JPH043808B2 - - Google Patents
Info
- Publication number
- JPH043808B2 JPH043808B2 JP60046979A JP4697985A JPH043808B2 JP H043808 B2 JPH043808 B2 JP H043808B2 JP 60046979 A JP60046979 A JP 60046979A JP 4697985 A JP4697985 A JP 4697985A JP H043808 B2 JPH043808 B2 JP H043808B2
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- stylus
- polishing
- free
- grindstone
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000005498 polishing Methods 0.000 description 19
- 241001422033 Thestylus Species 0.000 description 17
- 238000005259 measurement Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 238000007517 polishing process Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 230000010349 pulsation Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000007730 finishing process Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/28—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring contours or curvatures
- G01B7/287—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring contours or curvatures using a plurality of fixed, simultaneously operating transducers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/34—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring roughness or irregularity of surfaces
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Description
【発明の詳細な説明】
産業上の利用分野
本発明はワーク表面の法線方向とうねりの同時
測定装置に関するものであり、更に詳しくは、ワ
ーク、例えばプレス金型の切削加工後、該プレス
金型の表面に残存しているピツクフイードマーク
（切削溝）を除去するための研磨加工に際し、プ
レス金型の表面の法線方向とうねりを同時に測定
する研磨準備装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a device for simultaneously measuring the normal direction and waviness of a workpiece surface. This invention relates to a polishing preparation device that simultaneously measures the normal direction and waviness of the surface of a press mold during polishing to remove pickfeed marks (cutting grooves) remaining on the surface of the mold.
従来の技術
自由曲面を有するワーク、例えば自動車のフエ
ンダやドア等を成形するためのプレス金型は、切
削加工によつて荒仕上げを施した後、ボールエン
ドミル等の切削工具によつてワークの表面に生じ
たピツクフイードマーク（切削溝）をヤスリ等の
手動工具を使用して取り除いている。このような
手作業によるワーク表面の研磨仕上げ加工は、作
業者の熟練度によつて寸法精度が大きな影響を受
け、また長時間を要するため、最終製品の品質向
上やプレス金型のコストの低減を図る上に多くの
障害を付随せしめている。Conventional technology A press mold for forming a workpiece having a free-form surface, such as an automobile fender or door, is rough-finished by cutting, and then the surface of the workpiece is cut using a cutting tool such as a ball end mill. Pickfeed marks (cutting grooves) that occur on the machine are removed using a hand tool such as a file. The dimensional accuracy of such manual polishing and finishing of the workpiece surface is greatly affected by the skill level of the worker, and it takes a long time, so it is important to improve the quality of the final product and reduce the cost of press molds. There are many obstacles to achieving this goal.
このような問題点を解決するため、近年、研磨
仕上げ工程の自動化手段が種々研究されつつあ
る。 In order to solve these problems, various methods of automating the polishing process have been studied in recent years.
