JPH0281602A - Dado joint router - Google Patents

Abstract

PURPOSE:To prevent the abrasion of a bit, or sections in a work from existing and the excessive loads from exerting to a motor by detecting the excessive electric current to the motor which acts to rotate and drive a straight bit and dovetail groove bit, and rendering the movement speed of the straight and the dovetail groove bit to be lower speed than predetermined speed on the basis of the information. CONSTITUTION:The voltage proportional to the driving electric current of a motor 61 is taken out to a excess current detecting circuit 97 by means of a current sensor CS (current trans), and this is inverted into d.c. current by a diode D, and further, smoothened by means of resistor R, condenser C or the like, and then inputted into a comparator. And, it is compared with standard voltage E1 so as to ascertain whether or not excess current flows in the motor 61, and the result is inputted into a micro-computer 90. When the excess current flows in the motor 61, the time interval of pulse outputted to each X, Y, Z axis step motor is prolonged, and the forwarding speed thereof is slowed in order to obtain standard blade tip movement speed.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a large-input rule.

(Prior art) This type of large-input router is equipped with a straight bit for flat grooves: r and a dovetail bit for forming a dovetail groove in the flat groove formed by the straight bit. Movement of these bits in the mutually orthogonal X, Y', and Z axes with respect to the workpiece is achieved by moving the main body of the large router in a rack relative to a frame fixed to the workpiece. The bits can be moved by manually operating the handle using a mechanism such as a pinion, and the Z-axis direction (vertical direction) can be moved by manually operating the handle of each bit relative to the router body. It was moving.

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

(Problem to be Solved by the Invention) However, in the conventional large-input router described above, movement of the straight bit and dovetail bit in the X, Y, and Z axis directions is performed by the operator by operating the handle. If the bit wears out and breaks, it is necessary to slow down the feed because an excessive load is placed on the motor that rotates the bit, but such 1tilJ wJ operation relies on the experience of the operator, and υ1111 is troublesome. It had a certain problem.

(Means for Solving the Problems) To solve the above-mentioned problems of the prior art, the large-input router of the present invention has a motor for rotating a straight bit and a dovetail bit, and a motor that rotates the straight bit and the dovetail bit at right angles to each other. and a motor for moving the straight bit and the dovetail bit in the X-, Y-, and Z-axis directions, the detecting means detecting overcurrent to the motor for rotationally driving the straight bit and the dovetail bit. and v1m means for making the moving speeds of the straight bit and the dovetail bit in the X, Y, and Z@force directions slower than a predetermined speed based on the information detected by the detecting means.

(Function) In the large-input router of the present invention, when an overcurrent flows through the motor that rotates the straight bit and dovetail bit due to the bit not cutting properly or the workpiece having knots, etc., the detection means detects the problem. Based on the overcurrent information, if a pulse motor is used as a motor for movement in the corresponding X, Y, and Z axis directions, the control means increases the pulse Il1 interval by lengthening the straight bit and the The moving speed of the dovetail bit in the X, Y, and Z axis directions becomes slower than a predetermined speed, that is, a predetermined standard speed.

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

First, in order to understand the overall configuration of this embodiment,
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 large-input router and a processed shape processed by the large-input router. This large-input router performs large-input dovetail processing by forming a flat groove A on the workpiece W and forming a rough dovetail groove B. The large-capacity router main body 1 can be manually moved in two horizontal directions (hereinafter referred to as X and Y directions) with respect to a stand (not shown). The workpiece W is fixed to a stand and processed. The flat groove A is added by the straight bit 2, and with the straight bit 2 lowered to a predetermined height using the lever 3, the large-input router main body 1 is moved horizontally to the workpiece W in two directions manually as appropriate. By moving the straight bit 2, the flat groove A is machined by the straight bit 2. Next, the dovetail groove 8 is machined with the dovetail bit 4, and with the dovetail 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 a motor 7 via.

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.
It has been improved so that all the vertical movements of the machine are automated and are driven by the numerical value υ1111.

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

[I! 1. Mechanical 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 mobile device H4 that moves the router body 60 in two horizontal directions above the base frame 10.
40, a clamping machine #1S20 for fixing the base frame 10 to the workpiece W, and a control system for the apparatus.

