JPH0281601A - Dado joint router - Google Patents

Abstract

PURPOSE:To make the main body of a dado joint router to be reduced in its structure and weight by converting the motor rotation of a single unit to the directional movement opposite to each other at the axial directions of a straight bit and dovetail groove bit. CONSTITUTION:A router 60 holds a Z axial motor 80, and the same diameter cams 75, 76 are rotatably combined thereto parallel to shaft casings 67, 68. The cams 75, 76 are rotated respectively by the motor 80 via a gear train. When the motor 80 is rotated, the cams 75, 76 rotate, the pins 73, 74 engaged with cam grooves 77, 78 are moved respectively to the opposite direction at the same speed and by the same distance. Namely, the rotation of the motor 80 is converted to the coming up and down movement of the direction opposite to each other in a straight bit 82 and dovetail groove bit 84. As the pin 73 is moved upward, the shaft casing 67 also rises, and a spindle shaft 65 moves upward too. At this time, the pin 74 comes down, and thus, a spindle shaft 66 comes down. The vertically directional movement distance of each bit is reduced as a whole, thereby minimizing the apparatus and improving the operability.

Description

[Detailed description of the invention] (Industrial application field) This invention relates to a large-capacity router.

(Prior art) This type of large-cutting router is equipped with a straight bit for flat groove machining and a dovetail bit for forming a dovetail groove in the flat groove formed by the straight bit. The movement of these bits in the axial direction (vertical direction) with respect to the router body was performed manually by operating the corresponding handles.

An example of a publication showing such a prior art is the one described in Utility Model Publication No. 61-27686 filed by the same applicant as the present application.

(Problem to be Solved by the Invention) However, in the conventional large-capacity router described above, in order to move the straight bit and dovetail bit, the corresponding handles must be manually operated individually, which is troublesome. Moreover, even if it were to be done electrically rather than manually, two motors, one for the straight bit and one for the dovetail bit, would have to be built into the main body of the large-input router, which would complicate the structure and increase the weight. tree(
It had some problems.

In particular, when the vertical movement of straight bits and dovetail bits is electrically driven and the movement is numerically controlled, if a structure is used in which the straight bit and dovetail bit are each moved up and down by separate motors, it is possible to control each motor separately. It is necessary to prepare control programs, data input programs, etc. for the apparatus, each control device, and this becomes uneconomical. Furthermore, the operator is required to input data for controlling each motor, which is not only troublesome but also prone to input errors.

In order to prevent malfunctions due to input errors, it becomes necessary to incorporate means for detecting the height of each bit into the device, resulting in an expensive device that is quite difficult to use as a whole.

(Means for Solving the Problems) In order to solve the problems of the prior art described above, the large-input router of the present invention includes a wide motor for moving a straight bit and a dovetail bit in the axial direction, and a motor that rotates on its axis. and a variable Fg1m structure that converts the movement of the straight bit and the dovetail bit into movements in mutually opposite directions in the axial direction,
Such a conversion mechanism includes, for example, a pin provided on a shaft casing that holds the spindle shaft of a straight bit and a dovetail bit, and a pin provided on a corresponding shaft casing, which is driven to rotate by the motor and engages the pin on the outer periphery. It can be constructed by a cam having a substantially spiral groove in the vertical direction.

(Function) In the large-input router of the present invention, the straight bit and the dovetail bit are moved in opposite directions in the axial direction by a conversion mechanism using a single motor as a drive source, and the straight bit is
Conversely, if the dovetail bit goes down, the dovetail bit will go down, and if the straddle bit goes down, the dovetail bit will go down. Such a device can be controlled by a single control system.

(Example) An example of the present invention will be described in detail with reference to the drawings.

First, in order to understand the overall structure of this actual itinerary,
A conventional large-capacity router developed by the present applicant will be explained. This large-capacity router is described in detail in Japanese Utility Model Publication No. 61-27686.

FIG. 29 is a perspective view showing a conventional manually controlled electric hand-held router and a machined shape processed by the large-sized router. This large-input router forms a flat groove A on a workpiece W, and further forms a dovetail groove B to perform large-input dovetail processing. The large-capacity router main body 1 is installed so as to be manually movable in two horizontal directions (hereinafter referred to as X and Y directions) with respect to a stand (not shown), and the workpiece W is fixed to the stand and processed. The flat groove A is machined with a straight bit 2, and with the lever 3 used to lower the straights 1 to pits 2 to a predetermined height, the large-input router main body 1 is moved horizontally to the workpiece W in two directions as appropriate. By manually moving the flat groove Δ, the straight bit 2 is machined. Next, the dovetail groove B is machined using the dovetail groove bit 4, and with the dovetail groove bit 4 lowered to a predetermined height using the lever 5, the large-input router main body 1 is moved in two horizontal directions ( The dovetail groove B is machined by the dovetail groove bit 4 by appropriately moving the dovetail groove manually mainly in the longitudinal direction of the dovetail groove (hereinafter referred to as the Y direction).

In addition, the straight bit 2 and dovetail bit 4 are attached to the belt 6.
It is rotated by the motor 7 via the motor 7.

Both the straight bit 2 and the dovetail bit 4 are assembled to the main body 1 in a structure that allows them to move up and down independently and to rotate with the rotational force from the belt 6.

The above overall configuration is almost the same in this embodiment. In the case of this embodiment, as will be clear from what will be described later, the movement of the large router main body 1 in two horizontal directions and the bit 2.
The vertical movement of the machine has been improved so that it is fully automated and operated by numerical control.

Next, this embodiment will be explained in detail with reference to FIGS. 1 to 28.

