JPS6341705B2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention controls the operation of a machine using numerical commands for machining work of glass plates of various shapes such as circular, oval, rectangular, and various curved shapes, such as wide chamfering (beveling). This paper relates to a numerically controlled processing machine for glass plates.

In general, the work process for processing a glass plate includes, for example, when wide chamfering (beveling) is performed, the edge edge polishing process (edge cutting or edge grinding), the chamfer cutting process (bevel cutting with a diamond wheel) It is necessary to go through various work processes such as a chamfer grinding process (smoothing with a grindstone, etc.) to grind the chamfered surface, and a polishing process to polish the chamfered surface. However, in order to automatically grind glass plates of various shapes as described above, each work tool attached to the work head must be configured to run along the edge that defines the outline of the glass plate in each of these work steps. However, it is necessary to numerically control the movement of each work tool. in this case,
In order to individually and independently control the movements of the work tools in each of the above work processes, there are many operations to be controlled, so many control devices are required, and it is difficult to perform complex and advanced numerical control. In addition, a control program that is generally recorded on a control tape or the like becomes complicated and difficult to create.

In addition, when multiple work heads are installed on a common work head support base and numerically controlled XY coordinate movement is performed to simultaneously perform processing operations such as polishing on multiple glass plates in parallel, each work tool is When each work tool uses a wheel with a different diameter in order to move along a consistent trajectory, and when each work tool has different wear, each work head uses the same numerical data information. However, since the working parts of the power tools do not follow the same trajectory, the finished dimensions vary, and some tools are not machined at all.

Here, the object of the present invention is that even if each work head is equipped with a different type of work tool,
In addition, even if work tools with different diameters are installed, the working part (machining point) of the work tool in each work head
You can perform each machining operation with the same movement trajectory, and you can fine-tune the movement trajectory of each work tool by taking into account the grinding work allowance, finishing dimensions, etc. A numerically controlled processing machine for glass plates that can carry out processing work by enlarging the locus and reducing the working tool of another work head, that is, a large number of complex movements that govern the processing work of each of the above work steps. Numerical control processing of glass plates in which a group of working tools are mechanically connected so that each working tool moves in the same way, and the working movements of each work process are simultaneously numerically controlled by a numerical control device. Our goal is to provide machinery.

According to the invention, the purpose is to provide a fixing device for holding a plurality of glass sheets to be processed, and a fixing device for holding a plurality of glass plates to be processed, and a fixing device for holding a plurality of glass plates to be processed, and a fixing device for holding a plurality of glass sheets to be processed, and a fixing device for holding a plurality of glass sheets to be processed. a relatively movable working head support; and a first support provided between the head support and the fixing device to allow relative movement of the working head support with respect to the fixing device.
a plurality of work heads supported by the work head support base so as to rotate about a first axis extending parallel to a third direction perpendicular to the first and second directions; , a working tool disposed on a second axis and attached to each of the working heads; a second drive device connected to each of the working heads for causing the turning of the working heads; the first drive device and the second drive device for numerically controlling the relative movement of the work head support with respect to the fixing device by the first drive device and the rotation of each of the work heads by the second drive device; a numerical control device respectively connected to the working head, the second axis passing through the working part of the power tool and being non-coaxial with the front packing first axis; the first and second working tools;
This is achieved by a numerically controlled processing machine for glass plates having fine adjustment means capable of adjusting movement in two mutually orthogonal directions in one plane including the direction of , as well as in the third direction. Ru.

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

First, the basic structure of the numerically controlled processing machine for glass plates according to the present invention will be explained with reference to FIGS. 1 to 7.

