EP1615747A1 - Dispositif pour nettoyer et/ou barber des pi ces d'usinage - Google Patents

Dispositif pour nettoyer et/ou barber des pi ces d'usinage

Info

Publication number
EP1615747A1
EP1615747A1 EP04708714A EP04708714A EP1615747A1 EP 1615747 A1 EP1615747 A1 EP 1615747A1 EP 04708714 A EP04708714 A EP 04708714A EP 04708714 A EP04708714 A EP 04708714A EP 1615747 A1 EP1615747 A1 EP 1615747A1
Authority
EP
European Patent Office
Prior art keywords
tool
workpiece
manipulator
machining
test
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.)
Withdrawn
Application number
EP04708714A
Other languages
German (de)
English (en)
Inventor
Jürgen BEYERER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hottinger KG
Original Assignee
Hottinger KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from DE10322396A external-priority patent/DE10322396A1/de
Application filed by Hottinger KG filed Critical Hottinger KG
Publication of EP1615747A1 publication Critical patent/EP1615747A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/047—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers the gripper supporting the workpiece during machining
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
    • B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground

Definitions

  • the invention relates to a device for cleaning and / or deburring workpieces, in particular cast parts, with a processing device comprising at least one tool for removing excess material.
  • robots could now be used, which would take the workpiece to be deburred to a grinding station, for example, and move it there in accordance with the design and the course of the burrs.
  • Such a robot would have to be both path-controlled and force-controlled, namely on the one hand to feed the workpiece to the processing station and on the other hand to apply the pressure required for processing against the tool.
  • the realization of a path- and force-controlled robot is extremely complex, not least due to the required sensors and controls, especially since conventional robots and manipulators work with location or path control on a regular basis.
  • the robot moves to an embossed location and usually places the tool there or hands it over to another station.
  • the Interaction of commercially available robots and manipulators with the processing stations required here allows automation of the deburring process only with great effort.
  • the workpieces can be any cast parts, for example closed crankshafts.
  • Cores cast in core shooters must also be regularly deburred.
  • core shooting ranges and the associated technology reference is only made to DE 31 48 461 C1 by way of example, according to which numerous manipulators, conveyors and further processing stations are already connected to the actual core shooting.
  • the present invention is therefore based on the object of designing and developing a device for cleaning and / or deburring workpieces, in particular cast parts but also shot cores, in such a way that an automatic removal of excess molding material is possible.
  • a generic device is characterized by a manipulator for gripping and moving the workpiece into a machining position, the tool being movable from an end position reached at the end of the machining operation, which also serves as a parking position, into a starting position to be assumed at the beginning of the machining operation.
  • the previously manual removal of excess material can also be automated, namely by using a manipulator for gripping and moving the workpiece into the machining station.
  • the workpiece is not placed there or handed over to a processing robot. Rather, the workpiece is still held by the same manipulator, the tool being moved from an end position reached at the end of the machining operation, in which the tool is in the idle state, to a starting position to be taken at the beginning of the machining operation is moved.
  • This movement can be enforced via the manipulator or can be implemented by a suitable drive within the processing device.
  • the manipulator (the terms manipulator and robot are to be equated here) is advantageously controlled away. This means that the manipulator travels an embossed path in the usual way and positions the workpiece to be machined at a predetermined location and holds it there. Rotational movements are easily possible. In any case, the manipulator works path-controlled.
  • the processing device or the tool operates in a force-controlled manner, namely with an impressed force which is to be applied with respect to the burr to be removed. It should be noted that the path of the manipulator and the force or function of the processing device are controlled and monitored via a process computer.
  • the machining device comprises an adjusting mechanism which enables the tool to be moved - together with a tool holder and possibly with the drive of the tool.
  • the adjusting mechanism is responsible for ensuring that the tool can be moved from the end position reached at the end of the machining into the starting position to be assumed at the beginning of the machining.
  • the adjusting mechanism could be designed purely mechanically. Hydraulic or pneumatic actuation is possible if the adjusting mechanism comprises a cylinder-piston arrangement as the drive unit, which then serves as a drive for positioning, guiding and relocating the tool or the entire machining device.
  • the cylinder-piston arrangement could only be used to apply force to the tool and a separate — for example mechanical — actuating mechanism could be provided.
  • Arbitrary realizations are possible, whereby it is essential here that the tool can be moved or displaced between the two positions, namely force-controlled.
  • the processing station can be actively designed to the extent that the tool can be moved or displaced by deliberately actuating the adjusting mechanism.
  • the approach of the workpiece could preferably be detected contactlessly by means of suitable detectors, as a result of which the actuating mechanism is actuated via the process computer.
  • the starting position can thus be approached, preferably depending on the specifically detected burr on the workpiece.
  • the tool can be brought into the starting position by mechanical action of the workpiece on the tool, preferably via the adjusting mechanism provided there.
  • the path covered corresponds exactly to the burr to be removed.
  • the tool can be brought into the starting position against a specifiable holding force of the adjusting mechanism of the processing device.
  • the holding force can be generated via the previously mentioned cylinder-piston arrangement of the adjusting mechanism.
  • the entire machining device could be brought into the starting position with or without the workpiece - due to its own drive.
  • the manipulator holding the workpiece to be machined works exclusively location-controlled, namely on the basis of a path / location impressed on it.