[About Mechanical 4M Structure] FIG. 1 is a plan view showing the mechanical structure of this embodiment, and FIG. 2 is a side view.

The entire device includes a base frame 10, a router body 60, and a moving mechanism 4 that moves the router body 60 in two horizontal directions above the base frame 10.
0, a clamp lfi1M20 for fixing the base frame 10 to the workpiece W, and a control system for the apparatus.

The base frame 10 is an X rear frame 12, an X front frame 1
4. The Y left frame 16 and the Y right frame 18 form a substantially rectangular frame shape.

A clamp mechanism 20 is provided at the bottom of the base frame 10.

The clamp mechanism 20 is attached to the bin 2 with respect to the X rear frame 12.
A vise lever 24 is rotatably attached to the vise lever 24 via a pin 26,
A pipe 28 that moves forward and backward by rotation of the vice lever 24, a plate 30 fixed to the tip of the pipe 28, a threaded part 32 that penetrates the plate 30 and is screwed into the threaded part 32.
The vise 34 is fixed to the tip of the pipe 28 and moves back and forth as the pipe 28 or threaded portion 32 moves back and forth.

The work W is placed between the X front frame 14 and the vise 34, and the vise 34 is advanced toward the X front frame 14 by operating the vise lever 24 or the threaded portion 32, thereby separating the work W and the entire device. Can be firmly fixed. In addition, the same clamp mechanism 20 was developed in 1986.
-4277.7@ publication shows a structure very similar to that of the publication, so a detailed explanation will be omitted.

Next, the moving mechanism 40 for moving the router main body in two horizontal directions with respect to the base frame 10 will be explained. The moving mechanism 40 is a normal XY two-axis moving mechanism, in which the Y-direction moving body 42 moves in the Y-axis (vertical direction in FIG. 1), and the router main body 60 moves in the X direction with respect to the Y-direction moving body 42. (left and right direction in Figure 1)
It is a structure that moves to .

First, a mechanism for moving the Y-direction moving body 42 in the Y-direction will be explained. The Y-direction moving body 42 is configured such that a left frame 43, a right frame 46, an X rear pipe 44, and an X front pipe 45 form a substantially rectangular frame. A pair of left and right Y-pipes 147.48 are fixed to the base frame 10 in parallel with a pair of left and right Y-frames 16.18, and the left frame 43 and right frame of the Y-direction movable body 42 are connected to the Y vias 47.48. A frame 46 is slidably assembled. Rack teeth are formed on the upper edges of the Y left frame 16 and the Y right frame 18 of the base frame 10. A Y-axis motor 50 is fixed to the Y-direction moving body 42, and a pair of gears 52 and 54 are attached to the Y-direction moving body 42 so as to be able to rotate simultaneously around a shaft 56. The gears 52 and 54 can mesh with the rack teeth and are rotated by the Y-axis motor 50 via a gear train.

With the IM construction, the Y-direction moving body 42 moves forward and backward in the Y-direction with respect to the base frame 10 by normal or reverse rotation of the Y-axis motor 50.

Note that the X front frame 14 is provided with a Y-axis stop switch 102, which detects whether the Y-direction moving body 42 is at the position closest to the front side (origin position).

Next, a mechanism for moving the router main body 60 in the X direction on the Y direction moving body 42 will be explained.

The router main body 60 has two through holes, and the Y direction moving body 4
2's X rear pipe 44 and X front pipe 45 pass through this through hole, and the router main body 60
It is assembled so as to be slidable in the X direction using the front pipe 45 as a guide.

An X-axis motor 58 is fixed to the Y-direction moving body 42, and a screw 59 is rotatably coupled to the motor 58 via a gear train. The screw 59 passes through the router body 60 and is threadedly engaged with the side wall of the router body 60.

With the above structure, the router main body 60 moves forward and backward in the X direction on the Y direction moving body 42 by the normal or reverse rotation of the X axis motor 58.

Note that the Y-direction moving body 42 is equipped with an X-axis mitt switch 10.
3 is fixed, and it is possible to detect whether or not the router main body 60 is at the center position (origin position) in the X direction.

Next, the structure of the router main body 60 will be explained. Router body 60
A motor 61 for rotating the straight bit 82 and the dovetail pit 84 is incorporated inside. Rotation of the motor 61 is transmitted to pulleys 63 and 64 via a belt 62. The spindle shaft 65.6 is attached to the pulley 63.64.
6 is assembled with a key so that it cannot rotate relative to its axis.

However, the keyway of the spindle shaft 65.66 is sufficiently long in the axial direction, and the keyway in the axial direction (
It is relatively movable in the vertical direction in FIG. 2 (hereinafter referred to as the Z-axis or two directions). The spindle shaft 65.66 is assembled to the shaft casing 67.68 by a pair of bearings 69.70 to 71.72 so that it can rotate relative to its axis and cannot move relative to it in the axial direction. There are bins 73 on the outer wall of the shaft casing 67 and 68.
．． 74 is fixed. The pins 73, 74 engage cam grooves that will be described next.

A two-axis motor 80 is housed in the router main body 60.

Further, cams 75 and 76 having the same diameter are installed in parallel with the shaft casings 67 and 68 so as to be rotatable. Same cam 7
5.76 are each rotated by a Z-axis motor 80 via a gear train.

As clearly shown in FIGS. 3 and 4, the cams 75, 76 have substantially spiral cam grooves 77, 78 in the vertical direction on their outer peripheries, and the above-mentioned pins 73. 74 is engaged. As clearly shown in FIGS. 3 and 4, the cam grooves 77 and 78 are formed at the same pitch but with opposite spiral directions.

