EP0084505A2 - Steuerungsverfahren für eine Maschine zum Schleifen der Kanten von Glasplatten und Vorrichtungen zum Ausführen dieses Verfahrens - Google Patents

Steuerungsverfahren für eine Maschine zum Schleifen der Kanten von Glasplatten und Vorrichtungen zum Ausführen dieses Verfahrens Download PDF

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Publication number
EP0084505A2
EP0084505A2 EP83400130A EP83400130A EP0084505A2 EP 0084505 A2 EP0084505 A2 EP 0084505A2 EP 83400130 A EP83400130 A EP 83400130A EP 83400130 A EP83400130 A EP 83400130A EP 0084505 A2 EP0084505 A2 EP 0084505A2
Authority
EP
European Patent Office
Prior art keywords
carriage
grinding
grinding head
arm
feeler roller
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.)
Withdrawn
Application number
EP83400130A
Other languages
English (en)
French (fr)
Other versions
EP0084505A3 (de
Inventor
Friedrich Halberschmidt
Heinz-Josef Reinmold
Alfred Schmitz
Heinz Mund
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vegla Vereinigte Glaswerke GmbH
Saint Gobain Vitrage SA
Original Assignee
Vegla Vereinigte Glaswerke GmbH
Saint Gobain Vitrage SA
Saint Gobain Vitrage International SA
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Vegla Vereinigte Glaswerke GmbH, Saint Gobain Vitrage SA, Saint Gobain Vitrage International SA filed Critical Vegla Vereinigte Glaswerke GmbH
Publication of EP0084505A2 publication Critical patent/EP0084505A2/de
Publication of EP0084505A3 publication Critical patent/EP0084505A3/de
Withdrawn legal-status Critical Current

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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
    • B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
    • B24B9/06—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain
    • B24B9/08—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of glass
    • B24B9/10—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of glass of plate glass
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/30084—Milling with regulation of operation by templet, card, or other replaceable information supply
    • Y10T409/300896—Milling with regulation of operation by templet, card, or other replaceable information supply with sensing of numerical information and regulation without mechanical connection between sensing means and regulated means [i.e., numerical control]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/30—Milling
    • Y10T409/30084—Milling with regulation of operation by templet, card, or other replaceable information supply
    • Y10T409/301176—Reproducing means
    • Y10T409/301568—Reproducing means by use of pivotally supported tracer

