DE102011008843A1 - Deburring station for deburring pot-shaped/cylindrical workpiece, has guide element with floating support which slides towards spring brush, so as to deflect pressure spring whose pressing force is provided to deburring tool - Google Patents

Abstract

The deburring station has a holder (2) for holding workpiece (4), and a deburring tool (10) for deburring external surface of the workpiece. A guide element (24) turns deburring tool with respect to the shape external surface on the workpiece. The guide element includes floating support (12) which slides towards spring brush (16), so as to deflect pressure spring (14) whose pressing force is provided to deburring tool. An independent claim is included for method for deburring workpiece.

Description

Field of the invention

The invention relates to a device for mechanical deburring in particular cup-shaped workpieces and such a method.

Background of the invention

When attaching welds or holes to workpieces or components, burrs around the weld or bore may result.

A burr can occur if a sharp edge, a chafing or splintering arises in a machining or manufacturing process in a mostly metallic workpiece. From the ridge there is a risk of injury. But it can also, in a workpiece subject to a movement, come to an increased abrasion when the burr is ground by the rubbing of the metal on a counterpart. The risk of injury but also increased abrasion and thus chip production is possibly to be avoided.

Burrs can be removed by brushing, filing, grinding, milling, vibratory finishing, thermal deburring, electrochemical deburring, high pressure water jet deburring, pressure flow, hydroerosive grinding or cutting. The workpiece may also be dipped or heated in caustic or corrosive liquids to achieve a deburring effect.

The preferably used Entgratungsmethode depends, inter alia, significantly on the workpiece used, in particular its shape and thickness, and the nature of the burrs to be removed. Depending on the complexity of the workpiece to be deburred and the burrs present on the workpiece, for example caused by bores and / or welds, deburring will take a considerable amount of time.

Typical deburring tools, such as deburring discs or brushes, wear in use. Due to large manufacturing tolerances can also wear different tools and in particular of the same type different speed.

General description of the invention

The invention is therefore based on the object to provide a device which automatically deburred a workpiece, said problems to be solved or at least alleviated. It is also an object of the invention to provide such a method for automated deburring of workpieces.

The object of the invention is solved by the subject matter of the independent claims. Advantageous developments of the invention are defined in the subclaims.

A deburring station according to the invention has a holder for a workpiece to be deburred. In this holder, the workpiece is inserted or clamped so that it is fixed for further processing.

Furthermore, a first deburring tool is included in the construction of the deburring station, which serves to deburr the fixed workpiece on the outside. Material and shape of the deburring tool may preferably be selected according to the material to be processed. A removal tool, in particular a grinding tool, may also be suitable. In particular, the deburring tool may be a rotating deburring tool such as a deburring disk.

The deburring tool is preferably mounted floating on a guide device. The guide device is used, in particular, for adjusting the deburring tool to the workpiece for the deburring operation and resetting the deburring tool. The guide device is preferably arranged radially to the axis of the preferably cup-shaped or cylindrical workpiece. For example, the guide device may be a guide rail. In particular, the guide device can be designed as a main slide and preferably has a servo drive, which allows a linear, typically horizontal, feed.

The floating bearing of the deburring tool is deflected when hitting the workpiece relative to the guide device, the deburring station preferably having a pressure spring to effect a pressing force of the deburring tool relative to the guide device and thus against the workpiece. The pressure spring is preferably attached to the guide device, whereby in particular a constant ratio between the compression of the pressure spring and the deflection of the floating bearing relative to the guide device can be maintained.

The floating bearing may preferably be a float mounted on the guide means. This floating slide can be slidably, radially linearly displaceable, mounted on the guide device. The floating slide is preferably by the pressure spring in held a normal position, which corresponds in particular to the front, the workpiece facing stop the floating storage. When the deburring tool is set against the workpiece, a deflection takes place from the normal position, which compresses the pressure spring and is thus counteracted by the pressure spring.

The Entgratungsstation builds when hiring by means of the guide device by relative displacement of the floating bearing against the force of the pressure spring automatically a pressing force of the deburring tool on the workpiece, so that can then be deburred automatically. A manual interaction with a deburring tool is not necessary.

The pressure spring may be in particular a hydraulic spring, a pneumatic spring or a mechanical spring element. Preferably, the pressing force of the pressure spring is also adjustable. This allows an accurate adjustment of the pressure force of the deburring tool to the workpiece and thus a consistent machining quality of the deburring process.

The deburring station may preferably have a second deburring tool in relation to the first deburring tool. The second deburring tool is fastened on a second guide device. The second guide device is analogous to the first guide means for setting the second deburring tool to the workpiece for the deburring and resetting. Also, the second deburring tool may preferably be mounted floating on the second guide means, which together with a pressure spring for a consistent machining result can provide. In addition, the workpiece can be machined from two sides at the same time, which can significantly reduce the machining time. Furthermore, the mutual pressing of the two deburring tools from opposite sides can reduce the mechanical load on the holder, since there is no one-sided pressure, and thus relieve any storage and extend its life. Also, the second deburring tool is made radially from the outside to the workpiece. The first and second deburring tool and their guides, etc. are preferably formed similar mirror-symmetrical.