Due to the above structure, the cam 75.76 and the bin 73.74 are Z
It constitutes a conversion mechanism that converts the rotation of the shaft motor 80 into up-and-down movement of the straight pit 82 and the dovetail bit 84 in mutually opposite directions. That is, when the two-axis motor 80 rotates,
The cams 75, 76 rotate, and the pins 73, 74 engaged in the cam grooves 77, 78 move in opposite directions at the same speed and the same distance. That is, if the bin 73 moves upward, the bin 74 moves downward. When the bin 73 moves in the -F direction, the shaft casing 67 also rises, and the spindle shaft 65 also rises accordingly. At this time, the bin 74 descends, and the shaft casing 68 and spindle shaft 6
6 goes down.

In addition, as shown in FIGS. 3 and 4, the cam 7
The pitch of the upper part of the 5.76 cam grooves 77 and 78 is set smaller than that of the remaining part. For this reason, when the straight bit 82 is lowered to form a straight groove, for example, the distance that the dovetail bit 84 moves upward can be kept low. This situation is clearly shown in FIG.

As described above, in this embodiment, by devising the shape of the cam groove, it is possible to reduce the distance by which one bit is raised when the other bit is lowered.

Therefore, the vertical movement distance of each bit can be reduced as a whole, resulting in good results in miniaturization and usability of the device.

In this way, the straight pit 82 chucked to the lower end of the spindle shaft 65 and the dovetail pit 84 chucked to the lower end of the spindle shaft 66 are arranged such that when one rises, the other falls due to the rotation of the Z-axis motor 80. and move in the Z-axis direction, and the motor 61
The structure is such that each is driven by its own axis.

A two-axis limit switch 104 is fixed to the router main body 60, and can detect whether the spindle shaft 65 is at a predetermined height. In addition, an arm 105 is attached to the output shaft of the Z-axis motor 80.

A magnet is attached to the tip of this arm 105.

Additionally, a Hall element 106 is fixed to the router main body 601111, and the output of the Hall element 106 can be used to detect whether the output shaft of the Z44 motor 80 is at a predetermined rotation angle position. explain in detail.

Now, the large-capacity router having the above-mentioned mechanical structure can be operated by numerical control. Next, a control device for this purpose will be explained. .

[About the configuration of the control system] Figure 5 is a system block diagram showing the overall configuration of the control system.
, a microcomputer 90 having an open-only memory (ROM) and a memory that can be read and written (RAM).
It is structured around. microcomputer 9
0 is connected to an input keyboard 91, and after necessary data processing is carried out based on the input signal from the keyboard 91 according to a processing procedure that will be explained in detail later, the microcomputer 90 transmits the data to the driver 95. The driver 95 amplifies this signal, converts it into motor drive power, and supplies it to the motor. With this configuration, the X-axis motor 58, the Y-axis motor 50, and the Z-axis motor 80
is controlled by a microcomputer 90. In addition to the above, a liquid crystal display 92, a buzzer 93, and a display lamp 94 are connected to the microcomputer 90 for displaying data. Also watchdog timer 10
0 is connected, and this constantly checks for malfunctions in the CPU. Furthermore, the microcomputer 90 has XYZ limit switches 102, 103, 104 and a Hall element 10 in order to execute the data processing described later.
A detection circuit 97 for detecting the drive current of the motor 61 is connected thereto, and the on/off of the motor 61 is controlled by a microcomputer 90.

FIG. 6 shows the keyboard 91, with 24
Seed keys are arranged in a matrix.

Note that the keyboard 91, liquid crystal display 92, and display lamp 93 are located on the top surface 10 of the X front frame 14 in FIG.
It is located at 1.

FIG. 7 illustrates the meaning of the data used in this control system, and the dimensions of the flat groove A are set in terms of depth, width, and straight depth, and the dimensions of slippage can be set as necessary. The dimensions of the dovetail groove 8 are set by the dovetail depth, dovetail width (in this embodiment, this is set as the value obtained by adding the dovetail width correction to the diameter of the dovetail groove bit 84), and the dovetail depth.5, FIG. 2 is a diagram showing, by arrows, the locus of movement of the straight bit 82 in two horizontal directions, which is controlled based on the above-mentioned data. In the case of this diagram, straight bit 8
2 is rotating in the direction of rotation at time H1.

In this embodiment, the straight bit 82 first moves along the outer periphery of the groove, and finally forms the flat groove A by cutting the inner periphery side.

Figure 9 shows another movement pattern of the straight bit 82, showing an example in which a groove is formed by first cutting the inner circumference and then cutting the outer circumference2. All patterns have one length and one end. , it is possible to form a good flat tAA by making fine adjustments according to each pattern. This fine adjustment will be explained in detail in Yu.

Figure 10 shows a dovetail bit 84 when forming dovetail IB.
It is understood that the width of the dovetail groove B is formed by adding the diameter of the dovetail groove bit 84 and the dovetail width correction.

FIG. 11 shows the locus of movement of the dovetail bit 84 for chamfering the entrance side of the dovetail groove B.

In addition, in FIGS. 10 and 11, the moving order of the dovetail pits 84 is indicated by corresponding numbers with circles. The dovetail bit 84 descends to the position O in the figure to ■, and then descends diagonally upward in FIG. 11 toward the position ■. This actually means that every time the two-axis motor 80 advances two pulses, the X-axis motor 58
This is achieved by rotating by one pulse. The dovetail pit 84 moves from the position ■ to the position ■, and then moves horizontally toward the position ■. The dovetail bit 84 then moves in the horizontal direction through the positions of ■■■. The ant man bit 84 is moved to the position ``■'' and is tilted diagonally toward the position ``■''. This is carried out by appropriately operating the Z-axis motor 80 and the X-axis motor 58. The locus of movement of the dovetail pit 84 is carefully considered so as to prevent the occurrence of edge chips and the like.