As shown in FIGS. 1, 2, and 3, a table 30 on which a glass plate is placed and which controls movement in one direction, for example, the X-axis direction, has four tables arranged at equal intervals. It has a fixing base 31 on the upper side as a fixing device for the glass plate G of the base, and the lower side engages with a guide rail 34 installed on a base 33 via a slide bearing 32, and a driving device is connected to the base 33. A screw shaft 36 rotated by a servo motor 35 is advanced and retracted through a nut 40,
Move in the left and right direction in FIG. Each fixed stand 31
As shown in FIG. 3, these are connected to a vacuum device 38 via a flexible hose 37 to suck the glass plates G placed on these fixing tables 31 and fix the glass plates G during the processing operation. . As shown in FIG. 4, a suction structure is formed on the fixed base 31. This suction structure includes a boring 41 formed in the fixed base 31, a spring 42 interposed in the boring 41, and a sealing plate 44 having a protrusion 43 in the center.
is inserted in a movable state, and the annular holding plate 45 is inserted in a movable state.
This structure is configured to prevent the seal plate 44 from protruding. Through hole 4 in the center
7 is attached to the outside, and 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 the hose 37 is screwed into the screw hole 49, so that the hose 37 can be connected to the screw hole 49.
It is connected to a vacuum device 38 via. Although suction is not performed in the state shown in FIG. 3, when the glass plate G is placed on the fixing table 31, the protrusion 43 is pushed down, and the through hole 48 communicates with the vacuum device 38 via the passage 50. Then, the glass plate G is fixed by suction.

A belt conveyor 51 is attached to the table 30 so as to be movable up and down with respect to the table 30. The frames 52, 52 placed on both sides of the fixed base 31 are connected by a member 53 at their front and rear ends, that is, at both left and right ends in FIG. Attachment, the frames 52, 52 are raised and lowered at the same time by means of a total of four screw mechanisms 54 provided on the front, rear, left and right sides. A driving pulley 56 for each frame 52, 52,
While the driven pulley 57 is rotatably attached,
Belts 55, 55 are stretched over each other, two drive pulleys 56 are fixed to a drive shaft 59, and both belts 55, 55 are driven synchronously by a motor 58. The glass plate G is conveyed from one fixed table to the next fixed table by this belt conveyor 51.

The head stand 60 constituting the work head support stand is
Processing heads 61 to 64 as four working heads
are located at positions corresponding to the four fixed stands 31, and are configured to be 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. There is. Rails 66, 66 are fixedly provided on the frame 65, and the head stand 6
Slide bearings 67, 67, two of which are attached to each side in the longitudinal direction of 0, engage with the modified rails 66, 66 to support the head stand 60. 60 is movable, and on the other hand, nuts 6 are installed on both the left and right sides of the head stand 60 in FIG.
9 is attached, and screw shafts 68, 68 which are screwed into the nuts 69 are rotatably provided on both the left and right sides in FIG. 1 in the longitudinal direction on the frame 65. A servo motor 70 is mounted on the frame 65 and constitutes a driving device together with the servo motor 35. The rotational force of the servo motor 70 is applied to the frame 65 in parallel with the head stand 60 via a timing belt 71. The screw shafts 68, 68 are engaged with each other via bevel gears at both ends of the shaft 72, and both screw shafts 68, 68 are rotated in the same direction. The head stand 60 is moved forward and backward along the Y-axis direction by rotation of the screw shafts 68, 68.
Reference numeral 73 denotes bearings on which the screw shafts 68 are rotatably mounted, and are provided at both ends of each screw shaft 68. As mentioned above, one drive device is composed of the servo motor 35 and the servo motor 70, and the drive device is configured to move the head stand 60 relative to the fixed base 31. and the fixed base 31.

The processing heads mounted on the head stand 60 are arranged in the order of work steps from right to left in FIG. The processing head 61 is for etching, and as shown in FIG. The axis of rotation and the surface to be ground P of the glass plate G are arranged to be orthogonal to each other. Processing head 62
is for chamfer cutting, and uses a cup diamond wheel 76 as a working tool, as shown in FIG.
It is arranged at an angle with respect to the axis of rotation of No. 6. The machining head 63 is for finishing, and the machining head 6 in the previous stage
2, the chamfered portion is ground by using a grinding wheel 77 consisting of a cup-type grindstone as a working tool, which is arranged at an angle as shown in FIG. The machining head 64 is for polishing, and is used to finish the parts that have been chamfered and ground in the previous two stages.A cup-type felt wheel 78 is used as a working tool, and it is tilted as shown in Fig. 3. will be placed.