The deburring station preferably has an automatic readjustment of the deburring tool. In particular, as typical deburring tools wear in use and their scope is reduced, such adjustment increases the time interval which the deburring station can operate autonomously without external intervention such as maintenance.

In a preferred embodiment, therefore, the deburring station has a first sensor which detects the deflection of the first deburring tool relative to a first position sensor. In response to a sensor signal output by the sensor, the first deburring tool can thereby be readjusted automatically via the first guide device. The sensor may for example be a magnetic sensor in interaction with a magnetic position sensor. However, the sensor can also be, for example, a push-in switch, the position sensor is then a simple projection, which pushes the push-in switch when sliding past the sensor and thus makes the position recognizable. For detecting the position of the sensor relative to the position sensor are in particular a variety of methods that reveal the position of the position sensor with respect to the sensor with a few millimeters accuracy.

Analogous to the first deburring tool, a second sensor and a second position sensor can be attached to the second deburring tool with the same purpose as on the first deburring tool. By an independent measurement of both deburring tools an individual readjustment of the deburring tools is possible. Even an individual replacement of the deburring tools with complete consumption of the respective deburring tool is thus possible and not every deburring tools must be exchanged at once. Manufacturing tolerances and tolerances in the contact pressure can cause a different wear of the deburring tools.

In particular, the position sensor can be mounted on the normal position of the deburring tool, which corresponds to the front end position of the floating bearing on the guide device in the event that a pressure spring holds the deburring tool in this position in the non-employed case. When hiring the deburring tool to the workpiece and further feed the guide means deviates the deburring tool in the designated case of the normal position against the spring force of the pressure spring. The position sensor detects the deflection of the deburring tool from the normal position relative to the guide device and, for example, causes the guide device not to continue or advance to the workpiece. If the wear of the deburring tool progresses, sooner or later the deburring tool may have returned to the normal position. The position sensor detects the position of the deburring tool and can cause the guide device to continue to work on the workpiece until the deburring tool is moved out of the range of the position sensor.

In a particularly preferred embodiment of the invention, a further sensor or a further position sensor or a further combination of sensor and position sensor is attached to each deburring tool. The first sensor can then form a first sensor device with the first position sensor and a second sensor device with the further position sensor. However, the first sensor can also form a sensor device with the first position sensor, and the further sensor with the first position sensor form the second sensor device. In particular, when two sensors and two position encoders are mounted, the first sensor with the first position encoder can form a first sensor device and the further sensor with the further position encoder form the second sensor device.

The use of two sensor devices is particularly advantageous because now another position of the deburring tool can be defined relative to the guide device, which in particular a particularly uniform machining quality can be further increased.

For example, the first sensor device detects a deflection, or in the opposite case the resetting, of the deburring tool from or into the normal position. When adjusting the deburring tool to the workpiece, the position sensor is released. From this point, a pressure force of the deburring tool is applied to the workpiece. The guide device now continues to the workpiece, the pressure force can be increased here, depending on the spring characteristic used.

The guide device is now, for example, as far as employed on the workpiece until the second sensor device changes to the occupied position. The position taken thereby can be referred to as a working position, as a floating position or as a target position. The advantageous attachment of two sensor devices associated with the deburring a constant and uniform pressure force is guaranteed, which can ensure a consistent process quality.

The holder of the Entgratungsstation can be designed in particular as a robot arm. The robot arm may be configured to move the workpiece to the processing position, e.g. B. between the two deburring tools to bring. In particular, the robot arm can pick up the workpiece directly from a feed point, for example a pallet, automatically guide it into the processing position and, after processing, bring it to a discharge point, for example a further pallet or a shelf space, and unload it there. Thus, no manual intervention is necessary for the processes surrounding the deburring process. Rather, so that the outer Entgratvorgang be performed automatically, which can save processing time, material, costs and / or construction area.

In a preferred embodiment, the holder is controllable such that the workpiece can be vertically oscillated in or on the holder. Due to the ability to oscillate, the workpiece can be machined in one plane at different vertical positions by the radial deburring tools. Furthermore, it is advantageous if the workpiece can be rotated in the holder. This makes it possible that the entire circumference of the preferably cup-shaped or cylindrical workpiece can be processed by the deburring or the deburring tools. In particular, the support may be the robot arm, which can automatically rotate the workpiece about a vertical axis and oscillate vertically to allow for machining from all sides. It should be understood that "vertical" may be seen from an aspect of the component, which typically has a preferred axis to which the relationship is to be "vertical." The deburring tools can be geodetically seen vertically mounted below or above the workpiece when it simplifies the structure of the Entgratungsstation. In the simplest case, however, the deburring tools will be mounted horizontally next to the workpiece on a workbench or workbench. In the simplest case, the deburring tools will also be approached linearly to the workpiece.