The positions shown in FIGS. 8 to 11 are determined based on the various data shown in FIG. 7. Regarding the movement trajectory of the bits shown in these figures, numbers other than the numbers with circles in the figures.

It will be explained in more detail later along with the reference numerals.

Now, in FIG. 12, the data shown in FIG. 7 is input, and based on this data, the straight bit 82 and the dovetail bit 84 are shaped into the patterns shown in FIGS. 8 to 11. This shows the processing procedure for controlling movement.

When the power is turned on, the microcomputer 90 is initialized and the device is ready for operation. Step 810 is a step in which it is determined whether the power is turned on while the password key is being pressed, and in case of regular operation, the process proceeds to step 812.

The operation of turning on the power while pressing the identification code is performed when the Z-axis adjustment mode is required (step 511).
. Regarding this, Rv&
will be explained in detail.

In the case of a normal operating state, the process proceeds to step S12, and by determining whether the Y-axis stop switch 102 is on or off, it is detected whether the Y-direction moving body 42 is at the origin position or not. If the Y-direction moving body 42 is not at the origin position, careless operation of the router may damage the workpiece W unexpectedly, so operation is only possible in manual mode, which will be explained later, and automatic operation mode is selected. It does not proceed. When it is confirmed in step S12 that the Y-direction moving body 42 is at the origin position, the process starts processing for automatic operation, and first in step S13, the router is moved to a predetermined position in all directions of the X, Y, and Z axes. Return to the origin position. This procedure is explained in detail in FIGS. 13 to 15.

FIG. 13 shows the router main body 60 in the
The procedure for moving the robot in the direction and returning to the origin position is shown below. First, in step 830, the X-axis mitt switch 103 is
is on or off, and if it is off, loop L3
1 on the X axis until the mitt switch 103 is turned on. This loop ends immediately after the X-axis limit switch 103 is turned on, and in this way, in step 832, the router main body 60 is returned to the origin position in the X-direction relative to the Y-direction moving body 42. If the X-axis mitt switch 103 is already on in step 830, loop L33 is repeated until the X-axis mitt switch 103 is turned off, and then loop L31 is repeated to return to the origin.

FIG. 14 shows the processing procedure for returning the Y-direction movable body 42 to the origin position in the Y-direction with respect to the base frame 10. In step S40, the Y-axis motor 50 is previously driven to the OFF side by a predetermined pulse. . In this state, it is determined in step 841 whether the Y-axis mitt switch 102 is on or off, and if it is on, an error is displayed in step 842. This occurs when there is some kind of malfunction in the device and requires necessary repairs. If it is determined in step 841 that the limit switch is off, loop L42 is repeated until the limit switch is turned on. As a result, in step 843, the Y-direction moving body 42 returns to its original position.

The origin return process in the Z-axis direction is performed based on FIG. 15. This process is different from the origin return process in the X direction shown in FIG. 13 only in step 845. This is an improvement used to improve the accuracy of the origin return position in the Z-axis direction compared to the X and Y directions, and the content of this process can be better understood with reference to FIG. 16.

In FIG. 16, the horizontal axis indicates the rotation speed of the Z-axis motor 80. The Z16 limit switch 104 is turned on and off at a predetermined value based on the rotation speed of the Z-axis motor 80, but the 7-wheel limit switch 104 is turned on and off.
Since the accuracy of switching off is not very good, if the origin position is determined simply by the output of the Z-axis mitt switch 104, it is inevitable that the origin position will deviate within the range P shown in the figure.

On the other hand, the aforementioned Hall element 106 is connected to the two-axis motor 8.
The arm 105 fixed to the output shaft of 0 is the Hall element 10
It becomes high only when facing 6, and its detection error is smaller than the detection error when using a limit switch. However, since the Hall element goes high every time the Z-axis motor 80 rotates once, it is not possible to detect whether or not the origin is reached by the output of the Hall element 106 alone. In this example, the accuracy of the return-to-origin position in the Z-axis direction is improved by detecting that the Z-axis mitt switch 104 is on and the Hall element output is high. Now, when the origin return process in the X, Y, and Z directions is executed in this manner, the process proceeds to step S15 in FIG. 12.

In step 815, "Auto/same dimensions? I" is displayed. If you enter "yes" here, step S2, which will be described later.
2. Here, we will first explain the case where automatic operation is not performed again with the same dimensions.

If the manual key is pressed while the process repeats loop L14, the mode is switched to the manual mode shown in step 817. This manual mode is explained in detail in FIG.

When the machining condition key is pressed, the mode is switched to the machining condition setting mode shown in step 819. This machining condition setting mode is explained in detail in FIG.

[Auto/Same dimensions?] displayed in step S15. ”, if the No key is pressed, the mode is switched to the machining dimension setting mode in step S21 in which new machining dimensions can be input. Note that this machining dimension setting mode is explained in detail in FIG. 22.

[Explanation of manual mode 1 Now, we will explain the case where the manual key is input for the first time. When the manual key is pressed, step S
17, and the manual mode shown in FIGS. 19 and 20 is executed. In step 850, the type of key pressed during manual mode is determined. Step 851 is a step for determining whether a condition for terminating the manual mode is satisfied, and this will be described later. In step S52, the device is operated according to the type of pressed key determined in step 850.

The correspondence between the type of key and the operation of this device is as shown in FIG. Note that when the fast forward keys are pressed at the same time, the X, Y, and Z axis motors rotate at high speeds to accelerate movement in the X, Y, and Z directions.