The base frame 10 includes an X rear frame 12 and 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 machine 1#I20 is provided at the bottom of the base frame 10. The clamp mechanism 20 is a vice lever 2 rotatably attached to the X rear frame 12 via a pin 22.
4, and a pipe 2 which is rotatably connected to the vice lever 24 with a bin 26 and moves forward and backward by the rotation of the vice lever 24.
8, a plate 30 fixed to the tip of the pipe 28,
It is formed of a threaded part 32 that penetrates the plate 30 and is screwed into the plate 30, and a vice 34 that is fixed to the tip of the threaded part 32 and moves forward and backward as the pipe 28 or the threaded part 32 moves forward and backward.

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.
Since a structure very similar to that in Japanese Patent No. 42777 is shown, detailed explanation will be omitted.

Next, a movement of 8 m40 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 two-axis XY 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 (the vertical direction in FIG. (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 includes a left frame 43, a right frame 46, an X rear pipe 44, and an X'70 front pipe 45.
and are constructed so as to form a substantially rectangular frame. A pair of left and right Y vibes 47.48 are fixed to the base frame 10 in parallel with a pair of left and right Y frames 16.18. 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 movable body 42, and a pair of gears 52 and 54 are installed so as to be rotatable at the same time about a shaft 56. Gears 52 and 54 are meshable with the rack teeth and are connected to the Y-axis motor 50.
The structure is such that it is rotated by a gear train.

With the above structure, 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 n-through holes, and the Y-direction moving body 4
The X rear pipe 44 and the X front pipe 45 of 2 pass through this through hole, and the router body 60 connects the X rear pipe 44 and the
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 N (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 a straight bit 82 and a dovetail bit 84 is incorporated inside. The rotation of the motor 61 is transmitted via the belt 62 to the pulleys 63, 64. The spindle shaft 65.6 is attached to the pulleys 63 and 64.
6 is assembled with a key so that relative rotation is impossible.

However, the key length of the spindle shaft 65.66 is sufficiently long in the axial direction, and the axial direction (
It is relatively movable in the vertical direction in FIG. 2 (hereinafter referred to as the Z axis or Z direction). The spindle shaft 65,66 is assembled to the shaft casing 67,68 by a pair of bearings 69,70 to 71,72 so as to be rotatable relative to the shaft casing 67,68, but not movable relative to the shaft casing 67,68 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 Z-axis motor 80 is housed in the router main body 60.

Further, cams 75 and 76 having the same diameter are rotatably assembled in parallel to the shaft casings 67 and 68. 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 vertical movement of the straight bit 82 and the dovetail bit 84 in mutually opposite directions. That is, when the Z-axis motor 80 rotates,
As the cams 75, 76 rotate, the pins 73, 74 engaged in the cam grooves 77, 78 move in opposite directions. That is, if the bin 73 moves upward, the bin 74 moves downward. When the bin 73 moves upward, 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 66 descend.

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 changing 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.

The straight bit 1-82 is thus chucked to the lower end of the spindle shaft 65, and the dovetail bit 84 is chucked to the lower end of the spindle shaft 66.
are moved in the Z-axis direction in such a way that one goes up and the other goes down by the rotation of the Z-axis motor 80, and
1, each of which is rotationally driven.

A Z-axis mitt 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.

Further, a Hall element 106 is fixed to the router main body 60 side, and it is possible to detect whether the output shaft of the Z-axis motor 80 is at a predetermined rotational angle position based on the output of the Hall element 106. I will explain in detail later.

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 1 Figure 5 is a system block diagram showing the overall configuration of the &l control system, and the system consists of a central processing unit (CP
LJ), a microcomputer 90 having a read-only memory (ROM) and a writable/readable memory (RAM). An input keyboard 91 is connected to the microcomputer 90, and after necessary data processing is performed based on the input signal from the keyboard 91 according to a processing procedure that will be explained in detail later, the microcomputer 90 executes a driver 95. The driver 95 amplifies this signal and converts it into motor drive power, which is then supplied to the motor. With this configuration, the X-axis motor 58, Y-axis motor 50, and Z-axis motor 80 are controlled by the 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 connected is a watchdog timer 100, which constantly checks for malfunctions in the CPU. Furthermore, microcomputer 9
0 is connected to XYZ limit switches 102, 103, and 104 and a Hall element 106 in order to execute data processing described later, and is also connected to a detection circuit 97 that detects the drive current of the motor 61. The configuration is such that 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 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.

FIG. 8 is based on the above data. It is a diagram showing the movement trajectory of the straight bit 82 in two horizontal directions with arrows. In the case of this diagram, straight bit 8
2 is rotating in a clockwise direction.

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.

