JPH02250718A - gear processing equipment - Google Patents

Abstract

PURPOSE:To realize a full automation in gear working by recognizing by a recognizing means the relative position of the teeth of a cutter gear and the gear to be worked separated mutually, slightly rotating either one part of motors, and eliminating the phase shift. CONSTITUTION:The positions of teeth of the gear W to be worked and a cutter gear C are recognized by recognizing cameras 23, 24 in their separated state, the phase shifts of the teeth of both gears are detected by a recognizing means 25 and a control part 13 slightly rotates a motor 2 to align the phases of the teeth, counters 15, 16 are reset and an original point is decided. Then, after the number of rotations is increased to a specified level by actuating motors 1, 2, a constant speed synchronized driving state by PLL control means 7, 8 is shifted and when the motors 1, 2 is in a constant speed synchronized driving state, the cutter gear C and the gear W to be worked are approached, set in a specific intershaft center distance and biting is started. Thus the automation of gear working can be realized.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a gear processing device such as a gear shaving device.

BACKGROUND OF THE INVENTION A conventional gear shaving device, as shown in FIG.
A pair of master gears 3334 with a tooth ratio matching that of the cutter gear 31 and the workpiece gear 32 are meshed, and the cutter gear 31 and the cutter gear 31 are connected to shafts 35.36 to which these pair of master gears 33. Processed gear 32
The shaft 35 to which the cutter gear 31 is attached is driven by a motor 37, and the cutter gear 31 and the workpiece gear 32 are rotated synchronously so that their circumferential speeds match. The attachment of the gear 32 to be processed to the shaft 36 is as follows:
This was done manually while meshing with the cutter gear 31.

Furthermore, a gear shaving device using an NC device is also known. As shown in FIG. 8, this gear shaving device is provided with a pair of motors 41, 42 that drive shafts on which cutter gears and workpiece gears are mounted, and encoders 43, 44 are attached to each motor 41, 42. , by performing feedback control by the NC device 45, each motor 4142 is configured to rotate accurately and synchronously at a set speed for processing.

Then, by attaching the gear to be machined to the shaft while meshing with the cutter gear, the origin position of machining is detected, and based on this, NC is performed so that the predetermined amount of cutting is achieved. II?
11 years ago and was being processed.

Problems to be Solved by the Invention However, in the mechanically synchronized gear processing device using the master gear, the combinations of master gears are limited, so it is difficult to shave a workpiece gear with an arbitrary number of teeth. Not only is there a problem of not being able to do it, but
There was a problem in that it was not possible to automate the mounting of the gear to be machined, and it was impossible to automate the machining process.

Also, in a gear processing device using the above NC device,
It is extremely difficult to automate the installation of workpiece gears because the workpiece gears must be installed while meshing with the cutter gear, as is done manually. The problem was that it could not be automated.

SUMMARY OF THE INVENTION In view of the above-mentioned conventional problems, an object of the present invention is to provide a gear processing apparatus that can automate the mounting of gears to be processed and fully automate gear processing.

Means for Solving the Problems In order to achieve the above object, the gear processing device of the present invention includes a motor to which a cutter gear is attached and drives it, and a motor to which a cutter gear is detachably attached and which drives the gear. The motors are respectively installed on a pair of stands in which at least one of them is movable so that the force/interval gear and the workpiece gear move relative to each other between a position where they mesh with each other and a position where they are separated from each other. The present invention is characterized in that a recognition means is provided for recognizing the relative positions of the teeth of the cutter gear and the gear to be machined that are separated from each other.

According to the present invention, the gear to be machined is mounted on the motor for driving the gear to be machined while the pair of bases are at positions separated from each other, and at that position, the recognition means identifies the teeth of the cutter gear and the gear to be machined. Recognizes the position, detects the phase shift between the teeth of both gears, rotates one of the motors a little to eliminate the phase shift, and sets that position as the machining origin position.
Thereafter, each motor is started to rotate in synchronized phase, and the pair of tables are moved relative to each other to engage the cutter gear and the workpiece gear to start machining. When the machining is completed, the pair of tables are moved relative to each other so as to be separated from each other, and the gears to be machined are replaced. In this way, the gear to be machined can be attached to and detached from the motor without considering the meshing with the cutter gear, so that it can be easily attached and detached automatically by a robot or the like.

