a turning machine $97 that turns the motor 95 around the vertical Z axis. That is, motor 95
The wheel 76 rotated by rotates around the output shaft 96 and is simultaneously moved along the contour of the glass plate,
It has a structure in which it revolves around the Z-axis when used for grinding. Such a swirling Tachibana, 3i! 1, the grinding surface 76a of the wheel 76 always comes into contact with the ground surface P of the glass plate G at substantially the same grinding part,
Uniform grinding can be applied to a glass plate. motor 95
is an arc-shaped long hole 99.99 provided in the motor support stand 98.
The motor 95 is fixed to the support base 98 by inserting a bolt into it and tightening it with a nut. When the nut is loosened, the motor 95 can rotate around the horizontal axis, and the grinding surface 76 of the wheel
Covering of a and glass plate G? tll The angle formed with the cut surface P is W4
1N5, and as a result, the chamfer angle can be changed freely. The motor support stand 98 is integrated with a rod 100, and the upper end of this rod 100 passes through a housing 101 of the bearing and protrudes above this housing 101, and the radial and thrust bearings arranged inside the housing. On the upper side of the row 102, a nut 103 screwed into the rod and a housing 101 of the rod 100.
The bearing row 102 allows rotation of the rod, although axial movement relative to the rod is prevented.

The housing 101 is fixed to the slide member 93 and can be moved up and down by rotation of the feed screw 86. A detailed explanation of this slide mechanism is omitted since it has been described above.

On the other hand, the rod 100 can be moved up and down.

As shown in FIG. 1, the pulleys 106, 107 and 10B of the processing heads 62, 63 and 64 are connected to a servo motor 110 via a timing belt 109 and rotated simultaneously. As a result, the rod 100 of each processing head is rotated, and the wheels 76, 77 and γ8 rotate around the Z axis. Is this Z axis of the glass plate? Since the wheel is selected to be located at point d1m, as shown in Figure 7, each wheel rotates horizontally around the grinding point Q of the glass plate that is currently being applied, and changes in the contour of the glass plate. Always keep the same grinding angle regardless.

8 to 10 show another example of a glass plate chamfering machine. In the above example, the table having a plurality of fixed stands on which glass plates are placed can be moved in one direction (X-axis direction), and the head stand can be moved in the other direction (Y-axis direction). In this example, the table is fixed and the head stand is configured to move in two directions (X-axis direction and Y-axis direction).

In this example, the table 130 includes five fixed stands 131, which are fixed to a base 132.

The fixing table 131 is connected to a vacuum suction device (not shown) as in the previous example to provide suction to the glass plate placed thereon and to hold the glass plate in place during processing. The screw shaft 13 is movable in the vertical direction with respect to the table 130.
Similarly to the above example, two belts 135 and 135 are arranged on both sides of the fixed bases 131 arranged in the - row on the movable frame 134 supported and framed by the supply means α. 136 is formed. Each screw shaft 1
33 is a shaft 1 extending in the longitudinal direction of the table, which is rotated by a motor 131° and a timing belt 138.
It is rotated by a bevel gear 140 provided at 39,
As shown in FIG. 10, they are arranged on both sides of the movable frame 134.

The cross stand 142 is connected to the frame 140a, which is rigidly connected to the vertical frame 141 extending upward from the four corners of the base 132, in the direction perpendicular to the plane of the paper (Y
This cross table 142 can be moved in the axial direction).
In contrast, the head stand 155 is oriented in the left-right direction (1
111 direction). As a result, the head stand 155 is placed 2 times with respect to the fixedly provided table 130.
Move in the axial direction. 2 fixed on the frame 140a
A slide bearing 144 attached to the lower side of the cross table 142 is engaged with the rail 143 of the strip.
As shown in FIG. 9, a bevel gear 148 is attached to both ends of a shaft 147 that is rotated by a motor 145 via a timing belt 146, a bevel gear 149 that meshes with this bevel gear 148, and a screw having this bevel gear 149 at one end. The screw shaft 15 is fixed to the shaft 150.150 and the cross base.
The cross base 142 is moved by the nut 151 that is engaged with the cross base 142.

As shown in FIG. 10, two rails 152, 152 are arranged and fixed on the upper and lower sides of the cross stand 142, while the head stand 155 is provided with slide bearings 156 that engage with each of the rails. The head stand 155 moves left and right on the cross stand 142 via a nut 160 fixedly provided on the head stand 155 that engages with a screw shaft 159 rotated via a timing belt 158 by a motor 157 fixed on the stand 142. Moving. On the head stand 155,
As shown in FIG. 8, five processing heads 161 to 165 are mounted at positions corresponding to the five fixed stands 131 placed on the table 130, and each processing head is mounted on the head stand 155. A shaft 168 rotated via a timing belt 167 by a motor 166 fixed to
and bevel gear train 169.

As shown in FIGS. 11 and 12, each processing head has a tightening portion 171 fixed to the lower end of a rod 170 which is rotatably suspended but not movable in the axial direction, as in the previous example. It has a holder 172 and slidably supports this slide member 173. That is, a dovetail groove 175 is provided on the outside of one side 174 of the L-shaped slide member 173, and this groove 175 is engaged with a complementary-shaped protrusion 17G provided on the holder 172, and a knob 177 having a screw mechanism that is known per se. When rotated, slide member 1
73 is formed to move forward and backward relative to the holder 172. A drumstick-shaped projection 179 is provided on the inside of the other side 178 of the slide member 173, and this projection 179
a second slide member 18 having a groove 180 with a complementary shape;
1 is engaged with the protrusion 179 of the side portion 178 of the groove 180,
The knob 182 having a screw mechanism as described above allows the side portion 1 to be
A second slide member 181 can move forward and backward relative to 78. Furthermore, with a similar configuration, the support plate 18
3 is movable up and down with respect to the second slide portion +4181 by a knob 184, and this plate 1
As in the previous example, a motor 185 is attached to 83 so as to be rotatable around a horizontal axis.

As shown in FIG. 8, the etching head 162 also has the same screw mechanism. As shown in FIG. 8, a bevel gear 191 that meshes with the bevel gear 169 is attached to the upper end of each rod 170, so that when the shaft 1 mo 8 is rotated by the motor 16G via the timing belt 167, , Orad 1, each holder 172 rigidly fixed to the rad 1 rotates about a vertical line, with the result that the wheels 186, 194-196 pivot about a vertical axis passing through the grinding section. In this example, the etching wheel 192
The motor shaft 193 to which the edging wheel 192 and other wheels 186, 194 to 196 are adjusted is adjusted so that its shaft position is vertical.
It is rotated in the same way.

Note that in the second specific example, the configurations other than those described above are substantially the same as those in the first specific example.