FIG. 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 circumference. Each pattern has its advantages and disadvantages, and a good flat groove A can be formed by making fine adjustments according to each pattern. This fine adjustment will be explained in detail in the model.

Figure 10 shows a dovetail bit 84 when forming dovetail B.
It is understood that the width of the dovetail fl 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 8.

In FIGS. 10 and 11, the order of movement of the dovetail bit 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 Z-axis motor 80 advances two pulses, the X-axis motor 58
This is achieved by rotating by one pulse. The dovetail bit 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 ■■■. After the dovetail bit 84 moves to the position ■, it rises 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 bit 84 has been carefully considered to prevent edge chipping 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.

[i Control Procedure] Now, in Fig. 12, the data shown in Fig. 7 is manually input, and based on this data, the straight bit 82 and the dovetail bit 84 are set in the patterns shown in Figs. 8 to 11. This shows a 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 for determining whether the power is turned on while the PIN code is being pressed, and in case of regular operation, the process proceeds to step 312.

The operation of turning on the power while pressing the BII certificate code is performed when the Z-axis adjustment mode is required (step 81
1), which will be explained in detail at the end with reference to FIGS. 17 and 18.

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 determined in step 812 that the Y-direction moving body 42 is at the origin position, the process starts processing for self-vehicle driving, and first in step S13, the router is moved in all directions of the x, y, and z axes. Return to the predetermined 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 330, the X-axis mitt switch 103 is
is on or off, and if it is off, loop 13
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 S30, 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 a processing procedure for returning the Y-direction moving body 42 to the origin position in the Y-direction with respect to the base frame 10. In step 840, the Y-axis motor 50 is previously driven to the off side by a predetermined pulse number. In this state, it is determined in step 841 whether the Y-wheel 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 two-shaft motor 80. The Z-axis mitt switch 104 is connected to the Z-axis motor 80.
The Z@ limit switch 104 is switched on and off at a predetermined value with respect to the rotation speed, but the accuracy with which the Z@ limit switch 104 switches on and off is not very good, so the Once the origin position is determined, it is inevitable that the origin position will deviate within the range P shown in the figure.

On the other hand, the Hall element 106 described above is
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 becomes high every time the two-axis motor 80 rotates once, it is not possible to detect whether the origin is reached only by the output of the Hall element 106. 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? Display as 1. If you enter "yes" here, step 82 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 114, a switch is made 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 815 ], when the No key is pressed, the mode is switched to the machining dimension setting mode in which new machining dimensions can be entered in step S21. Note that this machining dimension setting mode is explained in detail in FIG. 22.

[Explanation of manual mode] First, we will explain the case where the manual key is input. When manual key is pressed, step 8
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 351 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 S50.

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 rotations of the X, Y, and Z axis motors are increased to speed up 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 S51, it is determined whether the auto key is pressed while the Y-axis mitt switch 102 is on, and if the condition is met, steps 853 and 54 are performed.
．． 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 the loop 114 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 S62 is a step for determining whether or not the input data is within a predetermined range.
), wait for the straight bit diameter 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 zero 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, operate the OK key as necessary to add the following: By pressing the high key as in , the presence or absence of the width correction is set.

Steps 866 to 868 are for setting whether to set the depth reference at the position OIm or at the position 15jIII. Note that the depth reference is a reference used in a matching mode to be described next. Steps 869 to 871 are steps for specifying whether or not the flat groove to be machined has slippage as shown in FIG. 7, and steps 863 to 6
Similarly to 5, use the Yes key to correct and set the status, and then press the Yes key to set "Yes" to "1" and "No".

Steps 872 to 74 are steps for specifying whether to handle data in units of millimeters or in insteps in the dimension setting mode, which will be explained 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 executed according to the conditions set in the previously executed machining condition setting mode, and if "mm" is set as the unit, the input number is "
It is input as a unit of "mm", and if "dimension" is set, it is interpreted as data in "dimension" unit. This flowchart is partially simplified for ease of understanding, and shows steps 881, 382, and 883 to route L84.
The loop of returning to step 881 is repeated seven times to complete the machining dimension setting mode.

In step S81, the type of data to be input is displayed,
Is it 1° wide in the first loop? " is displayed. In response to this display, width data is input by pressing the width of the flat groove 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 width data is determined again via path L83. If normal data has been input, the process returns to step 881 via path L84. 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 step 3
In step 82, 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.