EXAMPLE Hereinafter, an example in which the present invention is applied to a gear shaving device will be described with reference to FIGS. 1 to 6.

In FIGS. 1 to 3, 1 is a motor that drives a cutter gear C, and 2 is a motor that drives a workpiece gear W.

The motor l is installed on the fixed base 21, and the motor 2 is installed on the fixed base 2.
It is installed on a movable table 22 that can move near and far with respect to 1. In addition, recognition cameras 23 and 24 are disposed to detect the positions of the teeth of the cutter gear C and the workpiece gear W mounted on the fixed base 21 and the movable base 22, respectively, while the fixed base 21 and the movable base 22 are separated from each other.

Motors 1 and 2 each have an encoder 3 that detects rotation.
．． 4 is installed. Each motor l, 2 is P
Driver circuit 5 whose drive is controlled by LL control means 7.8
．． 6. PLL @ll 1B Means 7.
The detection signal output from the encoder 3.4 is input to the encoder 8.

The PLL control means 7.8 detects the phase difference between the frequency and phase of the predetermined reference pulse signal and the detection signal from the encoder 3.4 so that the frequency and phase of the detection signal from the encoder 3.4 always match, and performs feedback control. It is configured. Its structure is that the rotation command pulse and the feedback pulse output from the encoder 3.4 are input to the PLL control circuit via a signal processing circuit, the output signal is converted to an analog signal by a D/A converter, and the output signal is converted into an analog signal by a D/A converter. is amplified by a PID amplifier, and further added with the signal from the F/V converter to ensure control stability, and then amplified by the amplifier and output as a current command signal to motors 1 and 2. However, since this is a well-known means, a detailed explanation of the configuration will be omitted.

In addition, the pt, LIIJI means 7.8 includes the gear W to be machined.
A pulse extraction circuit 1as8a is provided for extracting a desired number of pulses from the speed command pulse signal based on a command from the control unit 13 according to the feed amount of the cutter gear C (the amount of cutting by the cutter gear) when machining. ing. Furthermore, in these pulse extraction circuits 7a and 8a, the control section 13
The number of pulses extracted per unit time is configured to be proportional to the ratio of the rotational speed of the cutter gear C during machining to the reference rotational speed. That is, the number of extraction pulses per unit time is N, the total cutting amount is A, the standard machining time required to process that cutting amount is t, the number of pulses per unit cutting amount is n, and the cutter gear C. Let S be the standard rotational speed that is the standard rotational speed during machining, and X be the rotational speed of the cutter gear C during machining.
It is configured to perform pulse extraction at a pulse extraction speed N given by N=(A −n/l)X (X/S).

9 and 1O are multiplier circuits that output respective reference pulse signals to each PLL control means 7.8 via the switching means 11; is entered.

The multipliers X and Y of the multiplier circuits 9 and 10 are configured to be able to be set arbitrarily. Further, the reference pulse oscillator 12 is
It is configured to output a reference pulse of a certain frequency commanded by a command signal from the control section 13.

14 is a voltage-frequency converter, and its two output signals are inputted to the PLLw control means 7.8 via the switching means 11, respectively.

Counters 15 and 16 detect the rotational phases of the motors 1 and 2, and are inputted to the control unit 13 via the interface 17.

Signals from the recognition cameras 23 and 24 are input to the recognition means 25, and their output signals are input to the control section 25. Further, the PLL control means 7.8 is provided with a jitter amount detection means 26 for detecting the phase deviation state of the input pulse from the encoder 3.4 with respect to the command pulse, and its output signal is inputted to the control section 13.

Next, the operation will be explained.

When machining the gear W to be machined, as shown in Fig. 1,
With the movable table 22 moved away from the fixed table 21, a gear W to be processed is mounted on a spindle driven by the motor 2 by a robot or the like (not shown).

