JPH1133909A - Rotary pressing device - Google Patents

Abstract

(57) [Summary] [PROBLEMS] In a rotary pressing device such as a grinding device, it is possible to reduce labor of the work and to improve the work quality. A motor for applying a rotational force to a rotary grinding wheel, a motor for applying a pressing force to the grinding wheel, a torque sensor for detecting the rotational force, and detecting the pressing force. Load cell 12 and torque sensor 11
And a controller 15 for controlling the rotational force and the pressing force applied to the grinding wheel 10 by the motors 9 and 5 based on the detection result by the load cell 12.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotary pressing device, and more particularly to a rotary device, such as a grinding device having a rotary grinding wheel, a deburring device by buffing, a screw fastening device, and a screw-in type lid. And a rotary pressing device such as a capping device.

[0002]

2. Description of the Related Art For example, in the grinding operation using the above-described grinding device and the deburring operation using a deburring device, conventionally, empirical operations such as visual observation and management of operation time have been mainly performed. Although automatic machines that automate these operations have been proposed, even in such a case, it is customary to manage the operation quality of the grinding operation based on operation time management and the like.

[0003]

However, such empirical work is poor in labor saving effect, and it is difficult to obtain a certain level of work quality in work based on indirect data management. There is a problem.

[0004] Therefore, an object of the present invention is to solve such a problem and to save labor and improve the work quality of a rotary pressing device such as a grinding device.

[0005]

In order to achieve this object, the present invention comprises means for applying a rotational force to an object, means for applying a pressing force to the object, and means for detecting the rotational force. Controlling the rotational force and the pressing force applied to the object by the rotational force applying means and the pressing force applying means based on the detection results by the means for detecting the pressing force and the rotational force detecting means and the pressing force detecting means. Means.

[0006] With such a configuration, while the rotational force and the pressing force applied to the object are detected by the respective detecting means,
Since the rotational force and the pressing force are controlled by the control means, the work can be automated. Further, since the data of the rotational force and the pressing force is directly detected and managed, the work quality can be improved based on these data.

[0007]

FIG. 1 shows an example of a grinding device which is a rotary pressing device according to an embodiment of the present invention. Here, reference numeral 1 denotes a grinding work, which is fixed on the table 2. Reference numeral 3 denotes a feed device, which includes a ball screw 4 arranged in a direction perpendicular to the surface of the table 2 and a feed motor 5 for rotating the ball screw 4. Reference numeral 7 denotes a grinding unit having a moving body 8 to which feed is given by the ball screw 4. The moving body 8 is provided with a grinding wheel rotating motor 9 and a grinding wheel 10 capable of grinding the work 1 by being rotationally driven by the motor 9.

A torque sensor 11 is provided in a power transmission path between the motor 9 and the grinding wheel 10. The torque sensor 11 is composed of a magnetostrictive torque sensor or another torque detecting device, and can detect a rotational force, that is, a torque applied to the grinding wheel 10 from the motor 9. The motor 9, the torque sensor 11, and the grinding wheel 10 are connected to a moving body 8 via a load cell 12 as a pressing force detecting means.
Attached to. Thereby, the pressing force when the feed device 3 moves the moving body 8 to press the grinding wheel 10 against the work 1 can be detected. The pressing force can be detected by other appropriate means instead of the load cell 12.

Reference numeral 13 denotes a limit switch which is operated by the moving body 8 to detect that the grinding wheel 10 moving integrally with the moving body has approached the work 1.
Note that the same detection can be performed by a rotary encoder or the like linked to the feed motor 5 or the ball screw 4 instead of the limit switch.

Reference numeral 15 denotes a controller as control means.
A signal can be exchanged with the feed motor 5 of the feed device 3 and a signal can be exchanged with the grinding unit 7.

FIG. 2 shows the configuration of the controller 15. The controller 15 includes an input / output unit 16 and a signal processing unit 1.
7, setting unit 18, storage unit 19, motor control unit 20
And The input / output unit 16 is connected to the limit switch 13, the load cell 12, and the torque sensor 11. The input / output unit 16 is also connected to the display unit 21. The motor control unit 20 is connected to the feed motor 5 and the grinding wheel rotating motor 9.