In addition, in the specific example of m2, grinding wheels 18G and 194
~196, these can also be replaced with an etching wheel. In this case, the replaced etching wheels need to have their rotational axes vertically arranged like the etching wheel 192, but such adjustment is done by rotating the plate 187 around the horizontal axis. be able to. If all the wheels are used for one edge processing, it is especially useful when edge processing is performed without chamfering, such as for car windows, and when products of the same standard are manufactured domestically, and the wheels are rotated during edge processing. This allows wheel interference to be avoided and the control method to be simplified. In the second specific example, the rotation center of the processing wheel, that is, the center of the rod 170 and the rotation center of the processing wheel can be relatively displaced by the screw mechanism that finely adjusts the rotation center position of the processing wheel. .

The chamfering machine constructed as described above can be operated under the control of a numerical system 200 as shown in FIG. A known device is used as this device I20G.

The basic structure and operation of the chamfering machine shown in FIG. 1 will be explained below. The inkaninit 201 includes a paper tape reader 202 that reads the funxicon and numerical data programmed by perforating the paper tape, controls the operation of this reader 202, decodes the read data,
An input controller 204 that transfers data to the next arithmetic unit 203, and a device! ! 20G control status and equipment! ! 20
An operation equipped with a function switch, display, etc. to instruct a specific operation in 0! 8205. Based on data from the input controller 204, the arithmetic unit 203 calculates the
An arithmetic circuit 206 that interpolates and calculates the amount of axial movement, the amount of Y-axis movement, and the rotational rotation around the Z-axis, and position counters 207, 20B, and 209 that count pulses as the arithmetic results output from this arithmetic circuit 206. , device 200
A cycle controller 210 that defines the operating cycle of
It consists of The arithmetic circuit 20B employs a so-called digital differential analyzer, which calculates the coordinate values of the destination read from the reader 202 and the current position coordinate values set in the position counters 207, 208 or 209. If there is a difference in this comparison, the controller is determined by sequentially performing one-hundred-line interpolation or circular interpolation. Therefore, the arithmetic circuit 206 includes the first
As shown in FIG. 4, there are a linear interpolation controller 4021 that controls the interpolator 401, a circular interpolation controller 403, and a command register 04 that stores the coordinate values of the movement destination. Current position register 405 that stores the coordinate values of the current position and this register 4
A comparator 406 compares the contents of 04 and 405 and outputs the comparison result to a pulse controller 407 and a Nycle control m+ unit 210, and a counter 207, 208 which uses the interpolation amount as a pulse based on the comparison result of comparator 4 (16) or a pulse controller 407 that outputs to 209. Both registers and comparators are provided for control in the X-axis direction, Y-axis direction, and Z-axis, respectively.
The Y-counter 208 and the spin-counter 209 each count the calculation result pulses output from the calculation circuit 206, and operate each servo circuit 212, 213, and 214 of the servo unit 211 based on the counted value. Each servo circuit 212, 213 and 214 drives one servo motor 35, 70 and 11, respectively, based on the corresponding count value.
Operate 0. In each servo circuit, positional control, angle control, and speed control are performed by detecting the positional displacement produced by the motor using inductosin or resolver and tachogenerators 215, 216, and 217.
: Composed of sea urchins. Such inductosin, resolver and tachogenerators 215.218 and 217
The position control and speed control are well known in the field of so-called automatic control technology, so their explanation will be omitted.

To explain the outline of the operation, first, when the start switch on the main operation panel 218 provided on the chamfering machine side is pressed, a start signal is input to the cycle controller 210, and the cycle controller 210 turns on hI! The controller 204 is instructed to read data from the reader 202. As a result, the programmed data on the tape is read from the reader 202, decoded by the input ID device 204, and input to the arithmetic circuit 206.

It is assumed that the glass plates G have already been placed and fixed on all the stands 31, and the heads 61, 62, 63 and 64 are placed at the starting point of the grinding process. Therefore, at this time, the data input to the arithmetic circuit 206 are the amount of movement in the X-axis direction and the movement lJ! in the Y-axis direction. These are the amounts of rotation around the l and Z axes, and these are input to the respective command registers 404. The value input to the command register 404 is compared with the value of the current position register 405 indicating the current position, that is, the origin position, and in this comparison, when a signal indicating that there is a difference is input to the pulse controller 407, The pulse controller 407 sequentially outputs the signals from the interpolation 3401 to the counter. In the interpolation, whether linear interpolation or circular interpolation is to be performed can be set by a program. For example, when linear interpolation is set, the interpolator 401 operates under the control of the linear interpolation rIA unit 402. be done.

Therefore, the interpolator 401 initially outputs a series of pulses to the counter 207 in order to set the counter 207 to a value corresponding to the minute movement tank based on the X-axis direction. counter 207
When is set to such a value, the servo circuit 212 receiving this operates the servo motor 35 to slightly move the table 30 in the X-axis direction. When the servo motor 35 is driven, the shaft 36 is rotated and the table 30 is moved 17J in the X-axis direction, thereby adjusting the position of the table 31, that is, the glass plate relative to the wheels 75, 76, 77 and 78 provided on each head. The position of G is slightly displaced in the X-axis direction. Here, wheels 75, 76, 7 are rotated by pre-driven head motors 80 and 95.
7 and 78, the glass plate G is processed and the processing position is slightly displaced in the X-axis direction. The minute displacement amount and movement speed generated by the servo motor 35 are detected by the indenter and tacho generator 215, fed back to the servo circuit 212, and set accurately.