Definitions

  • the present invention relates to the automatic control of a machine for working around a sheet of glass, in particular an edge grinding machine, a machine whose working head carrying the working tool is mounted on a carriage which moves in two rectangular X and Y directions to follow the outline of the glass sheet immobilized on a support.
  • a machine of this type for grinding the edges of glass sheets is described for example in document DE-OS 2 856 519.
  • the motors for driving the carriage in the directions X and Y are controlled by a device digital control system in which the information on the carriage path is recorded on a perforated tape.
  • the carriage is guided by a feeler along a template whose shape corresponds to that of the sheet of glass to work.
  • the glass sheet to be worked must be positioned with respect to the machine, very precisely, which constitutes a long operation and requires sophisticated equipment.
  • the object of the present invention is to control a machine for working the edges of a glass sheet, in particular a machine for grinding the edges, for which no preset program is necessary. This machine is guided by the glass sheet itself, whatever its shape, without any particular intervention when glass sheets of different shapes follow one another, and without any precise positioning of the glass.
  • the program for controlling the path is determined, for a defined distance, in front of the working tool, by means of a feeler mounted on the carriage carrying the working tool, in front of said tool, and palpating the edges of the glass sheet, the X and Y coordinates of the points of the edge identified by the probe being entered in the shift register of a memory and being used after a certain time shift to control the motors positioning the carriage in the X and Y directions.
  • the device of the invention requires neither a preset program specific to each form of glazing, nor a template, the path program is determined by the tool carriage itself which explores the contour of the worksheet.
  • the invention is intended to control a machine for grinding the edges of a glass sheet, but it can also be used to control any machine for working the edges of a glass sheet or regions of its surface which can be identified relative to the edges. .
  • certain glass sheets are provided on their edges or on the region of their faces near the edges, with an electrically conductive strip or a decorative strip; machines of the type of that of the invention equipped with an automatic piloting system can deposit such strips.
  • the invention can also be used to simply record the program of the path that a grinding tool should perform, in particular to control the shape of a glazing by comparing the values thus recorded with reference values stored in memory.
  • a first embodiment of a device used to carry out the invention by means of a tool mounted on a carriage movable in two directions XY, for example of a grinding head is such that, for a predetermined resulting speed of the tool, i.e. for a constant sum of the carriage speeds in the X direction and in the Y direction, the speed ratio of the two drive motors along X and along Y is adjusted by means of d '' a feeler which comprises an arm which can pivot around the axis of rotation of the grinding head and a feeler roller mounted on this pivoting arm, preceding the grinding head, pressed against the edge of the glass sheet and thus following its contour, it being understood that the coordinates of the points of the path of the feeler roller are continuously noted converted into signals and that the signals thus obtained are supplied to the control circuit for the drive motors in the X and Y directions via of a m shift register emitter taking into account the distance separating the feeler roller and the grinding wheel.
  • a rotation measuring instrument coupled to the probe roller, describing the same path as the center of this probe roller, but whose angular spatial position is invariable, including the axis of rotation provided with one or more information points is fitted with a trailed roller which rolls against a flat plate and which is thus always adjusted in the direction opposite to the direction of movement.
  • the necessary information concerning the path can, in this case, be obtained via the information ports of the rotation measuring instrument.
  • the path program is determined by the fact that, for a predetermined resulting speed of the tool, a feeler roller rolling on the edge of the glass sheet , preceding the grinding head, is provided on the carriage on an arm which can pivot around the center of the grinding head and a second carriage movable in two perpendicular directions is coupled to this feeler roller so as to accompany it, the coordinates of the points of the path of the latter being supplied by digital signal generators mechanically connected to this second carriage, the signals supplied by the digital signal generators being transmitted to a shift register memory or to a microcomputer with register characteristic shift.
  • the grinding head carrying the rotating wheel can in principle be fixedly mounted on the double movement carriage.
  • the grinding head is mounted on the double-movement carriage so that it can rotate around the axis of rotation of the grinding wheel so that, during movement around the glass sheet, it rotates 360 °.
  • mount the grinding tool inside the grinding head on another carriage which can be moved perpendicularly to the edge of the glass sheet and this carriage can be pressed with an adjustable force against the edge of the sheet of glass.
  • the control signals obtained during piloting in accordance with the invention can, for such a rotary grinding head and in another embodiment of the invention, also be used for controlling the rotational movement of the grinding head.
  • the diameter of the feeler roller corresponds to the diameter of the grinding wheel. This simplifies the control circuit for the drive motors.
  • a constant torque electric motor is preferably fitted on the pivot axis of the pivoting arm carrying the feeler roller.
  • the mechanical structure of the grinding machine according to the invention is illustrated in its essential parts in Figure 1.
  • the machine comprises a bridge 1 movable in the direction X on rails 2.
  • the drive of the bridge 1 is carried out by through a drive motor 3.