  • the processing device and thus the tool work under force control, namely with a predetermined force or Voltage against the burr to be removed.
  • a simple and conventional control / regulation via a suitable processor is therefore possible.
  • the machining device with the essential parts thereof is arranged in a housing.
  • the machining device could be designed in such a way that only the tool itself moves relative to the workpiece held by the manipulator.
  • the tool could be a grinding wheel, brushes or the like.
  • a plurality of grinding wheels are provided next to one another, with a predetermined distance from one another and with a corresponding dimensioning of the grinding wheel.
  • Optimal adaptation to the crankshaft to be deburred is an advantage.
  • a visual inspection device for workpiece inspection could be provided, according to which the burrs or the like to be removed and their exact position and dimensioning on the workpiece can be determined. This makes it possible to coordinate the actual machining with the workpiece.
  • the visual inspection device is also readily suitable for detecting damaged areas on the workpiece.
  • a target / actual comparison is possible via the process computer, so that defective parts can be identified and separated out.
  • the visual inspection device comprises at least one camera and could work according to the silhouette inspection system, namely it could capture the contours of the respective workpiece. Any visual inspection principles can be implemented.
  • the data determined by the visual inspection device are fed to the process computer in a further advantageous manner and are used there to control the manipulator and / or the processing device. To this extent, processing can be optimized.
  • the tool testing device advantageously comprises a light source and a camera, the light source and camera being able to be arranged in a test head while forming a test field.
  • the test head can be partially positioned around the tool in such a way that the tool or at least parts of the tool are located in the beam path between the light source and the camera.
  • the test head is handled by a manipulator, whereby the test can take place in a definable cycle between the respective processes.
  • the data from the tool test are fed to the process computer, which can be used to control both the manipulator and the machining device.
  • the data from the tool test could be used to position or calibrate the tool and / or the workpiece. This is particularly advantageous when the grinding wheel is exposed to constant wear, so that constant recalibration ensures clean deburring.
  • the tool position can be calibrated using the adjusting mechanism of the machining device.
  • the machining position of the manipulator can also be changed or calibrated in accordance with the data from the tool test.
  • the operating parameters of the machining device and / or are in accordance with the data of the workpiece test and / or the tool test of the manipulator can be controlled or regulated, whereby a continuous optimization of the processing is possible.
  • casting tolerances into account, namely by detecting them.
  • the tool drive could be switched off.
  • the workpiece to be deburred is placed on a burr-free point, i.e. scanned in an area where no burrs can occur to measure the current dimension of the workpiece within the casting tolerance. This measurement can be taken into account in the subsequent processing, so that casting tolerances can be taken into account and quasi automatically compensated for.
  • the time course of the deflection can be mathematically evaluated in a process computer, for example in order to detect inadmissible burrs or other defects that can lead to the workpiece being ejected, for example for special treatment. Links to downstream or parallel processing stations are possible.
  • FIG. 1 in a schematic view, in the form of a rough sketch
  • Embodiment of a device according to the invention for cleaning and / or deburring workpieces, a grinding wheel being indicated as a tool and Fig. 2 is a schematic view of the basic structure of a visual inspection device that can be used on the one hand for visual inspection of the workpiece to be machined and on the other hand for visual inspection of the tool.
  • the workpiece 1 schematically shows a device for deburring workpieces, the workpiece 1 and the burr 2 to be removed there being indicated only schematically.
  • the workpiece 1 is a cast part, for example a crankshaft.
  • the ridge 2 extends over an area of the workpiece 1 and is shown here together with the workpiece 1 in section.
  • the device comprises a processing device 3, to which a tool belongs.
  • the tool here is specifically a grinding wheel 4 which is driven in rotation. The excess material or the burr 2 on the workpiece 1 is removed by means of the grinding wheel 4.
  • a manipulator 5 is used for gripping and moving the workpiece 1 into a machining position, which is only indicated by an arrow 6 in FIG. 1, the grinding wheel 4 moving from a front end position 7 reached at the end of the machining into a rear starting position 8 to be assumed at the beginning of the machining is movable.
  • the manipulator 5 is path-controlled and the processing device 3 or the grinding wheel 4 is force-controlled.
  • the processing device 3 comprises an adjusting mechanism 9, which is only indicated in FIG. 1.
  • a cylinder-piston arrangement 10 serves to apply force to the grinding wheel 4 with respect to the workpiece 1.
  • the drive 11 of the grinding wheel 4 is only indicated.
  • the adjusting mechanism 9 and the cylinder-piston arrangement 10 can be combined, so that both the positionability of the grinding wheel 4 and the required force can be generated via the cylinder-piston arrangement 10.
  • the distance traveled 12 can be determined by means of suitable detectors and fed to a process computer 13, so that pressure control via the cylinder-piston arrangement 10 is possible via the detected route.
  • reference numeral 14 merely indicates that a visual inspection device 14 can be provided for the visual inspection of the grinding wheel 4 and / or the workpiece 1, which can be used, for example, between predeterminable working cycles via a separate manipulator, not shown in the figures.
  • FIG. 2 shows the basic structure of such a visual inspection device 14, which comprises a camera 15 and - if necessary - a light source 16.
  • the visual inspection device 14 or camera 15 and light source 16 of the visual inspection device 14 are arranged in a test head 17, only indicated in FIG. 2, which spans a test field 18.
  • the test head 17 is to be arranged around the grinding wheel 4 or the workpiece 1 such that the area to be tested is in the test field 18.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