The deburring tools may preferably be designed as deburring disks. These deburring discs are rotary tools that rotate about an axis driven by an engine power. Deburring disks, z. As with plastic embedded metal wires, wear when using.

Also advantageous is the attachment of two or more deburring tools in the form of Deburring on a drive axle above the other. This can speed up the machining process because the workpiece can be machined at multiple vertical / axial locations at the same time. This is particularly preferred in pot-shaped or cylindrical workpieces.

In particular, in the case of pot-shaped workpieces, the deburring station may preferably further comprise an axial deburring tool for removing burrs on the inside of the workpiece. This deburring tool is mounted on an axis which is guided into the interior of the workpiece. For example, deburring disks or cup brushes can be used as an axial deburring tool.

The axial deburring tool is preferably mounted on an axial adjusting device. The Employment can be done by means of an axial Andruckfedereinrichtung. In a vertical arrangement of the axial tool this can by means of the axial Andruckfedereinrichtung, z. As a pneumatic spring, are employed, the gravitation leads to the return of the tool and thus the restoring force is based on the severity of the axial axial Entgrateinrichtung.

The axial pressure spring device can substantially correspond to the construction of the pressure spring of the radial deburring device. The axial pressure spring device preferably comprises a plurality of pressure springs for uniformly supporting the axial deburring device on the workpiece. This preferably also allows an oblique pressing of the axial deburring device, if this is advantageous for a particular workpiece.

Particularly preferably, the plurality of axial pressure springs are each formed by a pneumatic cylinder. By means of the resilient, for example, pneumatic storage, both an employment of the axial deburring guaranteed as well as an axial spring action can be achieved. As axial spring bearing alternatively hydraulic or mechanical bearings can be used.

Separate control of radial and axial deburring tools may also preferably be used to set the pressure force and / or the pressure duration of the deburring tools to different values. For example, it may be advantageous to process a weld located inside the workpiece more intensively, that is to say with a longer duration of action and / or with a higher pressure force, than the circumference of the workpiece. However, it can also be reversed in the case of another workpiece to be machined, so that the external machining requires a greater time duration and / or pressure force than the internal machining. The separate control can thus help to optimize the Entgratergebnis and / or reduce the wear of the deburring tools. In particular, the axial deburring tool is moved axially during the deburring to z. B. to allow a relative movement of the axial deburring tool to the workpiece and / or the radial Entgratwerkzeugen.

Preferably, the workpiece is brought in the processing position by means of the holder on a workpiece spring bearing. This ensures the simultaneous fixing of the workpiece from one side by means of the holder and from the opposite side by means of the workpiece spring bearing. The workpiece spring bearing can have a plurality of bearing springs. The workpiece is also displaceable in the application of a pressing force through the workpiece on the workpiece spring bearing in height.

For deburring a workpiece by means of a deburring station, a workpiece to be deburred is first introduced into the deburring station. This can be done manually, but it can also be done automatically. Subsequently, the first deburring tool is set on the associated guide device to the workpiece for external deburring. The guide device has a floating bearing, by means of which the deburring tool is attached to the guide device. The guide device is further adjusted to the workpiece, so that the deburring tool is deflected from a normal position. By means of a pressure spring, which presses the deburring tool in the direction of the normal position, a pressing force of the deburring tool is generated to the workpiece. When the deburring process is completed, the reset is performed by the deburring tool.

Preferably, furthermore, the second deburring tool is preferably simultaneously set against the workpiece, which is mounted radially opposite the first deburring tool. The deburring tool is attached by means of a floating bearing to another guide device and is employed by this on the workpiece. Upon contact of the deburring tool with the workpiece, the deburring tool is deflected by the contact with the workpiece against the further on the workpiece hiring guide device. The deburring tool is finally pressed against the workpiece by the application of a pressing force. The pressure force is generated by the pressure spring. The workpiece can then be deburred from two sides by means of the first and second deburring tools. After completion of the deburring both deburring tools are reset by means of the guide means.

Particularly preferred is the automatic detection of the deflection of the deburring tools from a normal position on contact with the workpiece by means of sensors. In this case, in particular at the first guide means, a first sensor and the floating bearing a first position encoder mounted, the reverse installation is also possible. For detecting the deflection of the second deburring tool, a second sensor and a second position sensor are mounted there. The hiring of the guide device to the workpiece is then terminated as soon as the respective first or second sensor is free and thus indicates the deflection of the first or second deburring tool in the floating bearing from the normal position.

