JPS60104650A - Grinding device - Google Patents
Grinding deviceInfo
- Publication number
- JPS60104650A JPS60104650A JP20989183A JP20989183A JPS60104650A JP S60104650 A JPS60104650 A JP S60104650A JP 20989183 A JP20989183 A JP 20989183A JP 20989183 A JP20989183 A JP 20989183A JP S60104650 A JPS60104650 A JP S60104650A
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- shape
- grinding wheel
- image
- grinding
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B17/00—Special adaptations of machines or devices for grinding controlled by patterns, drawings, magnetic tapes or the like; Accessories therefor
- B24B17/04—Special adaptations of machines or devices for grinding controlled by patterns, drawings, magnetic tapes or the like; Accessories therefor involving optical auxiliary means, e.g. optical projection form grinding machines
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
Description
【発明の詳細な説明】
この発明はテレビカメラを利用することにより従来の光
倣い研削装置における倣い用チ17−ト紙作成作業の非
能率性を改善し、又、従来の自動研削装置にJ51.プ
る砥石車の摩耗に対する自動補正の問題点を改善し、更
に、複雑形状等特別の場合には教示用チャート紙等モデ
ルを用いC形状教示可能の研削装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention improves the inefficiency of the copy sheet creation work in the conventional optical copy grinding device by using a television camera, and also improves the inefficiency of the copy sheet creation work in the conventional optical copy grinding device. .. The present invention relates to a grinding device that improves the problem of automatic correction for wear of a grinding wheel, and furthermore, is capable of teaching a C shape using a model such as a teaching chart paper in special cases such as complicated shapes.
従来の光倣い研削装置は光学的投映画面に被加工物の研
削すべき形状を表わした倣い用チャー1・紙を張り、こ
のチャート紙に表わされた?tll削リベぎす状に合わ
せて被加工物の研削を行ってゆこうとづるものである。In the conventional optical tracing grinding device, a tracing chart 1 representing the shape of the workpiece to be ground is pasted on the optical projection surface, and the shape of the workpiece is displayed on the chart paper. The purpose is to grind the workpiece according to the shape of the tll grinding rivet.
しかし、研削すべぎ形状を所定の拡大率に合わけ6作成
し、前記投映画面上に正確に位置づ()しなければなら
ない点は手間を要し非能率的な作業ぐあった。又、従来
の自動研削装置は砥石車の激しい摩耗に対して十分な対
策が行われておらず、例えば心線的な被加工物等に対し
てドレッシング装置との関連においC−義的な補正を行
えるに止まっCおり、能率的な自動運転をすることが困
難であるという問題があった。更に、このような砥石車
の摩耗に対する補正が困難であるため一般の数値制御法
に基づいた形状教示による自動再生(プレイバック)7
−を式を採用できず能率的な作業ができないという問題
が存している。However, it is a labor-intensive and inefficient work in that the grinding tooth shapes must be created in batches at a predetermined magnification and positioned accurately on the projection screen. In addition, conventional automatic grinding equipment does not have sufficient measures against severe wear of the grinding wheel, and for example, C-correction in relation to dressing equipment is required for core-like workpieces. There was a problem that it was difficult to carry out efficient automatic driving. Furthermore, since it is difficult to compensate for such wear on the grinding wheel, automatic regeneration (playback) using shape teaching based on a general numerical control method is required.
There is a problem in that it is not possible to use the - expression and work cannot be done efficiently.
この発明は上記従来技術の実情に鑑み、従来の光倣い研
Fj11装置にお()る倣い用チャート紙を不要とし、
又、従来の白!!IJ偵削装置における自動補正の問題
点を改善し、更に、教示用チ亀?−ト紙を用いて形状教
示を行い自動再生可能とし、もつ(能率的な研削加工を
行うことのできる研削装置を提供Jることを目的としC
いる。In view of the above-mentioned state of the prior art, this invention eliminates the need for the copying chart paper in the conventional optical copying grinder Fj11 device,
Also, traditional white! ! Improved the problem of automatic correction in the IJ reconnaissance device, and further improved the teaching chime. - The purpose is to provide a grinding device that can teach the shape using paper, enable automatic regeneration, and perform efficient grinding.
There is.
上記目的を達成するためのこの発明は、砥石車と被加工
物とを相(・目的に移動させ前記被加工物を研削する研
削装置においで、前記砥石車の前記被加工物に対峙づる
位置を撮像するテレビカメラを設り、前記被加工物の研
削すべき形状を指令する形状指令手段を設け、前記テレ
ビカメラの撮像した前記砥石車の形状画像と前記形状指
令手令手段により指令された指令形状とを同一画面に表
わすディスプレイ装置を設け、該ディスプレイ装置の画
面に表わされた前記被加工物の研削すべき形状に前記砥
石車の画像を合4つせつつ前記砥石車又は被加工物の位
置を相対的に移動させる操作装置を設番〕たことを特徴
とづるω1削装置である。In order to achieve the above object, the present invention provides a grinding device that moves a grinding wheel and a workpiece in tandem and grinds the workpiece. A television camera is provided to take an image of the grinding wheel, and a shape command means is provided for commanding the shape of the workpiece to be ground, and the shape image of the grinding wheel taken by the television camera and the command issued by the shape command command means A display device is provided that displays the shape of the workpiece on the same screen, and the grinding wheel or the workpiece is displayed while combining four images of the grinding wheel with the shape to be ground of the workpiece shown on the screen of the display device. This is an ω1 cutting device characterized by having an operating device for relatively moving the position of the ω1 cutting device.
又、砥石車と被加工物とを相対的に移動ざU前記被加工
物を研削Jるω1削装置において、前記砥り車の前記被
加工物に対峙する位置を撮像するテレビカメラを設り、
前記被加工物の1dl削りべき形状を指令する形状指令
手段を設Cノ、前記テレビカメラの撮像した60記砥り
車の形状と前記形状指令手令手段により指令された前記
被加工物の指令形状との距離を判定する距離判定手段を
設【ノ、該距離判定手段の判定値に基づき前記被ハU工
物の研削ずべき形状に合わせつつ前記砥石車又は被加工
物・の位置を相対的に移動さけるサーボ駆動装置を設け
たことを特徴とする研削装置である。In addition, in the ω1 grinding device that grinds the workpiece while relatively moving the grinding wheel and the workpiece, a television camera is provided to image the position of the grinding wheel facing the workpiece. ,
A shape commanding means for commanding the shape to be cut by 1 dl of the workpiece is provided. A distance determination means is provided for determining the distance between the grinding wheel and the workpiece, and the position of the grinding wheel or the workpiece is adjusted relative to the shape of the workpiece to be ground based on the determination value of the distance determination means. This grinding device is characterized by being equipped with a servo drive device that moves the grinding device.