  • a carriage 4 is mounted movable in the Y direction along the deck 1 under the action of a drive motor 5.
  • the drive motor 3 can be mounted on the bridge 1 and the displacement can be transmitted to the bridge by means of a rack disposed along one of the rails 2.
  • the drive motor 3 can also be mounted on the frame of the machine and the displacement can be transmitted to deck 1 by means of shafts or toothed belts or other transmission means of the same type.
  • the drive motor 5 can be mounted in a similar manner on the deck 1 or on the carriage 4 and the transmission of the movement can also be ensured by a drive pinion and a rack or by a shaft or even by a belt. toothed.
  • drive motors 3 and 5 there these are direct current motors driven by pulses, with incorporated tachometer generator, of a current execution in the trade for example of motors of type M 19 P and F 12 T from the company BBC.
  • a grinding head 10 is mounted for rotation on the carriage 4.
  • the grinding head 10 can, for example, be constructed in a manner as described in document DE-AS 19 66 260 (or its French correspondent FR 1 588 348 ). This means that in the rotating grinding head 10 is mounted a carriage movable in one direction and connected to an adjustable pressure device, which carries the grinding tool itself with the grinding motor. An adjustable pressure of the grinding tool perpendicular to the edge of the glass is thus possible.
  • the rotation of the grinding head 10 is ensured by a motor 11 which is also mounted on the carriage 4. This motor 11 and its control device will be described later.
  • a feeler roller 15 is mounted on an arm 14 and rolls on the outer contour of the glass sheet 16 to be ground.
  • the arm 14 is pivotally mounted, author of the axis of rotation 18 of the grinding head 10.
  • the feeler roller 15 is kept in uninterrupted contact with the edge of the glass sheet 16 by the effect of the rotor 20 of a motor.
  • constant torque mounted on a shaft 19 rigidly connected to the arm 14 and exerting on the arm 14 a constant torque in the direction of the glass sheet ( Figure 2).
  • the shaft 19 is extended upwards beyond the arm 14 and its end is connected to an arm 21 parallel to the arm 14 and of the same length.
  • This arm 21 carries at its other end a toothed wheel 22 which can rotate about a vertical axis 25.
  • a toothed wheel 23 is fixedly mounted on the carriage 4 and is connected to the toothed wheel 22 by through a chain 24.
  • a rotation measuring instrument 29 constituted by a sine-cosine potentiometer is mounted on the toothed wheel 22 centered on the axis 25.
  • An extension of the axis 25 is provided with an arm 26 at the end of which is mounted a so-called drag wheel 27.
  • This drag wheel 27 rolls on a horizontal upper plate 30.
  • the arm 26 always pivots thanks to the roller 27, in the opposite direction to that in which the feeler roller moves, so that the direction of movement of the touch roller is established at all times.
  • the sine-cosine potentiometer 29 converts the angular position of the arm 26 into electrical quantities which are used for the control of the drive motors 3 and 5 and of the motor 11.
  • FIG. 3 illustrates the mathematical relationships which exist between the location of the feeler roller 15 and that of the grinding head 10, and which are at the basis of the construction of the machine.
  • the fi g ure 3 denotes the angle which the arm 14 forms with the axis X and which also corresponds to the angle which the arm 26 carrying the trailing wheel 27 forms with the axis X.
  • X T and Y T are the coordinates of the location of the feeler roller
  • X K and Y K are the coordinates of the location of the grinding head 10.
  • a T designates the length of the arm 14, that is to say the distance separating the feeler roller 15 from the grinding head 10.
  • the angle ⁇ is measured continuously by the feeler roller system described above and the sine and cosine values of the angle 0 (are available directly as electrical voltages thanks to the sine-cosine potentiometer 29, these electrical voltages can be used directly to control the path of the grinding head.
  • the sine-cosine potentiometer 29 is, for example, a rotary potentiometer with four quadrants of the SCB 50 type from the company MEGA-TRON from Munich, Germany. Alternatively, one can also use, for example, the rotating generator of sine-cosine functions Art. n ° V 23 401 E 0012-B 001 from the company SIEMENS.
  • the potentiometer 29 has, as clearly shown in Figure 4, via the two sliding contacts 38, 39, a double voltage tap, both sliding contacts 38, 39 forming an angle of 90 ° with each other and being rigidly connected to each other, so that the first tap directly gives the value of the sine of the angle ⁇ and the another take gives directly the value of the cosine of the angle ⁇ .
  • the double socket 38, 39 rotates by virtue of the drag wheel 27, the movement of which is transmitted via the axis 25.
  • a tachometer generator 32 is mounted on the shaft 19 ( Figure 2) in addition to the constant torque motor 20.
  • the tachometer generator 32 provides an electrical voltage which is proportional to the angular speed of the shaft 19.
  • a digital signal generator which supplies a voltage of a frequency dependent on the angular speed of the shaft 19.
  • the signals of the tachometer generator or of the digital signal generator are used to compensate for the errors which occur when the feeler roller passes, for example around a 90 ° corner. This compensation is effected by the expansion of the shift register 42 by means of the tachometric generator 32.
  • the number of storage locations in the shift register of the memory 42 on the X axis or the Y axis corresponds precisely to the length A T arm of the feeler roller.
  • the speed of the feeler roller as a result of the pivoting of the arm 14, for example when passing around a corner at 90 °, becomes greater than the resulting grinding speed, thanks to the voltage supplied by the generator tachometer 32, the number of storage locations in the shift register of memory 42 is increased correspondingly.
  • the signals corresponding to the sine and cosine values of the potentiometer 29 then leave phase shifted from the shift register and are transmitted with this phase shift as set values via the conductors 44 and 46 to the control devices 45 and 47 for the drive motors 3 and 5.