Now, in the machining condition setting mode, if [Slip, 1] is set to "None", execution of the second loop is omitted, and the first loop immediately shifts to the third loop. From then on, use exactly the same procedure to set "Depth" and "
Dovetail depth", "Dovetail width correction J, f straight depth J, "
Dovetail depth 1 is entered interactively. 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, data setting, addition, and 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 L14 of FIG. This is step 81
In step 5, ``Auto 2 same dimensions?'' is displayed as 1, but the operation is to input ``Yes''. When this operation is performed, the apparatus shifts to processing for automatic operation as described below, and is controlled in accordance with the data set in the machining condition setting mode or machining dimension setting mode described above. Note that in loop L14, when the "high 1" key is directly input without executing the machining dimension setting mode, etc., the data set before that is used as valid data for automatic operation 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 the card league, it is possible to replace the manual 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, when it is determined in step S14 in FIG. 12 that the high key has been input, in step S22, the message "Completion mode completed?"" is displayed. If the process is completed here, the process proceeds to step 825 by pressing the ``yes'' key. If the verification mode is not completed, the verification mode is executed by using the No key.

[Description of Day Alignment Mode] The black adjustment mode is a procedure for forming grooves at predetermined positions on the workpiece during automatic machining. In this mode, the position where the groove will be formed is set. During automatic machining, full cutting 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. Then, with respect to the workpiece W chucked in the device, move the router main body 60 so that it is located on the center line of the dovetail groove B to be machined using the "Wide→" key or the
0 in the X direction. By inputting the high key after the movement is completed, the center position in the X direction for groove use is set.

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 check W is shifted and a message indicating that the work 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 [0] in the processing tea ft setting mode, the bit center of the router main body 60 If the depth standard is set to "15", the center of the bit on the router body 60 will align with the end surface of the workpiece W.
Move it so that it is located 15 #l from the end face. By pressing the high key after setting correctly,
The depth reference is set correctly, and subsequent automatic processing is performed using the thus set position as a reference. Note that step 896 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, once the depth reference is set, the device proceeds to step S9.
As shown in 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 substantially touches the end surface of the workpiece W.

Here, as shown in step S99, the straight bit 82 is moved up and down using "straight ↑" or "straight ↓" so that the lower end surface of the straight bit 82 is aligned with the upper surface of the workpiece W. By inputting the "yes" key when a match is found, the standard in the height direction for machining the full part is set.

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

In step 825, [Start? Good? " is displayed. If you do not want to operate automatically due to some inconvenience, enter the No key and the process will proceed to step 315.
Return to This allows you to reset conditions, modify processing dimensions, and redo the matching operation.

[Regarding automatic operation 1] Now, when all the criteria are completed, by pressing the start key, the process proceeds to step 828, and the machining of large dovetailing 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,
As for the Y coordinate, a point a where the straight bit does not cover the first surface of the workpiece Wli is calculated. 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 reference position in the Z direction set in the inking mode and the height position determined based on the data input as the straight depth, and the motor 61 starts rotating. The straight bit also starts rotating.

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

■ Is this normal? 1! Eight is completed.

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. Further, between c and d shown in the figure, it is controlled to move at a very low speed. This is to prevent the edge from chipping 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. If it is moved as shown in FIG. 9, chips will generally be removed smoothly and the finished surface of the flat groove A will be well finished.

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 flat groove A is formed in this way, next time Z
While the shaft motor 80 works to raise the straight bit 82 and disturb the dovetail bit 84, the dovetail bit 84
The X, Y, and Z axis motors are moved so that the robot moves along the paths shown in FIGS. 10 and 11. After the series of processing is completed, the removed ant? 1llB is formed, and the large dovetailing 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 routine in FIG. 12, and the process returns to step 815. When reproducing the same size addition: L, by inputting the yes key, the process returns to step S22, and after determining the reference position for 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.

[About automatic control of cutting edge movement speed] Figures 24 and 25 show a system and processing method for reducing the cutting edge moving speed from the standard speed shown in Figures 8 to 11 as necessary. It is something. This is a mechanism for when the work W has knots, 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.
As shown in the figure, a voltage proportional to the driving current of the motor 61 is taken out by a current sensor C8 (current 1-lance in the figure) to the overcurrent detection circuit 97 described in connection with FIG. The signal is further smoothed by a resistor R1, a capacitor C, etc., and then input to a comparator. Here, the variable resistor VR is adjusted in advance so as to have a constant voltage division ratio. The comparator compares it with the reference voltage E1 to detect whether or not excessive ff1il is flowing to the motor 61, and inputs the result to the microcombiner 90.