In this manual mode, groove machining can be executed under manual control by operating the keys shown in FIG. 20 as appropriate. In step 851, it is determined whether the auto key has been pressed while the Y-axis mitt switch 102 is on, and if the conditions are met, steps 853.54
．． After performing the return-to-origin process in each of the X, Y, and Z directions as shown at 55, the manual mode is canceled and the process returns to the main routine.

[Description of Machining Condition Setting Mode] When the machining condition key is pressed while loop L14 is being repeated in the main routine shown in FIG. 12, the mode is switched to the machining condition setting mode in step 819. The processing in this machining condition setting mode is explained in detail in FIG.

In step 860, [Straight diameter? 1 will be displayed, so input the diameter of the straight bit to be used accordingly. The input is performed by inputting the diameter using the numeric keys and then pressing the high key. Step 862 is a step of determining whether the input data is within a predetermined range, and if it is not within the range, the process waits for the diameter of the straight bit to be input again.

If the correct data is input, then in step S63 "
"With dovetail width correction" or "Without dovetail width correction" is displayed.

Here, it is specified whether the shape to be machined is a shape in which the dovetail width correction shown in FIG. 7 is pillow or non-zero. For example, despite the dot width correction -
If "Dovetail width correction available" is displayed, proceed to step 8.
Press the No key as shown at 64. The display then switches to "No dot width correction." In this way, it's good
, as necessary, and then press the High key as shown in step S65. Accordingly, the presence or absence of dovetail width correction is set.

Steps 866 to 868 are for setting whether the depth M is to be set at the 0rnlR position or the 15th position. Note that the depth reference is a reference used in a matching mode to be described next. Steps 369 to 371 are steps for specifying whether or not the flat groove to be machined has slippage as shown in FIG. 7, and steps 363 to 65
Similarly, by using the Yes key to correct and set the status, and pressing the Yes key, ``Yes'' and 1 ``No'' are set.

Steps 372 to 74 are steps for specifying whether data should be handled in units of millimeters or dimensions in the modulus setting mode, which will be described next.

As before, use the Yes key to select millimeters or dimensions, and then press the Yes key to select the unit.

With the above steps, the machining condition setting mode ends, and the process returns to loop L14 of the main routine shown in FIG.

[Explanation of machining dimension setting mode] Next, refer to FIG. 22 for the processing procedure when the No key is pressed in loop L14 of FIG. 12 to switch to the machining dimension setting mode shown in step 821 of FIG. 12. and explain.

This mode is a mode in which the dimensions of the flat groove A and dovetail groove B to be machined are input. This is the processed tea that was carried out before that.
It is executed in accordance with the conditions set in the t setting mode, and if "mm" is set as the unit, the input number will be input as "1 millimeter", and if "sun" is set, "sun" will be input. Interpreted as unit data. This flowchart is partially simplified for ease of understanding, and shows steps S81, 882, and 883 to route L8.
The loop of returning to step 881 through step 4 is repeated seven times to complete the machining dimension setting mode.

In step S81, the type of data to be input is displayed,
In the first loop, "Width?" is displayed. In response to this display, width data is input by pressing the width of the flat 111A to be machined and then pressing the high key. In step 883, it is determined whether the data input as the width is within a normal range, and if it is abnormal, the manual retrace width data is determined via path L83. If normal data has been input, the process returns to step 881 via path 184. At this time, a different display is displayed depending on whether "slip" is set to "with" or "without" in the machining condition setting mode. If “Yes” is set now, the loop will be executed for the second time and [Slip? Display 1. In response to this, in step 882, the value of the slippage of the flat groove A to be machined is input. It is determined in step 883 whether the input data is within the normal range, as in the case of the first loop, and the same is true in subsequent loops.

Currently, "Slip" is set to "None" in the machining condition setting mode.
If it is set, the execution of the second loop will be omitted, and the first loop will immediately proceed to the third loop.1, and then the rm line will be executed in exactly the same manner.
Dovetail depth", [Dovetail width correction J, "Straight depth", "
The dot depth is entered in an interactive manner. Note that the fifth loop, the input loop for dovetail width correction, is omitted if the processing condition setting mode indicates that there is no dovetail width correction.

With the above, the machining dimension manual mode is completed, and the process returns to the loop 114 of the main routine shown in FIG.

Now, the data setting and processing condition setting are completed. Next, the procedure for automatically operating the device based on the data set in this manner will be described below.

This procedure is executed by inputting the high key in loop 14 of FIG. This is step S1
In step 5, ``Auto 1 Same dimensions?'' is displayed, but the operation is to input ``Yes''. When this operation is performed, the device shifts to processing for automatic operation as described below, and according to the data set in the machining condition setting mode or machining dimension setting mode explained above. It will be 1m.

Note that in loop L14, if the "Yes" key is directly input without executing the machining dimension setting mode, etc.
The data set before then is used as is for automatic driving control.

Note that in the case of this embodiment, a card reader can be added as an option. In this case, by inputting the machining condition data and machining dimension data in advance and reading the card using a card reader, it is possible to replace the input operation in the data setting mode. If the dimensional conditions to be processed are limited to several types, it is sufficient to prepare a card for each type, and the input procedure is simple and does not cause input errors.

Now, if it is determined in step 314 of FIG. 12 that the high key has been input, the message "Completion mode completed?" is displayed in step 822. If completed here, press the high key. The process then proceeds to step 825. If the verification mode has not been completed, the verification mode is executed by using the No key.

