JP2006062072A - Automatic polishing device for three-dimensional free curved surface with electrolytic abrasive grains - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic polishing device for polishing a work of component parts each having a plurality of three-dimensional free curved surfaces with electrolytic abrasive grains. <P>SOLUTION: The automatic polishing device using electrolytic abrasive grains is to polish a work of component parts each having a plurality of three-dimensional free curved surfaces using a plurality of polishing tools corresponding to the respective curved surfaces to be polished, in such a manner that the work and the polishing tools rotating are moved in the X-, Y-, and Z-direction while the tools are set mating with the respective curved surfaces, and a series of polishing motions are conducted on the basis of the data entered into a control device, whereby precision polishing not impairing the shape of the work using a minute processing margin can be achieved as well as a polishing process with a high quality and high efficiency assured compatibly to any free curved surface having a complicated irregularity surface can be established. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

The present invention relates to an automatic abrasive polishing apparatus for mirror polishing a three-dimensional free-form surface of a member made of a metal material.

Assuming that the workpiece is mirror-polished on an arbitrary free-form surface such as a metal member having a complex uneven surface such as a mold, the passive film generated on the workpiece surface by electrolysis is removed with abrasive grains. Thus, there has been proposed an electrolytic abrasive polishing apparatus in which the surface of a workpiece is mirror-polished. (See Patent Document 1).
Japanese Examined Patent Publication No. 4-20727 (claims, claims 1, page 2, column 4 to page 4, column 7, and Fig. 3)

However, the above prior art has the following problems.
(1) Although it is an arbitrary free-form surface, it is assumed that the curved surface follows a large undulation, and a free-form surface having a plurality of three-dimensional curved surfaces is not assumed.
(2) Therefore, it is not suitable for polishing a narrow area.
(3) Moreover, since the polishing tool and the drive motor are integrated, the power tool is large and heavy, and it is difficult to manually polish the power tool.
(4) When polishing manually, there are problems such as entrainment and rebound, which is also a safety issue.
(5) Further, since the polishing is performed manually, it is difficult to stably polish with a certain surface roughness.

In view of the above, the present invention has an object to provide a three-dimensional free-form electrolytic abrasive grain automatic polishing apparatus capable of automatically polishing a member having a plurality of three-dimensional free-form surfaces.

The electrolytic abrasive grain automatic polishing apparatus of the present invention prepares a plurality of parts having a plurality of three-dimensional free-form surfaces and a plurality of polishing tools corresponding to each of the plurality of three-dimensional free-form surfaces of the parts. Using one polishing tool corresponding to one of a plurality of three-dimensional free-form surfaces of the part as one of the three-dimensional free-form surfaces, and rotating the single polishing tool in the X, Y, and Z directions Move the one 3D free-form surface of the part to electrolytic abrasive polish, and then each of the other 3D free-form surfaces of the part correspond to the other 3D free-form surfaces of the part A series of operations for electrolytically polishing the other three-dimensional free-form surface of the part by moving the other polishing tool rotating with the part in the X, Y, and Z directions using another polishing tool Automatically based on data input to the control unit In addition, it realizes automatic polishing of electrolytic abrasive grains of parts with multiple three-dimensional free-form surfaces, for precise polishing that does not destroy the shape of the workpiece with a small margin, and for arbitrary free-form surfaces with complicated uneven surfaces It is characterized by enabling high-quality and high-efficiency polishing.

According to the above configuration, the part having a plurality of three-dimensional free-form surfaces is converted to the part and the polishing tool rotating by using the plurality of polishing tools corresponding to the plurality of three-dimensional free-form surfaces of the parts. By automatically performing a series of operations for electrolytic abrasive polishing by moving in the Y, Y and Z directions, automatic abrasive polishing of the part having a plurality of three-dimensional free-form surfaces is realized. Providing revolutionary polishing that enables high-quality and high-efficiency polishing for precise polishing that does not break the shape of the workpiece, and any free-form surface with a complex uneven surface. It is.
In addition, compared to manual electrolytic abrasive polishing, a stable polished surface can be obtained without requiring operator skill, and the polishing time can be greatly reduced and operation can be performed 24 hours a day without human intervention. Compared to work, it has an epoch-making effect.