As mentioned above, among the plurality of processing heads, the processing heads other than the ones for etching are used for chamfering the glass plate G, for grinding the chamfered part, and for polishing the ground part. In this specification and claims, all of these may be collectively referred to as "grinding" together with the "edging" mentioned above.

The machining head 61 shown in FIG.
The motor 80 has a wheel 75 as a working tool attached to an output shaft 81 as an axis of the motor 80, and a slide mechanism that can slide and adjust the wheel 75 in the vertical direction in FIG. The slide mechanism is configured as follows. 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 above and below.
A feed screw 86 is inserted through a through hole 85 provided in the upper spacer 84, and thrust bearings 87 and 88 are arranged above and below the upper spacer 84. The lower thrust bearing 88 is the feed screw 86
It is received by a bearing receiver 89 fixed to the rod part of the
7 is pressed by a bearing retainer 90 having a female thread screwed into the threaded portion 91 of the feed screw 86. As a result, both thrust bearings 87 and 88 are held between the bearing receiver 89 and the bearing retainer 90, and the feed screw 86 is supported so as to be rotatable relative to the spacer 84 above but cannot be moved in the axial direction. There is. A threaded portion 91 is provided at the lower end of the feed screw 86, and a nut 92 is screwed into this threaded portion 91. The slide member 93 to which the nut 92 is attached is rotated by the rotation of the feed screw 86, so that the upper and lower spacers 84,
84, it can slide up and down, that is, along the Z-axis direction perpendicular to the X-axis direction and the Y-axis direction. Since the motor support stand 82 is attached to the slide member 93, when the handle 94 attached to the upper end of the feed screw 86 is rotated, the nut 92 moves up and down, and as a result, the motor 80 moves up and down. Thus, the vertical position of the wheel 75 relative to the glass plate G can be adjusted. In addition, a configuration in which the position of the wheel 75 can be adjusted in the X-axis direction and the Y-axis direction in addition to the position adjustment in the Z-axis direction, which is the vertical direction, is a fine adjustment in the present invention described later. Explain by means.

The machining head 62 shown in FIG. 6 (which has a structure common to the machining heads 63 and 64 as described above) has an output shaft 96 as its rotation axis and a vertical line Z as its rotation axis. A motor 95 arranged at an angle with respect to the axis, and this motor 95
The wheel 76 as a work tool attached to the output shaft 96 of the The rotating mechanism 97 is an angle control means that controls the rotation angle of the motor 95 by rotating the motor 95 around a Z-axis, which is an axis arranged along a direction in which the motor 95 rotates. That is, when the wheel 76 rotated by the motor 95 rotates around the output shaft 96 and is simultaneously moved along the contour of the glass plate G and subjected to processing work, for example, grinding,
It passes through the grinding part of the glass plate G, that is, the working part of the wheel 76, and rotates around an axis that is non-coaxial with the axis of the output shaft 96, that is, the Z axis, based on numerical data from the numerical control device. It has a structure. Because it has such a numerically controlled turning structure,
The grinding surface 76a of the wheel 76 is always on the glass plate G.
It faces the direction toward the notch of the edge, that is, the normal direction of the edge, always maintains a constant angle to the surface to be ground P of the glass plate G, and comes into contact with substantially the same grinding surface, and along the curve. The glass plate G can be ground uniformly. The motor 95 is
Arc-shaped long holes 99, 9 provided in the motor support stand 98
The motor 95 is fixed to the motor support stand 98 through the angle adjusting means of the motor 95, which is tightened by a nut.When the nut is loosened, the motor 95 moves as shown in FIG. The grinding surface 76a of the wheel can rotate around a predetermined horizontal axis arranged in a direction perpendicular to the plane of the paper.
The angle formed between the grinding surface P of the glass plate G and the grinding surface 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 the upper end of the rod 100 passes through the housing 101 of the bearing.
It protrudes upwards. The rod 100 is located above the radial and thrust bearing row 102 arranged in the housing 101.
The nut 103 screwed into the housing 1
01 is prevented from moving in the axial direction, and rotation is enabled by the bearing row 102. 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. A spline 105 is provided at the upper end of the rod 100, and the pulley 10 has a recess that fits the spline 105.
6, the rod 100 can be slid up and down. As shown in FIG.
63 and 64, each pulley 106, 107 and 1
08 is connected to a servo motor 110 as another driving device via a timing belt 109, and rotated at the same time. As a result, the rod 100 of each processing head is rotated and the wheels 76, 77 and 78 are angularly controlled about the Z axis. Since this Z-axis is selected to be located at the grinding point Q of the glass plate G, each wheel moves in a horizontal plane centering on the grinding point Q of the glass plate that is currently in progress, as shown in Figure 7. The rotation angle is controlled so that a constant grinding angle can be maintained regardless of changes in the contour of the glass plate.

