JPH09225767A - Three-dimensional alignment gripping device - Google Patents

Abstract

(57) [Abstract] [Object] To obtain a virtual reference plane based on an arbitrary alignment method and align an object to be processed in a three-dimensional direction. SOLUTION: A plurality of aligning devices are provided, each of which comprises an aligning part for eccentricity / grip of a workpiece, a measuring part 34 for measuring the shape of the workpiece, and a control part for controlling these and communicating with an external device. The object to be processed 35 is gripped by the centering section, and the centering in the three-dimensional direction is performed by the control of the control section based on the shape measurement result and an arbitrary centering method.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a three-dimensional alignment gripping device.

[0002]

2. Description of the Related Art In an automatic centering device, see Japanese Patent Application Laid-Open No. 62-15
No. 7742), which is composed of two arms and one roller, and the three holding parts have one positional relationship at all, when the centering and grasping of the members are performed, the three holding parts have the same proportion. To move. That is, an accurate core cannot be obtained unless the cross sections of the object to be processed are perfect circles having the same radius. When the cross-section of the object to be processed is elliptical or non-circular, not only the core does not come out accurately, but also the core cannot be held and rotated while being held at a fixed position.

Even in the self-centering steady rest in which there is not one positional relationship among the three holding portions and the relationship between the holding portions is variable by the control unit as in Japanese Patent Laid-Open No. 63-77619. Since the holding part cannot operate completely independently, it is the same as in Japanese Patent Laid-Open No. 62-157742. In addition, both devices perform alignment only on the grasped portion, and axial alignment considering the three-dimensional shape cannot be performed. Thus, for example,
It is impossible to perform centering in a three-dimensional direction for a processing object such as a member after heat treatment, which has elliptic and non-circular cross-sectional shapes and a curved axis, which is accompanied by so-called three-dimensional deformation. This also applies to commercially available self-aligning chucks.

Further, when a member having a rough surface such as a carburized member and having a rough surface is to be centered and grasped by the conventional automatic centering rest and then turned, it is not possible to obtain an accurate core due to deformation. Instead, the core swings due to rotation, and the roller that receives the workpiece is also damaged by the rough and hard surface of the workpiece. For this reason, the above-described automatic alignment steady rest cannot be used unless the operator obtains a virtual machining reference plane and performs centering in the three-dimensional direction to machine the reference plane.

Further, there is a crank processing machine or the like as a processing machine for processing an object having an eccentric portion, but these are functions of operating in cooperation with an external device and an arbitrary alignment method by understanding a three-dimensional shape. It does not have a function of obtaining a virtual machining reference surface based on the above and performing centering in the three-dimensional direction.

[0006]

DISCLOSURE OF THE INVENTION The present invention is directed to an object to be processed which has a non-round or non-circular cross-sectional shape, which is difficult to achieve by a conventional centering device or self-centering steady rest, or a curve or deformation in the axial direction. Even if the object to be processed involves a virtual processing reference surface based on an arbitrary alignment method, it automatically performs alignment and gripping in the three-dimensional direction, and does not depend on an expert and can be processed in a short time. Provided is a three-dimensional centering / gripping device capable of processing an object. In addition, it communicates with external equipment such as NC machine tools and computers to operate the moving parts of the external equipment and its own moving parts in synchronization.
Provided is a three-dimensional centering / gripping device capable of measuring the shape and centering of an object to be processed.

Further, the shape information of the object to be processed, the centering method,
Provided is a three-dimensional centering / grasping device that communicates external device control information and information about this device with an external device and operates in synchronization.

[0008]

[Means for Solving the Problems] An aligning device comprises an aligning part, a measuring part and a control part, and the aligning part is a means for obtaining an arbitrary eccentricity with respect to a machining reference / rotary core of a processing machine. There are provided a means for fixing the core and processing the object to be machined, a means for varying the gripping / releasing force, a gripping force, and a means for detecting these states.

The measuring section is provided with means for moving the sensor by synchronously operating the original drive mechanism and the drive mechanism of the external device to measure the shape of the workpiece at an arbitrary position.

Based on the shape data measured by the measuring section and the balance information detected from the centering section, the control section calculates a virtual processing reference plane and control information based on an arbitrary centering method and calculates the centering section. A means for controlling and a means for inputting / outputting information to / from an external device are provided.

As a result, it is possible to perform positioning and alignment in the three-dimensional directions based on an arbitrary alignment method, calculate data regarding the shape of the workpiece, shape measurement results, balance information, and communicate with external equipment.・ Synchronous operation is possible.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Especially, the case of application to an NC combined machining lathe (with a tension type hydraulic gripping mechanism) will be described. The tension type hydraulic gripping mechanism generally refers to a tension mechanism using hydraulic pressure attached to the back surface of the spindle. This tension is rigidly guided through the through hole of the spindle to the chuck attached to the front surface of the spindle, the inner cylinder of the chuck is pulled, and the chuck internally converts this tension into the gripping force of the workpiece.