In particular, it is possible to effect an adjustment of the guide device by the automated detection of the deflection of the deburring tool on the floating bearing, as soon as the first or second deburring tool is moved in the floating bearing in the direction of the normal position by the pressure spring that the position of the first Position sensor relative to the first sensor or the second position sensor relative to the second sensor is shifted by at least a predetermined value. In particular, the predetermined value may be the width of a position encoder.

The attachment of a further sensor and / or a further position sensor allows a more precise adjustment of the pressing force of the deburring tool to the workpiece. If a further sensor and / or a further position sensor is installed, the hiring of the guide device can also take place after the release of the first or second sensor at the time of contact of the deburring tool with the workpiece. The guide means is further adjusted to the workpiece in the case. The hiring is terminated as soon as the target position is reached. The desired position can be detected by means of the second sensor, the second position sensor or by means of a combination of a second sensor and a second position sensor. Among other things, the choice of combination depends on the choice of material for sensors and / or position sensors. For example, a position sensor may be designed to be configured differently from a second position sensor, and for this reason, a single sensor may suffice for detection. But it can also be installed a position sensor and the achievement of the position sensor of the position of another sensor clarifies the achievement of the desired position. In particular, however, a combination of two sensors and two position sensors can be advantageous for unambiguous identification and simplified control of the sensor signals.

Particularly preferred in cup-shaped workpieces is the simultaneous axial and one- or two-sided radial deburring of the workpiece by means of the axially arranged deburring tool and the first and / or second radial deburring tool for deburring the workpiece on the inside and outside.

In the following the invention will be explained in more detail by means of embodiments and with reference to the figures, wherein the same and similar elements are partially provided with the same reference numerals and the features of the various embodiments can be combined.

Brief description of the figures

Show it:

1 a schematic representation of an embodiment of the invention with a deburring tool in normal position,

2 the arrangement like 1 with the deburring tool in desired position,

3 a schematic representation of an embodiment of the invention with four deburring tools in normal position,

4 the arrangement like 3 with the deburring tools in target position,

5 a schematic representation of an embodiment of the invention with five deburring tools and a robot arm,

6 a side view of a device in an embodiment of the invention on a workbench with five deburring tools,

7 an oblique view of an embodiment of the device according to the invention with a robot arm,

8th a detailed view of the device like 5 .

9 a detailed view of the sensors and the floating bearing from the side,

10 a detailed view of the sensors and the floating storage from diagonally above,

11 a detailed view of a holder with inserted workpiece and employed Entgratwerkzeugen,

12 a detailed view of the recording of the robot arm with inserted workpiece.

13 a detailed view of the axial adjusting device

Detailed description of the figures

1 shows a side view of a simple embodiment of the invention. A workpiece 4 is on a bracket 2 clamped or fastened.

The management device 24 will, with a guide rod 26 and a drive, not shown, radially linear to the workpiece 4 moves, wherein the guide device 24 in the shown Embodiment is a servo-driven guide carriage.

At the management facility 24 is a sensor 22 attached. The positioner 20 looking at the floating storage 12 is attached, located in the normal position shown in front of the sensor 22 , whereby the sensor outputs a specific signal state for the normal position. Furthermore, on the guide device 24 via a spring attachment 18 a spring sleeve 16 fastened, in which a pressure spring 14 is guided. The floating storage 12 is formed in the example shown as a linear floating slide.

The pressure spring 14 keeps the floating storage 12 in the normal position, the in 1 is shown.

On the floating storage is a drive 6 fixed, which by means of the drive shaft 8th and a gear, not shown, the deburring tool 10 drives. In the example shown, the deburring tool 10 a horizontally rotating deburring disc.

To start the deburring process, the guide device 24 by means of the guide rod 26 in the direction of the holder 2 and the workpiece 4 moved to the guide device 24 to the workpiece 4 to hire. The floating storage 12 slides on the guide device 24 in the direction of the spring sleeve 16 and upon contact of the deburring tool 10 with the workpiece 4 becomes the pressure spring 14 with force.

2 shows a setpoint position also in 1 shown schematic representation. The deburring tool 10 has contact with the workpiece 4 and the pressure spring 14 clamps the deburring tool 10 against the workpiece 4 in front. The floating storage 12 is opposite the management device 24 moved from the normal position to a desired position. This is indicated by means of the sensor 22 because the positioner 20 out of the range of the sensor 22 is moved. At this point, the further employment of the guide device 24 completed. The deburring tool 10 is in the desired position of the pressure spring 14 radially acted upon by a force, so that the workpiece 4 can be edited. If the deburring tool is worn 10 becomes the positioner 20 back into the area of the sensor 22 wander and as soon as a predetermined limit of the deviation is exceeded from the desired position, a changed employment of the guide device 24 to the workpiece 4 causes.

3 shows one opposite the 1 and 2 extended embodiment of the invention in a schematic representation. The structure is in the case shown in the normal position.

Instead of the single deburring tool 10 are in the embodiment of 3 four deburring tools 10 shown.