[Description of Matching Mode] The matching mode is a procedure for forming grooves at predetermined positions on the workpiece during automatic machining. In this mode, the position where the groove is to be formed is determined. During automatic machining, groove machining is performed based on the position set in this mode. The processing procedure in this mode proceeds as shown in FIG. When the check mode is executed, the message "Set 2 horizontally" is displayed first. Therefore, with respect to the workpiece W chucked in the device, the router main body 60 is positioned on the center line of the dovetail groove B to be machined.
Move the router main body 60 in the X direction using the ``Horizontal→'' key or the ``Horizontal (-)'' key.By inputting the High key after the movement is completed, the center position in the X direction for grooving is set. Ru.

Step 892 is a step in which it is determined whether the groove having the input dimensions centering on the set position can be machined or whether it cannot be machined due to interference with the base frame 10. If this is not possible, the workpiece W is shifted and a message indicating that the workpiece W should be chucked again is displayed, and then the process returns to step S90.

When machining is possible, "Depth: Set" is displayed in step 894. Therefore, move the router main body 60 in the Y direction using the [Okuyuki ↑1 key or the "Okuyuki ↓" key, and if the depth reference is set to rOJ in the machining condition setting mode, the bit center of the router main body 60 is aligned with the workpiece W.
If the depth reference is set to "15", the bit center of the router body 60 is moved to a position 15#w+ from the end surface of the work W until it coincides with the end surface. By pressing the high key after setting correctly,
The depth M standard is set correctly, and subsequent automatic machining is performed using the thus set position as a reference. Note that step 396 is for determining whether machining is possible at the reference position, and this is exactly the same as when performing blackout in the X direction.

Now, when the depth reference is set, the device performs step S9.
As shown in FIG. 7, the Y-direction moving body 42 is moved toward the front side in the Y-direction until each bit is located at a position where it is almost in contact with the end surface of the 9-piece W.

Here, as shown in step 899, the straight bit 82 is moved up and down using "straight ↑" or "straight ↓" so that the lower end surface of the straight bit 82 coincides with the upper surface of the workpiece W. When they match, press the [High J key to set the standard in the height direction when machining the groove.

This completes the redaction mode, and the process proceeds to step 825 of the main routine shown in FIG.

In step 825, [Start My Ye?] " is displayed. If automatic operation is not to be performed due to some inconvenience, the process returns to step 815 by inputting the No key.
Return to This allows you to reset conditions, modify processing dimensions, and redo the matching operation.

[About automatic operation] Now, when all the criteria are completed, by pressing the start key, the process proceeds to step 828, and the large dovetailing process is executed fully automatically. That is, (1) In the inking mode, the point corresponding to a in FIG. 8 is calculated based on the positions set as the reference positions in the X and Y directions, and the straight bit is moved to that position. In addition, here, the meaning of the Y-direction reference position set in the inking mode is determined depending on whether the depth reference was set to 0 or 15 in the processing condition setting mode,
For the YJI mark, calculate the point a where the straight bit does not touch the end face of the work W. Further, the X coordinate position of point a is calculated from the width and straight diameter.

■ At point a, the straight bit descends to the height position determined based on the reference position in one direction set in the inking mode and the data input as Stray 1-Depth, and the motor 61 rotates. The straight bit also begins to rotate.

(2) Thereafter, the straight bit is moved along the path shown in FIG. 8 based on the dimension specified as the flat fiA and the reference position in the X and Y directions set in the straight bit diameter inking mode.

■ This completes the flat groove A.

In addition, in FIG. 8, the number enclosed in a square next to the locus of the straight bit 82 indicates the moving speed number of the cutting edge of the straight bit 82, and its absolute speed is shown in FIG.
This is shown in Figure 7. As can be clearly understood from FIG. 8, the speed at which the outer circumference of the flat groove A is formed is set slower than that of the inner circumference. This is to enable smooth discharge of chips. In addition, it is controlled to move at a very low speed between C1 (1) shown in the figure. This is to prevent the edge from being chipped when forming the flat groove A.

It is also possible to form the flat groove A by moving the straight bit 82 as shown in FIG. 9, and in this case the speed shown is preferably the same. In this example, the straight bit 82 is lowered at point e (at this point, the straight bit 82 slightly touches the end surface of the workpiece W). In this way, occurrence of edge chipping can be prevented. When moved as shown in FIG. 9, chips are generally removed smoothly and the flat groove is finished well.

Note that the speed mentioned above is a standard speed, and a program is prepared to automatically slow down the speed when, for example, there is a knot in the workpiece W.

This will be explained later.

Now, after normal temperature A is formed in this way, next time 2
While the shaft motor 80 operates to raise the straight bit 82 and lower the dovetail bit 84, the dovetail bit 84
The X-, Y-, and Z-axis motors are moved so as to move along a path not shown in FIGS. 10 and 11. When a series of processes is completed, a chamfered dovetail groove B is formed, and the large-in dovetail process is completed fully automatically.

When all machining is completed, the bit or router main body 60 is returned to the original position in step 829 of the main route in FIG. 12, and the process returns to step S15. When reproducing the machining of the same size, by inputting the yes key, the process returns to step S22, and after determining the reference position of machining in the matching mode, the same fully automatic machining is executed again. . When modifying dimensions, etc., it is sufficient to switch to processing dimension setting mode, etc., modify the necessary data, and then proceed to verification mode.

U Regarding automatic control of cutting edge movement speed J Figures 24 and 25 show a system and processing method for reducing the cutting edge movement speed from the standard speed shown in Figures 8 to 11 as necessary. It is something. This is a mechanism for when there is a knot in the warp W, for example, and it is necessary to slow down the machining speed, and it can also deal with wear of the cutting edge.