  • the drive motors 3 and 5 are each coupled, as mentioned above, to a tachometer generator 48 or 49. These gener tachometric indicators 48 and 49 supply a voltage corresponding to the actual speed of the motors 3, 5 and these voltages are brought via the conductors 50, 51 to the regulating devices 45, 47 where they are compared with the reference control voltages coming from conductors 44, 46 and are used for the control of motors 3 and 5.
  • the signals from the tachogenerators 48, 49 are also used to control the motor 11 which rotates the grinding head to rotate the carriage mounted in the grinding head and carrying the grinding motor with the grinding wheel. in such a way that the pressure of the grinding wheel is always exerted perpendicular to the edge of the glass sheet.
  • the two sine-cosine potentiometers 54 and 55 are activated by means of the conductors 52 and 53 and these potentiometers are mechanically coupled to one another, by the connections 56, or are mounted in a single housing. and have a single common axis of rotation.
  • This double sine-cosine potentiometer is connected directly by the link 57 to the drive motor 11 of the head, so that the shaft of the double potentiometer rotates in synchronism with the grinding head.
  • the drive motor 11 is coupled to a tachometer generator 59 which, via the conductor 60, introduces the actual value of the speed of rotation of the grinding head into the regulating device 61.
  • the potentiometer 54 is connected via the control conductor 52 to the tachometer generator 48 of the X axis and the potentiometer 55 is connected via the control conductor 53 to the tachometer generator 49 of the Y axis. Both potentiometers are electrically connected to each other in a difference circuit and the setpoint voltage is obtained on the socket 63 of the potentiometer 54 and is brought via the conductor 62 to the regulating device 61. Thanks to this assembly, the motor 11 which directs the head 10 rotates in a manner corresponding to the preset preset voltage by means of the double sine-cosine potentiometer in connection with the tachynetric generator 59 forming the real value. When adjusting the head orientation, the setpoint voltage from the double sine-cosine potentiometer is then zero.
  • the double sine-cosine potentiometer 54, 55 also has the task of ensuring the correction of the effective grinding speed and this, by influencing the clock frequency of the shift register 42 by through the conductor 68.
  • This correction is carried out as follows: from the voltage supplied by the tachometer generator 48 and by the potentiometer 54 associated with this tachometer generator 48, for setting the taps 63, 73 caused by the head orienting motor 11, an electric voltage is produced in the switching element 70 and corresponds to the value cos 2 U X. Furthermore, the voltage in the switching element 72 corresponds to the value sin 2 U y because the voltage coming from the tachometer generator 49 associated with the potentiometer 55 is multiplied by the voltage coming from the tap 74 in the potentiometer 55.
  • the elements of switching 70, 72 are galvanic separation elements, that is to say direct current transformers, intended to avoid reactions due to the interconnection.
  • the outputs of the two switching elements 70, 72 are connected in series.
  • the sum of the resulting voltages corresponds to the cos 2 U X + sin 2 Uy function, which, from the result point of view, is nothing other than the resulting voltage U R corresponding to the resulting grinding speed.
  • the resulting voltage U R is present at the output of the switching element 75. It is applied to the clock signal generator 76, the output voltage of which is brought via the conductor 68 to the shift register 42 and serves setpoint value for the clock frequency by which the shift register 42 is paced or clocked.
  • the clock frequency of the register with offset 42 increases or decreases as a result of the switching described so that at the end of the account, the product of time and speed remains constant.
  • the shift register 42 shown in FIG. 4 can advantageously be part of a microcomputer.
  • FIG. 5 is a block diagram of the basic structure of such a microprocessor-controlled device, including the peripheral components necessary for this purpose.
  • the device comprises the proprenent central unit called 80 of the microcomputer, for example a microprocessor of the type 8085 from the company INTEL, the input and output unit 81 with the connection line E leading to the control device. and the connection line A leading to the display unit, the RAM memory 82 and the EPROM memory 83.
  • the memory expansion unit 84 which is also a memory RAM, and the interrupt processing unit 85.
  • the EPROM memory 83 retains its data even in the event of an interruption of the supply voltage. food. This memory 83 can be erased, for example by UV radiation.
  • the various interface blocks 86 to 93 are also connected to the bus system.
  • the interface block 86 adapts the sine voltage value X which is brought to the interface block 86 from the potentiometer. sine-cosine 29 via the line 40 (FIG. 4) and via the analog-digital converter 94.
  • the interface block 87 serves, in an analogous manner, for the adaptation of the value of cosine voltage Y which also comes from the sine-cosine potentiometer 29 and is brought to the interface block 87 via the line 41 and the analog-digital converter 95.
  • the microcomputer is programmed in such a way that it exhibits the properties of an expandable shift register.
  • the clock frequency which is produced by the clock signal generator 76 (FIG. 4), is brought via the line 68 to the analog to digital converter 96 and is adapted to the microcomputer using the block. interface 88.
  • This clock frequency is identical to the input or output clock frequency of the microcomputer.
  • the expansion of the shift register is ensured by the electrical voltage which is supplied by the tachometer generator 32 mounted on the shaft 19 ( Figure 2). This voltage is also digitized by an analog-digital converter 97 and is connected via the interface block 97 to the bus system of the microcomputer.
  • a voltage value introduced at input X via line 40 appears with the delay corresponding to output X (line 44) of the microcomputer, after the corresponding digital value has first been converted into an analog value in the digital-analog converter 98, since the following command already described requires analog values.