Support, gripping, and rotation of an object to be processed by a lathe are generally performed by a main shaft, a steady rest, and a center, and depending on the model, a sub shaft is provided.

The main shaft supports and rotates the object to be machined, and the auxiliary shaft rotates synchronously or subordinately with the main shaft to rotationally support the object to be machined. However, it is the chuck attached to each shaft that directly grips the workpiece. The chuck usually has a plurality of claws, and the diameter of the claws is changed to clamp the workpiece from the outside or the inside.

Further, depending on the processing conditions, one or more steady rests for supporting or rotating supporting the object to be machined are installed between the main shaft and the sub shaft. In addition, the cone is pressed into the conical recess on the shaft end surface of the workpiece side,
A center (tailstock) that rotatably supports is used instead of the auxiliary shaft.

In this embodiment, the chuck, the steady rest, and the centering portion are applied to the center, and the basic mechanism of these is shown in FIGS. FIG. 4 is a type that does not have a mechanism for gripping and releasing the object to be processed, and is applied to the center. Pistons 3 and 4 are provided in the two fluid cylinders 1 and 2 which sandwich the eccentric object 12 so as to face each other, and are connected by the flow paths 9 and 10. Driver 11 and displacement / stress detector 1 connected to cylinder 1
When the piston 3 is directly moved by 01, the piston 4 moves in the same distance and in the same direction as the piston 3, and the eccentric object 12
Is eccentric with one degree of freedom without causing any play. The fixing is performed by closing the valve 100. FIGS. 5 and 6 show a centering portion that is capable of performing multi-degrees of centering and is applied to the center by combining a plurality of these basic mechanisms.

FIG. 7 shows a structure in which a function of gripping, releasing and varying gripping force is added in addition to the mechanism of FIG. 4, and is applied to a chuck and a steady rest. It is the same that one set is eccentric in one degree of freedom, but a fluid cylinder 15 is further added.

While the driver 19 and displacement / stress detector 102 connected to the cylinder 15 and the driver 11 and displacement / stress detector 101 connected to the cylinder 1 are synchronized, the pistons 3 and 16 are moved in the + direction. Then, the distance between the pistons 3 and 4 is narrowed, the eccentric object 12 is gripped, and it is opened in the-direction. When the gripping force is changed, it is realized by controlling only the driver 19 and the displacement / stress detector 102.

A plurality of these basic mechanisms are combined to form a multi-degree-of-freedom alignment, gripping / releasing, and gripping force varying alignment part, and an example in which this is applied to a chuck is shown in FIGS. 8, 9 and 10. . In this case, hydraulic power of the tension type hydraulic gripping mechanism of the lathe is used in place of the driver 19 and the displacement / stress detector 102 of FIG.

Furthermore, by applying a plurality of aligning portions, aligning and gripping in a three-dimensional direction are possible. FIG. 1 is a configuration diagram in which an aligning portion is applied to the chucks 32 and 33 of the main shaft 30 and the auxiliary shaft 31, and FIG. 2 is a configuration diagram in which an aligning portion is applied to the main shaft 30 side chuck 32 and the center 39. 3 shows a case in which the centering portion is applied to the chuck 32 on the spindle 30 side and the steady rest 40. These are states in which the same lathe is used to change the setup.

The measuring unit 34 can be attached to and detached from the tool post of the lathe,
The shape of the workpiece 35 at an arbitrary position can be measured by moving the tool rest. Each alignment part 32, 33, 39,
The measuring unit 34 and the measuring unit 34 are connected to the control unit 36, and operate by the control of the control unit, the control of the lathe control device 37, or the instruction of the external device 38.

The external device 38 is an external device (for example, a computer, a control device, a measuring device) having one or more functions of calculation, judgment, storage, communication, detection and control.

The control unit 36 is connected to the lathe control device 37, and controls the main shaft 30, the sub shaft 31, the tension type hydraulic gripping mechanism, and the tool rest equipped with the measuring unit at the time of alignment by communicating with the lathe control device. .

In the centering process in the configurations shown in FIGS. 1 to 3, first, the workpiece 35 is gripped with a weaker holding force than during processing.
At this time, the gripping surface may not be the processed surface.

The three-dimensional shape of the object to be machined and the stress on the centering section are measured by the measuring section and the centering section, and the shape of the object to be machined, tilting, deformation, unbalance, etc. are calculated, and the external device 38
When design information, CAD information, NC control information, etc. are input to the control unit, a correction value is obtained by comparing them.
The calculation is performed while communicating information with the external device 38.

Next, the centering method is determined by the control unit according to the operator's instruction and input from the external device 38, the virtual machining reference plane is obtained by calculation, and the centering is performed for each centering unit based on this. It controls the direction, distance, and tilt, and performs three-dimensional alignment.