更に、砥石車と被加工物とを相対的に移動させ前記被加
工物を研削する研削装置にJ3いC1前記砥石車の前記
被加工物に対峙する位置を撮像づるテレビカメラを設【
ノ、前記テレビカメラの随像した前記砥石車の形状を表
わJディスプレイ装置を設け、該ディスプレイ装置の画
面に表わした被加工物の研削すべき形状モデルに合わせ
て前記砥石車又は被加工物位置を相対的に移動ざゼる操
作装置を設り、前記テレビカメラの撮像した前記砥石車
の形状画像を前記被加工物の研削Jべき形状に合わl!
/、:位置でポイン1〜教示指令を11うだめの教示
指令手段と、該教示指令手段の指令信号により前記N1
石車又は被加工物の現在位置を登録する登録手段と、該
登録手段により登録された登録ポイントを補間づ−ると
共に該補間された信号に基づいて前記砥石車又は被加工
物位置をサーボ制御4る補間部を設りたことを特徴とす
る研Ill装置である。Furthermore, a television camera is installed in a grinding device that relatively moves a grinding wheel and a workpiece to grind the workpiece, and images a position of the grinding wheel facing the workpiece.
(c) A display device is provided that displays the shape of the grinding wheel as seen by the television camera, and the grinding wheel or the workpiece is displayed in accordance with the shape model of the workpiece to be ground, which is displayed on the screen of the display device. An operating device that relatively moves the position is provided to match the shape image of the grinding wheel taken by the television camera to the shape to be ground of the workpiece.
/, : The teaching command means of point 1 to 11 points at the position and the command signal of the teaching command means say N1
a registration means for registering the current position of the stone wheel or the workpiece; and a registration means that interpolates the registered points registered by the registration means and servo-controls the position of the grinding wheel or the workpiece based on the interpolated signal. This is a research device characterized by having four interpolation sections.
以下、上記発明についで実施例を掲げ説明する。Hereinafter, the above invention will be explained with reference to examples.
1人順良
第1図は概要説明図である。被加工物1を研削する砥石
車3の上方に適宜防塵ガラス等を介してテレビカメラ7
を設置プでいる。ブレビカメラ7は例えばビジコン、カ
ルニコン、プランビジコン、サチコン、イメージディセ
クタ、フライングスポットスキャナ等用いることができ
る。又、本例では研削粉の影響をできるだり受りないよ
う砥石車の上りにテレビカメラを設りでいるが上方に限
定されるものではない。砥石車3は水平面(XY)内で
固定的でありドレッシング等の関係で上下(Z方向〉に
のみ移動可能である。被加工物1はハンドル9X、9Y
等移動操作装置により水平面内で横り向X及び縦り向Y
にそれぞれ移動させることかできる。なお、被加工物1
と砥す車3との移動は相対的なものCあるので砥石車3
を移動させる構成であつ−Cも良い。又、移動操作装置
はハンドルの他、押ボタン等操作り式でも良い。Figure 1 is a schematic explanatory diagram. A television camera 7 is placed above the grinding wheel 3 that grinds the workpiece 1 through a dust-proof glass or the like.
It is in the installation program. For example, a vidicon, a carnicon, a planbidicon, a saticon, an image dissector, a flying spot scanner, etc. can be used as the blurry camera 7. Further, in this example, a television camera is installed above the grinding wheel so as to avoid the influence of grinding powder, but it is not limited to the above position. The grinding wheel 3 is fixed in the horizontal plane (XY) and can only be moved up and down (Z direction) for dressing etc. The workpiece 1 is attached to the handles 9X and 9Y.
Horizontal direction X and vertical direction
You can move them respectively. In addition, workpiece 1
The movement between the grinding wheel 3 and the grinding wheel 3 is relative C, so the grinding wheel 3
-C is also good. Further, the moving operation device may be operated by a push button or the like in addition to the handle.
前記テレビカメラ7の画像した前記砥石車3の形状画像
と第1図に(よ図示しでいない形状指令手段により指令
された指令形状画像とを同一画面に表わ寸ディスプレイ
装置11を、操作に際し観察し易い位置に設置、j−C
いる。ディスプレイ装置背11は白黒画面、カラー画面
いずれのものでも良く、ファインピッチのものとするの
が望ましい。ディスプレイ装@11に前記テレビカメラ
による砥6車3の画像3tと、前記形状指令手段による
被加工物7の研削づべき形状画*ICとを重ね合わせて
(スーパーインポーズ)映し出J0なA3、砥石車3の
画像はテレビカメラの画像をそのまま映し出しても良い
が、輪?++のみ映し出づが如くコンピュータ処理覆る
のは自由である。又、要すれば被加工物のテレビカメラ
による画像1tを同時に映し出すようにしても良い。画
像はカラー画面の場合は色分けで、白黒画面の場合には
第1図に例示したJ:うに破線と実線等C区別して用い
れば良tIX0第2図は全体的機能説明図である。被加
工物1はX軸周サーボモータSMXとY軸出サー/1<
モータSMYにより水平面内ぐ駆動される。砥石車3は
Z軸り向にのみ駆動され、この駆動位置を検出すべく位
置検出器13を設けている。テレビカメラ7と砥石車3
との間には焦点距離の異なる複数のレンズT5..15
を介在させ、自由な倍率像を得られるようにし−Cいる
。更に高倍率の画像を行うためにはテレビカメラを顕微
鏡と例えばビジコンを組み合せたもの等とすることが可
能である。When operating the size display device 11, the shape image of the grinding wheel 3 captured by the television camera 7 and the commanded shape image commanded by the shape command means (not shown in FIG. 1) are displayed on the same screen. Installed in a position that is easy to observe, j-C
There is. The display device back 11 may have either a black-and-white screen or a color screen, and is preferably a fine-pitch screen. The image 3t of the grinding wheel 3 taken by the television camera and the shape image *IC of the workpiece 7 to be ground to be ground by the shape command means are superimposed and projected on the display device @11. , The image of the grinding wheel 3 can be directly projected from the TV camera, but the wheel? As with ++, you are free to override the computer processing. Furthermore, if necessary, an image 1t of the workpiece taken by a television camera may be displayed at the same time. If the image is a color screen, it can be divided by color, and if it is a black and white screen, it can be used by distinguishing between J: U, broken lines, solid lines, etc. as shown in FIG. 1.FIG. 2 is an overall functional explanatory diagram. Workpiece 1 is an X-axis circumferential servo motor SMX and a Y-axis circumferential servo motor/1<
It is driven in the horizontal plane by motor SMY. The grinding wheel 3 is driven only in the Z-axis direction, and a position detector 13 is provided to detect the drive position. TV camera 7 and grinding wheel 3
A plurality of lenses T5. with different focal lengths are provided between T5. .. 15
Interpose it so that an image at any magnification can be obtained. In order to obtain images with even higher magnification, the television camera can be combined with a microscope and, for example, a vidicon.