Next, the grinding operation will be described. Motor 9
By driving the feed device 3 by the motor 5 to feed the grinding unit 7 while rotating the grinding wheel 10, the workpiece 1 can be ground by pressing the grinding wheel 10 against the workpiece 1. At this time, the torque sensor 11 detects the rotational force, that is, the grinding torque, and the load cell 12 detects the pressing force. Based on these detection results, the controller 15 controls the motors 5 and 9 so that the motor 5 and 9 are controlled under appropriate conditions. Grinding work becomes possible. Accordingly, the work can be performed automatically, and since the pressing force and the grinding torque are directly detected, the work quality can be improved, and the life of the grindstone 10 can be improved.

That is, the motor 5 of the feed device 3 is controlled so as to have a constant and appropriate pressing force set according to the type of the work 1 and the grindstone 10. Further, the motor 9 for rotating the grinding wheel is controlled so that the number of rotations is set appropriately according to the types of the work 1 and the grinding wheel 10.

At this time, the signal processing unit 17 of the controller 15 processes the signals input from the torque sensor 11 and the load cell 12, and particularly, by performing a filtering process on the signal from the torque sensor 11, the noise is likely to be included. Performs smoothing of the torque waveform. Further, the wear state of the grinding wheel 10 is determined by monitoring the torque waveform. That is, when the load cell 12 detects that a predetermined pressing force is applied by the feed device 3, and when the grinding wheel 10 is normal when the grinding wheel rotation motor 9 is rotating at a predetermined rotation speed, The torque corresponding to the torque is detected by the torque sensor 11. On the other hand, if the rotating grindstone 10 is worn beyond the limit, the friction between the grindstone 10 and the work 1 is reduced, and such torque cannot be detected. Thus, it is determined whether the grinding wheel 10 is normal or abnormal due to increased wear. The signal processing unit 17 can perform statistical processing on the input signal.

The torque level serving as a criterion for judging whether the rotary grinding wheel 10 is good or bad is determined by a setting unit 18 of the controller 15.
Is set to In addition, the judgment of good / bad is based on the whetstone 10
Is effective at the time when the first contact with the work 1.

The start and end of the grinding operation are performed as follows. That is, in FIG. 3, M _F represents the speed of the feed motor 5, LS is a limit switch 13
, LC represents the output of the load cell 12, and TS represents the output of the torque sensor 11. First, while the grinding wheel 10 is rotated by the motor 9, the moving body 8 is moved in the direction approaching the work 1 by the feed device 3. At this time, the feed motor 5 is rotated at a high speed as shown in FIG. Reduce cutting time.

When the grindstone 10 approaches the work 1, the moving body 8 activates the limit switch 13 correspondingly. Then, based on the signal from the limit switch 13, the speed of the feed motor 5 is reduced by the controller 15, and the grindstone 10 is made to approach the work 1 at a very low speed.

When the grindstone 10 moving at a very low speed comes into contact with the work 1, a pressing force is generated, an output appears on the load cell 12, and the grinding torque is monitored by the torque sensor 11. Then, at this time, it is determined whether the rotary grindstone 10 is good or bad. During the grinding, the feed motor 5 is controlled by the controller 15 so that the grinding wheel rotating motor 9 is rotated at a constant rotation speed and the pressing force of the grinding wheel 10, that is, the output of the load cell 12, is kept constant.

When the grinding operation is completed, the grinding torque, that is, the output of the torque sensor 11 decreases accordingly. Therefore, when the output falls below a certain threshold value, the feed motor 5 is rotated in the reverse direction, and the grinding wheel 10 is rotated.
The grinding unit 7 provided with is retracted. According to this retreat operation, the output of the load cell 12 becomes zero, and the output of the limit switch 13 is also turned off.

The setting section 18 of the controller 15 controls the high-speed moving speed at the time of the air cut, the low-speed moving speed when approaching the workpiece 1, and the torque level for determining the completion of grinding. Set the threshold value, etc.

The storage unit 19 of the controller 15 stores the various set values set by the setting unit 18 as described above. Further, it also stores grinding information and the like for changing various setting values according to the type of the work 1. At this time, in accordance with the types of the work 1 and the grindstone 10, the pressing force, the number of rotations of the grindstone, the threshold value for determining the completion of the grinding, and the like are set, stored, and controlled for a plurality of types. .