L'invention concerne un dispositif pour nettoyer et/ou ébarber des pièces d'usinage, notamment des pièces moulées en fonte. Ce dispositif comporte un dispositif d'usinage (3) comprenant au moins un outil pour éliminer la matière superflue. L'invention est caractérisée en ce qu'un manipulateur (5) saisit et met la pièce d'usinage (1) dans une position d'usinage, l'outil étant mobile à partir d'une position finale (7) atteinte en fin d'usinage vers une position initiale (8) à prendre en début d'usinage.
EP04708714A 2003-04-09 2004-02-06 Dispositif pour nettoyer et/ou barber des pi ces d'usinage Withdrawn EP1615747A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10316485 2003-04-09
DE10322396A DE10322396A1 (de) 2003-04-09 2003-05-16 Vorrichtung zum Reinigen und/oder Entgraten von Werkstücken
PCT/DE2004/000201 WO2004091857A1 (fr) 2003-04-09 2004-02-06 Dispositif pour nettoyer et/ou ébarber des pièces d'usinage

Publications (1)

Publication Number Publication Date
EP1615747A1 true EP1615747A1 (fr) 2006-01-18

Family

ID=33300825

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04708714A Withdrawn EP1615747A1 (fr) 2003-04-09 2004-02-06 Dispositif pour nettoyer et/ou barber des pi ces d'usinage

Country Status (2)

Country Link
EP (1) EP1615747A1 (fr)
WO (1) WO2004091857A1 (fr)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2658105B1 (fr) * 1990-02-09 1992-04-24 Snecma Montage adaptable a porte-outil pour ajustage avec robot.
JPH0857628A (ja) * 1994-08-16 1996-03-05 Nippon Steel Corp アルミ鋳造品の中子除去前処理方法
JP2819456B2 (ja) * 1995-10-09 1998-10-30 セイコー精機株式会社 汎用研磨装置
DK171660B1 (da) * 1996-04-12 1997-03-03 Georg Fischer Disa As System til afgratning eller slibning af et emne under anvendelse af en manipulator og fremgangsmåde til anvendelse ved samme, samt anvendelse af systemet og fremgangsmåden
JP3821909B2 (ja) * 1997-03-31 2006-09-13 株式会社ダイヘン 自動切削装置および自動切削・研磨装置
JPH11207588A (ja) * 1998-01-26 1999-08-03 Toyoda Mach Works Ltd バリ取り装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2004091857A1 *

Also Published As

Publication number Publication date
WO2004091857A1 (fr) 2004-10-28

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