Next, the recognition cameras 23 and 24 recognize the positions of the teeth of the cutter gear C and the workpiece gear W, the recognition means 25 detects the phase shift between the teeth of both gears, and the detection signal is sent to the control unit 13. Output. To recognize the position of the teeth of the gear W to be processed, for example, as shown in FIG. 4, the position of any edge a of the tooth tip surface may be recognized. You can do it in the same way.If you make sure that the stop position of the cutter gear C is exactly aligned with its origin position,
The recognition camera 23 on the cutter gear C side can be omitted. Next, the motor 2 is slightly rotated according to a command from the control unit 13 to match the phases of the teeth of the cutter gear C and the workpiece gear W. In this state, the counter 15.16 Reset and determine the origin position.

Next, the motors 12 are started as described later, and after increasing their respective rotational speeds to predetermined rotational speeds, the PLL control means 7
．． The state shifts to the constant speed synchronous drive state according to No.8. Motor l, 2
When the gears are in a constant speed synchronous driving state, as shown in FIG. 2, the movable base 22 is moved toward the fixed base 21, and the distance between the axes of the cutter gear C and the workpiece gear W is set to a predetermined value. At this time, since both gears C and W are in phase, they are in a proper meshing state without interfering with each other, as shown in FIG. 4, and machining is started.

In the above constant speed synchronous drive state, the reference pulse oscillator 1
A reference pulse having a frequency of, for example, several 100 KHz outputted from 2 is applied to a multiplier 9.1o by a multiplier X, which is inversely proportional to the number of teeth, so that the circumferential speeds of the cutter gear C and the gear W to be processed match. It is multiplied by Y. Furthermore, in order to minimize the machining time, the frequency or multiplication rate of the reference pulse is set so that either the motor 1 that drives the cutter gear C or the motor 2 that drives the workpiece gear W has the maximum rotation speed. be done.

The speed command pulse signal multiplied by the multiplier circuit 9 and lO is
The reference pulse is input to the PLL control means 7.8, and the motor 12 is driven and controlled so that the detection signal of the encoder 3.4 is synchronized with this reference pulse signal, and the cutter gear C and the workpiece gear W are driven at a predetermined level. Rotates synchronously at rotational speed.

On the other hand, the 1.20 rotation phase of the motor is detected by the counter 1516 and input to the control unit 13, and the rotation phase of these motors 1 and 2 is gradually shifted by a predetermined amount to control the workpiece gear W by the cutter gear C. To cut down, therefore, the control unit 1
A signal is output from P 3 to the pulse removal circuits 7a and 8a, and P
The pulse signal input to the LL control means 7.8 is extracted. In this way, the reference pulse with the rotational phase of the motors 1 and 2 shifted is input to the PLL control means 7.8, so that the cutter gear C and the workpiece gear W rotate synchronously with a predetermined rotation angle shift. As shown in Fig. 5, the cutter gear C rotates at the same circumferential speed while being in contact with the tooth surface of the gear W to be machined with a predetermined pressure, thereby performing the shaving process. The shift amount is gradually increased until the rotational phase shift amount (shaving amount) reaches a predetermined amount.

Furthermore, by automatically setting the pulse extraction speed, that is, the number of extraction pulses per unit time, in accordance with the rotational speed of the cutter gear C as described above,
As described above, simply by setting the rotational speed of either motor 1 or 2 so that it reaches its maximum speed, the optimal cutting speed is automatically set at that time, and the machining time can be easily minimized. In other words, the higher the circumferential speed of the machining part is within the range allowed by the motor 1.2, the faster the machining can be performed synergistically.
The cutting speed can be increased accordingly, and the machining can be completed in a short time. Further, a high circumferential speed has the advantage that the cutter gear C suffers less wear and tear.