Next, the movement in the Y-axis direction input to the command register 404 regarding the Y-axis! JIFjA, the value of the current position register 405 indicating the current position in the Y-axis direction, that is, the origin position, and -
, - when the signals from the interpolator 401 are compared, and a signal indicating that there is a difference in this comparison is input to the pulse controller 401, the pulse controller 407 adjusts the minute displacement by the signal from the interpolator 401. A pulse indicating the amount is output to the counter 208. When the counter 20B is set to such a value, the servo circuit 213 that receives it,
The servo motor 70 is operated to slightly move the heads 61, 62, 63, and 64 in the Y-axis direction. As a result, the shaft 68 is rotated, the head stand 60 is moved in the Y-axis direction, and the wheels 75.76 degrees provided on each head are rotated.
4 77 and 7 The position relative to the glass plate G is slightly displaced in the Y-axis direction. Therefore, head motors 80 and 95
The wheels 75.7G and 77 are rotated by the wheels 75.7G and 77, and are displaced by a small amount in the axial direction. The minute displacement position and movement speed caused by this servo motor 10 are detected by the in-A shin and tacho generator 216, and are detected by the servo circuit 21.
3 and set accurately. Further, the value of the spin m input into the spin-related command register 404 and the current position register 405 indicating the current position around the Z axis, that is, the origin position, is compared, and a signal indicating that there is a difference in this comparison is detected. When input from the interpolator 408 to the pulse controller 401, the pulse controller 401 outputs a pulse indicating a minute displacement amount to the counter 209 based on the signal from the interpolator 401. When the counter 209 is set to a value indicating a minute displacement amount by this pulse, the servo circuit 2
14 operates the servo motor 110 to slightly rotate the heads 62, 63 and 64 around the Z axis. When the servo motor 110 is driven, the timing belt 10
9 is running, and the respective pulleys 1G6, 107 and 108
is rotated, and the heads 62, 63 and 64 are rotated about two axes. As a result, the positions of the wheels 76, 77 and 7 wheels provided on each head relative to the glass plate G are slightly displaced around the two axes. Therefore, the head motor 95
The glass plate G is processed by the wheels 76, 77, and 78 rotated by the wheels 76, 77, and 78, and the processing position is slightly displaced around the Z axis. The minute angle and movement speed generated by the servo motor 110 are detected by the resolver and tacho generator 217, fed back to the servo circuit 214, and accurately set. As described above, one-step interpolation operations are performed in the X-axis direction, the Y-axis direction, and the Z-axis. The position register 405 has counters 207, 20
The contents of 8 and 209, that is, the position of the transferred bales are set. Therefore, after one step of interpolation, the command register 404 and current position register 405 are again compared for each axis, and if there is a difference in the contents, the above operation is repeated and the contents of the current position register are changed. Updated. On the other hand, if the contents of the command register 404 and the contents of the current position register 405 match, the corresponding comparator 406 outputs a signal instructing the cycle control @i5210 to read the next data, and the cycle control m device 21
0 instructs the input controller 204 to read data as described above, and the input controller decodes the data read from the reader 202 and sends this data again to the arithmetic circuit 206.
supply to. Here, when this data is data indicating the next movement destination, this data is stored in the corresponding command register 404. Note that storage of new data into the command register 404 is not necessarily performed simultaneously around the X, Y, and Z axes. When the movement is different, each movement may be performed individually. In this way, the new destination is the command register 40 again.
When set to 4, interpolation is performed again and table 3
0 and the respective heads are moved and spun in a predetermined manner about the Y, Y, and Z axes. As described above, processing is sequentially performed on the glass plate G based on the program data, and finally, the data of the origin position around the Y-axis, Y-axis, and Z-axis, that is, the data of the original position is read out from the tape reader 202. As described above, the calculation unit 203 repeats the interpolation operation up to the origin position, and sets the processing points of each wheel 75, 76, 77, and 78 on the glass plate G to the original position. Table 30 and each head 6 at the origin position
1, 62, 63 and 64 are reset, each comparator 4
06 is a cycle! 1ltll! 1210, which causes the cycle controller 210 to signal the input controller 204 to read the next data from the reader 202, and the input ItI11tIO controller 204 to read the next data from the reader 202.
2 and supplies the data to an arithmetic circuit 206. At this time, the data to be read is determined by moving each head 61, 62, 63, and 64 from the processing position at a certain speed, for example, from the position shown in FIG. 2 to the right side. ff
Therefore, the data of this movement destination is set only in the command register 404 related to the Y axis, and based on the setting value of this command register 404, the servo circuit 213 operates the motor 10. Operate. Therefore, the shaft 68 is rotated and each head 61
, 62, 63 and 64 are removed by a certain amount from the processing position with respect to Y@. In this operation, if the contents of the Y-axis command register 404 and the current position register 405 match, the operation of the pulse control l'75407 is stopped;
At the same time, the servo circuit 213 stops the operation of the servo motor 70, and the cycle controller 210 instructs the input controller 204 to read the next data from the reader 202. Based on this instruction, the input controller 204 reads the data punched on the tape from the reader 202 and decodes the data. At this time, the data read is
In order to release the adsorption of the glass plate G to 1, the operation of the vacuum system @38 is stopped, and the hydraulic cylinder 54 is activated to cause the glass plate G to be lifted by the belt conveyor 51 via the frame 52, 52. , its invasion, each glass plate G
This is data for operating the motor 58 in order to transport each of the tables 31 to the next table 31. Upon reading this data, the input controller 204 issues a control signal to each drive control device (not shown), which causes each drive control device to stop the vacuum device 38 and actuate the hydraulic cylinder 54. , actuates motor 58. The belt conveyor 51 is driven by the operation of the motor 58, and all the glass plates G placed on this belt conveyor 51 are transferred, for example, to the left in FIG. 1, and each glass plate G is transferred to the next table 31. be done. The glass plate to be newly processed is placed on the rightmost stand 31 by the operator or automatically at 41! I will be treated. When each glass plate is accurately conveyed to the next table, the respective drive control devices stop the operation of the motor 58 in response to a signal from the sensor S (not shown) that detects this, and at the same time, the belt After the lifting of the glass plate G by the conveyor 51 is completed and the sliding operation is completed, each drive control device outputs an operation completion signal to the cycle controller 210. Input controller 204 for reading
The input system t111n204 reads the next data from the reader 202 and decodes it. The data read here includes the table 30 and the head 61°G2.
．． It consists of a return-to-origin command signal for 63 and 64 and origin position coordinate values, and these data are transferred to the arithmetic circuit 206 again. By the way, head 61.62.
63 and 64 are displaced from the origin only in the Y-axis direction as described above, so the arithmetic circuit 206 performs operations only in the Y-axis direction. Therefore, the servo circuit 213 operates to operate the servo motor 70 by the signal output from the counter 208, and the heads 61, 62, .
63 and 64 are moved leftward in the relationship shown in FIG. 2 and returned to their original positions. As a result, the contents of the command register 404 and the current position register 405 regarding the Y-axis match, and this match signal is generated as a cycle-based tll!
21G, and the cycle controller 210 outputs a command signal to read the data from the reader 202 to the input controller 204 in order to perform the next processing again. The same applies hereafter, and the calculation unit 203 performs interpolation calculation based on the data obtained from the input controller 204, outputs this result to the servo unit 211, and outputs the result to the servo unit 211.
1 operates the respective servo motors 35.70 and 110, and the servo motors 35.70 and 110 are moved corresponding to the processing points of the table 3G and each head glass plate G. Incidentally, such a numerical control device ffl! The control operation according to 200 can also be suitably applied to the machine shown in FIG. 8 by slightly changing the program, changing the circuit grooves, and changing the configuration.