The microcomputer 90 adjusts the moving speed of the cutting edge according to the procedure shown in FIG. In other words, microcomputer 9
0 has an overflow counter, and when automatic machining operation is started, the counter is completely cleared in step 5100. For automatic use, [During operation, the output of the comparator is input at regular intervals, and if there is no overcurrent, 1 is subtracted from the counter in step 5104, and as shown in FIGS. 8 to 11, as shown in step 5105. Drive current is output to each X, Y, and Z axis motor so that a standard cutting edge movement speed can be obtained. In this example, X, Y.

All Z-axis motors are step motors, and the microcomputer 90 sends pulses to each motor at time intervals such that jg quasi-moving 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 8101 that automatic machining has been completed, as shown in step 8109, 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 a predetermined value, it is determined that the cutter 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
After returning to the origin in the , z-axis directions, the process returns to step 815 in FIG.

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 moving speed] As explained above, the X, Y, and Z axis motors 58, 60, and 80 are all step motors.

The speed is controlled along the movement locus shown in FIGS. 8 to 11 and according to the speed numbers shown in the same figures. At such a speed v1m, when accelerating or decelerating from the speed of the current speed number to the speed of another speed number, for example, take the movement trajectory in the Y-axis direction from point a to point 8 in Figure 8. To explain, first, the speed in the Y-axis direction is in a stopped state (speed #!
0) to the speed indicated by speed number 8 to cut into the workpiece W. From then on, it moves in the Y direction while maintaining the speed indicated by speed number 8, and when it reaches the vicinity of the point, it starts decelerating. , it becomes zero again when it reaches the point.

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 in which the vehicle accelerates from a stopped state with a speed of zero to a speed of 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 the speed number O. Next is speed? The third pulse is output at a pulse interval corresponding to No. 8 1. Thereafter, pulses after the 4th pulse are sequentially output while shortening the pulse interval.
After the pulse interval reaches the pulse interval corresponding to speed number 8, drive pulses are thereafter outputted at the same pulse interval.

As a result, the motor is sequentially accelerated and reaches speed number 8, and thereafter speed number 8 is maintained.

On the other hand, when decelerating, pulses for cylinder 1 are output at pulse intervals corresponding to speed number 7 after deceleration starts.

Next, the second pulse MIIIi corresponding to speed number @6
outputs a pulse of After that, the pulse interval is lengthened and the third
Output pulses and subsequent pulses sequentially, speed II! After outputting the final pulse at the pulse interval corresponding to number 0, 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 1111111 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. Further, the water control method has the advantage that the control procedure is simple, and a common program can be used in many parts of the procedure for adjusting the R-appropriate moving speed.

[Regarding the Z-axis adjustment mode] Now, the explanation of the operation of this embodiment has been almost completed above, but finally, the device for adjustment in the Z-axis direction built into the present device will be explained.

As mentioned above, the device of this embodiment uses one two-axis motor 8.
It has a structure in which the straight bit 82 and the dovetail bit 84 are moved up and down like a seesaw by pulling 0, and in order to return to the home position, not only the two-wheel limit switch 104 but also the Hall element 106 is activated. The precision of the origin position is also improved by using 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 number of rotations of the two-shaft motor 80, and the vertical axis represents the height of the bit. Since the leads of the cam grooves 77 and 78 of the cams 75 and 76 shown in FIGS. 3 and 4 are set equal, the height change of the straight bit 82 and the height change of the dovetail bit 84 are opposite to each other. It lies on a line with the same slope in the direction. 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. It is possible that the straight bit 82 and the dovetail bit 84 have different heights.

In this case, when determining the machining standard 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 height of points M and N in Fig. 18. It shifts by the difference between .

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

Now, when the straight bit 82 is returned to the origin as shown in FIG. The height of the straight bit 82 when lowered is E txttt .

The height of the dovetail bit 84 when the D-pulse Z-axis motor 80 is rotated in the opposite direction to lower the dovetail bit 84 is Fas+. Here, if the height change in which the straight bit 82 and the dovetail groove pits 1-84 move up and down for one pulse is ajll, it can be seen that in order to match the heights of both bits, it is necessary to start from the origin position. After calculating the value of A dovetail groove B having the specified depth will be machined.

FIG. 17 is a flowchart for this adjustment work.

This Z-axis 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 executed. 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 obtained as described above is stored in the microcomputer 90 and is referred to in order to calculate the number of pulses to be output to the Z-axis part 80.