As for the figure description of 1 described, each is a floating storage 12 on a left and right guide device 24 , The guide devices are each by means of a guide rod 26 adjusted to the workpiece.

In contrast to the embodiment of the 1 are located at the management facilities 24 two sensors each 22 . 34 that is to say on the first radial deburring device shown on the right in the figure 50 , as well as a second sensor 32 as well as another sensor 34 on the second radial deburring device shown on the left in the figure 50 ' ,

The normal position is displayed in the embodiment shown when the first position sensor 20 with the first sensor 22 or the second position encoder 32 with the second sensor 30 overlaps. The two radial deburring devices 50 . 50 ' left or right of the workpiece 4 can be independently monitored for wear.

Unlike the with 1 shown embodiment are in 3 in the deburring facilities 50 . 50 ' two deburring tools each 10 on each a drive shaft 8th fastened one above the other. In total there are four deburring tools 10 present and can for simultaneous deburring of the workpiece 4 be used.

The two deburring devices 50 . 50 ' Be over the guide rods 26 to the workpiece 4 hired. When contacting the deburring tools 10 with the workpiece 4 is, analogous to the description of 1 , the guide device further to the workpiece 4 hired. This ensures that the pressure springs 14 be pressed on both sides to the pressure of the deburring discs 10 on the workpiece 4 to effect.

4 shows the deburring station after 3 in the desired position. The deburring tools 10 have contact with the workpiece 4 and the pressure springs 14 are excited. The first position encoder 20 is out of the range of the sensor 22 moved, the sensor 22 is free. At the same time, the other position generator 36 in the range of the other sensor 34 moved so that the more sensor 34 is occupied. This represents the desired position or work position for deburring. It is possible, the pressing force of the pressure spring 14 in the working position, adjusting the position of the other sensor 34 or the Position of the other position encoder 36 is adjusted accordingly, so that in the desired position of the arrangement, the corresponding pressing force on the deburring tools 10 and thus on the workpiece 4 is charged. In case of wear of the deburring tools 10 , Especially in the case of the use of deburring, is initially the other position encoder 36 from the range of the other sensor 34 hike. The management device 24 Already at an earlier time, or at a well-defined time, continue to the workpiece 4 be adjusted so that the contact pressure varies only in a small area.

5 shows a schematic representation of another embodiment of the invention. The arrangements of the deburring tools correspond to those in 3 shown. It is shown the normal position. Instead of a fixed bracket 2 is a holder 2 represented in the form of a robot arm. With the help of the robot arm, the workpiece to be machined can be taken directly from a feed point and brought into the processing position. A fixed mount 2 is no longer necessary. Of particular advantage is the cancellation of the tangential forces on the robot arm by the opposite use of deburring tools 10 , which improves the result of machining and reduces the lateral load on the robot arm.

In addition, unlike the 3 Another deburring tool, an axial deburring tool 11 shown. The axial deburring tool is driven by a drive shaft 8th from a drive 6 , mounted concentrically to the machining position and can be used when cup-shaped workpieces 4 to edit. The holder 2 in the form of the robot arm leads the workpiece 4 directly via the axial deburring tool 11 , A cup-shaped workpiece 4 can with this arrangement at the same time from the outside through the radial deburring tools 10 and from the inside through the axial deburring tool 11 to be edited.

6 shows a side view of a structure of an embodiment of the invention on a workbench with five deburring tools. Based on 6 will be explained in more detail below the adjustment of the structure.

The deburring tools 10 , in the version shown deburring, are powered by their motor 6 on a horizontal slide, the floating storage 12 , assembled. The carriage can by means of a pneumatic cylinder, which the pressure spring 14 realized, forward and backward, ie radially to the workpiece 4 to be moved.

The swimming sled 12 is in turn on a horizontal linear slide, which is the guide device 24 realized, driven by an invisible electric servomotor, mounted. The management device 24 is therefore also called "main sled" 24 designated.

The in the illustrated embodiment pneumatic pressure spring 14 pushes the deburring tools 10 with the drive 6 in the front position, the normal position, as soon as pneumatic pressure is built up in the pneumatic cylinder. A limit switch, the first position encoder 20 , detects this end position.

The management device 24 is moved horizontally forward for adjustment via the servo drive until the deburring tools 10 Contact with the component to be deburred, the workpiece 4 , Has. This contact is via the front limit switch, the first position encoder 20 , the floating storage 12 indicated by the fact that the first sensor 22 becomes free. There is now a back pressure of the deburring tools 10 on the workpiece 4 , which is the pressure force of the pressure spring 14 counteracts. The pressure force is in the case of using a pneumatic pressure spring 14 adjustable via a pressure reducing valve.