発明が解決しようとする問題点
このような研磨仕上げ工程の自動化方法に於い
て、ワークの寸法精度を所定の水準に維持すると
共に工程の生産性を向上させるためには、研磨用
砥石とワークとの接触状態を常時モニタリング
し、最適な研磨条件を持続させる必要がある。研
磨仕上げ工程の生産性を向上させるためには、ワ
ークに対して研磨砥石が面接触の状態に置かれて
いることが望ましく、斯かる機能の付与手段とし
て第６図Ａに示すように、砥石自体に適度の弾性
を持たせ該砥石の弾性変形によつて面接触状態を
作り出すか、あるいは第６図Ｂに示すように、砥
石の軸線がワークの表面に対して法線を形成する
ように砥石の支持姿勢を制御する方法が採用され
ている。第６図Ｃに示すようにワークの表面に対
して砥石を点接触させ乍ら研磨仕上げ加工を施す
と、実質的な研磨面積が制約されていることに起
因して研磨効率が大幅に低下する。しかしなが
ら、第６図Ａに見られるような砥石の弾性変形を
利用する研磨仕上げ方法に於いては、ワークの表
面に掛かる砥石の圧力が、該砥石の弾性の不均一
のために一定にならず、このためワークの表面形
状の再現性が低下する。これに対し第６図Ｂに示
す方法では、ワークに対して砥石を常時面接触状
態に保持することが理論的には可能であるもの
の、砥石の軸線がワークの表面に対して正確に法
線方向を指向しているか否かを検出することが実
際問題として容易でなく、この点に実用上の難点
が認められていた。Problems to be Solved by the Invention In this method of automating the polishing and finishing process, in order to maintain the dimensional accuracy of the workpiece at a predetermined level and improve the productivity of the process, it is necessary to It is necessary to constantly monitor the contact status of the polishing material and maintain optimal polishing conditions. In order to improve the productivity of the polishing and finishing process, it is desirable that the polishing wheel be placed in surface contact with the workpiece. Either the grinding wheel itself has appropriate elasticity and elastic deformation creates a surface contact state, or the axis of the grinding wheel forms a normal line to the surface of the workpiece, as shown in Figure 6B. A method of controlling the supporting posture of the grinding wheel is adopted. As shown in Figure 6C, if polishing is performed while the grindstone is in point contact with the surface of the workpiece, the polishing efficiency will drop significantly due to the fact that the actual polishing area is restricted. . However, in the polishing method that utilizes the elastic deformation of the grindstone as shown in Figure 6A, the pressure of the grindstone applied to the surface of the workpiece is not constant due to the uneven elasticity of the grindstone. , This reduces the reproducibility of the surface shape of the workpiece. On the other hand, with the method shown in Figure 6B, although it is theoretically possible to maintain the grindstone in surface contact with the workpiece at all times, the axis of the grindstone is not exactly normal to the surface of the workpiece. In practice, it is not easy to detect whether or not the vehicle is pointing in a certain direction, and this point has been recognized as a practical difficulty.
本発明の主要な目的は、自由曲面を有するワー
クの研磨仕上げ加工に於いて問題となつていた、
ワーク表面に対する砥石の軸線方向の制御に好適
な、ワーク表面の法線方向の測定装置を提供する
ことにある。 The main object of the present invention is to solve the problems that have arisen in polishing and finishing workpieces having free-form surfaces.
An object of the present invention is to provide a measuring device for measuring the normal direction of a workpiece surface, which is suitable for controlling the axial direction of a grindstone with respect to the workpiece surface.
本発明の他の主要な目的は、ワーク表面に残存
しているピツクフイードマーク（切削溝）の除去
に好適な、自由曲面上のうねりの測定装置を提供
することにある。 Another main object of the present invention is to provide an apparatus for measuring waviness on a free-form surface, which is suitable for removing pickfeed marks (cutting grooves) remaining on the surface of a workpiece.
本発明の更に異なれる主要な目的は、ワーク表
面の法線方向とうねりとを同時に測定することの
できる、測定精度の向上と測定時間の短縮に好適
な同時測定装置を提供することにある。 Another main object of the present invention is to provide a simultaneous measurement device that is capable of simultaneously measuring the normal direction and waviness of a workpiece surface and is suitable for improving measurement accuracy and shortening measurement time.
問題点を解決するための手段
斯かる目的に鑑みて本発明は、直径Ｄなる同一
円周上に直交配置され、且つ、前記円周に沿つて
相対位置を変化せしめることなく同時回転し得る
ように支持された４本のセンサ１，１……と、該
センサに接続された低域通過フイルタ２，２……
ならびに高域通過フイルタ３，３……とからなる
ワーク表面の法線方向とうねりの同時測定装置を
要旨とするものである。Means for Solving the Problems In view of the above object, the present invention provides two orthogonal structures that are arranged orthogonally on the same circumference having a diameter D and that can rotate simultaneously without changing their relative positions along the circumference. Four sensors 1, 1... supported by and low pass filters 2, 2... connected to the sensors.
The gist of the present invention is to provide a device for simultaneously measuring the normal direction and waviness of the surface of a workpiece, which comprises high-pass filters 3, 3, . . . .