[Brief explanation of drawings]

Fig. 1 is a front view showing a first example of the device of the present invention, and Fig. 2 is a side view taken from the direction of line ■-■ in Fig. 1, and the etching wheel is in the position shown in Fig. 1. Fig. 3 is a sectional view taken along the line ■-■ of Fig. 1, showing the grinding wheel in a position deviated by 180° from the position shown in Fig. 1; Figure 4 is a detailed cross-sectional view of the fixed table, Figure 5 is a detailed view of the support part of the machining wheel that does not rotate, Figure 6 is a detailed view of the support part of the machining head that rotates, and Figure 7 is a detailed view of the support part of the machining wheel that does not rotate. FIG. 8 is a partially cutaway front view showing another example of the device of the present invention, FIG. 9 is a plan view of the same, and FIG. The figure is a sectional view taken along the line x-X in FIG. 8, and FIG.
Figure 12 is a side view of the rotating machining head;
FIG. 3 is a block diagram of the NG device, and FIG. 14 is a block diagram of the fraud circuit. 30...Table, 51...Belt conveyor, 60...Head stand, 61-64...
...Processing head, 130...Table, 13
1...Fixed stand, 142...Cross stand,
155...Head stand, IG1~165...
...Processing head. Procedural amendment layer March 9, 1988 2, Title of invention: Glass plate grinding machine by numerical control 3, Relationship with the case of the person making the amendment Name of patent applicant: Sakatsuna Kikou Co., Ltd. 5, Date of amendment order: Voluntary 6. Number of inventions increased by amendment 7. Subject of amendment: In the description, the column for the title of the invention and 8. Contents of amendment: Amend the entire text as shown in the attached sheet. Title of the invention Glass plate processing machine by numerical control 2 Claims A table equipped with a plurality of workbenches for setting glass plates, and a plurality of processing heads corresponding to the workbenches. a head stand; a means for moving the head stand in one direction; and a means for moving the table or the head stand in the other direction in order to move the processing head relative to the workbench in another direction perpendicular to the one direction. a means for moving the processing heads; and an angular control device connected to each processing head and installed on the head stand so as to control the angle of each processing head around an axis perpendicular to the plane coordinate system formed by the respective movement directions. means and
a numerical control means for numerically controlling the moving means in the two directions and the angle controlling means, and controlling the angle as described above while moving each processing tool installed in each processing head in the plane coordinate system. A numerically controlled glass plate processing machine equipped with an adjusting means for adjusting the position in the normal direction of the glass plate processing machine line for processing azaleas. 3. Detailed Description of the Invention The present invention uses a plurality of processing heads to simultaneously process the same number of glass plates.
This article relates to a glass plate processing machine using numerical control for parallel processing. A processing machine that processes the edge of a glass plate is created by installing a plurality of processing heads on a common moving means and moving them under numerical control to perform an angle of 11i1J m around an axis perpendicular to the glass plate surface using numerical control as well. It depends. For example, when performing beveling of a glass plate, the edge cutting process (edge cutting or edge grinding), chamfering (bevel cutting with a diamond wheel), chamfering that grinds the chamfered surface It is necessary to go through various processes such as grinding (smoothing with a grindstone, etc.) and polishing the chamfered and ground surface. However, in order to automatically chamfer glass plates of various shapes as described above, the machining head and, by extension, the machining wheels must be configured to run along the edge of the glass plate in each of these steps, and the dynamism of each machining wheel must be reduced. Each needs to be controlled. In this case, in order to individually and independently control the movements of the processing wheels in each of the above steps, there are many operations to be controlled, so a large number of control devices are required, and a complex and sophisticated Illm device is required. Furthermore, the program for creating the control tape becomes complicated and difficult. In addition, when multiple processing heads are installed as a common moving means, numerically controlled XY coordinate movement is performed, and multiple glass plates are processed simultaneously and in parallel, such as polishing, each processing tool such as a processing wheel is completely removed. In order to proceed along the same movement trajectory, when wheels with different diameters are used for the machining tools such as each machining wheel, or when the machining tools such as the wheels have different wear, each machining head Even though the numerical data information is the same, the machining parts of the machining tools do not draw the same locus, resulting in different finished dimensions, and some are not machined at all. Here, an object of the present invention is to move the tool machining section (machining point) of each machining head even if each machining head uses a different type of machining tool or is equipped with a machining tool of a different diameter. The trajectories match and each machining can be performed, and the respective movement trajectories can be finely adjusted by taking into consideration the grinding allowance, finishing dimensions, etc., and the tools of certain machining heads can enlarge the movement trajectories. Another object of the present invention is to provide a numerically controlled glass plate processing machine that can perform processing by reducing the size of the tool in the processing head. According to the present invention, the object is to provide a table having a plurality of workbenches for setting glass plates, a head stand having a plurality of processing heads corresponding to the workbench, and a head stand that moves in one direction. means for moving the table or head stand in the other direction in order to move the processing head relative to the workbench in another direction perpendicular to the one direction; An angle control means installed on the head stand and connected to each processing head so as to control the angle around an axis orthogonal to a plane coordinate system formed by the movement direction, and the two-direction movement means and angle control means. In a glass plate processing machine for processing the edge of a glass plate, the machine includes a numerical control means for numerically controlling the processing head, and performs the above angle control while moving each processing tool installed in each processing head in the plane coordinate system, This is accomplished by a numerically controlled glass plate processing machine provided with adjustment means for adjusting the positions of a plurality of holes. Hereinafter, specific examples will be explained based on the drawings. . Here, first, the basic structure of a numerically controlled glass plate processing machine according to the present invention will be explained with reference to FIGS. 1 to 7. As shown in Figures 1 to 3, place the glass plate,
The table 30, which controls movement in one direction in a horizontal plane, for example, in the It engages with a guide rail 34 installed on a base 33, and is moved back and forth via a nut 40 by a screw shaft 36 rotated by a servo motor 35, and is moved from side to side in FIG. As shown in FIG. 3, each fixing table 31 is connected to a vacuum device i38 via a flexible hose 37, which suctions the glass plate placed on these fixing tables 31 and fixes the glass plate during processing. do. Fourth
Form a suction port as shown. Boring 4 on fixed base 31
1, a spring 42 is interposed in this boring 41, a seal plate 44 having a protrusion 43 at the center is inserted in a movable state, and an annular holding plate 45 restricts the seal plate 44 from protruding. do. A seal part 4146 having a through hole in the center is attached to the outside, and this II