During machining with the cutter gear C, jitter occurs between the reference pulse and the detection pulse from the encoder 3.4 in the P L L @ control means 7.8 due to irregular changes in rotational resistance, etc., and when the machining is completed, Since the amount of jitter becomes small, the end of machining can be detected by detecting the amount of jitter with the detection means 26. Therefore, when the predetermined amount of cutting is completed and the machining of the gear W to be machined is completed, this is detected based on the detection signal from the jitter amount detection means 26,
As shown in FIG. 1 again, the movable base 22 is moved away, the processed gear W is taken out, and the unprocessed gear W is removed.
By repeating zero or more operations of attaching the gear, the gears can be sequentially machined.

Next, drive control during speed changes such as starting and stopping will be explained.

At startup, the switching means 11 is connected to the multiplier circuit 9.10.
Switching from the side to the voltage-frequency converter 14 side, the control unit 13
A voltage signal corresponding to the command speed at each point in time based on the desired speed diagram is inputted to the voltage-frequency converter 14 . As shown in FIG. 6, the voltage-frequency converter 14 outputs a pulse signal with a frequency corresponding to the ever-changing command speed, which is input as a reference pulse signal to the PLL control jB means 7.8 to control each motor. 1.2 is driven and controlled so that it rotates at a speed corresponding to the commanded speed. When the rotation speed reaches very close to the predetermined rotation speed and stabilizes, the switching means 11
is switched to the multiplier circuit 9.10 side to enter the constant speed synchronous drive control described above.

Conversely, when stopping, the switching means 11 is switched after making the output pulse signal of the voltage-frequency converter 14 correspond to the number of output pulses from the multiplier circuit 9.10, and then the frequency of the output pulse of the voltage-frequency converter 14 is changed. is stopped by gradually decreasing the speed according to the speed diagram. The same applies to other gear changes.

The invention is not limited to the embodiments described above. For example, in the above embodiment, the reference pulse is multiplied and synchronously rotated at a constant speed, but it is also applicable to a device that performs synchronous driving using a normal NG device. Further, although an example is shown in which a recognition camera is used as the recognition means, a gap sensor, an optical displacement sensor, etc. arranged to detect a specific location on an arbitrary tooth may also be used.

Effects of the Invention According to the gear machining apparatus of the present invention, as is clear from the above description, the gear to be machined is mounted on the motor for driving the gear to be machined with the pair of tables spaced apart from each other. The position recognition means recognizes the relative position of the teeth of the cutter gear and the workpiece gear, eliminates the phase shift between the teeth of both gears, and then starts each motor to bring it into a synchronous rotation state where the phases are matched. It is possible to start machining by moving the pair of tables relatively and meshing the cutter gear with the workpiece gear. By doing this, the workpiece gear can be moved relative to the motor without considering the meshing with the cutter gear. It can be attached and detached, and it can be easily attached and detached automatically by a robot or the like, which has the great effect of automating gear processing.

[Brief explanation of drawings]

1 to 6 show an embodiment of the present invention, FIGS. 1 and 2 are explanatory diagrams showing the schematic configuration of a gear processing device and operations during processing, and FIG. 3 is a block diagram of a control circuit. , Fig. 4 and Fig. 5 are explanatory diagrams showing the positioning state and the position of the teeth during machining, Fig. 6
The figure is a diagram of the frequency of the pulse signal input to the PLL control means during startup, constant speed synchronous drive, and stop operations, and FIGS. 7 and 8 are explanatory diagrams of conventional examples. 1.2... Motor, 21... Fixing base,
22...Movable base, 23.24...Recognition camera, C...Cutter gear, W...
Gear to be machined. Representative patent attorney Shigetaka Awano (1 person) Figure 2

Claims (1)

[Claims] a motor equipped with a cutter gear and driving the same;
A gear to be processed can be detachably attached to the gear and a motor for driving the gear is provided, and at least one of the cutter gear and the gear to be processed is movable so as to move relative to each other between a position where the cutter gear and the gear to be processed are meshed with each other and a position where they are separated from each other. A gear processing apparatus, characterized in that the motors are respectively installed on a pair of bases, and a recognition means is provided for recognizing the relative positions of the teeth of the cutter gear and the gear to be machined that are spaced apart from each other.