The display unit 21 displays the results of the above-mentioned series of grinding operations as good / bad, the number of grinding operations, and the time required. It also displays error information. This abnormality information includes, for example, information on defective / exchanged whetstones, information on device abnormalities,
There is information on abnormal grinding operation time. That is, when it is determined that the grindstone 10 is worn and defective, a message to that effect is displayed and a display for prompting the replacement of the grindstone 10 is performed. Further, when an abnormality occurs in the motors 5 and 9 or when a failure occurs in the torque sensor 11 or the limit switch 13, the determination is easy, and based on the determination, the fact is displayed. If the types of the work 1 and the grindstone 10 are determined, a standard grinding operation time is empirically obtained. If there is an abnormality such as an extremely long grinding operation time, the fact is displayed.

The feed device 3 is not limited to the one-dimensional direction as described above, but may be a two-dimensional direction or a three-dimensional direction. Further, the grinding wheel rotating motor 9 can perform not only the normal rotation but also the reverse rotation, and the regular rotation, that is, the normal rotation and the reverse rotation are performed periodically, so that the uneven wear of the grinding wheel 10 can be prevented. Further, in the above description, the work 1 is attached to the fixed table 2, but it may be attached to a turntable.

In the above description, a grinding device provided with a rotary grinding wheel has been described as an example. However, the rotary pressing device of the present invention may also include the above-described deburring device, screw tightening device, capping device, and the like. And the like can be similarly applied.

[0025]

As described above, according to the present invention, the rotational force and the pressing force applied to the object are detected by the respective detecting means, and the rotational force and the pressing force are controlled by the control means. Can be automated, and since the data of the rotational force and the pressing force are directly detected and managed, the work quality can be improved based on these data, and further, the rotational force and the pressing force can be improved. Can be selected appropriately, so the life of the grinding wheel can be improved

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram illustrating an example of a grinding device that is a rotary pressing device according to an embodiment of the present invention.

FIG. 2 is a diagram illustrating a configuration of a controller in FIG. 1;

FIG. 3 is a time chart illustrating a control operation of the apparatus of FIG. 1;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Grinding work 5 Feed motor 9 Grinding wheel rotation motor 10 Grinding wheel 11 Torque sensor 12 Load cell 13 Limit switch 15 Controller

Claims (6)

[Claims] A means for applying a rotational force to the object; a means for applying a pressing force to the object; a means for detecting the rotational force; a means for detecting the pressing force; Means for controlling the rotational force and the pressing force applied to the object by the rotating force applying means and the pressing force applying means based on the detection result by the means and the pressing force detecting means. 2. The method according to claim 1, wherein the torque applying means and the pressing force applying means each use a motor as a drive source, the torque detecting means is a torque sensor, and the pressing force detecting means is a load cell. Rotary pressing device. 3. A grinding device comprising a grinding unit and a feed device for applying a pressing force accompanying feed to the grinding unit, wherein the grinding unit applies a grinding wheel and a rotational force to the grinding wheel. Rotary drive source, a torque sensor for detecting a rotational force applied to the grinding wheel from the rotary drive source, and a pressing force detecting means for detecting a pressing force applied to the grinding wheel from the feed device via a grinding unit. The rotary pressing device according to claim 1, comprising: 4. The rotary pressing device according to claim 3, wherein the control means is configured to determine the end of grinding based on a signal from the torque sensor. 5. The control unit determines that a defect such as wear has occurred in the grinding wheel when the torque sensor does not detect a predetermined grinding rotational force while the pressing force detection unit detects a predetermined pressing force. The rotation pressing device according to claim 3, wherein the rotation pressing device is configured to make a determination. 6. A means for detecting that the grinding wheel has approached the workpiece, wherein the control means causes the feed unit to apply high-speed feed to the grinding unit until the grinding wheel approaches the workpiece. The method according to any one of claims 3 to 5, wherein when it is detected that the grindstone approaches the workpiece, a low-speed feed is applied until the grinding wheel comes into contact with the workpiece. Rotary pressing device.