なお、前記位置検出器13は硯6車のZ軸方向の移動に
伴っC1焦点位置がずれるのを防ぐためのものCあり、
焦点位置が合った時のみの撮像を有効とするものぐある
。Note that the position detector 13 has a device C for preventing the focal position C1 from shifting due to movement of the inkstone wheel 6 in the Z-axis direction;
There is a method that enables imaging only when the focus position is correct.
被加工物の研削すべき形状を指定づる形状指定手段16
はキーボード17、又はデジタイザ19等入力装置によ
る。形状指定手段16から入力された指定形状【よ作図
手段20、倍率指定手段21を経、前記テレビカメラ7
からの信号を適宜前処理した撮像信号と共にミキシング
回路23に入る。Shape specifying means 16 for specifying the shape of the workpiece to be ground
is by an input device such as a keyboard 17 or a digitizer 19. The specified shape inputted from the shape specifying means 16 is then passed through the drawing means 20 and the magnification specifying means 21 to the television camera 7.
The signal is input to a mixing circuit 23 together with an appropriately preprocessed image signal.
前処理は研削粉、光の照り返し、その他の雑音を取り除
き、又は、以後の処理に応じて例えば輪郭線だけを信号
化Jる等の処理である。又、画像倍率を2次的に定める
ことも可能である。ミキシング回路23ではテレビカメ
ラ7からの信号と形状指令手段16からの信号を混合す
る。この混合はディスプレイ装@11の画素構成に合せ
1前記テレビカメラ7からの砥石画像3[と前記形状指
令手段16からの指令形状画像1Cを同一画面に同一縮
尺で映し出づようにづるものである。Pre-processing is processing to remove grinding dust, reflection of light, and other noises, or to convert only the contour line into a signal depending on the subsequent processing. It is also possible to determine the image magnification secondarily. The mixing circuit 23 mixes the signal from the television camera 7 and the signal from the shape command means 16. This mixture is adapted to the pixel configuration of the display device 11 so that the grindstone image 3 from the television camera 7 and the command shape image 1C from the shape command means 16 are displayed on the same screen at the same scale. be.
比較判定手段25は砥石画像3tと(tll削すべき形
状画像1Cとの距1liI[を判定し、厚耗した砥石車
3の実際形状に基づいた制御値Δx1Δy値をめるもの
ひある。該比較判定手段2 Jについては後述実施例で
詳説Jる。比較判定手段25で得られた制御値ΔX、Δ
y値は数値指令手段29からの数値指令と共に数値制御
装置31へ入力される。The comparison/determination means 25 determines the distance 1liI between the grinding wheel image 3t and the shape image 1C to be cut (tll), and calculates the control value Δx1Δy based on the actual shape of the worn grinding wheel 3. The comparison/judgment means 2 J will be explained in detail in the Examples described below.The control values ΔX, Δ obtained by the comparison/judgment means 25
The y value is input to the numerical control device 31 together with a numerical command from the numerical command means 29.
該数値制御装置は前記X軸サーボモータSMXとY軸サ
ーボモータSMYを制御し被加工物1を所定の位置に制
御することがCぎる。なお、作図手段20、倍率指定手
段21、ミキシング回路23、比較判定手段25、数値
指令手段(ソフトウェア)29はCPU33により制御
され−Cいる。The numerical control device is capable of controlling the X-axis servo motor SMX and Y-axis servo motor SMY to control the workpiece 1 to a predetermined position. Note that the plotting means 20, the magnification specifying means 21, the mixing circuit 23, the comparing and determining means 25, and the numerical command means (software) 29 are controlled by the CPU 33.
にいjt+xの実施例
第3図にディスプレイ画面35に表わされたテレビカメ
ラ7による砥石車3の画像3tと形状指壷 令手段によ
り指定された被加工物のtilt削ずべき形状1G画像
とを示TJ、、なd3、本例ではテレビカメラによる被
加工物1の形状画像1tも同時に映しCいる。作業者は
ディスプレイ装置の画面3bを観察しながら砥石車の画
像3tを点P+ 、P2、P3・・・Pnの順で接触さ
i!(行くべくハンドル等操作装置を操作しで倣い加]
ニしてゆりぽ良い。この際、粕瓜を要する部分等におい
(倍率を変更したい場合にはCP U’33に指令Jれ
ば事足り極めC容易に処理できる。第4図に点P4まC
作業を進めた状態を示した。このように、倣い加工は通
常の光倣い加工と類似した手順で行うことができ、倍率
変更は極めて容易に行うことがひき、又、倣い川のチャ
ート紙は不用であるのe手間を要さず能率的な倣い加工
を行うことができる。Embodiment of 2 jt + In this example, a shape image 1t of the workpiece 1 taken by a television camera is also displayed at the same time. The operator touches the image 3t of the grinding wheel in the order of points P+, P2, P3...Pn while observing the screen 3b of the display device. (Make the copy by operating the handle and other operating devices as you go)
It's good to have yuripo. At this time, if you want to change the magnification of the part that requires lees and melon (if you want to change the magnification, you can simply command the CPU 33 and it can be easily processed.
Showing progress in work. In this way, copying processing can be performed using a procedure similar to normal optical copying processing, the magnification can be changed extremely easily, and there is no need for copying chart paper, which is time-consuming. This enables efficient copying machining.
自動rtl+削の実施例
第5図に比較判定、手段25におりる制御値△X1Δy
の決定方式の一例を示した。今、P5の点まで自動研削
が進んできたとする。ミキシング回路23にお【)る砥
石車の成像3[と形状指令手段16による指令形状1G
は点P5で接触しCいる。An example of automatic rtl+cutting is shown in FIG.
An example of the determination method is shown below. It is now assumed that automatic grinding has progressed to the point P5. The image 3 of the grinding wheel in the mixing circuit 23 and the command shape 1G by the shape command means 16
touches at point P5 and is C.
この際、砥石車をX/J向に△Xだ(〕移動させたと仮
定し、砥石車と被加工物の指令形状との距離Δyをめ、
△x1△yを制御値と覆れば良い。At this time, assuming that the grinding wheel is moved in the X/J direction by △X (), find the distance Δy between the grinding wheel and the commanded shape of the workpiece,
It is sufficient if Δx1Δy is replaced with the control value.
砥石車の摩耗による補正tよ、この制all l1ti
に含まれCいることに注目1べきCある。Correction due to wear of the grinding wheel, this control is all l1ti
Note that there is C included in .