実施例
第１図は本発明装置の全体構造を例示するブロ
ツク線図であり、第２図および第３図はセンサ本
体１０の細部構造を例示する正面図および底面図
である。Embodiment FIG. 1 is a block diagram illustrating the overall structure of the device of the present invention, and FIGS. 2 and 3 are front and bottom views illustrating the detailed structure of the sensor body 10.
これらの図面に見られるように本発明装置は、
センサユニツト１０と、該センサユニツト１０に
回転自在に取付けられた４本のセンサ１，１……
のそれぞれに接続された低域通過フイルタ２，２
……および高域通過フイルタ３，３……、ならび
にこれらのフイルタを通してセンサ１，１……か
ら送出される法線方向の検出信号を出力信号に変
換するための信号処理装置２０から構成されてい
る。 As seen in these drawings, the device of the present invention has the following features:
A sensor unit 10 and four sensors 1, 1... rotatably attached to the sensor unit 10.
low-pass filters 2, 2 connected to each of the
..., high-pass filters 3, 3..., and a signal processing device 20 for converting the detection signals in the normal direction sent from the sensors 1, 1... through these filters into output signals There is.
センサユニツト１０は、モータ４、該モータの
回転駆動力をベベルギヤ６，７を介してセンサ
１，１……に伝達するための回転駆動機構８、ガ
イド５によつて回動経路を規制された状態で直径
Ｄなる同一円周上に触針１Ａ，１Ｂ，１Ｃおよび
１Ｄを所定の位相角（本実施例に於いては90゜）
維持下に配置してなるセンサ１，１……から構成
されている。図示する実施態様に於いては、ワー
ク１５の表面に立てた法線の方向を、２個の触
針、例えば触針１Ａと１Ｂによつて平面（Ｘ−
Ｚ）に沿う高さの差Ｈとして検出するため、直径
Ｄなる円周上に180゜の位相差を置いて前記触針１
Ａと１Ｂを対向配置している。また、ワーク１５
の表面に立てた法線の方向を、前記平面（Ｘ−
Ｚ）と直交する平面（Ｙ−Ｚ）に沿う高さの差と
して検出するため、前記触針１Ａ，１Ｂの軸心を
結ぶ直線に対して直交するように触針１Ｃと１Ｄ
を対向配置している。 The rotation path of the sensor unit 10 is regulated by a motor 4, a rotational drive mechanism 8 for transmitting the rotational driving force of the motor to the sensors 1, 1, . . . via bevel gears 6, 7, and a guide 5. In this state, the stylus 1A, 1B, 1C, and 1D are placed on the same circumference with a diameter D at a predetermined phase angle (90° in this example).
It is composed of sensors 1, 1, . . . arranged under maintenance. In the illustrated embodiment, the direction of the normal line erected on the surface of the workpiece 15 is set on a plane (X-
In order to detect the height difference H along the axis Z), the stylus 1 is placed with a phase difference of 180° on the circumference of the diameter D.
A and 1B are placed facing each other. Also, work 15
The direction of the normal line on the surface of the plane (X-
In order to detect the difference in height along the plane (Y-Z) perpendicular to the stylus 1A and 1B, the stylus 1C and 1D are aligned perpendicularly to the straight line connecting the axes of the stylus 1A and 1B.
are placed facing each other.