This system detects when an overcurrent flows in the bit drive motor 61 and performs necessary processing.
Is the motor 61 driven as shown in the figure? ! A voltage proportional to the current is taken out by the current sensor C8 (current transformer in the illustration) to the overcurrent detection circuit 97 described in connection with FIG. is smoothed and input to the comparator. Here, the variable resistor VR is adjusted in advance to have a constant voltage division ratio9, and the comparator compares it with the reference voltage E1 to detect whether or not overcurrent is flowing through the motor 61, and compares the result with the micro input into computer 90;

The microcomputer 90 adjusts the moving speed of the cutting edge according to the procedure shown in FIG. That is, the microcomputer 9
0 has an overcurrent counter, and when automatic machining operation is started, the counter is cleared to U in step 5100. During operation, the output of the comparator is input at regular intervals, and if there is no overcurrent, the counter is decremented by 1 in step 5104, and as shown in step 5105, the output of the comparator is input at regular intervals. Drive currents are output to each X, Y, and Z axis motor so that the target cutting edge movement speed can be obtained. In this example, X, Y.

The Z-axis motors are all step motors, and the microcomputer 90 sends pulses to each motor at time intervals such that a standard movement speed is obtained.

If it is determined in step 5102 that an overcurrent is flowing through the motor 61, 1 is added to the counter in step 8103, and the feed speed is slowed down in stop 8108. This is done by lengthening the time interval between output pulses. However, if the feed speed has already fallen to the lowest speed in the speed tables shown in FIGS. 26 to 28, the speed will not be reduced any further.

When it is determined in step 5101 that automatic machining has been completed, as shown in step 5109, it is determined whether the overcurrent counter is greater than or equal to a predetermined value, and if it is greater than or equal to the predetermined value, it is determined that the blade is worn. Since there are many blades, a message indicating that the blade needs to be replaced is displayed on the LCD display. After this, X, Y
, and Z-axis, and then return to step 815 in FIG. 12.

Now, with this, machining is carried out at a predetermined preferred standard speed, and if the cutting speed needs to be reduced for some reason, processing is executed to reduce the cutting speed as much as necessary, making it possible to deal with any situation. is taken into consideration.

[About acceleration and deceleration control of cutting edge movement speed] As explained above, the X, Y, and Z axis motors 58, 60, and 80 are all step motors, and the movement trajectory shown in FIGS. 8 to 11 is 3. In such speed control, 1. When accelerating or decelerating from the speed of the current speed number to the speed of another speed number, for example, taking the movement trajectory in the Y-axis direction from point a to point A in Figure 8 as an example, first the Y-axis direction The speed of is accelerated from the stopped state (speed 0) to the speed indicated by speed number 8 to cut into the workpiece W, and thereafter it moves in the Y direction while maintaining the speed indicated by speed number 8 until it reaches the vicinity of the point. When it reaches that point, it starts to decelerate, and when it reaches that point it starts to stop again.

When increasing or decelerating the step motors 58, 60, 80 in this manner, if the pulse interval of the drive pulses output to each step motor is suddenly changed, step-out or the like may occur. In order to avoid this, the apparatus of this embodiment uses the following acceleration and deceleration procedures.

First, a case where the speed pillow accelerates from a stopped state to speed number 8 will be explained as an example. In this case, first
After outputting the pulse, a second pulse is output at a pulse interval corresponding to speed number 0. Next, a third pulse is output at a pulse interval corresponding to speed number 1. Thereafter, the pulses after the fourth pulse are sequentially output while decreasing the pulse interval, and after the pulse interval reaches the pulse interval corresponding to speed number 8, drive pulses are outputted at the same pulse interval thereafter. As a result, the motor is sequentially accelerated and reaches speed number 8.
Thereafter, speed number 8 is maintained.

Conversely, when decelerating, the pulses of cylinder 1 are output at pulse intervals corresponding to the immediate action number 7 after the deceleration starts.

Then, a second pulse is output at a pulse interval corresponding to speed number 6. Thereafter, the third pulse and subsequent pulses are sequentially output while increasing the pulse interval, and after outputting the final pulse at the pulse interval corresponding to speed number O, the output of the drive pulse is stopped. As a result, the motor is sequentially decelerated from speed number 8 until it stops.

According to the 11N11 method for acceleration and deceleration of this embodiment, step-out of the step motor is prevented, and the positional accuracy of the bit is improved. Furthermore, this control method has the advantage that the control procedure is simple and that a common block diagram can be used in many parts of the procedure for adjusting the final movement speed.

[About Z@Adjustment Mode] Now, the explanation of the operation of this embodiment has been almost completed above, but finally, the device built into the present device regarding adjustment in the Z-axis direction will be explained.

As mentioned above, in the device of this embodiment, one l-axis motor 8
It has a structure in which the straight bit 82 and the dovetail bit 84 are moved up and down as if on a seesaw by zero, and not only the Z-axis mitt switch 104 but also the Hall element 106 is used to return to the original position. This increases the accuracy of the origin position. Although this means that the reproducibility of the origin position is high, it does not necessarily mean that the heights of the straight bit 82 and the dovetail bit 84 are equal at the origin position. 18th
In the figure, the horizontal axis represents the rotation speed of the Z-axis motor 80, and the vertical axis represents the height of the bit. Since the leads of the cams fi77 and 78 are set equal in the cams 75 and 76 shown in FIGS. 3 and 4, the height change of the straight bit 82 and the height change of the dovetail bit 84 are in opposite directions. lies on a line with the same slope as . As explained earlier, the leads of the cam grooves 77 and 78 are set small at the top, so the straight bit 82. When the dovetail bit 84 rises above a certain height, the vertical movement speed above it is kept small, resulting in a line graph as shown in FIG. 18.