The basic structure of the numerically controlled processing machine for glass plates according to the present invention has been described above based on FIGS. 1 to 7.Next, based on FIGS. A specific example of a numerically controlled processing machine will be described in detail. In the example of the principle configuration of the numerically controlled glass plate processing machine of the present invention, the table 30 having a plurality of fixed stands 31 on which the glass plates G are placed is movable in one direction (X-axis direction). , the head stand 60 was able to move in the other direction (Y-axis direction), but in this specific example, the table 1
30 is fixed, and the head stand 155 is configured to move in two directions (X-axis direction and Y-axis direction).
Of course, the table may be movable in one direction and the head stand may be movable in the other direction, as in the basic structure.

In this example, the table 130 includes five fixed stands 13.
1 and is fixed to the 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,
The glass plate placed on the fixing table 131 is fixed by suction to hold the glass plate in a fixed position during the processing operation. Similar to the example of the above-mentioned principle structure, 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 a row in between. Two belts 135,1 on both sides of
35 are arranged to constitute a supply means 136.
Each screw shaft 133 is rotated by a bevel gear 140 provided on a shaft 139 that extends in the longitudinal direction of the table 130, that is, in the left-right direction in FIG. 8, and is rotated by a motor 137 and a timing belt 138. As shown in FIG. 10, they are arranged on both sides of the movable frame 134.

A frame 140 rigidly connected to a vertical frame 141 extending upward from the four corners of the base 132
With respect to a, the cross stand 142 is movable in the direction perpendicular to the plane of the paper (Y-axis direction) in FIG. 8, and the head stand 155 is movable in the left-right direction in FIG. (X-axis direction)
It is now possible to move to. That is, the head stand 155 and the cross stand 142 constitute a work head support stand. As a result, the head stand 155 can move in two axes 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. 9, one drive device is configured. A bevel gear 148 attached to both ends of a shaft 147 rotated by a motor 145 via a timing belt 146, a bevel gear 149 meshing with this bevel gear 148, a threaded shaft 150, 150 having this bevel gear 149 at one end, and a cross. stand 14
Nut 1 fixed to 2 and meshing with the screw shaft 150
51, the cross stand 142 is moved.

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 has two rails 152, 152 fixed thereto.
2,152 slide bearings 1 that engage with each other
The motor 1 constitutes one drive device together with the motor 145 fixed on the cross table 142.
A head stand 155 engages with a screw shaft 159 that is rotated by a timing belt 158 by a timing belt 158.
The head stand 155 moves left and right on the cross stand 142 via a nut 160 fixedly provided on the cross stand 142.
That is, the motor 157 is connected to the head stand 155 and the fixed stand 13.
1. In other words, one driving device composed of the motor 145 and the motor 157 is provided between the work head support base composed of the cross base 142 and the head base 155 and the fixed base 131. There is. The head stand 155 has a table 13 as shown in FIG.
Five processing heads 161, 162, 163, 164, and 165 as working heads are installed at positions corresponding to the five fixed tables 131 arranged on the machine head. Motor 16 as another drive device fixed on top
6 through a timing belt 167 and a bevel gear train 169. As shown in FIGS. 11 and 12, each machining head is fastened to the lower end of a rod 170 which is rotatably suspended but not movable along its axial direction, similar to the example of the above-mentioned basic configuration. It has a holder 172 to which a portion 171 is fixed, and the lower end of this holder 172 is
Slide member 1 whose planar shape is substantially L-shaped
73 is slidably supported. That is, a dovetail groove 175 is provided on the outside of one side 174 of the L-shaped slide member 173, which is engaged with a complementary shaped protrusion 176 provided on the holder 172, and a knob 177 having a screw mechanism known per se. When rotated, the slide member 173 moves into the holder 172.
It is formed so that it moves forward and backward. A drumstick-shaped protrusion 179 is provided inside the other side 178 of the slide member 173, and a second slide member 181 having a groove 180 having a complementary shape to the protrusion 179 is engaged with the protrusion 179 on the side 178 of the groove 180. and a knob 18 having a screw mechanism similar to that described above.
2 allows the second slide member 181 to move forward and backward relative to the side portion 178. That is, the knob 182
By rotating the wheel 186, which is a working tool, it is possible to adjust the movement of the wheel 186, which is a working tool, in a plane including the X-axis direction and the Y-axis direction in a direction toward the cut portion that is the processing point of the glass plate. Furthermore, with a similar configuration, the support plate 183 is connected to the knob 184.
11th to the second slide member 181.
It has a vertical moving means that can advance and retreat in the vertical direction in FIGS. 1 and 12, and this plate 1
83, as in the example of the above-mentioned principle structure, the motor 1
An angle adjusting means 85 is attached which is rotatable about a predetermined horizontal axis. In other words, each processing head is provided with a fine adjustment means constituted by the angle adjustment means, the vertical movement means, and the movement adjustment means in the cutting direction.

As shown in Figure 8, the etching head 1
62 also has the same screw mechanism. The head stand 155 that moves in the X-axis direction also has a head 162.
A numerically controlled common angle control means for rotating the machine in planar coordinates is provided, and this angle control means is connected to each machining head 161-165. That is, 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, and as a result,
When the shaft 168 is rotated by the motor 166 via the timing belt 167, the rod 17
Each boulder 172 fixed at 0 is
Movement of the head stand 155 in the X-axis direction and cross stand 142
As a result, the working tools such as the wheels 186, 194 to 196 rotate around the vertical axis passing through the grinding section. It rotates and always faces the normal direction of the movement locus line, that is, the direction of the cut.

In this specific example, the etching wheel 192
Motor shaft 193 as a rotating shaft to which the
is adjusted so that its axial position is vertical, and this etching wheel 192 is also pivoted in the same manner as the other wheels 186, 194-196.

Note that in this specific example, the configuration other than those described above is substantially the same as the example of the basic configuration described above.
Further, in this specific example, the wheels 192, 194 to 196 configured for grinding can be replaced with wheels for etching. In this case, the replaced etching wheels need to have their rotational axes vertically arranged like the etching wheels 192, but such adjustment requires rotating the plate 187 about the horizontal axis. You can do it by leaning. If all the wheels are used for edge processing, it is especially useful when edge processing is performed without chamfer grinding, such as in the case of car windows, and when products of the same standard are mass-produced. In addition, the polishing margin of each wheel can be adjusted using the slide device, and the control method is also simple.