The protrusion 43 is inserted into the through hole 47 so that only the upper part of the protrusion 43 protrudes to the outside. A plurality of through holes 48 are bored in the seal member 46, and these through holes 48 are normally covered by the seal plate 44. A nipple for connecting a hose is screwed into the screw hole 49 and connected to a vacuum device. Although suction is not performed in the illustrated state, when the glass plate is placed on the fixing table 31, the protrusion 43 is pushed down, the through hole 48 communicates with the vacuum device via the passage 50, and suction is performed. A belt conveyor 51 is attached to the table 30 so as to be movable up and down relative to the table. Frames 52 and 52 arranged on both sides of the fixed base 31 are connected by members 53 at the front and rear thereof, and each of these members 53 is attached to a screw mechanism known in itself, and a total of four screw mechanisms 54 are provided on the front, rear, left and right sides. This raises and lowers the frames 52 and 52 at the same time. A driving pulley 56 and a driven pulley 57 are rotatably attached to each frame 52, 52, and
Belts 55 and 55 are passed over each other, two drive boots are fixed to a drive shaft 59, and both belts are driven synchronously by a motor 58. The belt conveyor 51 transports the glass plate from one fixed table to the next. The head stand 60 supports four processing heads 61 to 64.
It is located at a position corresponding to the fixed base 31 of the base, and is movable on a frame 65 fixed to the base 33 in a direction perpendicular to the paper plane of FIG. 1, that is, in the Y-axis direction. Rails 66, 6 (i) are fixedly provided on the frame 65, and slide bearings 67, G7, two of which are attached to each side of the head stand 60 in the longitudinal direction, are attached to each rail 66, 6.
6 to support the head stand, and to allow the head stand 60 to move on these rails 66, 66. On the other hand, nuts 69 are attached to both sides of the head stand 60, and nuts 69 are attached to both sides of the head stand 60. Screw shafts 68, 68 that engage with the frame 65 are rotatably provided on both sides of the frame 65 in the longitudinal direction. frame 6
A servo motor 70 is attached to the top of the servo motor 5, and the rotational force of this servo motor is taken out via a timing belt to a shaft 72 placed on the frame parallel to the head stand GO, and a bevel gear is driven at both ends of the shaft 72. The screw shafts 68 and 68 are engaged with the screw shafts 68 and 68, respectively, so that both screw shafts are rotated in the same direction, and the rehead table 60 is moved forward and backward by the rotation of both screw shafts. γ3 is a bearing on which the screw shaft 68 is rotatably mounted, and is provided at both ends of each screw shaft. The processing heads mounted on the head stand 60 are arranged in order of process from right to left in FIG. The processing head 61 is for etching, and as shown in FIG.
A disc-shaped diamond wheel 75 is used, and the rotational axis of this wheel and the surface to be ground P of the glass plate are arranged perpendicular to each other. The processing head 62 is for chamfer cutting, and uses a cup-type diamond wheel 76, and as shown in FIG. 3, the part to be ground P of the glass plate and the rotational axis of the wheel 76 are arranged at an angle. . The machining head 63 is for finishing and grinds the chamfered portion of the preceding machining head 62, using a grinding wheel 77 made of a cup-type grindstone, and is arranged at an angle as shown in FIG. The machining head 64 is for polishing, and is used to finish the part that has been chamfered and ground in the previous two stages.It uses cup-type fers 1 to wheels 78, and is arranged at an angle as shown in Fig. 3. . As described above, the processing head 61 shown in FIG. 5 is composed of the motor 80 and the wheel 15 attached to the output shaft 81 of the motor 80, and the motor 80 is attached to the motor support stand 82. Spacers 84 and 84 are fixed to the front wall 83 of the head stand 60 at intervals vertically, and a feed screw 86 is inserted into the through hole 85 provided in the upper spacer, and thrust bearings 81 and 88 are installed above and below the spacer. The lower thrust bearing 88 is received by a bearing receiver 89 fixed to the rod 86, and the thrust bearing 87 of the wrestler is pressed by a bearing retainer 90 having a female thread screwed into the thread of the feed screw 86. , As a result, the bearing receiver 89 and the bearing retainer 90
Sandwich both thrust bearings with the 8G feed screw.
is rotatably supported by the upper spacer 84 but not movable in the axial direction. A threaded portion 91 is provided at the lower end of the feed screw 8G, and a nut 92 is screwed into this threaded portion 91, and the slide member 9 to which the nut 92 is attached.
3 is caused by the rotation of the rod 86, the upper and lower spacers 84.8
It is designed to be able to slide up and down while in contact with 4. Since the motor support stand 82 is attached to the slide member 93, the handle 9 attached to the upper end of the rod 8G
When the wheel 4 is rotated, the nut 92 moves up and down, and as a result, the motor 80 moves up and down. The processing head 62 shown in FIG. 6 (as mentioned above, this structure is common to the processing heads 63 and 64) includes a motor 95 whose output shaft 96 is arranged at an angle with respect to the vertical line; The wheel 76 attached to the output shaft 9G of the motor 95 and the motor 95 are
Axial movement and Y-axis movement motor 95 of head stand 65
The wheel 76, which is rotated by The plate G is always in contact with the surface to be ground P at substantially the same grinding portion in the normal direction of the edge of the plate G, and uniform grinding can be performed on the glass plate.The motor 95 is mounted on a motor support base. A bolt is inserted into an arc-shaped elongated hole 99.99 provided in 98, and the bolt is tightened with a nut to be fixed to this support stand 98. When the nut is loosened, the motor 95 can rotate around the horizontal axis. , the angle between the grinding part 7Ga of the wheel and the part to be ground P of the glass plate G can be adjusted, and as a result, the chamfer angle can be changed freely.The motor support stand 98 is integrated with the rod 100, and this rod The upper end of the bearing 100 passes through the housing 101 of the bearing and protrudes above the housing 101, and is fitted with a lv nut 103 screwed onto the rod above the radial and thrust bearing row 102 arranged in the housing. Although the rod 100 is prevented from moving in the axial direction relative to the housing 101, the rod can be rotated by the bearing row 102. The housing 101 is fixed to the slide member 93, and the rotation of the feed screw 86 It is movable up and down. A detailed explanation of this sliding mechanism is omitted since it has been described above. A spline 105 is provided at the upper end of the rod 100.
Pulley 10 with a hole that fits this spline 105
6, the rod 100 can be slid up and down. As shown in Figure 1, processing heads G2.63 and 64
Each pulley 106, 107 and 108 is linked to a servo motor 110 via a timing belt 109,
rotated at the same time. As a result, rod 10 of each processing head
0 is rotated, and the wheels 76, 77 and 78 rotate under angle control around two axes. An example of a glass plate processing machine according to the present invention will be described in detail based on the drawings. 8 to 10 show preferred embodiments of the glass plate processing machine of the present invention. The main source is unidirectional (
In this example, the table is fixed and the head stand can be moved in two directions (X-axis direction, Y-axis direction). ). In this example, the table 130 includes five fixed stands 131, which are fixed to a base 132. The fixing table 131 is connected to a vacuum suction device (not shown) in the same way as in the example of the above-mentioned basic configuration, and suctions the glass plate placed thereon to hold the glass plate in a fixed position during processing. do. A movable frame 134 supported and framed by a screw shaft 133 so as to be movable in the vertical direction with respect to the table 130 has fixed bases 131 arranged in rows sandwiched therebetween, on both sides thereof. 2 so that
A feeding means 136 is formed by arranging strip belts 135, 135. Each screw shaft 133 is connected to a motor 137 . A bevel gear 140 provided on a shaft 139 extending in the longitudinal direction of the table and rotated by a timing belt 138
As shown in FIG. 10, they are arranged on both sides of the movable frame 134. The cross stand 142 is connected to the frame 140a, which is rigidly connected to the vertical frame 141 extending upward from the four corners of the base 132, in the direction perpendicular to the plane of the paper (Y
This cross table 142 can be moved in the axial direction).
In contrast, the head stand 155 is oriented in the left-right direction (X
It is possible to move in the axial direction). As a result, the head stand 155 moves in two axial directions relative to the fixedly provided table 130. A slide bearing 144 attached to the lower side of the cross table 142 is engaged with two rails 143, 143 fixed on the frame 140a, and as shown in FIG. A bevel gear 148 is attached to both ends of a shaft 147 which is rotated via a bevel gear 148, a bevel gear 149 meshing with this bevel gear 148, a screw shaft 150 having this bevel gear 149 at one end, a screw shaft 150 fixed to a cross base, and a screw axis 15
The cross base 142 is moved by the nut 151 that is engaged with the cross base 142. As shown in FIG. 10, two rails 152, 152 are arranged and fixed on the upper and lower sides of the cross stand 142, while the head stand 155 is provided with slide bearings 156 that engage with each of the rails. The head stand 155 moves left and right on the cross stand 142 via a nut 160 fixedly provided on the head stand 155 that engages with a screw shaft 159 rotated via a timing belt 158 by a motor 15γ fixed on the stand 142. Moving. On the head stand 155,
As shown in FIG. 8, 5M processing heads 161 to 165 are mounted at positions corresponding to the five fixed stands 131 placed on the table 130, and each processing head is mounted on the head stand 155. A shaft 168 rotated by a fixed motor 166 via a timing belt 167
and bevel gear train 169. As shown in FIGS. 11 and 12, each processing head is fastened to the lower end of a rod 170 which is rotatably but immovably suspended in the axial direction, similarly to the example of the above-mentioned basic configuration. 171 is fixed, and the lower end of this holder 172 slidably supports a slide member 173 having a substantially L-shaped planar shape. That is, a dovetail groove 175 is provided on the outside of one side 174 of the L-shaped slide member 173, and this groove 175 is engaged with a complementary shaped protrusion 176 provided on the holder 112, and the knob 111 having a screw mechanism which is known per se is attached. The slide member 173 is formed to move forward and backward relative to the holder 172 when rotated. The other side 11 of the slide member 173
A drumstick-shaped protrusion 179 is provided inside the groove 8 , and a second slide member 181 having a groove 180 having a complementary shape to the protrusion 119 is placed on the side of the groove 180 . '1S178 protrusion 1
79 and has a screw mechanism similar to the bamboo knob 1
82 to the second slide member 18 relative to the side portion 178.
1 can advance and retreat. Furthermore, with a similar configuration,
The support plate 183 is movable up and down relative to the second slide member 181 by a knob 184.
In this plate 183, as in the example of the above-mentioned principle structure,
A motor 185 is mounted to rotate about a horizontal axis. As shown in FIG. 8, the etching head 1G2 also has the same screw mechanism. Next, a common numerically controlled angle control means is installed on the head stand 155 that moves in the X-axis direction, and this angle control means is connected to each processing head 161 to 165. [111] As shown in FIG. 8, a bevel gear 191 that meshes with the bevel gear 169 is attached to the upper end of each of the rods 170,
As a result, when the shirt l-168 is rotated by the motor 16G via the timing bell l-167, the rod 1
Each holder 172 firmly fixed to 70 is rotated by angle control around an axis perpendicular to a plane coordinate system constituted by the movement of the head stand 155 in the X-axis direction and the movement of the cross stand 142 in the Y-axis direction. The motor shaft 193 to which the edging wheel 192 is attached is adjusted so that its axial position is vertical, and the edging wheel 192 and other wheels 186 .
It turns in the same way as 194-19G. 4. In this specific example, the configurations other than those described above are substantially the same as the example of the basic configuration described above. Further, in this specific example, the grinding wheels 186 and 194~
196, these can also be replaced with an etching wheel. In this case, the replaced etching wheels need to have their rotational axes vertically arranged like the etching wheel 192, but such adjustment can be done by rotating the play 1-187 around the horizontal axis. °
This can be done by If all wheels are used for etching, for example, like a car window,
It is especially useful when edge processing is performed without chamfering, and when mass-producing products of the same standard, and the angle is controlled by numerical control of the wheel during edge processing.
By adjusting the slide members 181 of the machining heads 161 to 165, it is possible to perform machining of the same dimensions despite the different amounts of wear on each wheel. Moreover, each of the plurality of processing heads 161 to 165 can be operated by adjusting the slide member 173 and the second slide member 181.
Machining is performed by aligning the machining parts of machining tools such as No. 92 with the same -XY coordinate position (angle control rotation axis) and aligning the movement trajectories of the machining parts of these machining tools. In addition, each wheel 192 of each processing head 161 to 165
By adjusting the slide member 173 or the second slide member 181 of the machining tool, the position of the warp can be adjusted in the normal direction of the movement locus line of these machining tools, and different types of machining tools and different diameters can be adjusted. Even if the machining tools are attached to each of the machining heads 161 to 165, the movement locus 181 of each machining section is adjusted to bring the machining tool such as the wheel 192 forward from the angle control rotation axis center, and the movement of the machining tool is performed. For example, for the machining head 163, the slide member 181 is adjusted to position the machining tool such as the wheel 192 at the angle 1b control rotation axis h, and the movement trajectory is enlarged to obtain the finished dimension. can be processed according to the degree of polishing. Even when the tool tools have different amounts of wear, by adjusting the position in the normal direction of the movement trajectory line of the processing tool by adjusting the second slide member 181, the respective movement trajectories can be made to coincide with each other. glass plates can be processed simultaneously and parallel to each other to the same size. The chamfering machine configured as described above can be operated under the control of a numerical control device 200 as shown in FIG. Although a known apparatus 200 is used, the basic structure thereof and the operation of the processing machine having the basic structure of the glass plate processing machine according to the present invention shown in FIG. 1 will be explained below. The input controller 201 includes a paper tape reader 202 that reads programmed functions and numerical data punched in a paper tape, and an input controller that controls the operation of this reader 202, decodes the read data, and transfers it to the next arithmetic unit 203. 204, and an operation panel 205 provided with a function switch, a display, etc. to indicate the t, IIIl state of the device 200 and to instruct the device 200 to perform a certain operation. Based on the data from the input controller 204, the calculation unit 203 calculates the amount of movement of the heads 61, 62, 63, and 64 in the X-axis direction caused by the servo motors 35, 70, and 110;
An arithmetic circuit 206 that interpolates and calculates the amount of movement in the Y-axis direction and the rotation distance around the Z-axis, and counters 207, 208, and 209 that count pulses as the calculation results output from this arithmetic circuit 206. and a cycle controller 210 that defines the operating cycle of the device 200. The arithmetic circuit 20G employs a so-called digital differential analyzer, which calculates the coordinate values of the destination read from the reader 202 and the position counter 2.