  • the same goes for the voltage value brought to input Y via line 41, which appears after time delay in the form of an analog value in command line 46 after the digital value has all first been converted to an analog value in the digital-to-analog converter 99.
  • the signal intended for erasing the shift register is introduced into the microcomputer via the following command input of the interface block 92.
  • This erasure signal is triggered by a potential-free contact 100 which belongs to the relay d8 in the wiring diagram of figure 8.
  • the interface block 93 provides a control signal which switches relay d2.
  • This relay d2 is also represented in the diagram in FIG. 8 and its mission is to signal the re-filling of the axes of the shift register, that is to say the fact that the shift register is ready.
  • FIG. 6 shows the motor 106 of the grinding wheel on the carriage 107 which can be moved on rails 109 by means of bushings with ball bearings 108.
  • the desired pressure of the grinding wheel on the edge of the glass sheet is produced by a constant torque motor 110 which acts on the carriage 107 by means of a shaft 112.
  • regulator 114 is used in which the value of setpoint is introduced by means of potentiometer 115.
  • a dynamonetric capsule 117 is inserted in the transmission system for the pressure force in order to supply the regulator 114, via line 119, with an electrical voltage which corresponds to the actual value of the mechanical pressure.
  • An essential element of the control device is a programming device, for example a programmable drum which is driven by a drive motor P m .
  • Discs forming cams are mounted on the periphery of the drum in order to actuate the limit switches P o to P 6 .
  • the time course of the actuation of the individual limit switches is illustrated in the diagram in FIG. 7 as a function of the angle of rotation of the programming drum.
  • the carriage 4 of the furniture machine ler occupies a position in which the limit switch b 1 actuated by the bridge 1 and the limit switch b 3 mounted on the bridge 1 and actuated by the carriage 4 are closed.
  • the arm 14 carrying the feeler roller 15 is oriented in the X direction.
  • the drive motor P m of the programming device is set in motion by actuation of the start key lbl, after which the programmer drum starts to rotate.
  • the switch Pl is first closed. This has the effect of actuating the relay dl which starts the drive motor 3 for moving the carriage 4 in the X direction.
  • the speed of movement in the X direction is determined by a preset voltage preset by the microphone -computer which is brought to regulator 45 via line 44 and contacts dl and d6 ( Figure 4).
  • the carriage 4 thus travels a distance in the direction X which corresponds at least to the length A T of the arm 14 carrying the feeler roller.
  • the voltage signals supplied by the sine-cosine potentiometer 29 are introduced via the lines 40, 41 in the shift register 42 and the shift register is filled with this information.
  • the activation of relay d2 is triggered via the interface block 93, which has the effect of releasing the signal output from the register with offset 42.
  • the bridge 1 which moves in the direction X actuated the limit switch b2, whereby the contacts of the relay dl are open and the relay d3 is activated.
  • the regulating devices 45 and 47 are therefore separated from the preset set voltages and are switched to the outputs of the shift register 42 which now takes over the subsequent control of the drive motors 3 and 5.
  • the constant torque motor 20 ( Figure 2) is activated to rotate the arm 14 carrying the feeler roller 15 towards the edge of the glass sheet 16 and keep this feeler roller 15 continuously in contact with the sheet of glass.
  • the contact P4 which is actuated during the continuation of the rotation of the programming drum actuates the relay d5, whereby the direction of rotation of the constant torque motor 110 regulating the grinding pressure (figure 11) is reversed and the grinding head is returned to its starting position.
  • the constant torque motor 20 of the feeler roller is switched off by the contact P4 and the relay d3 is tripped, which separates the regulating devices 45, 47 from the shift register.
  • the P5 contact closes, which again immobilizes the Pm motor of the programmer and energizes the relay d6.
  • the relay d6 connects the regulating device 45 via the relay d3 to a pre-established negative reference voltage which ensures that the bridge 1 returns in the direction X to its rest position.
  • the relay d6 opens again.
  • the relay d7 is activated by bl, whereby the regulating device 47 is connected to a pre-established negative reference voltage which causes the carriage 4 to return in the Y direction until the relay d7 is triggered by actuation. of the limit switch b3 by the carriage 4.
  • the programmer motor Pm is then restarted by the limit switch b3. Closing the contact P6 has the effect of exciting the relay d8, whereby, on the one hand, by the action of the constant torque motor 20 and an electromagnet not shown, the arm 14 and thus the roller probe 15 are brought into their rest position and, on the other hand, by another contact of relay d8, the shift register 42 is erased.
  • the programmer cycle continues until the Po contact is actuated, which ends the grinding cycle and disables the programmer motor. The machine is thus ready for a new grinding cycle.
  • the sine-cosine potentiometer 29 serves as a measuring instrument for determining the path of the feeler roller 15 and intervenes to establish the speed ratio in the X direction and in the Y direction, it being understood that the analog values supplied by the sine-cosine potentiometer are stored after digitalization in the shift register.
  • the position of the feeler roller can, for example, be determined by means of an auxiliary coordinate system immediately by a digital signal generator.
  • a device operating according to this principle is described with reference to FIGS. 9 and 10. It is also possible to determine the path coordinates of the feeler roller by using electronic components. Such an embodiment operating by means of electronic components is described in detail with reference to FIGS. 11 and 12.
