JPH1058285A - Automatic scraping device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a scraping process of a finish surface automatically with good quality. SOLUTION: A table 2 on which a work to be processed 1 is fixed, is supported on a saddle 4 with possibility of being located about the X-direction, and the saddle 4 is supported on a bed 7 in such a way as capable of being located about the Z-direction. A support 12 is installed on a column 18 in such a way as capable of being located about the Y-direction, and a spindle head 11 is borne by the support 12 with possibility of tilting within the Y-Z plane. On the spindle 16 a machining tool 17 is held to make a scraping process of a finish surface 1a and is driven in the cut-in direction by a driving mechanism 15. A pressure measuring gauge to measure the processing resistance of the tool 17 is installed in the driving mechanism 15, and a CCD camera 22 to image- pickup the finish surface 1a is installed on the support 12. An NC device 30 controls the driving mechanism 15 so that the processing resistance becomes the numerical value previously determined in accordance with the color or gradation of the finish surface 1a.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for automatically scraping a finished surface of a workpiece.

[0002]

2. Description of the Related Art Conventional scraping processing has been performed manually in the following procedure. First, a special paint is applied to the finished surface or the reference surface, and the finished surface is rubbed against the reference surface. Next, the paint on the finished surface is visually checked to determine a processing portion, and this portion is removed using a scraping tool. Thereafter, the paint is applied again, and the processed portion is determined and removed. This series of operations is repeated until the entire finished surface comes into contact with the reference surface.

[0003]

However, manual scraping is a delicate repetition of work, and therefore places a heavy physical burden on the operator. In particular, the removal using a scraping tool is a work requiring skill, and there is a problem that the quality of the scraping surface is likely to vary greatly depending on the degree of the removal.

An object of the present invention is to provide an apparatus capable of automatically scraping a finished surface with stable quality.

[0005]

In order to solve the above-mentioned problems, an automatic scraping apparatus according to the present invention comprises a table for fixing a workpiece, a tool for scraping a finished surface of the workpiece, and a tool. A mechanism for positioning the finishing surface at an arbitrary position, a mechanism for driving the tool in the cutting direction, a unit for imaging the finishing surface to identify its color or gradation, a unit for measuring the machining resistance of the tool, and a machining resistance And means for controlling the drive mechanism so that the numerical value is a predetermined value according to the color or gradation of the finished surface.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. As shown in FIG. 1, the automatic scraping apparatus includes a table 2 on which a workpiece 1 is fixed by an automatic chuck 3 with a finished surface 1a facing upward. The table 2 is supported on a saddle 4 and is positioned at an arbitrary position in the X direction (a direction perpendicular to the paper surface) along a guide 5 via a ball screw 6 by a servomotor (not shown). The saddle 4 is supported on a bed 7, and is positioned at an arbitrary position in the Z direction along a guide 8 via a ball screw 9 by a servomotor 10. Column 7 in bed 7
8, the support 12 is supported on the column 18,
Guide 1 via ball screw 20 by servo motor 21
9 and is positioned at an arbitrary position in the Y direction.

A spindle head 11 is supported by a support 12 via a beam 13 by a shaft 14 so as to be rotatable around an X-axis.
It is tilted to an arbitrary angle position in the YZ plane by the drive mechanism 15. The spindle head 11 is provided with a spindle 16 and a spindle drive motor (not shown), and the spindle 16 holds a cutting tool 17 for scraping the finished surface 1a. The cutting tool 17 is positioned at an arbitrary position in the X, Z, and Y directions with respect to the finished surface 1 a by a positioning mechanism including the table 2, the saddle 4, and the support 12, and is driven by the driving mechanism 15 in the cutting direction. The support 12 is provided with a CCD camera 22 capable of automatically adjusting the focal length. C
The imaging range of the CD camera 22 alone does not necessarily need to cover the entire finished surface 1a, and the table 2 and the support 1
By associating the data of the relative position 2 with the image data of the CCD camera 22 and moving the table 2 and the support 12 relative to each other as necessary, it is possible to image the entire finished surface 1a. This enables imaging at a relatively high resolution. Therefore, the entire surface 1a is imaged by the CCD camera 22 as the table 2 moves, and the image data is converted into a digital signal so that the color or gradation of the surface 1a can be identified.

The driving mechanism 15 is configured as shown in FIGS. A block 24 is rotatably supported on the spindle head 11 by a shaft 23, and a ball screw 26 is fixed to the block 24 via a pressure gauge 25.
A servomotor 28 is rotatably supported on the support 12 by a shaft 29, and an upper end portion of a ball screw 26 penetrates the motor 28, and a nut 27 screwed to the ball screw 26 is connected to the servomotor 28. . During the scraping process, the nut 27 is rotated by the motor 28 and the ball screw 2 is rotated.
6, the spindle head 11 is tilted downward, and the cutting tool 17 is pressed against the finished surface 1a. At this time, the processing resistance acting on the cutting tool 17 is amplified by a magnification corresponding to the take-out length of the tool 17 and measured by the pressure gauge 25. The pressure measuring element 25 and the CCD camera 22 are connected to the NC device 30 (see FIG. 1), respectively.
The NC device 30 controls the servo motor 28 of the drive mechanism 15 so that the processing resistance of No. 7 becomes a predetermined numerical value according to the color or gradation of the finished surface 1a.