なお、砥石車3tがΔX1こり移動した時の接触位置は
前の接触位置と(ま限らないことに注意を要Jる。即ち
、砥石車の摩耗は必ずし4)一様でないためいずれの地
点で接触づるかは不明′Cある。従って、第6図に示し
たように、指令形状上1C上の点P7′c接触しCいる
位置から次の移動位置を決定Jるに際しCは、砥石車を
△X進めた位置C単に前の接触点を次の接触点と1べく
演算するのではなく、指令形状1C上C微小区間(例え
ば1/2ΔX>毎に法線II l 、 112・・・を
立C,砥石車との交点との距離を演算し、最も短い距離
を索し、該距離をゼロとすべく制御値△yをめるのが好
ましい。かくして定められた制御値によりX軸ザーボS
MX、及びY軸サーボS IVI Yを駆動制御ilI
りれば、砥石車は研削リベき形状1Cと接触しながら砥
石車の摩耗を考慮して自動的に精度よく研削加工を行う
ことかできる。なお、本例に示す自動加工においてはデ
ィスプレイ装置への表示は必狛ではないが、ディスプレ
イ装置をII Jlりれば、切削結果を観察Cきると共
に、上述した倣い加工を併せて行うことかできC便利ぐ
あり、能率の良い研削加工を行うことができる。Note that the contact position when the grinding wheel 3t moves by ΔX1 is not limited to the previous contact position (in other words, the wear of the grinding wheel is not necessarily uniform), so any point It is unclear whether or not there will be any contact. Therefore, as shown in Fig. 6, when determining the next movement position from the position where point P7'c on 1C contacts on the commanded shape, C is the position where the grinding wheel is advanced by △X. Instead of calculating the contact point of 1C with the next contact point, for example, for every 1/2ΔX>, normal line II l, 112... is calculated as the intersection point with the grinding wheel. It is preferable to calculate the distance between the
Drive control of MX and Y-axis servo S IVI Y
If the grinding wheel is in contact with the grinding shape 1C, the grinding wheel can automatically perform the grinding process with high accuracy while taking into account the wear of the grinding wheel. In addition, in the automatic machining shown in this example, it is not necessary to display the information on the display device, but if you use the display device, you can observe the cutting results and also perform the copy machining described above. Convenient and efficient grinding process.
形状教示の実施例
次に、テレビカメラ7による砥り車の画像を用いて被加
工物の形状教示を行い自動再生ざUる実施例につい(説
明する。上記したように一般には形状指令は形状指令手
段16で行うことができるが、複雑な形状等に対しては
完成製品のテレビカメラによる画像を表わすか、或いは
、教示用チャート紙を画面に張ることによりモデルに倣
って形状教示を行えるようにしたものである。なお、以
下の説明は砥石車の方が移動り−るbのとして行うが、
完成製品モデルに倣う場合には液加]二物位置を移動さ
せる方式であつCb良い。Example of Shape Teaching Next, we will explain an example in which the shape of the workpiece is taught using the image of the grinding wheel captured by the television camera 7 and automatically regenerated.As mentioned above, generally the shape command is This can be done by the instruction means 16, but for complex shapes etc., it is possible to display an image of the finished product with a television camera or to paste a teaching chart paper on the screen so that the shape can be taught by imitating the model. The following explanation will be given assuming that the grinding wheel is moving.
If you want to imitate the finished product model, it is best to use a method that moves the positions of the two objects by adding liquid.
第7図に数値制御具1ifft 31内に設けられる制
御部分34のブロック図を示した。ディスプレイ装置の
画面35に表わされた前記砥石車3の映像位置を教示用
チャー1−紙に表わした被加工物1の研削Jべき形状1
11に合わせlc位置Cポイント教示指令を行うための
ボタン式スイッチ等教示指令手段37を設(プCいる。FIG. 7 shows a block diagram of the control section 34 provided in the numerical controller 1ifft 31. The image position of the grinding wheel 3 shown on the screen 35 of the display device is shown in the teaching chart 1 - the shape 1 to be ground of the workpiece 1 shown on paper.
11, a teaching command means 37 such as a button type switch is provided for issuing a teaching command for the LC position C point.
該教示指令手段37の教示指令信号により前記砥石車3
の現在位置を登録するメモリ等登録手段39は]ンピュ
ータメモリによれば良い。砥石中の現在位置はX軸ザー
ボモータSMX、Y軸サーボモータSMYにそれぞれ連
動して取りイリCノた位囮検出器により検出づるか、或
いは、移動操作装置0.9に関連して、例えば移動パル
ス数を測定層る如き手段によりめることができる。 ポ
イント登録手段39により登録された登録ポイントを直
線、名しくは円弧等に補間部41′c補間すると共に該
補間された信号に基づいて前記砥石車3をサーボ制御す
る。円弧補間を指令するには時計方向指示手段45、或
いは反時it fi向指示手段47を操作しC行う。制
御部分にはこの他図示しないCPU、分配部、人力部等
右する。画面35には砥石車3の画像3tを映し出し砥
石車を順次PI2、PI3、P+4点に移動し、3点教
示をしている状態を参考として示し”Cいる。The grinding wheel 3 is controlled by the teaching command signal of the teaching command means 37.
The memory etc. registration means 39 for registering the current position of may be a computer memory. The current position in the grinding wheel can be detected by a decoy detector that is linked to the X-axis servo motor SMX and Y-axis servo motor SMY, or can be detected by moving the wheel in conjunction with the moving operation device 0.9, for example. The number of pulses can be determined by such means as a measuring layer. An interpolation section 41'c interpolates the registered points registered by the point registration means 39 into a straight line, a circular arc, etc., and servo-controls the grinding wheel 3 based on the interpolated signal. To command circular interpolation, the clockwise direction indicating means 45 or the counterclockwise it fi direction indicating means 47 is operated to perform C. The control section includes a CPU, a distribution section, a human power section, etc. (not shown). An image 3t of the grinding wheel 3 is displayed on the screen 35, and a state in which the grinding wheel is sequentially moved to points PI2, PI3, and P+4 to teach three points is shown for reference.
第8図にポイント教示に関Jる制御内容をフローチャー
トで示した。ステップ801の登録判断は第7図に示し
た教示指令手段37の指令により行われる。移動操作装
置9X、9Yを操作することにより研削Jべぎ形状1h
に合わi! ’U砥石車3の移動を行い教示指令手段3
7F指令を行うとステップ802で登録手段39に教示
ポイントが登録される。ステップ803の登録ポイン1
〜処理は補間内容を指示する指示手段45.47等の方
向指令に基づき補間処理を行うものeある。ステップ8
04ぐ教示完了を判断しステップ805r″終了する。FIG. 8 shows a flowchart of control contents regarding point teaching. The registration judgment in step 801 is made in response to a command from the teaching command means 37 shown in FIG. Grind J-shaped shape 1h by operating the moving operation devices 9X and 9Y
i fit! 'U moves the grinding wheel 3 and teaches command means 3
When the 7F command is issued, the teaching point is registered in the registration means 39 in step 802. Registration point 1 of step 803
-Processing includes interpolation processing based on direction commands from instruction means 45, 47, etc., which instruct interpolation contents. Step 8
04, it is determined that the teaching is completed, and step 805r'' is completed.