The grinding machine configured as described above can be operated under the control of a numerical control device 200 as shown in FIG. A known device is used as this device 200, but the basic structure thereof and the operation of the grinding machine having the basic structure of the glass plate grinding machine according to the present invention shown in FIG. 1 will be explained below. The input unit 201 includes a paper tape reader 202 for reading functions and numerical data programmed by punching paper tape, and this reader 20.
an input controller 20 that controls the operation of 2, decodes the read data, and transfers it to the next arithmetic unit 203;
4 indicates the control state of the device 200, and the device 2
Operation panel 2 equipped with function switches, indicators, etc. to instruct specific operations in 00
It consists of 05. 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 amount of rotation around the Z-axis; position counters 207, 208, and 209 that count pulses as the arithmetic results output from this arithmetic circuit 206; and a cycle controller 210 that defines the operating cycle. The arithmetic circuit 206 is
A so-called well-known digital differential analyzer is applied, and thereby the coordinate values of the movement destination read from the reader 202 and the position counter 20 are used.
The current position coordinate values set in 7, 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 206
As shown in FIG.
03, a command register 404 that stores the coordinate values of the movement destination, a current position register 405 that stores the coordinate values of the current position, and these registers 404 and 40
5 and sends the comparison result to the pulse controller 40.
7 and a comparator 4 outputting to the cycle controller 210.
06 and the counter 207, 208 or 2 with the interpolation amount as a pulse based on the comparison result of the comparator 406.
09.
Note that both registers and comparators are provided for control in the X-axis direction, Y-axis direction, and around the Z-axis, respectively. The X-counter 207, Y-counter 208, and spin counter 209 are each operated by the arithmetic circuit 206.
The servo circuits 212, 213, and 214 of the servo unit 211 are operated based on the counted value. Each servo circuit 211, 213, and 214 controls each servo motor 35,
70 and 110 are operated. Each servo circuit is configured to detect the positional displacement produced by the motor using inductosin or resolver and tachogenerators 215, 216, and 217 to perform position control, angle control, and speed control. Such intagctocin, resolver and tachodigenerators 215, 216 and 2
The position control and speed control of No. 17 are well known in the field of so-called automatic control technology, so their explanation will be omitted.

With such a numerical control device 200, the numerically controlled glass plate processing machine having the above-mentioned principle configuration shown in FIG. 1 is preferably controlled. Next, to explain the outline of the control operation, first, the main operation panel 218 provided on the numerically controlled glass plate processing machine side.
When the start switch is pressed, a start signal is input to the cycle controller 210, and the cycle controller 210 instructs the input controller 204 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. 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, 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, The pulse controller 407 sequentially outputs the signals from the interpolator 401 to the 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 controls the linear interpolation controller 402.
It is controlled and operated by. Therefore, interpolator 4
01 first outputs a signal indicating the minute movement amount in the X-axis direction to the pulse controller 407, and the pulse controller 407 uses a series of signals to set the value corresponding to the minute movement amount in the counter 207 based on this signal. A pulse is output to counter 207. counter 20
When 7 is set to such a value, the servo circuit 212 that receives 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 3
6 is rotated, the table 30 is moved in the X-axis direction, and the position of the table 31, that is, the position of the glass plate G relative to the wheels 75, 76, 77, and 78 provided on each head, is slightly displaced in the X-axis direction. Ru. Here, a wheel 75, which is rotated by head motors 80 and 95, which are previously driven;
76, 77, and 78 process the glass plate G while displacing 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 tachogenerator 215, fed back to the servo circuit 212, and accurately set. Next, the Y input to the command register 404 regarding the Y axis
When the amount of movement in the axial direction 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, and a signal indicating that there is a difference in this comparison is input to the pulse controller 407. In response to the signal from the interpolator 401, the pulse controller 407 outputs a pulse indicating a minute displacement amount to the counter 208. When the counter 208 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, and the head stand 6
0 is moved in the Y-axis direction and the glass plate G of wheels 75, 76, 77 and 78 provided in each head
The position relative to the position is 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 generated by the servo motor 70 are detected by the inductosin and tachogenerator 216, and fed back to the servo circuit 213 to be accurately set. Furthermore, a command register 40 related to spin
A current position register 405 that indicates the spin amount input in 4 and the current position around the Z axis, that is, the origin position.
A signal indicating that there is a difference in this comparison is sent from the comparator 406 to the pulse controller 4.
07, the pulse controller 407
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 214
The servo motor 110 is operated to slightly rotate the motors 2, 63, and 64 around the Z axis. When the servo motor 110 is driven, the timing belt 109 runs and the respective pulleys 106, 107
and 108 are rotated, and heads 62, 63 and 6
4 is rotated around the Z axis. As a result, the positions of the wheels 76, 77 and 78 provided on each head relative to the glass plate G are slightly displaced around the Z axis. Therefore, the glass plate G is processed by the wheels 76, 77, and 78 rotated by the head motor 95, and the processing position is slightly displaced around the Z-axis. The minute angle and movement speed generated by this servo motor 110 are detected by the resolver and tachometer generator 217, and the servo circuit 21
4 and set accurately. 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
The contents of counters 207, 208, and 209, that is, the positions after movement 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
The cycle controller 210 outputs a signal instructing the input controller 204 to read the next data, and the cycle controller 210 instructs the input controller 204 to read the data, as described above.
The input controller decodes the data read from the reader 202 and supplies this data to the arithmetic circuit 206 again. 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, the new destination is the command register 404 again.
, the interpolation operation is performed again and the table 30 and its respective heads are moved and spun in a predetermined manner about 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. 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. Once the table 30 and each head 61, 62, 63, and 64 have been reset to the origin position, each comparator 406 indicates this to the cycle controller 210, which causes the cycle controller 210 to read the next data from the reader 202. The input controller 204 decodes the data from the reader 202 and supplies the data to the arithmetic circuit 206. At this time, the data to be read is
1, 62, 63, and 64 from the machining position by a certain amount, for example, 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 screw shaft 68 is rotated, and each head 61, 62, 63
and 64 are 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, and at the same time, the servo circuit 213 stops the operation of the servo motor 70, and the cycle Controller 210
instructs input controller 204 to read the next data from reader 202. Input controller 204
Based on this instruction, the reader 202 reads the data punched from the tape and decodes the data. At this time, the data to be read is
In order to release the adsorption of the glass plate G to 1, the operation of the vacuum device 38 is stopped, and the screw mechanism 54 is activated to cause the belt conveyor 51 to lift the glass plate G via the frames 52, 52.
After that, the data is used to operate the motor 58 in order to transport each glass plate G to the next fixing table 31. When this data is read, the input controller 20
4 issues a control signal to each drive control device (not shown), which causes each drive control device to stop the vacuum device 38, actuate the screw mechanism 54,
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. transported. Note that the glass plate G to be newly processed is placed on the rightmost fixing table 31 by the operator or automatically. Each glass plate G is placed exactly on the next fixing base 31.
When the glass plate G is conveyed to a certain point, the respective drive control devices stop the operation of the motor 58 in response to a signal from a detector (not shown) that detects this, and at the same time release the lifting of the glass plate G by the belt conveyor 51. , the screw mechanism 54 is operated, and the vacuum device 38 is operated in order to attract the glass plate G to the fixing table 31. After completing these operations, each drive control device
An operation completion signal is output to the cycle controller 210. The cycle controller 210 thereby instructs the input controller 204 to read data from the reader 202 again.
4 reads the next data from the reader 202;
Decipher this. The data read here is
Table 30 and heads 61, 62, 63 and 6
This data consists of a return-to-origin command signal and origin position coordinate values for No. 4, 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 to the left in the relationship shown in FIG. will be reinstated. 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 input to the cycle controller 210, and the cycle controller 210 sends the reader 202
Input command signal to read data from controller 20
Output to 4.