After the alignment is completed, the chuck is operated by the hydraulic power of the tension type hydraulic gripping mechanism of the lathe, and the steady rest 40 is moved to the position shown in FIG.
Driver 11, 19 and displacement / stress detector 101, 102
An object to be processed is gripped by a driving device corresponding to the gripping force that can endure the processing. Fixing is performed by closing the valves on the flow path for both the chuck and the center. This fixing prevents misalignment during processing.

Since a plurality of alignment methods can be held in the control unit, and the logic, arithmetic expression, and operation result of the alignment method can be mutually communicated between the control unit and the external device 38, various three-dimensional directions can be obtained. Can be positioned and aligned.

According to the present embodiment, the alignment with the highest priority to minimize the deflection of the alignment reference surface, the overall deflection, the alignment with the best dynamic balance, the conventional centering device and the alignment Alignment that was difficult with a core device and could only be done by a skilled person, for example, the cross-sectional shape of the object to be processed is not only a perfect circle, but also a non-perfect circle or a non-circular shape, or three-dimensional bending or deformation. It is possible to automatically perform centering in a three-dimensional direction even if there is an eccentricity or an eccentric portion by design.

Further, the aligning portion is an invention of the mechanism and is not limited to the embodiment, and can be incorporated in another device. The control unit can be incorporated as a function in a device that performs calculation, control, and communication, such as an NC control device.

[0031]

According to the present invention, the cross-sectional shape of the object to be machined, which is difficult with the conventional centering device and the self-centering steady rest, is a non-perfect circle or a non-circle, and is accompanied by a curve or deformation in the axial direction. Even if there is a centering part in the design or if there is a dynamic imbalance, the centering process is performed because a virtual machining reference plane is obtained based on an arbitrary centering method and automatic centering is performed in the three-dimensional direction. It is unnecessary and can process the object to be processed in a short time without depending on the skilled person. Also, unmanned processing can be realized by eliminating the alignment work.

Further, since the processing machine to which the present invention is applied can process an object to be processed without changing the setup after the alignment, the processing time is shortened, and an error when changing the setup is eliminated so that highly accurate processing is possible. Becomes

[Brief description of drawings]

FIG. 1 is a side view of a configuration example in which a chuck is gripped at both ends.

FIG. 2 is a side view of a configuration example of a chuck and a center grip.

FIG. 3 is a side view of a configuration example including a chuck and a steady rest.

FIG. 4 is a cross-sectional view of a basic mechanism of an alignment unit.

5 is a sectional view taken along line A in FIG.

6 is a sectional view taken along line B of FIG.

FIG. 7 is a cross-sectional view of the basic mechanism of the aligning unit.

FIG. 8 is a front view of an example in which a centering portion is incorporated in a chuck.

FIG. 9 is a vertical cross-sectional view of an example in which a centering portion is built in a chuck.

10 is a sectional view taken along line A in FIG.

[Explanation of symbols]

30 ... Main axis, 31 ... Secondary axis, 32, 33 ... Chuck, 34
… Measurement part, 35 ... Object to be processed.

Claims (1)

[Claims] 1. In a processing machine for fixing and gripping a processing object and processing it, a centering means is provided with a measuring section for measuring the shape of the processing object, and three-dimensional eccentricity is generated with respect to the processing reference of the processing machine. The control unit controls the centering unit, the measuring unit, and the control unit, and inputs and outputs to and from the worker and the external device. The measuring unit drives the measuring unit for measuring the shape and the measuring unit. Means, a driving mechanism of the processing machine, and one or more means for connecting, releasing, and detaching the processing machine. The shape of the processing object can be measured at an arbitrary position. One or more means for giving arbitrary eccentricity and tilt / swing motion to the machining reference and machining center, gripping, means for varying gripping force, means for fixing, means for detecting displacement, stress It is composed of and fixed to the processing object of the processing machine. Table driving and rotating and fixed
By installing, coupling, or incorporating in the driven shaft and other supporting and gripping mechanisms, it is possible to perform arbitrary centering operations and arbitrary gripping, supporting, and opening in the three-dimensional direction. Section, means for controlling the centering section, external equipment, communication with workers, dialogue, means for synchronous operation, input / output of shape information / balance information, and means for quantifying, formulating and calculating, arbitrary centering method Comprised of means for expressing and calculating in the form of numerically operable polynomials, matrices, etc., calculating based on this alignment method to obtain a virtual reference plane, enabling alignment and positioning in the three-dimensional direction according to it, and processing When the cross section of the object is circular or non-circular, three-dimensional centering, positioning, and gripping based on any centering method are possible regardless of the presence or absence of axial bending or deformation and dynamic imbalance. Tertiary characterized by Aligning the gripping device.