第9図に画面35に示された画像の拡大説明図を示した
。第10図は教示時の砥石車30画像3【と教示用チ1
7−1−紙による被加工物1の形状111との関係を更
に拡大して示しでいる。第10図に示したように、教示
は砥石車の画像3tを研削すべき被加工物の形状11)
に接触点Pで接触させつつ行う。砥石車の基準点をPo
とりれば、前記接触点Pと該基準点Paとの差は摩耗し
でいない砥石のアールrとは異なることに意を要づる。FIG. 9 shows an enlarged explanatory diagram of the image shown on the screen 35. Figure 10 shows image 3 of the grinding wheel 30 during teaching and teaching wheel 1.
7-1 - The relationship with the shape 111 of the workpiece 1 made of paper is shown in a further enlarged manner. As shown in Fig. 10, the teaching is based on the image 3t of the grinding wheel and the shape 11) of the workpiece to be ground.
This is done while contacting at the contact point P. Set the reference point of the grinding wheel to Po
It should be noted that the difference between the contact point P and the reference point Pa is different from the radius r of an unworn grindstone.
一般に砥石車9の摩耗は一様でないのC1接触点が異な
れば接触点と化6車の基準点との距離も異なるのである
。第9図に示ずように、砥石車3の画像3(を被加工物
の期間J”べき形状111に合わせC移動してゆき接触
点1〕12、P+3、P++を得る。Generally, the wear of the grinding wheel 9 is not uniform; if the C1 contact point is different, the distance between the contact point and the reference point of the C6 wheel is also different. As shown in FIG. 9, the image 3 of the grinding wheel 3 is moved according to the period J'' shape 111 of the workpiece, and contact points 1] 12, P+3, and P++ are obtained.
各接触点に応じC硯6車の現在位置を登録し、得られた
登録ポイントを円弧補間Jれば中心点01を中心とJる
被加工物の形状と同一軌跡を描かけることが可能となる
。因に、理想的な摩耗していない砥石車の形状を想定し
て砥6車の基準点POを点02を中心とJる円弧上に描
かせれば、砥6車の前記基準点Poは仮想線L+ を通
り、実際の研削軌跡は仮想線L2の通りとなり、特に中
火イ」近ではω1削タベぎ形状29の外側を通ることと
なり大きな誤差を生ずるのである。しかるに本例におい
ては実際の摩耗形状に応じ−C教示することができるの
でU1削づべき形状゛111と一致させることが可OL
と盗る。By registering the current position of the C inkstone 6 wheel according to each contact point and performing circular interpolation on the registered points, it is possible to draw the same trajectory as the shape of the workpiece centered around the center point 01. Become. Incidentally, if we assume the shape of an ideal unworn grinding wheel and draw the reference point PO of the 6th grinding wheel on an arc J with point 02 as the center, the reference point Po of the 6th grinding wheel will be virtual. The actual grinding trajectory follows the line L+ and follows the imaginary line L2, which passes outside the ω1 cutting surface shape 29 especially near medium heat, resulting in a large error. However, in this example, -C can be taught according to the actual wear shape, so it is possible to make U1 match the shape to be cut ``111''.
and steal.
第11図に他の教示例を示した。点o1を中心とする円
弧を想定!l−るに、この円弧の中心点o1を人ツノし
C円弧補間を行えば、実際の砥石車と被加工物との接触
点の軌跡は中央部においC円弧より外力に来ることは第
9図にa3いて説明した通りである。また、第9図に示
した如く実際の砥石車の画像を用い一℃3点人カすれば
、より近似した円弧軌跡を描かせることができた。しか
し、砥石車の摩耗量がより大きい場合には上記3点の人
力eも不十分である。このような場合には第11図に示
したように円弧補間区間を複数とじ入力点を増加すれば
良い。接触点PI F2 F3の補間中心点’に02、
I触JAjPa F4 F5 (7)?1tlll申心
点’i中心 3、接触点P5 POF7の補間中心点を
04N接触点P7 F8 F9の補間中心点を05とし
Cそれぞれめる。次いで、例えば砥石車の基準点Poを
点02〜05を中心と慢る円弧上にめれば、砥石車と被
加工物の接触点はより正確に円弧軌跡を描くことが可能
となるのである。FIG. 11 shows another teaching example. Assuming an arc centered on point o1! In other words, if we take the center point o1 of this arc and perform C arc interpolation, the locus of the actual contact point between the grinding wheel and the workpiece will be closer to the external force than the C arc at the center. This is as explained at a3 in the figure. Furthermore, as shown in FIG. 9, by using an image of an actual grinding wheel and touching the grinding wheel at three points per degree, it was possible to draw a more approximate circular arc locus. However, when the amount of wear on the grinding wheel is large, the above-mentioned three points of human power e are also insufficient. In such a case, as shown in FIG. 11, a plurality of circular interpolation sections may be combined to increase the number of input points. 02 at the interpolation center point ' of contact point PI F2 F3,
I touch JAjPa F4 F5 (7)? 1tlll center point 'i center 3. Set the interpolation center point of contact point P5 POF7 as 04N, set the interpolation center point of contact point P7 F8 F9 as 05, and set C respectively. Next, for example, if the reference point Po of the grinding wheel is placed on an arc centered around points 02 to 05, the contact point between the grinding wheel and the workpiece can more accurately draw an arc trajectory. .
なお、第11図において、接触1ji! P I 、P
2・・・F9に関づるポイント登録手順は極めC容易
に行うことができる。即ら、第7図を参照するに、砥石
車の画像を接触点P I 、P 2・・川〕9に合わせ
つつ順次教示指示手段37を操作し砥石車の現在位置た
る登録ポイン]−をi!t”C行く、各補間円弧毎に、
時尉回りh向か、反11.1ム1回りlJ向かを判断き
ゼでいっても良いが全Cの登録ポイントを得た後で補間
分類、補間区間、方向、を指定して一挙に指令Jること
も可能である゛。本例では多数の円弧補間区間を連続的
に教示する可能性を最初から認めCいるがためかくの如
き一挙の指令方式を採用づるのが望ましい。この際他の
直線補間区間等の登録ポイントを含めて、各登録ポイン
トのアドレスを指定して、全ての登録ポイン1〜を得た
後に、円弧補間区間を指令づることも勿論可能である。In addition, in FIG. 11, contact 1ji! P I, P
2...The point registration procedure related to F9 can be performed extremely easily. That is, referring to FIG. 7, while aligning the image of the grinding wheel with the contact points P I , P 2 . i! t”C goes, for each interpolation arc,
You can judge whether it is going towards Jiyuu round H or opposite 11.1 m 1 round lJ, but after obtaining all the registered points, specify the interpolation classification, interpolation interval, and direction at once. It is also possible to give commands to In this example, the possibility of continuously teaching a large number of circular interpolation sections is recognized from the beginning, but it is preferable to adopt a one-shot instruction method such as Takuku. At this time, it is of course possible to designate the address of each registered point including registered points such as other linear interpolation sections, and after obtaining all the registered points 1 to 1, command the circular interpolation section.
第12図に一般の形状についで、教示作業の適用実施例
を示した。砥石車の画像3tを被加工物の形状111に
順次1.2.3・・・の順で合わせCゆき、複数の登録
ポイン1〜を得る。点15と16、点16と17の間に
点paと点pbを追加づるのは第6図で説明した理由か
らであり、砥石車の摩耗程度を画面35上で確認しなが
ら行うことがで゛きる。なお、1)う記教示用フU−チ
I7−トに代え、完成製品を被加工物の位置に置き、該
完成製品をデレピカメラe撮像しC前記教示用チA・−
ト紙によるものと同様の形状教示を行うことも勿論可能
である。FIG. 12 shows a general shape and an application example of teaching work. The image 3t of the grinding wheel is sequentially aligned with the shape 111 of the workpiece in the order of 1, 2, 3, . . . , and a plurality of registered points 1 to 1 are obtained. The reason why points pa and pb are added between points 15 and 16 and between points 16 and 17 is for the reason explained in FIG. I can do it. Note that 1) Instead of using the teaching tool I7, place the finished product at the position of the workpiece, take an image of the finished product with the digital camera, and use the teaching tool A.
Of course, it is also possible to perform shape teaching similar to that using paper.
テレビ画面を教示作業に応用することにした教示再生式
の上記研削装置は、迅速、容易な形状教示を可能とする
と共に砥石車の摩耗にかかわらず正確な研削形状を教示
することができ作業能率を向上させることができる。The above-mentioned teaching/playback type grinding device that uses a TV screen for teaching work enables quick and easy shape teaching, and can teach accurate grinding shapes regardless of wear of the grinding wheel, increasing work efficiency. can be improved.
一特許請求の範囲第1項に記載の、砥石車と被加工物と
を相対的に移動させ前記被加工物を、研削する研削装置
にJ3い−C1前記砥石車の前記被加工物に対峙する位
置を銀像刀るテレビカメラを設り、前記被加工物の研削
J−べぎ形状を指令覆る形状指令手段を設け、前記テレ
ビカメラの撮像した前記砥石車の形状画像と前記形状指
令手令手段により指令された指令形状とを同一画面に表
わすディスプレイ装置を設置ノ、該ディスプレイ装置の
画面に表わされた前記被加工物の研削づべぎ形状に前記
砥石車の画像を合わけつつ前記砥石車を又は被加工物の
位置を相対的に移動さける操作装置を設りたことを特徴
とするIIII削装冒は、倣い用チャートを不要とし、
テレビカメラ画像に表わされた指令形状に、同じくテレ
ビカメラ画像に表わされた砥石車映像を台わIIC倣い
加工することがぐぎ、倍率選定自在であり作業能率を向
上させることができる。1. J3-C1 is a grinding device that relatively moves a grinding wheel and a workpiece to grind the workpiece, as set forth in claim 1. A television camera is provided to capture a silver image of the grinding wheel, and a shape command means is provided to command the shape of the grinding wheel of the workpiece, and a shape command means is provided to command the shape image of the grinding wheel captured by the television camera and the shape command command. A display device is installed that displays the command shape commanded by the means on the same screen, and the image of the grinding wheel is combined into the shape of the grinding wheel of the workpiece displayed on the screen of the display device. The III grinding tool, which is characterized by being equipped with an operating device that relatively moves the position of the grinding wheel or the workpiece, eliminates the need for a tracing chart;
The grinding wheel image, which is also shown in the TV camera image, can be processed by copying the commanded shape shown in the TV camera image, and the magnification can be freely selected, and work efficiency can be improved.
又、特許請求の範囲第2項に記載の、砥石車と被加工物
とを相対的に移動させ前記被加工物を研削する研削装置
においC1前記砥石車の前記被加工物に対峙する位置を
Mii像するテレビカメラを設り、前記被加工物の研削
1゛べき形状を指令する形状指令手段を設け、前記テレ
ビカメラの撮像した一前記砥石車の形状と前記形状指令
手令手段により指令され/j指令形状との距離を判定す
る距離判定手段を設【ノ、該距離判定手段の判定値に基
づき前記被加工物の研削1べき形状に合わけつつ前記砥
石車又は被加工物の位置を相j=1的に移動させるサー
ボ駆動装置を設(プたことを特徴とする仙fill装買
は、従来よりの砥石車の摩耗に伴う補正の問題貞を改善
しC砥石車の補止を考慮した自動運転を用能とし加工作
業の能率を向上さけることがr″きる。Further, in the grinding device that grinds the workpiece by relatively moving a grinding wheel and the workpiece, C1 is a position of the grinding wheel facing the workpiece. A television camera is provided to image the workpiece, and a shape command means is provided for commanding the shape of the workpiece to be ground. j A distance determining means for determining the distance from the commanded shape is provided; The Senfill equipment, which is characterized by the installation of a servo drive device that moves the grinding wheel at j = 1, improves the problem of correction caused by the wear of the conventional grinding wheel, and takes into account the correction of the C grinding wheel. It is possible to improve the efficiency of machining operations by using automated operation.
更に、特許請求の範囲第3項に記載の、砥石車と被加工
物とを相対的に移動させ前記被加工物を研削する(di
削装置において、前記砥石車の前記被加工物に対峙づる
位置をlIr1像づるテレビカメラを設り、前記テレビ
カメラの撮像した前記砥石車の形状画像を表わリゾイス
プレイ装置を設け、該ディスプレイ装置の画面に表わし
1こ被加工物の(dl l’1llJべぎ形状モデルに
合ね′t!’r前記砥bm又は被加工物の位置を相対的
に移動させる操作装置を設G]、前記テレビカメラの撮
像した前記砥石車の画像形状を″前記被加工物の研削ず
べき形状に合わt /j位置でポイン1〜教示指令を行
うための教示指令手段と、該教示指令手段の指令信号に
より前記砥石車又は被加工物の現在位置を登録覆る登録
手段と、該登録手′段により登録された登録ポイントを
補間すると共に該補間された信号に基づいて前記砥石車
又は被加工物を1ノーボ制御する補間部を設けlここと
を特徴とする(jl I’ill 装置は、教示用)U
−チャー1〜紙を用いるか、或いは、完成製品のテレビ
7Jメラによる画像を利用し“U?u雑形状であっても
容易に形状教示することか可能であり、U(削作業σ)
能率化を図ることがr:きる。Furthermore, the grinding wheel and the workpiece are relatively moved to grind the workpiece (di
In the grinding device, a television camera is provided to image the position of the grinding wheel facing the workpiece, and a rezo display device is provided to display a shape image of the grinding wheel taken by the television camera, and the display device A workpiece is displayed on the screen (dl l'1llJ). An operating device is installed to relatively move the position of the abrasive or the workpiece), and The shape of the image of the grinding wheel captured by the camera is adjusted to the shape of the workpiece to be ground by a teaching command means for issuing a teaching command from point 1 at the t/j position, and a command signal from the teaching command means. a registration means for registering the current position of the grinding wheel or the workpiece; and a registration means for interpolating the registration points registered by the registration means and for moving the grinding wheel or the workpiece by one position based on the interpolated signal. An interpolation unit is provided to control the device.
- Char 1 ~ It is possible to easily teach the shape of even irregular shapes by using paper or by using the image of the finished product on TV 7J camera, and U (cutting work σ)
It is possible to improve efficiency.
図面はいずれも実施例を示し、第1図は全体説明図、
第2図は全体的機能説明図
第3図、第4図は倣い加工におけるディスプレイ画面の
表示説明図、
第5図、第6図は自動加工にお【ノる制■1値のン大定
方式説明図、
第7図は制御部分を示づ一ブロック説明図、第8図は教
示作業を承り70−チ1ノート、第9図は円弧形状の3
点教示の説明図、第10図は砥石車と被加工物形状との
関係を示す説明図、
第11図は同一円弧を複数の円弧補間区間に分けて教示
する説明図、
第12図は一般の形状に適用し/j際の教示作業を示す
説明図である。
1・・・被加工物
1C・・・被加工物の指令形状
1t・・・被加工物のテレビカメラによる画像11)・
・・被加工物の教示用チレート紙による形状(又は完成
製品のテレビカメラによる画像)3・・・砥石車
3t・・・砥石車のテレビカメラによる画像7・・・テ
レビカメラ
9X・・・X軸操作装置
9Y・・・Y軸操作装置
11・・・ディスプレイ装置
15・・・レンズ 16・・・形状指令手段20・・・
作図手段 21・・・倍率指定手段23・・・ミキシン
グ回路 25・・・比較判定手段31・・・数値制御装
置 34・・・制i11部分37・・・教示指令手段
39・・・登録手段41・・・補間部
SMX・・・X軸サーボモータ
SMY・・・Y軸サーボモータ
第1図
第2図
第8図
第511!3
第6図
第7図
第8図
第9図
り
第10図
第11図
第12図
手続補正書(自 発)
昭和58年12月20日
特許庁長官 若 杉 和 夫 殿
1、事件の表示
昭和58年 特許願第209891号
2、発明の名称 研削装置
3、補正をする者
事件との関係特許出願人
住所(居所) 愛知県小牧市下小針中島2−1584、
代理人 郵便番号 105
住所 東京都港区虎ノ門1丁目2番3号 虎ノ門第−ビ
ル5階電話東京(504) 3075−3076・30
77番 、(発送日 昭和 年 月 日)
6、補正の対象
(1)明細書の「発明の詳細な説明」の欄。
(2図面中鎖7図及び第8図
7、補正の内容
(1)明細書の第7頁第12行目に[固定的でありドレ
ッシング尋の」とあるのを、「固定的であり研削加工、
ドレッシング等の」と補正する。
(21同第8貞第9行目に「工物7の研削すべき」とあ
るのを、「工物1の研削すべき」と補正する。
(3別紙のとおり第7図及び第8図を補正する。
8、添伺書類の目録
(1)図面 1通
第7図
不
第8図The drawings all show examples, and Fig. 1 is an overall explanatory diagram, Fig. 2 is an overall functional explanatory diagram, Fig. 4 is an explanatory diagram of the display screen during copying processing, and Figs. 5 and 6. The figure is an explanatory diagram of the one-value standardization method for automatic machining. Figure 9 shows arc-shaped 3
An explanatory diagram of point teaching, Fig. 10 is an explanatory diagram showing the relationship between the grinding wheel and the shape of the workpiece, Fig. 11 is an explanatory diagram of teaching by dividing the same circular arc into multiple circular interpolation sections, and Fig. 12 is a general diagram. It is an explanatory view showing teaching work when applying to the shape of /j. 1... Workpiece 1C... Commanded shape of the workpiece 1t... Image of the workpiece taken by a television camera 11).
・・Shape of the workpiece using tilate paper for teaching (or image of the finished product taken by a TV camera) 3 ・Grinding wheel 3t ・Image of the grinding wheel taken by a TV camera 7 ・・Television camera 9X...X Axis operating device 9Y...Y-axis operating device 11...Display device 15...Lens 16...Shape command means 20...
Drawing means 21... Magnification specifying means 23... Mixing circuit 25... Comparison/judgment means 31... Numerical control device 34... Control i11 part 37... Teaching command means
39...Registration means 41...Interpolation unit SMX...X-axis servo motor SMY...Y-axis servo motor Figure 1 Figure 2 Figure 8 511!3 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Procedural amendment (voluntary) December 20, 1980 Director General of the Patent Office Kazuo Wakasugi 1, Indication of the case 1982 Patent Application No. 209891 2, Invention Name Grinding device 3, person making the amendment Patent applicant address (residence) 2-1584 Shimokobari Nakajima, Komaki City, Aichi Prefecture;
Agent Postal code: 105 Address: 5th floor, Toranomon Building, 1-2-3 Toranomon, Minato-ku, Tokyo Phone: Tokyo (504) 3075-3076-30
No. 77, (Shipping date: Showa, month, day) 6. Subject of amendment (1) "Detailed description of the invention" column of the specification. (Chain 7 and Figure 8 in Figure 2, Contents of amendment (1) In the 12th line of page 7 of the specification, the phrase [fixed and dressing] has been changed to "fixed and has a dressing width". processing,
"Dressing, etc." is corrected. (21 In the 9th line of the 8th edition of the same document, the phrase ``workpiece 7 should be ground'' is corrected to ``workpiece 1 should be ground''. (As shown in Appendix 3, Figures 7 and 8) 8. List of accompanying documents (1) Drawings 1 copy, Figure 7, Figure 8.
Claims (1)
加工物を研削する研削装置においで、前記砥石車の前記
被加工物に対峙り゛る位置を銀像するテレビカメラを設
参ノ、On記被加工物の研削すべき形状を指令づる形状
指令手段を設cノ、前記テレビカメラの銀像した前記砥
6車の形状画像と前記形状指令手令手段により指令され
l〔指令形状とを同一画面に表わJディスプレイ装置を
設け、該ディスプレイ装置の画面に表わされた前記被加
工物のω1削ずべき形状に前記砥石車の画像を合わせつ
つ前記砥石車又は被加工物の位置を相対的に移動さゼる
操作装置を設けたことを特徴とする研削装置。 <2) 砥石車と被加工物とを相対的に移動さ′t!前
記被加工物を研削づる研削装置において、前記砥石車の
前記被加工物に対峙する位置を撮像Jるテレビカメラを
設Gノ、前記被加工物の研削づべき形状を指令する形状
指令手段を設り、前記テレビカメラの銀像した前記砥石
車の形状と前記形状指令手令手段により指令された指令
形状との距離を判定する距離判定手段を設()、該距離
判定手段の判定値に基づき前記被加工物の研削すべき形
状に合ねUつつ前記砥石車又は被加工物の位置を相対的
に移動させるサーボ駆動装置を設りたことを特徴とづる
研削装置。 (3)砥石車と液加コニ物とを相対的に移動させ前記被
加工物を研削する研削装置において、前記砥石車の前記
被加工物に対峙覆る位置を銀像づるテレビカメラを設【
ノ、前記テレビカメラの1IIl像した前記砥石車の形
状画像を表わづディスプレイ装置を設り、該ディスプレ
イ装置の画面に表わした被加工物の研削すべき形状モデ
ルに合わせて前記砥石車を又は被加工物位置を移動させ
る操作装置を設り、前記砥石車の形状画像を前記被加工
物の研削づ−べき形状に合わlた位置でポイント教示指
令を行うための教示指令手段と、該教示指令手段の指令
15号により前記砥石車又は被加工物の現在位置を登録
する登録手段と、該登録手段により登録された登録ポイ
ントを補間すると共に該補間された信号に基づいC前記
砥石車又は被加工物位置をザーボ制t211する補間部
を設【ノたことを特徴とする研削装置。[Scope of Claims] (1) In a grinding device that grinds the workpiece by relatively moving a grinding wheel and the workpiece, a position of the grinding wheel facing the workpiece is set at a position opposite to the workpiece. A television camera is installed to image the workpiece, and a shape command means is installed to command the shape of the workpiece to be ground. A display device is provided to display the commanded shape on the same screen, and the image of the grinding wheel is adjusted to the shape to be cut by ω1 of the workpiece shown on the screen of the display device. A grinding device characterized by being provided with an operating device that relatively moves the position of a grinding wheel or a workpiece. <2) Relatively move the grinding wheel and workpiece! In the grinding device for grinding the workpiece, a television camera is provided to take an image of a position of the grinding wheel facing the workpiece, and a shape commanding means for commanding the shape of the workpiece to be ground is provided. and a distance determining means for determining the distance between the shape of the grinding wheel imaged by the television camera and the commanded shape commanded by the shape commanding means, and based on the determination value of the distance determining means. A grinding device comprising a servo drive device that relatively moves the position of the grinding wheel or the workpiece while matching the shape of the workpiece to be ground. (3) In a grinding device that grinds the workpiece by relatively moving a grinding wheel and a liquid-containing material, a television camera is installed that displays a silver image at a position of the grinding wheel facing and covering the workpiece.
(c) A display device is provided to display a shape image of the grinding wheel imaged by the television camera, and the grinding wheel is displayed in accordance with the shape model of the workpiece to be ground, which is displayed on the screen of the display device. a teaching command means which is provided with an operating device for moving the position of the workpiece and performs a point teaching command at a position where the shape image of the grinding wheel matches the shape to be ground of the workpiece; A registration means for registering the current position of the grinding wheel or the workpiece according to command No. 15 of the command means; A grinding device characterized by having an interpolation section for controlling the position of a workpiece using a servo.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58209891A JPH0641091B2 (en) | 1983-11-10 | 1983-11-10 | Grinding machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP58209891A JPH0641091B2 (en) | 1983-11-10 | 1983-11-10 | Grinding machine |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS60104650A true JPS60104650A (en) | 1985-06-10 |
JPH0641091B2 JPH0641091B2 (en) | 1994-06-01 |
Family
ID=16580355
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP58209891A Expired - Lifetime JPH0641091B2 (en) | 1983-11-10 | 1983-11-10 | Grinding machine |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH0641091B2 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6253948U (en) * | 1985-09-24 | 1987-04-03 | ||
JPS63216668A (en) * | 1987-03-05 | 1988-09-08 | Okamoto Kosaku Kikai Seisakusho:Kk | Grinding surface setting method |
JPH03196955A (en) * | 1989-12-26 | 1991-08-28 | Amada Washino Co Ltd | Feed rate controlling method in optical copy grinding machine |
JP2015155123A (en) * | 2014-02-20 | 2015-08-27 | 株式会社アマダマシンツール | Grinding machine |
CN111941229A (en) * | 2019-05-15 | 2020-11-17 | 株式会社迪思科 | Grinding device |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008105119A (en) * | 2006-10-24 | 2008-05-08 | Tecno Wasino Co Ltd | Grinding method by use of grinding machine, and grinding machine |
JP2009214289A (en) * | 2008-02-13 | 2009-09-24 | Neo:Kk | Copy grinding method and apparatus for the same |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58149510A (en) * | 1981-09-12 | 1983-09-05 | プレツイジオン−テヒニク・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング・ベルトハイム | Method and apparatus for memorizing selection points along nominal outline on projection screen of contour projection grinder |
-
1983
- 1983-11-10 JP JP58209891A patent/JPH0641091B2/en not_active Expired - Lifetime
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS58149510A (en) * | 1981-09-12 | 1983-09-05 | プレツイジオン−テヒニク・ゲゼルシヤフト・ミツト・ベシユレンクテル・ハフツング・ベルトハイム | Method and apparatus for memorizing selection points along nominal outline on projection screen of contour projection grinder |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6253948U (en) * | 1985-09-24 | 1987-04-03 | ||
JPS63216668A (en) * | 1987-03-05 | 1988-09-08 | Okamoto Kosaku Kikai Seisakusho:Kk | Grinding surface setting method |
JPH03196955A (en) * | 1989-12-26 | 1991-08-28 | Amada Washino Co Ltd | Feed rate controlling method in optical copy grinding machine |
JP2015155123A (en) * | 2014-02-20 | 2015-08-27 | 株式会社アマダマシンツール | Grinding machine |
CN111941229A (en) * | 2019-05-15 | 2020-11-17 | 株式会社迪思科 | Grinding device |
CN111941229B (en) * | 2019-05-15 | 2024-03-12 | 株式会社迪思科 | Grinding device |
Also Published As
Publication number | Publication date |
---|---|
JPH0641091B2 (en) | 1994-06-01 |
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