The current position coordinate values set at 07.208 or 209 are compared, and if there is a difference in this comparison, linear interpolation or circular interpolation is sequentially performed between them to determine the control amount. Therefore, the arithmetic circuit 20G includes a linear interpolation control unit 4022, a linear interpolation control unit 403, which controls the interpolator 401, as shown in FIG. Command register 404 for storing coordinate values of the movement destination. A current position register 405 that stores the coordinate values of the current position, a comparator 40G that compares the contents of the registers 404 and 405, and outputs the comparison result to the pulse controller 407 and the cycle controller 210;
Pulse system @ f that outputs the interpolation amount as a pulse to the counter 207, 208 or 209 based on the comparison result of 06
i 407. In addition, both registers and comparators are as follows.
They are provided for control in the X-axis direction, Y-axis direction, and around the Z-axis, respectively. X-counter 207, Y-counter 2
08 and spin counter 209 are each arithmetic circuit 20
6, and based on this count, each servo circuit 212 of the servo unit 211
．． 213 and 214 are operated. Each servo circuit 212
．． 213 and 214 operate the respective servo motors 35, 70 and 110 based on the corresponding count values, respectively. Each servo circuit is configured to detect the positional displacement produced by the motor using an inductosin or resolver and tachogenerators 215, 216 and 211 to perform position control, angle control, and speed control. Such inductosin, resolver and tacho generator 215, 216 and 217 position control and '&
Since the degree control is well known in the field of so-called automatic control technology, its explanation will be omitted. The chamfering machine shown in FIG. 1 is preferably controlled by such a numerical control device 200. Next, the control 0111
To explain the outline of the operation, first, when the start switch on the main operation panel 218 provided on the side of the glass plate processing machine is pressed, a start signal is input to the cycle controller 21G, and the cycle control tllF3210 is activated by the input control [1152
04 to read data from the reader 202. As a result, the programmed data on the tape is read from the reader 202, decoded by the input controller 204, and input to the arithmetic circuit 206. Note that the glass plates G have already been placed and fixed on all the stands 31, and the heads 61, 62, 63, and 64 are placed at the starting point of the grinding 1111 process. shall be taken as a thing. Therefore, at this time, the data input to the arithmetic circuit 206 are the amount of movement in the X-axis direction, the amount of movement in the Y-axis direction, and the amount of rotation around the Z-axis, and these are input to the respective command registers 404. . The value input to the command register 404 is compared with the value of the current position register 405 indicating the current position, that is, the origin position, and in this comparison, when a signal indicating that there is a difference is input to the pulse controller 407, is pulse system @i
407 sequentially outputs the signals from the interpolator 401 to a counter. Note that in interpolation, whether linear interpolation or circular interpolation is to be performed can be set by a program. For example, when linear interpolation is set, the interpolator 401 uses linear interpolation system tll? i 402. Therefore, the interpolator 401 first outputs a signal indicating the minute movement amount in the X-axis direction to the pulse control a signal 407, and the pulse control W signal 407 outputs a value corresponding to the minute movement amount to the counter 207 based on this signal. To set it, a series of pulses is output to counter 207. When the counter 207 is set to such a value, the servo circuit 212 that receives this operates the servo motor 35 to slightly move the daple 30 in the X-axis direction. When the servo motor 35 is driven, the shaft 36 is rotated and the table 30 is moved in the X-axis direction to change the position of the table 31, that is, the glass plate G relative to the wheels 75.7G, 77, and 78 provided on each head.
The position of is slightly displaced in the X-axis direction. put it here,
Wheels 75, 76, 77 and 78 rotated by head motors 80 and 95 which have been previously driven, process the glass plate G and displace the processing position by a small amount in the X-axis direction. The minute displacement amount and movement speed generated by the servo motor 35 are detected by the inductosin and tacho generator 215, and the servo circuit 21
2 and set accurately. Next, the amount of movement in the Y-axis direction input to the command register 404 regarding the Y-axis is compared with the value of the current position register 405 indicating the current position in the Y-axis direction, that is, the origin position δ, and there is a difference in this comparison. The signal indicating that the pulse fill III unit 407
When input to the pulse controller 401, the interpolator 4
A pulse indicating a minute displacement amount is output to the counter 208 based on the signal from 01. When the counter 208 is set to such a value, the servo circuit 213 that receives this operates the servo motor 70 to slightly move the heads 61, 62, 63, and 64 in the Y-axis direction. As a result, the shaft 68 is rotated, the head stand 60 is moved in the Y-axis direction, and the positions of the wheels 75, 76, 77, and 78 provided on each head relative to the glass plate G are slightly displaced in the Y-axis direction. Therefore, while the glass plate G is being processed by the wheels 75.76° 77 and 78 rotated by the head motors 80 and 95, the processing position is slightly displaced in the Y-axis direction. The minute displacement position and movement speed caused by the servo motor 10 are detected by the inductosin and tacho generator 216, and fed back to the servo circuit 213 to be accurately set. Further, the spin m input into the spin-related command register 404 and the current position register 405 indicating the current position around the Z axis, that is, the origin position.
When a signal indicating that there is a difference in this comparison is inputted from the comparator 40G to the pulse controller 407, the pulse controller 407 adjusts the minute displacement M by the signal from the interpolator 401. The counter 209 outputs a pulse indicating
Output to. When the counter 209 is set to a value indicating a minute displacement amount by this pulse, the servo circuit 214 operates the servo motor 110 to slightly rotate the heads 62, 63 and 64 around the Z axis. Servo motor 1
10 is driven, the timing belt 109 is run, the respective pulleys 106, 107 and 108 are rotated, and the heads 62, 63 and 64 are rotated around the Z axis. As a result, a wheel 76 provided on each head,
The positions of 77 and 78 relative to the glass plate G are slightly displaced around the Z axis. Therefore, while the glass plate G is processed by the wheels 7G, 77, and 18 rotated by the head motor 95, the processing position is slightly displaced around the Z axis.The small angle and movement speed generated by the servo motor 110 are as follows. , is detected by the resolver and tacho generator 211, and is fed back to the servo circuit 214 to be accurately set. As described above, one-step interpolation operations are performed in the X-axis direction, the Y-axis direction, and the Z-axis. The position register 405 is set with the contents of the counters 207, 208, and 209, that is, the position after movement. Therefore, after one step of interpolation, the command register 404 and current position register 40
5 is performed for each axis, and if there is a difference in the contents, the above operation is repeated and the contents of the current position register are updated. On the other hand, the command register 40
If the contents of 4 and the contents of the current position register 405 match, the cycle controller 210 is selected from the corresponding comparator 406%.