The switching point of the first sensor 22 "Float carriage front" remembers the control of the servo axis of the guide rod 26 by means of a computer-aided measuring system. A value A stored in the control of the measuring system is now added to the position value of the main carriage so that the main carriage moves even further forward. This has the effect that the pressure spring is further compressed. Now the system has adjusted itself, since all possible states or positions have been approached. The deburring process on a workpiece 4 can start now.

The workpiece 4 is loaded and the deburring tools 10 be on the specified level of leadership device 24 delivered. The pressure spring 14 in the form of the pneumatic cylinder is pushed against its pressure.

This process takes place for a long time with new workpieces 4 until due to the tool wear on the guide device 24 mounted first sensor 22 or the second sensor 30 is not released, ie remains occupied. The automatic readjustment of the system in which the servo axis of the guide device 24 the fixed value added A to the position added, can begin. The value A can be, for example, the width of the first position encoder 20 be. The deburring process can be continued until the deburring tools 10 worn out. This is about position values of the guide device 24 the controller automatically reported.

The contact pressure of the deburring tools 10 to the workpiece 4 preferably has a constant size, so that the deburring result for all workpieces 4 is equal to. To achieve this, two position encoders, a first position encoder, are used on the floating bearing 20 and another position generator 36 or a second position encoder 32 and another position generator 36 , grown.

A first sensor 20 is intended for the detection of the front end position and another sensor 34 is intended for the detection of the floating position or the desired position or the desired position. On the opposite side is a second sensor 20 intended for the detection of the front end position and another sensor 34 for the detection of the target position.

The adjustment and operation with the other sensors 34 differs from the processes with only one sensor.

The management device 24 is moved horizontally forward across the servo drive until the deburring tools 10 Contact with the workpiece to be deburred 4 to have. This contact is via the front first or second sensor 22 . 30 the management facility 24 determined by the fact that the respective sensor is free. There is now a contact pressure of the deburring tools 10 on the workpiece 4 by the air cylinder used in the embodiment as a pressure spring 14 , This back pressure can be adjustable via a pressure reducing valve.

For adjustment, the guide device 24 continues to move forward until the float switch is actuated. This switching point is reached when the further position encoder 36 with the other sensor 34 in overlap. The control of the servo axis stores upon output of the sensor signal of the other sensor 34 this position. A stored in the control value A can the position value of the guide device 24 are added, so that the management device 24 again further forward in the direction of the workpiece 4 emotional. This has the effect that the pressure spring 14 is compressed further.

Now the system has adjusted itself and the deburring process can begin.

The deburring process takes place with other workpieces 4 until the other sensor 34 becomes free. The automatic readjustment of the system can be carried out. The control of the servo axis of the guide device 24 adds the permanently stored value A to the current position of the guide device, the deburring process can be continued until the deburring tools 10 worn out. This is reported automatically via the position values of the guide device to the controller.

As in 7 can represent a workpiece with the holder 2 be loaded in the form of a robot arm. The deburring tools 10 are made to the above-defined measure of the guide device. In 7 this is shown, with the workpiece 4 has not yet been moved to the processing position for demonstration purposes.

The axial deburring tool 11 dives into the workpiece 4 if the workpiece 4 as present cup-shaped. By means of the deburring tools shown 10 . 11 can the workpiece 4 be processed simultaneously from inside and outside.

The axial deburring tool 11 is by an axial adjuster 46 (in 13 shown) to the workpiece 4 employed and kraftbeaufschlagt, and reset after the inner deburring process again. The inner deburring process can have a time duration that is different from the outer deburring process.

The workpiece 4 gets off the bracket 2 , embodied by the robot arm, to a workpiece spring bearing 40 pressed. By means of the bearing springs 42 is the workpiece spring bearing 40 vertically resilient and thus by changing the pressing force of the workpiece 4 vertically displaceable. The workpiece spring bearing 40 fixes them to the bracket 2 opposite side of the workpiece 4 radially, so that an improved Entgratresultat can be achieved. In addition, the vertical displacement made possible by the resilient mounting of the workpiece ensures that different vertical positions of the workpiece 4 from the outside by means of the radial deburring tools 10 can be edited.

8th shows a detail view of in 6 shown construction. It shows two of a drive 6 on top of each other on a drive shaft 8th mounted deburring discs 10 , drive 6 and deburring discs 10 are on the floating storage 12 assembled. The pressure spring 14 keeps the arrangement in the normal position. The management device 24 can the deburring discs 10 to a workpiece 4 hire.

9 shows a more detailed view of the in 6 shown construction. In particular, in 9 a view on two sensors, the first sensor 22 and the other sensor 34 , belonging to a first position encoder 20 as well as another position generator 36 , shown. In the background is the pressure spring 14 shown.

10 shows a more detailed view of the in 6 shown construction. In particular, in 10 a view from diagonally above the first sensor 22 and the other sensor 34 , belonging to a first position encoder 20 as well as another position generator 36 , shown which longitudinally displaceable on the floating storage 12 are attached. In the background is the end of the pressure spring 14 shown.