  • FIG. 9 is a plan view of the main parts of the grinding machine of the type shown in Figure 1, bearing the bridge 1 which can move on the rails 2, the carriage 4 which can move along of the bridge 1 and the probing system formed by the arm 14 and the feeler roller 15.
  • the movement of the bridge 1 in the direction X is controlled by the drive motor 3 and the movement of the carriage 4 in the direction Y is controlled by the drive motor 5 mounted on the carriage 4.
  • the motor 11 which is also mounted on the carriage 4 serves to rotate the grinding head 10 so that the pressure is always exerted perpendicular to the edge of the glass sheet.
  • a second carriage device also movable in two perpendicular directions in which the carriage 124 is mounted movable along the rail 125 in the direction X and of the rail 126 in the direction Y.
  • the rail 125 along X is guided on the pair of rails 128, 128 ′ so that it can move parallel to it, while the rail 126 along Y can move on the Pai re rails 129, 129 'parallel to it.
  • the carriage 124 is coupled, by means of the coupling rod 132 shown diagrammatically, to the center of the feeler roller 15 with a view to accompanying it so that the carriage 124 describes a path which corresponds to the path of the feeler roller 15.
  • a digital signal generator 134 for the X direction is provided on the rail 126 and a digital signal generator 135 for the Y direction is provided on the rail 125.
  • the gear wheels for driving the rotors of the digital signal generators 134, 135 each mesh with racks, not shown, which are arranged along the rails 128 ′, 129.
  • racks not shown, which are arranged along the rails 128 ′, 129.
  • other assemblies of the digital signal generators are also possible, provided that they are mechanically connected to the carriage 124.
  • the digital signal generators 134, 135, they provide two-sign rotational pulses, i.e. when the digital signal generators move in the first direction, positive voltage pulses are produced and when they move in the opposite direction, the voltage pulses produced are negative.
  • the pulses from the digital signal generators 134 and 135 are supplied to a microcomputer 137 with a shift register characteristic.
  • the microcomputer supplies, with the corresponding delay, positive or negative control pulses, via the forward-reverse difference sensor 138, to the digital-analog converter 139, from which the corresponding analog value arrives. to the amplifier 140 which, for its part, controls the drive motor 3 intended to move the grinding head in the X direction.
  • the tachometer generator 141 coupled to the drive motor 3 serves to compare the set value and the actual value.
  • the pulse generator 142 also coupled to the axis of the drive motor 3 has the task, at the end of the path of the grinding head, of bringing the forward / reverse difference counter 138 to zero , that is to say that the drive motor 3 rotates until the actual starting position, in which the counter 138 is at zero, is again reached.
  • control for the drive motor 5 is designed to move the grinding head in the Y direction.
  • the control signals from the microcomputer 137 are supplied via the counter. forward - reverse 148 and digital-analog converter 149, to the amplifier 150 which, for its part, governs the speed of rotation and the direction of rotation of the drive motor 5.
  • the tachometer generator 151 which is coupled to the axis of the drive motor 5 supplies the actual speed value and the generator 152 supplies, at the end of the journey, if at this time the counter 148 has not returned to zero, as many control pulses preceded by the necessary sign as it is necessary for the sensor 148 to return to zero, so that the exact starting position is reached.
  • the control of the machine corresponds to the control of the embodiment described above in relation to FIGS. 4 to 8.
  • the voltages supplied by the tachometric generators 141 and 151 are used to control the head turning motor 11 by activating, via lines 52, 53, the double sine-cosine potentiometer 54, 55 shown in FIG. 4.
  • the voltages on this double sine-cosine potentiometer 54, 55 can again be used to control the frequency generator clock 76 which determines the rhythm or the cadence of the microcomputer.
  • the microcomputer 137 with shift register characteristic includes a deletion of the empty storage locations simultaneously on the two axes. If this is not so, oscillations could appear in the forward speed when empty locations appear simultaneously on the two axes.
  • the grinding machine including the feeler system, is basically constructed in the same way as that described in front of Figure 9.
  • the bridge 1 can be moved along the rail 2 in the X direction by means of the drive motor 3 and the carriage 4 is moved along the bridge 1 in the direction Y by means of the drive motor 5.
  • the feeler system mounted on the carriage 4 is again fortified with the arm 14 and the roller 15.
  • the rotor 20 of an engine at constant torque acting on the arm 14 ensures that the roller 15 remains in contact with the edge of the glass sheet 16.
  • the motor 11, which is also mounted on the carriage 4, is designed to rotate the grinding head 10 each time so that the wheel is always pressed perpendicularly to the edge of the glass.
  • a sine-cosine rotation potentiometer 155 is also coupled to the axis of rotation of the arm 14 carrying the feeler roller 15.
  • a potentiometer 156 is mounted parallel to a rail 2 for the X direction and a potentiometer 158 is provided in parallel at bridge 1 for direction Y.
  • a sliding contact 159 is provided on bridge 1; the electric voltage obtained from the potentiometer 156 constitutes a measurement of the position of the center of the grinding head 10 on the axis of the coordinates X.
  • the sliding contact 160 which is mounted on the carriage 4 takes, for its part, from the potentiometer 158, an electric voltage which constitutes a measure of the position of the center of the grinding head 10 on the axis of coordinates Y.
  • the path coordinates of the center of the grinding head can thus be determined simply.
  • the electronic circuit now has the function of determining from these data the path coordinates of the center of the feeler roller preceding the grinding head. This goal is obtained by the means cited on the basis of the mathematical relationship below.