(Effects) According to the large-cutting router of the present invention, even if the bit is worn or there are knots in the workpiece, excessive load can be prevented from being applied to the bit drive motor, and a good machining surface can be achieved. can be obtained. Furthermore, since the state of wear of the cutting edge can be determined at the same time from the overcurrent information detected by the detection means, there is an advantage that the operator can be informed when it is time to replace the bit.

[Brief explanation of the drawing]

The figures show one embodiment of the present invention, in which Fig. 1 is a partially sectional plan view of a large-capacity router, and Fig. 2 is a view of the roughly central cross section of Fig. 1 viewed from the right side. , Figures 3 and 4 are front views of the main parts of the cams for the straight bit and dovetail bit shown in Figures 1 and 2, respectively, and Figure 5 is the same as Figures 1 and 2. Figure 6 is a block diagram of the capital control system of the large-capacity router shown in Figure 6. Figure 6 is a layout diagram of the keyboard shown in Figure 5. Figure 7 is a workpiece diagram illustrating each processing data used in the control system shown in Figure 5. Fig. 8 is a plan view of a part of the workpiece showing two horizontal movement trajectories of the straight bit based on the data input to the control system shown in Fig. 5, and Fig. 9 shows other movement trajectories. 8th showing
Figure 10 is a plan view of a part of the workpiece similar to Figure 8 showing the movement locus of the dovetail bit, Figure 11 is a dovetail bit for chamfering the entrance side of the dovetail groove. Figure 12 is a front view of a part of the workpiece showing the movement trajectory of the straight bit and dovetail bit based on the data input shown in Figure 7.
1! Figures 13 and 14 are the flowchart shown in Figure 12, a detailed flowchart for returning the router body to its origin in the X-axis and Y-axis directions, and Figure 15 is a detailed flowchart of the control for A detailed flowchart for returning the straight bit and dovetail bit to the origin in the Z-axis direction in the flowchart shown in Fig. 2, Fig. 16 is a supplementary explanatory diagram of the flowchart shown in Fig. 15, and Fig. 17 is a diagram similar to Fig. 12. 18 is a supplementary explanatory diagram of the flowchart shown in FIG. 17, FIG. 19 is a detailed flowchart of the manual mode in the flowchart shown in FIG. 12, and FIG. 19 is an explanatory diagram of the operation keys used in the steps in FIG. 19, FIG. 21 is a detailed flowchart of the flowchart shown in FIG. 12 for cattle, [Detailed flowchart of the condition setting mode, and FIG. A detailed flowchart of the half-machining dimension setting mode and the data displayed as data to be input in each loop in the 0-chart. FIG. 23 is a detailed flowchart of the half-ink matching mode of the flowchart shown in FIG. Flowchart, Figure 24 shows a system for automatically controlling the moving speed of the cutting edge of straight bits and dovetail bits, Figure 25 shows how to perform automatic side r by using the system shown in Figure 24. The control flowcharts of FIGS. 26 to 28 are 118 to 1.
1 The X-axis and Y-axis of the moving speed of each bit shown in the figure
FIG. 29, which is an explanatory diagram of the speed numbers in the axial and Z-axis directions, is a perspective view of a conventional large-capacity router shown for understanding the overall configuration of this embodiment. 50... Y-axis motor 58... X-axis motor 60... Router body 61... Motor (for bit drive) 80... Z-axis motor 82... Straight bit 84... Dovetail bit 90... Microcomputer 97... Overcurrent detection circuit Figure 3 Figure 4 Applicant Makita Electric Works Co., Ltd. Agent Patent Attorney Doma 1) Hidehiko (3 others), -IN ψ e enemy No. 19 No. 1 Episode 12, 13, 14, 15, 16, 17, width 1 (from Il! Bamboo 1 to 9, the odor of the odor is d? Okay, the range of I width is custod, and the 115th collection - el) Completed [Zahatsu]

Claims (1)

[Claims] A large-input router comprising a motor for rotationally driving a straight bit and a dovetail bit, and a motor for moving the straight bit and the dovetail bit in X, Y, and Z axis directions perpendicular to each other, a detection means for detecting an overcurrent to the motor for rotationally driving the straight bit and the dovetail bit; and a detection means for detecting an overcurrent to the motor for rotationally driving the straight bit and the dovetail bit; 1. A large-capacity router comprising: a control means for setting a moving speed in a direction lower than a predetermined speed.