11 shows a view with a robot arm as a holder 2 , By means of the robot arm, the workpieces can be removed from a feed position Z (not shown), brought into the illustrated processing position B and, after processing, placed in a discharge position W (not shown) for removal. To the inserted workpiece 4 are the radial deburring tools 10 hired. The axial deburring tool 11 is in the workpiece 4 immersed and therefore not recognizable.

12 shows another view with the robot arm as a holder 2 , The figure shows the device with employed deburring tools 10 , The robot arm can run a programmed sequence fully automatically. Thus, with the entire arrangement, a deburring of cylindrical and cup-shaped workpieces 4 without manual intervention, except for example for maintenance purposes.

13 shows a detail view to illustrate the axial adjuster 46 as well as the workpiece spring bearing 40 ,

The axial adjusting device 46 is in the illustrated embodiment by means of eight axial pressure springs 44 stored. The axial pressure springs 44 be embodied in the embodiment shown by pneumatic cylinder. By means of the axial pressure springs 44 is an adjustable axial pressure force of the axial deburring tool 11 on the workpiece 4 allows. The axial deburring tool 11 is through a rotating pot brush 11 embodies. The top brush 11 is powered by a drive 6 driven, wherein the axial adjuster 46 the adjustment concentric by the drive 6 through to the rotating pot brush 11 causes.

It will be apparent to those skilled in the art that the above-described embodiments are to be understood by way of example, and that the invention is not limited to them, but that they can be varied in many ways without departing from the invention. Furthermore, it will be understood that the features, independently as they are disclosed in the specification, claims, figures, or otherwise, also individually define essential components of the invention, even if described together with other features.

LIST OF REFERENCE NUMBERS

2

bracket

4

workpiece

6

drive

8th

drive shaft

10

deburring

11

Axial deburring tool

12

Floating storage

14

pressure spring

16

spring sleeve

18

spring mounting

20

First position provider

22

First sensor

24

guide means

26

guide rod

30

Second sensor

32

Second position encoder

34

Another sensor

36

Another position generator

40

Workpiece spring mounting

42

storage spring

44

Axial pressure spring

46

Axial adjustment device

50

First radial deburring device

50 '

Second radial deburring device

Claims (17)