Next, the operation of the automatic scraping device configured as described above will be described. First, the workpiece 1 having been rubbed with the reference surface is fixed on the table 2 with the finished surface 1a facing upward. Next, the entire surface 1a is imaged by the CCD camera 22, and the color or gradation of the paint adhering to the surface 1a is identified. And C
Based on the image data of the CD camera 22, the cutting part and the cutting amount are obtained by the NC device 30. In this case, N
The C device 30 stores in advance a database constructed based on information of scraping work by a skilled worker, or a processing algorithm of an image pattern of an expert system or the like, and calculates a cutting part and a cutting amount using these.

Subsequently, the table 2, the saddle 4, and the support 12 are controlled to move according to the calculation result of the cutting portion, and the cutting tool 17 is positioned with respect to the finished surface 1a. Next, the cutting tool 17 is driven in the cutting direction by the drive mechanism 15 according to the calculation result of the cutting amount, and the working resistance of the tool 17 is measured by the pressure gauge 25. Then, the servomotor 28 is feedback-controlled based on the signal of the pressure gauge 25, and the finished surface 1a is scraped by the cutting tool 17 with an optimum cutting amount according to its color or gradation. During the scraping process, the CCD camera 22 continues to capture an image, and performs correction processing such as correcting a positioning error based on a change in the shape of the finished surface 1a due to the cutting or changing the cutting amount. Thus, when the processing of each part of the finished surface 1a is completed, the workpiece 1 is removed from the table 2,
The series of steps described above are repeated until the surface is rubbed again with the reference surface and the required accuracy is reached.

The present invention is not limited to the above embodiment, but can be implemented by appropriately changing the configuration of each unit as exemplified below. (1) Use a rotatable grinding tool as the scraping tool. (2) Use a non-rotating sliding tool as the scraping tool. (3) The spindle head 11 is omitted, and the tool is directly attached to the support 12. In this case, since it is difficult to amplify the processing resistance, a pressure measuring element having a high resolution is used. (4) Using a fluid pressure cylinder for the drive mechanism 15 and adjusting the fluid pressure or flow rate to control the cutting depth of the tool. (5) To control the depth of cut by adjusting the rotational force of the tool. (6) The imaging range of the CCD camera 22 alone is
By mounting two types of CCD cameras, i.e., a CCD camera that covers the area a, and a CCD camera for imaging a part of the finished surface 1a, the imaging time can be reduced while maintaining the imaging accuracy. (7) The image processing algorithm is provided with a learning function or a fuzzy inference function to enable more accurate scraping. (8) The relative distance between the finished surface 1a and the support 12 is calculated based on the information of the automatic focusing function of the CCD camera 22, and the Y direction position of the support 12 with respect to the finished surface 1a is properly positioned. (9) Correcting the cutting amount by registering the shape of the finished surface 1a in the control device in advance and comparing the data captured by the CCD camera with the previously registered data.

[0012]

As described in detail above, according to the present invention,
While imaging the finished surface, measure the machining resistance of the tool,
Since the tool driving mechanism is controlled so that the processing resistance has a predetermined value according to the color or gradation of the finished surface, there is an excellent effect that the finished surface can be automatically scraped with stable quality. .

[Brief description of the drawings]

FIG. 1 is a schematic view of an automatic scraping apparatus showing one embodiment of the present invention.

FIG. 2 is a sectional view showing a tool driving mechanism of the apparatus.

FIG. 3 is a sectional view taken along line AA of FIG. 2;

[Explanation of symbols]

1. Workpiece, 1a ... Finished surface, 2 ... Table, 4
..Saddle, 7 ... Bed, 11 ... Spindle head, 12 ...
Support, 15 drive mechanism, 16 spindle, 17 cutting tool, 18 column, 22 CCD camera, 25
..Pressure gauge, 28..servo motor, 30..NC
apparatus.

Claims (1)

[Claims] 1. A table for fixing a workpiece, a tool for scraping a finished surface of the workpiece, a mechanism for positioning the tool at an arbitrary position on the finished surface, a mechanism for driving the tool in a cutting direction, Means for imaging the finished surface to identify its color or gradation, means for measuring the processing resistance of the tool, and the processing resistance so that the processing resistance becomes a predetermined value according to the color or gradation of the finished surface. An automatic scraping device comprising: means for controlling a driving mechanism.