先端に触針１Ａ，１Ｂ，１Ｃおよび１Ｄを装着
した４本のセンサ１，１……は、回転ユニツト８
に対して一定の相対位置を維持して固定され、且
つ、ボールエンドミル等の切削工具によつてワー
ク１５の表面に生じたピツクフイードマーク（切
削溝）の影響を軽減するため、回転駆動機構８の
ベベルギヤ６，７を介して回転自在に支承されて
おり、直径Ｄなる円周上で所定角度θだけ回転し
ながらワーク１５の自由曲面に沿つて移動し得る
ように構成されている。更に詳しく説明すると、
センサ１，１……の触針をワーク１５の自由曲面
に接触させた際に、該触針がピツクフイードマー
クの凸部に当接しているか凹部に当接しているか
によつてセンサ１，１，……によつて計測される
示差Ｈは変動する。しかしながら、ピツクフイー
ドマークにはワーク切削時のカツタ、例えばボー
ルエンドミルの送りの周期性が表れているのが普
通であるから、前記触針１Ａ，１Ｂ，１Ｃおよび
１Ｄを第２図に於いて参照符号Ｄで示す円周上で
一定角度、例えば触針１Ａに隣接配置された触針
１Ｃまたは１Ｄが回転駆動機構８の回転により回
転前に触針１Ａが占めていた位置に到達し得るよ
うに90゜だけ正方向または逆方向に回転させなが
らワーク１５の自由曲面に沿つて移動させ、個々
のセンサ１，１……の読みを平均化することによ
つて、ピツクフイードマークの影響を可及的に減
少せしめた計測条件を取得することができる。 Four sensors 1, 1, .
The rotary drive mechanism is fixed to maintain a constant relative position to the workpiece 15, and in order to reduce the influence of pick feed marks (cutting grooves) generated on the surface of the workpiece 15 by a cutting tool such as a ball end mill. It is rotatably supported via bevel gears 6 and 7 of No. 8, and is configured to be able to move along the free-form surface of the workpiece 15 while rotating by a predetermined angle θ on a circumference having a diameter D. To explain in more detail,
When the stylus of the sensor 1, 1... is brought into contact with the free-form surface of the workpiece 15, the sensor 1, 1, etc. The differential H measured by 1, . . . varies. However, since the pick feed mark usually shows the periodicity of the feed of a cutter, such as a ball end mill, when cutting a workpiece, the stylus 1A, 1B, 1C, and 1D are shown in FIG. For example, the stylus 1C or 1D arranged adjacent to the stylus 1A at a certain angle on the circumference indicated by reference numeral D can reach the position occupied by the stylus 1A before rotation by the rotation of the rotary drive mechanism 8. By moving the workpiece 15 along the free-form surface while rotating it by 90 degrees in the forward or reverse direction, and averaging the readings of the individual sensors 1, 1..., the influence of the pick feed mark can be eliminated. It is possible to obtain measurement conditions that are reduced as much as possible.
ここで、第４図に見られるように、センサ１，
１……の４本の触針１Ａ，１Ｂ，１Ｃおよび１Ｄ
がワーク１５の自由曲面に接触しているとき、直
径Ｄなる円周上で対角線上に配置された２本の触
針１Ａおよび１Ｂによつて計測される平面（Ｘ−
Ｚ）方向のワーク１５の自由曲面は、ｙ＝ｆ（ｘ）
として表示される２次曲線を形成する。触針１
Ａ，１Ｂがｙ＝ｆ（ｘ）で表示されるワーク１５
の表面に接触すると、前記触針１Ａと１Ｂの間に
示差Ｈが生じる。ここに於いて触針１Ａと触針１
Ｂとの間隔、つまり前記円の直径Ｄが、ワーク１
５の自由曲面の曲率に対して充分に小さくなるよ
うに選定されていれば、触針１Ａと触針１Ｂの間
の自由曲面は、ｙ＝axなる直線と見倣すことが
できる。この条件が満足されるならば、第４図に
於いて触針１Ａ，１Ｂで挾まれた線分の勾配ａ
は、下記式で与えられる。 Here, as seen in FIG.
1... four stylus 1A, 1B, 1C and 1D
is in contact with the free-form surface of the workpiece 15, the plane (X-
The free-form surface of the workpiece 15 in the Z) direction is y=f(x)
form a quadratic curve displayed as . Stylus 1
Work 15 where A and 1B are displayed as y=f(x)
When the stylus contacts the surface of the stylus, a differential H occurs between the stylus 1A and 1B. Here, stylus 1A and stylus 1
B, that is, the diameter D of the circle is the workpiece 1
If the curvature is selected to be sufficiently smaller than the curvature of the free-form surface of 5, the free-form surface between the stylus 1A and the stylus 1B can be regarded as a straight line where y=ax. If this condition is satisfied, the slope a of the line between the stylus 1A and 1B in FIG.
is given by the following formula.