  • the values corresponding to the sine and the cosine of the angle ⁇ are obtained from the sine-cosine potentiometer 155. These values allow the path coordinates of the feeler roller to be calculated immediately as indicated by means of voltages corresponding to the coordinates path X s and Y s obtained via path potentiometers 156 and 158.
  • the electronic processing of the signals coming from the potentiometers 155, 156 and 158 comes from the assembly shown in FIG. 12.
  • the voltage obtained at the sinus tap 162 is combined via the galvanic separating element 163 with the voltage present at the sliding contact 159.
  • the voltage resulting from these two voltages is brought via the line 164 to the servo-amplifier 165 as the reference voltage.
  • the servo-amplifier 165 drives a combined measurement system formed by a motor 166, a tachymeter generator 167, a pulse generator 168 and a rotational patentiometer 169.
  • the tachometer generator 167 supplies the actual voltage which is brought to the amplifier-servicer 165 by the line 161.
  • the rotary potentiometer 169 supplies by the line 170 the signal qualified as feedback signal so that it is formed with the voltage value introduced by the line 164 a difference of voltage which, as such, controls the motor 166. In this case, therefore, it is an inertia control; for an exact inertia the difference in tension is equal to zero.
  • the digital signal generator which is also coupled to the motor 166 corresponds to the digital signal generator 134 of Figure 10 and provides the path signals which are then used later as described in connection with Figure 10, to which reference should be made for this peculiarity.
  • the processing of the voltages obtained from the potentiometer 156 at the sliding contact 160 and from the sinus-cosine rotation potentiometer 155 at the cosine socket 172 is carried out in an analogous manner by means of the galvanic separating element 173, of the servo amplifier 175 and the combined measurement system formed by the motor 176, the tachometric generator 167, the digital signal generator 178 and the rotary potentiometer 179.
  • the digital signal generator 178 corresponds to the digital signal generator 135 of FIG. 10 and provides the path signals for the Y axis which are processed as described with reference to Figure 10.
  • a control circuit for regulating the grinding pressure when moving around a sheet of glass in particular for changing the pressure when passing around the corners is illustrated in Figure 11.
  • the mounting of the movable carriage 107 with the grinding head 106, the constant torque motor 110, the dynamotnetric capsule 117 and the regulator 114 corresponds to that shown in FIG. 6.
  • the programming around the illustrated periphery is intended for a sheet of glass with several corners and it essentially comprises a current digital preselection counter 180 having ten preselection possibilities by which the grinding pressure can be increased or decreased in a maximum of five corners and, when the corners have been crossed, this pressure can each time be reduced to its normal value.
  • the potentiometer R1 is used, while the level of the grinding pressure on the individual corners of the glass sheet of the series is adjusted by means of the potentiometers R2 to R6.
  • the control voltage for the regulator 114 which advantageously has the form of a four-quadrant servo-amplifier, is supplied to the regulator 114 via the line 182 and the contact P2.
  • the patent sensor R7 is used to adjust the value of the withdrawal force of the constant torque motor 10 and the control voltage thus adjusted is supplied to the amplifier 114 via the contact d5.
  • the control signals for the modification of the grinding pressure at the corners are supplied by the tachometer machine 32 which also ensures the expansion of the shift register which is controlled by the line 183.
  • the signals supplied by the tachometer machine 32 correspond to the angular speed of the arm 14 on which the feeler roller 15 is mounted. Since the grinding pressure should only be changed for relatively sharp angles, since only angles smaller or equal to 90 ° are critical for the grinding pressure, the tension of the tachometer machine 32 is applied to a device measurement trigger 184. The desired switching point is set in this measurement trigger device using potentiometer 185, that is to say it is thus established from which corner angle a modification of grinding pressure must be performed. If when the sensor roller 15 reaches a corner, the tachometer machine 32 produces a ten - sion that operates the trigger device 184, the dl3 relay is actuated for a short period of time.
  • the relay dl4 is energized by the relay dl3 and is then maintained spontaneously.
  • the relay dl4 simultaneously supplies the digital preset counter 180 which, at this time, is still at zero, by means of the counting clock pulses taken from the clock signal generator 76 which controls the shift register.
  • the preselection counter 180 is programmed so that after a constant path distance, which corresponds to the length A T of the arm of the feeler roller 14, the relay Zl of the counter operates.
  • the relay Zl ensures that the potentiometer R2 has the set value, whereas before that, it was the potentiometer Rl which was responsible for it. During the following preselection, it is determined for which travel distance the potentiometer R2 remains switched on.
  • the relay d14 is again closed and the operation which has just been described is repeated, this time via the preselection relays Z3 and Z4.
  • the described operation is repeated again, through the preselection relays Z5 and Z6.
  • the grinding pressure can, in this way, and with the help of this system, be adjusted to a desired value for a number of wedges of up to five, independently for each of them, i.e. say that each corner can be treated with another piece of furniture pressure age.
  • the digital preset counter 160 is reset to zero by the control device of the grinding machine via the erasing input 186.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
  • Inorganic Chemistry (AREA)
  • Mechanical Engineering (AREA)
  • Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
EP83400130A 1982-01-20 1983-01-19 Steuerungsverfahren für eine Maschine zum Schleifen der Kanten von Glasplatten und Vorrichtungen zum Ausführen dieses Verfahrens Withdrawn EP0084505A3 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3201494 1982-01-20
DE3201494 1982-01-20

Publications (2)

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EP0084505A2 true EP0084505A2 (de) 1983-07-27
EP0084505A3 EP0084505A3 (de) 1984-12-27

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EP83400130A Withdrawn EP0084505A3 (de) 1982-01-20 1983-01-19 Steuerungsverfahren für eine Maschine zum Schleifen der Kanten von Glasplatten und Vorrichtungen zum Ausführen dieses Verfahrens

Country Status (8)

Country Link
US (1) US4519167A (de)
EP (1) EP0084505A3 (de)
JP (2) JPS58181555A (de)
BR (1) BR8300266A (de)
CA (1) CA1207062A (de)
DK (1) DK20483A (de)
ES (1) ES8400042A1 (de)
PT (1) PT76114B (de)

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WO2014091852A1 (ja) 2012-12-12 2014-06-19 富士電機株式会社 半導体チップ温度推定装置及び過熱保護装置
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CN106425867B (zh) * 2016-10-18 2018-11-30 江南大学 一种多形变铸件修磨的喷淋方法
CN106425739B (zh) * 2016-10-18 2018-10-09 江南大学 一种多形变铸件修磨加工系统
KR102593473B1 (ko) 2019-03-11 2023-10-23 니코벤처스 트레이딩 리미티드 에어로졸 제공 디바이스
JP7520290B2 (ja) * 2020-09-09 2024-07-23 日本電気硝子株式会社 ガラス板の製造方法及び製造装置
CN116572112B (zh) * 2023-07-14 2023-09-12 盐城市大丰区礼盛新材料科技有限公司 一种循迹式异形玻璃磨边装置

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EP0168311B1 (de) * 1984-06-30 1990-06-13 Saint-Gobain Vitrage International Schleifmaschine mit einem Regelkreis zum Positionieren des Werkzeugschlittens

Also Published As

Publication number Publication date
EP0084505A3 (de) 1984-12-27
BR8300266A (pt) 1983-10-25
DK20483A (da) 1983-07-21
ES519112A0 (es) 1983-11-01
ES8400042A1 (es) 1983-11-01
JPS58181554A (ja) 1983-10-24
JPS58181555A (ja) 1983-10-24
PT76114A (fr) 1983-02-01
JPH0375303B2 (de) 1991-11-29
DK20483D0 (da) 1983-01-19
PT76114B (fr) 1985-11-13
US4519167A (en) 1985-05-28
CA1207062A (en) 1986-07-02

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