When each bit is returned to its origin, straight bit 8
2 and the dovetail bit 84 are at the same height, that is, if the return-to-origin position is point O in the diagram, no special consideration is required. The straight bit 82 and the dovetail bit 84 may have different heights.

In this case, when determining the processing reference height in inking mode,
Since the machining reference plane is set using the straight bit 82, the straight depth is machined according to the input data, but the depth of the dovetail groove B is the same as points M and N in Fig. 18. It shifts by the difference between .

In the case of Book II, the following processing method was adopted to avoid this.

If the straight bit 1-82 is now in the N position and the dovetail bit 84 is in the M position when the straight bit 1-82 is returned to the origin as shown in FIG. 1. E m the height of the straight bit 82 when lowered.

The height of the dovetail pit 84 when the D-pulse Z-axis motor 80 is rotated in the opposite direction to lower the dovetail bit 84 is F#lI. Here, if the change in height of the straight bit 82 and the dovetail bit 84 as they move up and down for one pulse is a, it is understood that in order to match the heights of both bits, the height must be a from the original position. After calculating the value of A dovetail groove B having the specified depth is actually machined.

FIG. 17 is a flowchart for this adjustment work.

This Z@adjustment mode is executed by pressing a predetermined password key when the power is turned on, as shown in the flowchart of FIG. 12, and is not normally carried out. Since it is only necessary to make adjustments once for each device, this is normally done at the time of shipment from the factory.

The value of X determined as described above is stored in the microcomputer 90 and is referenced to determine the number of pulses to be output to the Z-axis motor 80.

(Effects) Since the large-input router of the present invention can move the straight bit and dovetail pit using a single motor, the structure of the large-input router main body can be simplified and the weight reduced. Can be done. In addition, if the present invention is adopted when performing the cutting of straight bits and dovetail bits by numerical control, it is only necessary to control a single motor, so the control system, control program, and control input can be used. This has the advantage of simplifying operations, etc.

4. Drawing 1! ! The 11th explanatory drawings show one embodiment of the present invention. Fig. 1 is a plan view of a large-capacity router partially shown in cross section, and Fig. 2 is a cross-sectional view of the approximate center of Fig. 1 from the right side. 3 and 4 are front views of the main parts of the cams for lifting and lowering the straight bit and dovetail bit shown in FIGS. 1 and 2, respectively, and FIG. 1illllll of the large router shown in the figure
A block diagram of the system, FIG. 6 is a layout diagram of the keyboard shown in FIG. 5, FIG. 7 is a perspective view of a workpiece illustrating each processing data used in the control system shown in FIG. 5, and FIG. Fig. 5 is a plan view of a part of the workpiece showing the movement trajectory of the straight bit in two horizontal directions based on the data input to the control system, and Fig. 9 is similar to Fig. 8 showing other movement trajectories. A plan view, Fig. 10 is a plan view of a part of the workpiece similar to Fig. 8 showing the movement locus of the dovetail bit, and Fig. 11 shows the movement locus of the dovetail pit for chamfering the entrance side of the dovetail groove. A front view of a part of the work shown in FIG. 12 is a control for controlling the movement of the straight bit and dovetail pit along the trajectories shown in FIGS. 8 to 11 based on the input data shown in FIG. 7. 13 and 14 are detailed flowcharts for returning the router body to the origin in the X-axis and Y-axis directions, respectively, in the flowchart shown in FIG. 12, and FIG. 15 is the flowchart shown in FIG. 2. A detailed flowchart for returning a medium straight bit and a full dovetail bit to the origin in two axes. Fig. 16 is a supplementary explanatory diagram of the flowchart shown in Fig. 15. Fig. 17 is a detailed flowchart for returning the medium straight bit and dovetail bit to the origin in two axes. A detailed flowchart of the adjustment mode, Fig. 18 is a supplementary explanatory diagram of the flowchart shown in Fig. 17, Fig. 19
The figure shows a detailed flowchart of the manual mode in the flowchart shown in Fig. 12, Fig. 20 is an explanatory diagram of the operation keys used in the steps in Fig. 19, and Fig. 21 shows processing conditions in the flowchart shown in Fig. 12. A detailed flowchart of the setting mode, FIG. 22 is the flowchart shown in FIG. 12, and a diagram showing the data displayed as data to be input in each loop in the flowchart. is the detailed flowchart of the ink alignment mode shown in the flowchart shown in Fig. 12, and Fig. 24 shows the automatic t1 movement speed of the cutting edge of the straight bit and dovetail bit.
1 A diagram showing the system for controlling, Fig. 25 is the 24th
M for automatic processing using the system shown in the figure
The flowcharts of FIGS. 26 to 28 are the X-axis of the moving speed of each pit shown in FIGS. 8 to 11, respectively.
FIG. 29, which is an explanatory diagram of speed numbers in the Y-axis and Z-axis directions, is a perspective view of a conventional large-capacity router shown for understanding the overall configuration of this embodiment.

60...Router body 65.66...Spindle shaft 67.68...Shaft casing 73.74... bottle 75.76...cam 77.78...cam full 80...2-axis motor 82...Straight bit 84...Dovetail bit Figure 3 Figure 4 Applicant: Makita Electric Manufacturing Co., Ltd. Agent Patent Attorneys 1) Hidehiko (3 others) 6th figure lN figure 7 width information solid Concave

Claims (1)

[Claims] A single motor for moving the straight bit and the dovetail bit in the axial direction, and a conversion mechanism for converting the rotation of the motor into movement in opposite directions in the axial direction of the straight bit and the dovetail bit. A large-capacity router characterized by: