JPH0436827B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic grinder device that moves a grinder along the surface of a workpiece to automatically grind the surface.

In recent years, attempts have been made to attach a grinder to an industrial robot to automatically grind the surface of a workpiece. When removing burrs from castings by moving the tool, the shape of the burrs differs depending on the casting, so the burrs are often removed too much or left unremoved.

The present invention was made in view of the above circumstances, and provides an automatic grinder device that can accurately grind a workpiece by automatically detecting the grinding amount of the workpiece and controlling the feed rate of the grinder. The purpose is to

Hereinafter, one embodiment of the present invention will be described in detail based on the drawings. As shown in FIG. 1, this automatic grinder device includes a grinder 2 that grinds a workpiece W on a table 1, and an industrial robot 3 that moves the grinder 2 along the contour of the workpiece W.
, a grinding amount control device 4 that controls the grinding amount of the grinder 2, and a robot controller 5 that operates the industrial robot 3. The grinder 2 is supported as shown in FIGS. 2 and 3. That is, the outer end of a spiral leaf spring 8 is fixed to the inner surface of a casing 7 which has a vertically oriented cylindrical shape and has a mounting portion 6 protruding from its outer surface. At the end, a grinder 2 is mounted concentrically with the casing 7, so that the grinder 2 is elastically supported by the casing 7. A strain gauge 10 is attached to the spiral leaf spring 8 to detect changes in deflection of the spiral leaf spring 8. The grinder 2 includes a bearing unit 11 fixed to a leaf spring 8, and a rotating shaft 1 rotatably supported by the bearing unit 11 and connected to an output shaft of a motor 12 fixed to the bearing unit 11.
3, and a grindstone 15 attached to the lower end of the rotating shaft 13 via a chuck 14.
The grinding amount control device 4, as shown in FIG.
Amplifying section 1 that amplifies the electrical signal from strain gauge 10
6, a strain amount calculation section 17 that calculates the amount of strain, a setting section 18 that sets a reference value for the amount of strain, a comparison section 19 that compares it with the reference value, and a grinding amount calculation section 20 that calculates the amount of grinding. It is comprised of a speed calculation section 21 that calculates the moving speed of the grinder 2. Then, the amplification section 16 of the grinding amount control device 4
The strain gauge 10 is electrically connected to the robot controller 5, and the speed calculating section 21 thereof is electrically connected to the robot controller 5.

Next, the operation of the device configured as described above will be explained. After the grindstone 15 of the grinder 2 is pressed against the surface of the workpiece W having burrs so as to be perpendicular to the burrs on the workpiece W, the grindstone 15 moves along the contour of the workpiece W where the burrs are formed. Teaching industrial robot 3 as follows. Next, when the motor 12 of the grinder 2 is driven to rotate the grindstone 15 via the rotating shaft 13 and the industrial robot 3 is operated, the grindstone 1
5 is rotated and moved along the contour of the workpiece W to grind the burr. In this case, since the grinder 2 is elastically supported by the spiral leaf spring 8 and the grinding wheel 15 is pressed against the surface of the workpiece W by the repulsive force of the leaf spring 8, the grinding wheel 15 is It is constantly displaced in this direction and is brought into contact with the surface of the workpiece W with a substantially constant force. When the grinding wheel 15 comes into contact with the burr, the deflection of the leaf spring 8 changes in response to the change in the size of the burr, and the change in the deflection of the leaf spring 8 causes the strain gauge 10 to
Detected by The signal related to this detection result is
The signal is sent to the amplification section 16 of the grinding amount control device 4 and amplified, and then sent to the distortion amount calculation section 17 to calculate the amount of distortion. This distortion amount signal is sent to the controller 19 and compared with a reference value (preset) in the setting section 18 to obtain a deviation. This deviation is sent to the grinding amount calculating section 20, and the grinding amount of the workpiece W is calculated. This grinding amount signal is sent to the speed calculation section 21
The feed speed of the grinder 2 is calculated. A signal resulting from this calculation is sent to the robot controller 5 to control the industrial robot 3, thereby controlling the feed speed of the grindstone 15. Therefore, when the burr is large, the grindstone 15 is strongly pressed against the workpiece W due to the increased deflection of the leaf spring 8, increasing the grinding force of the grindstone 15 and slowing down the feed speed of the grinder 2. On the other hand, when the burr is small or absent, the reduction in deflection of the leaf spring 8 reduces the grinding force of the grindstone 15 and increases the feed speed of the grindstone 15. In this way, the grinding wheel 15 is moved along the contour of the workpiece W at a feed rate appropriate to the size of the burr and grinds the burr.

Incidentally, the grinder 2 may be elastically supported by a plurality of arcuate leaf springs 28 as shown in FIG. Further, the grindstone 15 may be another grinding tool such as a rotary file.

As is clear from the above description, according to the present invention, the grinding force of the grinding tool is increased in proportion to the size of the burr, etc., and the feed rate of the grinding tool is decreased in proportion to the size of the burr, etc. , or early,
It has excellent effects such as being able to automatically grind burrs etc. easily and accurately.

[Brief explanation of drawings]

Figure 1 is an elevational view of one embodiment; Figure 2 is an elevational view of one embodiment;
3 is a detailed view of part A in a partially cutaway section, FIG. 3 is a sectional view taken from B to B in FIG. 2, and FIG.
It is a BB sectional view of the figure. 2... Grinder, 3... Industrial robot,
4... Grinding amount control device, 5... Robot controller, 8... Spiral leaf spring, 9... Grinder body, 10... Strain gauge, 28... Arc-shaped leaf spring.

Claims (1)

[Claims] 1. The grinder 2 is elastically supported by the casing 7 via the spiral leaf spring 8 or the arcuate leaf spring 28, the casing 7 is mounted on the industrial robot 3, and the spiral leaf spring 8 or the arcuate leaf spring 28 is mounted on the industrial robot 3. is equipped with a strain gauge 10 for detecting changes in deflection of the leaf springs 8 and 28, and the strain gauge 10
is electrically connected to a grinding amount control device 4 that controls the grinding amount of the grinder 2, and the grinding amount control device 4 is electrically connected to the industrial robot 3 via a robot controller 5. automatic grinder device.