ａ＝Ｈ／Ｄ ……
一方、ある曲線が与えられたとき、該曲線上の
任意の点（x1）に於ける法線の方向（Ｚ）は、下
記式で与えられる。 a=H/D... On the other hand, when a certain curve is given, the direction (Z) of the normal line at any point (x 1 ) on the curve is given by the following formula.
ｚ−ｆ（x1）＝１／f′（x1）（ｘ−x1） ……
上記式および式から、計測点（x1）に於け
る平面（Ｘ−Ｚ）に於ける法線（Ｚ）の方向は
Ｚ＝−１／ａｘ＋（１／ａ＋ａ）x1 ……
として算出することができる。 z-f (x 1 ) = 1/f' (x 1 ) (x-x 1 ) ... From the above formula and formula, the normal to the plane (X-Z) at the measurement point (x 1 ) The direction of (Z) can be calculated as Z=-1/ax+(1/a+a) x1 ...
第５図はセンサ１，１……の示差が、回転駆動
機構８の回転角θと共に変化する状態を触針１Ａ
および１Ｂの移動軌跡と関連付けて表示する直交
座標線図である。第５図に於いて回転駆動機構８
の回転角がθ／２であるときのセンサ１，１……
の計測値を読み取ると、該読み取り値が法線
（Ｚ）または（Ｙ）の方向を計算するのに必要な
センサの指示値となる。しかしながら、回転駆動
機構８の回転角がθ／２である計測点には、前記
ピツクフイードマークに起因する脈動が重疊して
いる。従つて、正確な指示値を読み取るためには
脈動の影響を排除する必要がある。このようなノ
イズの除去方法として数値処的な移動平均法が知
られているが、本発明装置に於いては電気的なノ
イズ除去手段として、第１図に見られるような高
域遮断フイルタ、つまり低域通過フイルタ２を
個々のセンサ１に対して１個づつ直列接続するこ
とによつて脈動除去回路を形成している。このよ
うにして、低域通過フイルタ２を介して触針１Ａ
と触針１Ｂの指示値の差｜１Ａ−１Ｂ｜、ならび
に触針１Ｃと触針１Ｄの指示値の差｜１Ｃ−１Ｄ
｜、つまり式に於けるＨの値を絶対値として読
み取ることによつて、信号処理装置２０に於いて
ピツクフイードマークの影響を取り除いた条件下
で計測点（x1）に於ける法線の方向を算出するこ
とができる。 FIG. 5 shows the state in which the differential between the sensors 1, 1... changes with the rotation angle θ of the rotational drive mechanism 8.
and 1B are orthogonal coordinate diagrams displayed in association with the movement locus. In FIG. 5, the rotational drive mechanism 8
When the rotation angle of is θ/2, sensors 1, 1...
When the measured value of is read, the read value becomes the sensor indication value necessary to calculate the direction of the normal (Z) or (Y). However, at the measurement point where the rotation angle of the rotary drive mechanism 8 is θ/2, pulsations caused by the pick feed mark are prevalent. Therefore, in order to read accurate indicated values, it is necessary to eliminate the influence of pulsation. A numerical moving average method is known as a method for removing such noise, but in the apparatus of the present invention, as an electrical noise removal means, a high-frequency cutoff filter as shown in FIG. That is, by connecting one low-pass filter 2 in series to each sensor 1, a pulsation removal circuit is formed. In this way, the stylus 1A passes through the low-pass filter 2.
The difference between the indicated values of stylus 1B and stylus 1B | 1A-1B | and the difference between the indicated values of stylus 1C and stylus 1D | 1C-1D
|, that is, by reading the value of H in the equation as an absolute value, the normal line at the measurement point (x 1 ) under the condition that the influence of the pick feed mark is removed in the signal processing device 20. The direction of can be calculated.
このようにして算出された法線の方向（Ｙ）お
よび（Ｚ）に基づいて、多関節ロボツト（図示省
略）の砥石回転軸の方向を補正し、砥石の軸線方
向を前記法線ＹおよびＺの方向と一致せしめた状
態を作り出す。斯くして、砥石の軸線をワーク１
５の自由曲面に立てた法線と一致せしめた理想的
な研磨条件が取得される。 Based on the directions (Y) and (Z) of the normal lines calculated in this way, the direction of the grinding wheel rotation axis of the articulated robot (not shown) is corrected, and the axial direction of the grinding wheel is adjusted to the normal lines Y and Z. Create a state that matches the direction of. In this way, the axis of the grindstone is aligned with workpiece 1.
Ideal polishing conditions that match the normal to the free-form surface of No. 5 are obtained.
一方、上記４本の触針１Ａ，１Ｂ，１Ｃおよび
１Ｄがピツクフイードマークの影響を受けるとい
う性質を利用してワーク１５の自由曲面の粗さを
測定することも可能である。即ち、前記法線の方
向の算出に際してはノイズとして取り除いていた
ピツクフイードマークに起因するうねり信号１
ａ，１ｂを、ワーク１５の表面の粗さを表示する
計測値として利用するものである。この場合に
は、前記計測点（x1）に於ける法線の方向を算出
するための自由曲面の勾配信号｜１Ａ−１Ｂ｜お
よび｜１Ｃ−１Ｄ｜は不要であるから第１図に示
す検出値の伝達経路を低減通過フイルタ２側から
高域通過フイルタ３側に切換え、ピツクフイード
マークに相当する高周波成分のみを信号処理装置
２０に送出する。 On the other hand, it is also possible to measure the roughness of the free-form surface of the workpiece 15 by utilizing the property that the four stylus 1A, 1B, 1C, and 1D are influenced by the pick feed mark. That is, the waviness signal 1 due to the pick feed mark, which was removed as noise when calculating the direction of the normal line, is
a and 1b are used as measurement values that indicate the roughness of the surface of the workpiece 15. In this case, the gradient signals |1A-1B| and |1C-1D| of the free-form surface for calculating the direction of the normal line at the measurement point (x 1 ) are unnecessary, so the gradient signals shown in FIG. The transmission path of the detected value is switched from the low pass filter 2 side to the high pass filter 3 side, and only the high frequency component corresponding to the pick feed mark is sent to the signal processing device 20.
斯くして本発明によれば、ワーク１５の自由曲
面に立てた法線に対して砥石の軸線が一致した効
率的な研磨姿勢を常時確保し得るのみならず、ワ
ーク１５の表面に残存しているピツクフイードマ
ークをも同時に除去し得る生産性の高い研磨加工
装置が構成される。 Thus, according to the present invention, not only can an efficient polishing posture in which the axis of the grindstone coincides with the normal line erected to the free-form surface of the workpiece 15 always be ensured, but also the grinding wheel remains on the surface of the workpiece 15. A highly productive polishing device that can simultaneously remove pick feed marks is constructed.
尚、上記実施例に於いては、先端に触針を備え
た接触形のセンサが使用されているが、代替手段
として無接点近接スイツチやエヤマイクロメータ
あるいはフオトダイオード等の非接触形センサを
使用することも可能である。 In the above embodiment, a contact type sensor with a stylus at the tip is used, but as an alternative, a non-contact type sensor such as a non-contact proximity switch, an air micrometer, or a photodiode can be used. It is also possible to do so.
発明の効果
以上の説明から理解し得る如く、本発明装置を
使用することによつてワークの自由曲面に立てた
法線の方向と、該自由曲面上に残存しているピツ
クフイードマークに起因するうねりの高さを同時
に計測することができる。従つて、これらの測定
値に基づいて砥石を軸支した多関節ロボツトの研
磨姿勢、より具体的には、ワークの自由曲面に対
する砥石回転軸の方向を補正することによつて、
砥石の回転軸を常にワークの自由曲面に対して法
線方向に指向せしめた効率的な研磨条件を持続す
ることができる。斯くして、本発明によれば、全
自動的な態様で迅速、且つ、正確な研磨加工が実
施されるから、従来プレス金型等の研磨仕上げ工
程で問題となつていた砥石の回転軸の方向制御の
困難性が全面的に排除される。また本発明装置を
使用することによつて、熟練作業員による手作業
的な研磨仕上げ加工を省略することができるか
ら、プレス金型のコスト低減に対しても注目すべ
き効果が発揮される。Effects of the Invention As can be understood from the above explanation, by using the device of the present invention, it is possible to change The height of the undulation can be measured at the same time. Therefore, by correcting the polishing posture of the articulated robot that pivots the grindstone based on these measured values, and more specifically, the direction of the grindstone rotation axis relative to the free-form surface of the workpiece,
Efficient polishing conditions can be maintained in which the rotation axis of the grindstone is always oriented in the normal direction to the free-form surface of the workpiece. Thus, according to the present invention, quick and accurate polishing is carried out in a fully automatic manner, which eliminates the problem of the rotation axis of the grindstone, which has conventionally been a problem in the polishing process of press molds, etc. Difficulties in directional control are completely eliminated. Furthermore, by using the apparatus of the present invention, manual polishing and finishing by skilled workers can be omitted, and therefore a remarkable effect is exhibited in reducing the cost of press dies.
第１図は本発明装置の全体構造を例示するブロ
ツク線図であり、第２図および第３図はセンサユ
ニツトの細部構造を例示する正面図および底面図
である。第４図は本発明装置の操作要領を説明す
る直交座標線図であり、第５図はセンサの示差と
回転駆動機構の回転角との関係を説明する直交座
標線図である。また第６図は、在来のワーク自由
曲面の研磨手段の説明図である。
Ｄ……センサ触針の回転軌跡の直径、１……セ
ンサ、２……低域通過フイルタ、３……高域通過
フイルタ。
FIG. 1 is a block diagram illustrating the overall structure of the device of the present invention, and FIGS. 2 and 3 are front and bottom views illustrating the detailed structure of the sensor unit. FIG. 4 is an orthogonal coordinate diagram illustrating the operation procedure of the apparatus of the present invention, and FIG. 5 is an orthogonal coordinate diagram illustrating the relationship between the differential difference of the sensor and the rotation angle of the rotary drive mechanism. Further, FIG. 6 is an explanatory diagram of a conventional polishing means for a free-form surface of a workpiece. D...Diameter of the rotation locus of the sensor stylus, 1...Sensor, 2...Low pass filter, 3...High pass filter.
Claims (1)
に沿つて回転自在に支持された４本のセンサと、
該センサに接続された低域通過フイルタならびに
高域通過フイルタとからなるワーク表面の法線方
向とうねりの同時測定装置。1 four sensors arranged orthogonally on the same circumference and rotatably supported along the circumference;
A device for simultaneously measuring the normal direction and waviness of a work surface, comprising a low-pass filter and a high-pass filter connected to the sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60046979A JPS61205815A (en) | 1985-03-08 | 1985-03-08 | Apparatus for simultaneously measuring normal line direction and undulation of surface of work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60046979A JPS61205815A (en) | 1985-03-08 | 1985-03-08 | Apparatus for simultaneously measuring normal line direction and undulation of surface of work |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61205815A JPS61205815A (en) | 1986-09-12 |
| JPH043808B2 true JPH043808B2 (en) | 1992-01-24 |
Family
ID=12762348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60046979A Granted JPS61205815A (en) | 1985-03-08 | 1985-03-08 | Apparatus for simultaneously measuring normal line direction and undulation of surface of work |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61205815A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0280909A (en) * | 1988-09-19 | 1990-03-22 | Tokyo Seimitsu Co Ltd | Measuring machine for contour shape such as surface roughness |
| CN104385084B (en) * | 2014-10-15 | 2017-03-22 | 天津大学 | Five-axis grinding method for variably-formed base circle planar envelope convex surface workpiece |
-
1985
- 1985-03-08 JP JP60046979A patent/JPS61205815A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61205815A (en) | 1986-09-12 |
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