In the same manner, the calculation unit 203 performs an interpolation calculation based on the data obtained from the input controller 204, and sends this result to the servo unit 21.
1, the servo unit 211 operates the respective servo motors 35, 70 and 110, and the servo motors 35, 70 and 110 operate the table 3.
0 and each head glass plate G corresponding to the processing points. It goes without saying that such control operations by the numerical control device 200 can also be applied to the numerically controlled glass plate processing machine of the present invention shown in FIG. 8 by slightly changing the program and changing the circuit configuration. .

From the above configuration, the numerically controlled processing machine for glass plates of the present invention uses the means for controlling the angle to rotate all of the processing wheels around an axis perpendicular to one plane. Because of this, multiple machining heads with different types of machining wheels can be controlled simultaneously and with the same numerical data, i.e., the same program. To provide a numerically controlled glass plate processing machine that can reduce the number of programs and at the same time reduce the number of complicated and expensive numerical control devices, and can be stably used over a long period of time with few failures. It is possible.

In addition, the numerically controlled glass plate processing machine of the present invention simultaneously controls the plurality of work heads using numerical data, continuously and repeatedly processes a series of glass plates to be processed, and each of the work heads A different amount of wear occurs on each of the working tools attached to the glass plate, and the positional relationship between one glass plate and the working tool that processes this glass plate, and the relationship between the other glass plate and the working tool that processes this glass plate. Even if there is a difference in the positional relationship with the work tool, the fine adjustment means allows the work tool to be adjusted between two directions perpendicular to each other within a plane including the first and second directions. By adjusting the movement with respect to the direction and the third direction, each of the power tools can be positioned at an initial predetermined position.

To explain in more detail, when performing the above-mentioned movement adjustment on a work tool for beveling work, the beveling work surface of the work tool is moved to the workpiece part of the glass plate in the two orthogonal directions. By moving the beveling work surface in the direction toward , the relative rotational circumferential speed of the working part of the work tool with respect to the workpiece part of the glass plate can be maintained in a constant state, and therefore the work tool maintains the predetermined relative rotational circumferential speed in the working part. In order to be able to contact the glass plate for a predetermined period of time according to a certain program in a state where the glass plate is It can be done. In addition, when performing the above-mentioned movement adjustment on a work tool for performing an etching operation, that is, a work tool in the shape of an etching wheel, the edge portion of the work tool is moved toward the glass plate in the two orthogonal directions. By moving the working tool in the direction toward the workpiece, the edge portion can be brought into contact with the edge of the glass plate to be worked, that is, the working tool can be positioned at an initial predetermined position.

From the above, the numerically controlled processing machine for glass plates of the present invention, even if different work heads are arranged in a mixed manner, only needs to make the fine adjustment according to the content of each work, and the program does not need to be revised frequently. Glass plates can be processed continuously and repeatedly while maintaining the same working conditions.

Furthermore, in the numerically controlled processing machine for glass plates of the present invention, when the numerically controlled processing machine for glass plates is installed, the respective positions of the working heads relative to the fixing device are deviated from predetermined positions. Even if the respective positions of the working heads relative to the fixing device shift due to long-term use of the glass plate numerically controlled processing machine,
By moving the working heads in the two orthogonal directions and the third direction by the fine adjustment means, all the working heads are positioned at predetermined positions with respect to the corresponding fixing devices. As a result, all the working heads can be placed under the same working conditions and therefore all the working heads can be controlled by the same program.

[Brief explanation of the drawing]

Fig. 1 is a front view showing the basic structure of the numerically controlled processing machine for glass plates of the present invention, Fig. 2 is a side view seen from the - line direction of Fig. 1, and the etching wheel is shown in Fig. 1. Figure 3 is a sectional view taken along the - line in Figure 1, and the grinding wheel is in the position shown in Figure 1.
Fig. 4 is a detailed sectional view of the fixed base, Fig. 5 is a detailed view of the support part of the machining wheel that does not rotate, and Fig. 6 is the support 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 numerically controlled processing machine for glass plates of the present invention. , partially cut away, FIG. 9 is a plan view of the same, FIG. 10 is a sectional view taken along the line -- of FIG. 8, FIG. 11 is a side view of the rotating machining head, and FIG. 12 is a front view of the same. Figure 13 is
A block diagram of the numerical control device, FIG. 14 is a block diagram of the arithmetic circuit. 30...table, 51...belt conveyor,
60...head stand, 61-64...processing head,
130...Table, 131...Fixed stand, 142
...Cross stand, 155...Head stand, 161-1
65...Processing head.

Claims (1)

[Claims] 1. A fixing device for holding a plurality of glass plates to be processed, and a working head support movable relative to the fixing device in a first direction and a second direction perpendicular to the first direction. a first drive device provided between the work head support and the fixing device for causing relative movement of the work head support with respect to the fixing device;
and a plurality of work heads supported by the work head support base so as to rotate around a first axis extending parallel to a third direction perpendicular to the second direction; a second drive device connected to each of the work heads to cause the work head to rotate; a numerical control connected to the first drive and the second drive, respectively, for numerically controlling the relative movement of the work head support with respect to the fixing device and the rotation of each of the work heads by the second drive; the second axis passes through the working part of the power tool and is non-coaxial with the first axis, and the work head moves the power tool through the first and second axis. 1. A numerically controlled processing machine for glass plates, which has a fine adjustment means capable of performing movement adjustment in two mutually orthogonal directions in one plane including two directions, as well as in the third direction.