Deburring station for automated deburring of workpieces ( 4 ), with a holder ( 2 ) for a workpiece to be deburred ( 4 ), with a first deburring tool ( 10 ) for external deburring of the workpiece ( 4 ), with a management facility ( 24 ) for setting the deburring tool ( 10 ) to the workpiece ( 4 ) for deburring and resetting, wherein the deburring tool ( 10 ) on the guide device ( 24 ) is floating, such that the floating bearing ( 12 ) when hitting against a pressure spring ( 14 ) is deflected to the pressing force of the deburring tool ( 10 ) against the workpiece ( 4 ) to effect. Deburring station according to the preceding claim, wherein the floating storage ( 12 ) of the deburring tool ( 10 ) on the guide device ( 24 ) is designed as a floating slide. Deburring station according to one of the preceding claims, wherein the pressure spring ( 14 ) is a hydraulic spring, a pneumatic spring or a mechanical spring element and the pressing force of the pressure spring ( 14 ) is adjustable. Deburring station according to one of the preceding claims, with a second deburring tool ( 10 ) for external deburring of the workpiece ( 4 ) which radially on the opposite side of the first deburring tool ( 10 ) is attached, so that the workpiece ( 4 ) can be processed simultaneously from two sides, with a second guide device ( 24 ) for setting the second deburring tool ( 10 ) to the workpiece ( 4 ) for deburring and resetting, wherein the second deburring tool ( 10 ) on the second guide device ( 24 ) is floating, such that the floating bearing ( 12 ) when hitting against a pressure spring ( 14 ) is deflected to the pressing force of the deburring tool ( 10 ) against the workpiece ( 4 ) to effect. Deburring station according to one of the preceding with a first sensor ( 22 ), which determines the deflection of the first deburring tool ( 10 ) relative to a first position encoder ( 20 ) and outputs as a sensor signal and / or with a second sensor ( 30 ), which determines the deflection of the second deburring tool ( 10 ) relative to a second position sensor ( 32 ) and outputs as a sensor signal to the first and / or the second deburring tool ( 10 ) automatically reset in response to the respective sensor signal. Deburring station according to one of the preceding claims, each with a further sensor ( 34 ) and / or another position generator ( 36 ), whereby the sensors and position sensors on each deburring tool ( 10 ) form a first and second sensor device, such that the first sensor device a deflection from a normal position and the second sensor device reaching a desired position of the associated deburring tool ( 10 ) relative to the deburring tool ( 10 ) associated guide device ( 24 ) detected. Deburring station according to one of the preceding claims, wherein the holder ( 2 ) is designed as a robot arm to the workpiece ( 4 ) to bring into the processing position, and / or wherein the holder ( 2 ) is controllable such that the workpiece ( 4 ) can be vertically oscillated and / or rotated. Deburring station according to one of the preceding claims, wherein the deburring tool ( 10 ) is designed as a rotating deburring disc and / or on a guide device ( 24 ) two deburring tools ( 10 ) are arranged one above the other. Entgratungsstation according to any one of the preceding claims, which is prepared, a cup-shaped workpiece ( 4 ), with an axial deburring tool ( 11 ) for removing burrs inside the pot-shaped workpiece ( 4 ). Deburring station according to the preceding claim, wherein the axial deburring tool ( 11 ) on an axially displaceable adjusting device ( 46 ) is mounted to the axial deburring tool ( 11 ) axially relative to the workpiece ( 4 ) and / or to the radial deburring tools ( 10 ) to be able to move. Deburring station according to one of claims 9 to 10, wherein the axial deburring tool ( 11 ) by means of the axial adjusting device ( 46 ) is axially spring-mounted. Method for deburring workpieces ( 4 ), comprising: inserting a workpiece to be deburred ( 4 ) in a holder ( 2 ), Starting a first deburring tool ( 10 ) by means of a guide device ( 24 ) to the workpiece ( 4 ) for external deburring of the workpiece, during contact of the deburring tool ( 10 ) with the workpiece ( 4 ) Deflection of the deburring tool ( 10 ) relative to the guide device ( 24 ) by the contact with the workpiece ( 4 ) by means of a floating storage ( 12 ) while pressing the deburring tool ( 10 ) to the workpiece ( 4 ) by means of a floating bearing ( 12 ) acting pressure spring ( 14 ) for applying the deburring tool ( 10 ) with a pressure force, deburring of the workpiece ( 4 ) by rotation of the deburring tool ( 10 ) and resetting the deburring tool ( 10 ). Method for deburring workpieces ( 4 ) according to the preceding claim, further comprising: starting a second deburring tool ( 10 ), which radially opposite to the first deburring tool ( 10 ) is mounted, by means of a second guide device ( 24 ) to the workpiece ( 4 ) for external deburring of the workpiece from two sides, during contact of the second deburring tool ( 10 ) with the workpiece ( 4 ) Deflection of the second deburring tool ( 10 ) relative to the guide device ( 24 ) by the contact with the workpiece ( 4 ) by means of a floating storage ( 12 ) while pressing the second deburring tool ( 10 ) to the workpiece ( 4 ) by means of a floating bearing ( 12 ) acting pressure spring ( 14 ) for applying the second deburring tool ( 10 ) with a pressure force, deburring of the workpiece by rotation of the first and second deburring tool ( 10 ) and resetting the second deburring tool ( 10 ). Method for deburring workpieces ( 4 ) according to one of the preceding claims, further comprising: detecting the relative deflection of the on a floating storage ( 12 ) mounted first deburring tool ( 10 ) from a normal position on contact with the workpiece ( 4 ) by means of a first sensor ( 22 ) and a first position generator ( 20 ) and / or detecting the relative deflection of the on a floating storage ( 12 ) mounted second deburring tool ( 10 ) from a normal position on contact with the workpiece ( 4 ) by means of a second sensor ( 30 ) and a second position transmitter ( 32 ), Stopping the employment of the respective management facility ( 24 ) to the workpiece ( 4 ) as soon as the respective first or second sensor ( 22 . 30 ) and thus the deflection of the first or second deburring tool ( 10 ) in the floating storage ( 12 ) from the normal position, readjusting the setting position of the first and second guide means ( 24 ) to compensate for the wear of the first and second deburring tool ( 10 ). Method for deburring workpieces ( 4 ) according to one of the preceding claims, wherein the first and / or second guide device ( 24 ) is adjusted as soon as the associated deburring tool ( 10 ) in the floating storage ( 12 ) so far in the direction of the normal position by the pressure spring ( 14 ) that the position of the first position encoder ( 20 ) relative to the first sensor ( 22 ) or the second position encoder ( 32 ) relative to the second sensor ( 30 ) is shifted at least by a predetermined value (A). Method for deburring workpieces ( 4 ) according to one of the preceding claims, further comprising: continuing the employment of the respective guide device ( 24 ) to the workpiece ( 4 ) even after the release of the respective first or second sensor ( 22 . 30 ), Stopping the employment of the management device ( 24 ) to the workpiece ( 4 ) upon detection of reaching a desired position of the respective deburring tool ( 10 ) by means of a further sensor device. Method for deburring workpieces ( 4 ) according to one of the preceding claims, further comprising: axial deburring of the cup-shaped workpiece ( 4 ) by means of an axial deburring tool ( 11 ) for removing burrs inside the pot-shaped workpiece ( 4 ).

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