The cycle controller 210 outputs a signal instructing to read the next data, and the cycle controller 210 instructs the input control WA 204 to read the data, and each input control wJ decodes the data read from the reader 202. This data is fed back into the replay circuit 206. Here, when this data is data indicating the next movement destination, this data is stored in the corresponding command register 404. Note that storage of new data into the command register 404 is not necessarily performed simultaneously around the X, Y, and Z axes. When the amount of movement is different, each movement may be performed individually. In this way, when a new movement destination is set in the command register 404 again, the interpolation operation is performed again, and the table 30 and each head are moved and spun to predetermined positions around the X, Y, and Z axes. . As described above, processing is sequentially performed on the glass plate G based on the program data, and finally, the origin position with respect to the X-axis, Y-axis, and Z-axis, that is, the data of the original position is read out from the tape reader 202. , the calculation unit 203 repeats the interpolation operation up to the origin position, as described above,
The processing points of the wheels 75, 7G, 77 and 78 on the glass plate G are set to their original positions. Table 30 and each head 61, 62, 63 at the origin position
and 64 are reset, each comparator 406 indicates this to the cycle control 1fi 210, which causes the cycle control $115210 to issue a signal to the input control mt unit 204 to read the next data from the reader 202. , input controller 204 decodes the data from reader 202 and supplies the data to arithmetic circuit 20G. At this time, the data read is for each head 61. This is data to move G2, 63, and 64 by a certain amount from the machining 1 position, for example, by a certain amount ff1ffi to the right from the position shown in FIG. The servo circuit 213 operates to operate the servo motor 70 based on the set value of the command register 404. Therefore, the shaft 68 is rotated and each head 61, 62, 63 and 64
is removed from the machining position by a certain amount with respect to the Y axis. In this operation, if the contents of the Y-axis command register 404 and the current position register 405 match, the operation of the pulse controller 407 is stopped.
3 stops the operation of the servo motor 70, and the cycle controller 210 instructs the input-based OA reader 204 to read the next data from the reader 202. Based on this instruction, the input controller 204 reads the data punched on the tape from the reader 202 and decodes the data. At this time, the read data indicates that the operation of the vacuum device 38 is stopped and the glass plate G is lifted by the belt conveyor 51 via the frames 52 and 52 in order to release the adsorption of the glass plate G to the table 31. This is the data for operating the hydraulic cylinder 54 to cause this to occur, and then operating the motor 58 to transport each glass plate G to the next table 31. When this data is read, the input fIII controllers 204 are
A control signal is issued to each drive control device (not shown), thereby causing each drive control device to control the vacuum device i! 38 is stopped, the hydraulic cylinder 54 is activated, and the motor 58 is activated. The belt conveyor 51 is driven by the operation of the motor 58, and all the glass plates G placed on this belt conveyor 51 are transferred, for example, to the left in FIG.
Each glass plate G is transported to the next table 31. A glass plate to be newly processed is placed on the rightmost table 31 by the operator or automatically. When each glass or plate is accurately conveyed to the next table, a signal from a detector (not shown) that detects this causes the respective drive control device to stop the operation of the motor 58 and at the same time start the belt conveyor. In order to release the lifting of the glass plate G by 51,
The hydraulic cylinder 54 is actuated to create a vacuum '! in order to attract the glass plate G to the table 31! ! Activate A position 38. After completing these operations, each drive control device outputs an operation completion signal to the I-Nicle control tllll device 210. cycle system tI
The II device 210 thereby controls the input control device 211 to read data from the reader 202 again.
4 and input control! 204 reads the next data from the reader 202 and decodes it. The data read here includes table 3° and heads 61, 62.
It consists of a return-to-origin command signal for 63 and 64 and origin position coordinate values, and these data are transferred to the arithmetic circuit 206 again. By the way, since the heads 61, 62, 63, and 64 are displaced from the origin only by turning in the Y-axis direction, the arithmetic circuit 206 performs operations only in the Y-axis direction. Therefore, the servo circuit 213 operates to operate the servo motor 7° by the signal output from the counter 208, and the heads 61, 62, 63, and 64 are moved to the left in the l position not shown in FIG. It is moved to the origin position. As a result, the command register 40 regarding the Y axis
4 and the contents of the current position register 405 match, and this match signal is input to each cycle controller 210, and the recycle controller 210 issues a command to read the data from the reader 202 in order to perform the next processing again. Input signal controller 20
Output to 4. Similarly, the calculation unit 203 performs interpolation calculation based on the data obtained from the input controller 204, and outputs this result to the servo unit 211, which in turn controls the respective servo motors 35, 70, and 1
10 actuated, the servo motors 35.70 and 110 are
The table 30 and each head glass plate G are moved in accordance with the processing points. Incidentally, the control operation by such numerical control device 200 can also be preferably applied to the machine shown in FIG. 8 by slightly changing the program and changing the circuit configuration. 4. Simple explanation of the drawings Figure 1 is a front view showing the basic configuration of the device of the present invention, Figure 2 is a front view showing the basic configuration of the device of the present invention.
The figure is a side view seen from the II-II line direction in Figure 1, and shows the etching wheel in a position 180° different from the position shown in Figure 1. ■−■
In the cross-sectional view, the grinding wheel is shown in the position shown in Figure 1 and 18
Fig. 4 shows a detailed cross-sectional view of the fixed table, Fig. 5 shows a detailed view of the supporting part of the machining wheel that does not rotate, and Fig. 6 shows the supporting part of the machining head that rotates. 7 is an explanatory diagram showing the state in which the grinding wheel rotates along the edge of the glass plate, and FIG. 8 is a front view showing a specific example of the device of the present invention, with a part cut away. Yes, Fig. 9 is a plan view of the same, Fig. 10 is a sectional view taken along the line X-X of Fig. 8, and Fig. 11 is a sectional view taken along the line X-X of Fig. 8.
The figure is a side view of the rotating processing head, FIG. 12 is a front view of the same, FIG. 13 is a block diagram of the NG device, and FIG. 14 is a
FIG. 2 is a block diagram of an arithmetic circuit. 30...Table, 51...Belt conveyor, 60...Head stand, 61-64...
...Processing head, 130...Table, 13
1...Fixed stand, 142...Cross stand,
155...Head stand, 161-165...
...Processing head.

Claims (1)

[Claims] A table for fixing a glass plate, a head stand equipped with a processing head rotatably holding a workpiece, and a head stand mounted with a processing head rotatably holding a workpiece; means for moving in one direction; means for moving the table or head stand in a horizontal plane in a direction perpendicular to the one direction to relatively move the workpiece in a horizontal plane in a direction perpendicular to the one direction; means mounted on the head stand for angularly controlled rotation of a workpiece provided on a processing head around a vertical axis; and means for finely adjusting the distance between the angle control rotation center of the workpiece and the center of the workpiece;
A glass plate grinding machine comprising a numerical control device that controls movement of a workpiece in two directions in a horizontal plane and rotation around a vertical axis.