Furthermore, the electrolytic abrasive grain automatic polishing apparatus according to the present invention further comprises a touch sensor that automatically measures the shape of the polishing tool chucked on the one spindle. A tool length measurement touch sensor for measuring the length of a polishing tool chucked on one spindle and / or a tool diameter measurement touch sensor for measuring a diameter of a polishing tool chucked on the one spindle, The touch sensor for measuring the tool length measures the distance (α) of the touch sensor contact surface from the root of the tool spindle when a predetermined load is applied by pressing the tip surface perpendicular to the tool length direction against the touch sensor. Yes, the touch sensor for measuring the tool diameter is the touch sensor from the center of the tool diameter when the outer diameter surface of the tool diameter is pressed against the sensor and a predetermined load is reached. The distance (β) to the touch surface is measured. Based on the tool length measured by the tool length measurement touch sensor and the tool diameter measured by the tool diameter measurement touch sensor, the plurality of 3 It is characterized in that the polishing is automatically performed so that the distance between the part having a dimensional free-form surface and the contact surface of the polishing tool becomes α and β.

According to the above configuration, the polishing tool can always polish a predetermined workpiece with a predetermined load (polishing pressure), enables uniform polishing, and automatically aligns the polishing tool. Does not require skilled workers.

Furthermore, the electrolytic abrasive grain automatic polishing apparatus of the present invention according to claims 1 and 2 performs measurement of the tool length (α) and the tool diameter (β) by the touch sensor in a predetermined cycle. Based on the measurement result, the polishing is automatically performed so that the distance between the parts having the plurality of three-dimensional free-form surfaces and the contact surface of the polishing tool becomes α and β.

According to the above configuration, for example, even when the polishing pressure changes due to wear of the polishing tool during polishing, the polishing pressure due to wear of the polishing tool is automatically corrected, and polishing can always be performed with the same polishing pressure. is there.

Furthermore, the electrolytic abrasive grain automatic polishing apparatus of the present invention is the first, second, and third aspects of the present invention. It is characterized by realizing 0.2 μmRa or less.

According to the above configuration, since the surface roughness of the part having a plurality of three-dimensional free-form surfaces is realized to be 0.2 μmRa or less, such as an in-vivo type auxiliary artificial heart that requires a small surface roughness. Electrolytic abrasive grain automatic polishing of a part having a plurality of three-dimensional free-form surfaces was made possible.

Furthermore, the electrolytic abrasive grain automatic polishing apparatus of the present invention includes a conveying line for conveying a plurality of pallets on which parts having a plurality of three-dimensional free-form surfaces are mounted,
A polishing line for electrolytically polishing one of the pallets on which the parts having the plurality of three-dimensional free-form surfaces are mounted, and parts before and after polishing are mounted between the transfer line and the polishing line. An automatic abrasive polishing apparatus comprising a transfer arm for moving a pallet, the polishing line comprising a rectangular table, a polishing tank disposed on the table, a tool holder, and a spindle chucked with a polishing tool The polishing tank and the tool holder move in the longitudinal direction of the table, the spindle moves in a direction perpendicular to the longitudinal direction of the table, and the polishing tank is open on one side. A holding portion for holding the pallet on which the tank and the parts having the plurality of three-dimensional free-form surfaces are mounted, and a polishing liquid in the parts having the plurality of three-dimensional free-form surfaces The polishing tank is moved to the position of the transfer arm disposed at one end of the polishing line, and receives the parts having the plurality of three-dimensional free-form surfaces before polishing from the transfer arm. One polishing tool moves to a predetermined position of the chucked spindle, and the spindle chucked with the one polishing tool is perpendicular to the longitudinal direction of the polishing line based on the data input to the controller. The polishing tank in which the parts having a plurality of three-dimensional free-form surfaces are held in the direction and up and down are moved in the longitudinal direction of the polishing line, so that one three-dimensional free-form surface of the parts having a plurality of three-dimensional free-form surfaces Automatically grind the electrolytic abrasive grain,
Subsequently, when polishing another three-dimensional free-form surface of the part having a plurality of three-dimensional free-form surfaces, the tool holder on which the plurality of the polishing tools are arranged is based on the data input to the control device. In the longitudinal direction, the spindle on which the one polishing tool is chucked moves vertically and vertically with respect to the longitudinal direction of the polishing line, so that the one polishing tool chucked on the spindle is Return the tool holder to a predetermined place in which a single polishing tool is stored, the spindle from which the single polishing tool has been removed chucks another polishing tool from the tool holder, and the other polished chucked By repeating the operation of automatically polishing the other three-dimensional free-form surface of the part having the plurality of three-dimensional free-form surfaces with the tool by electrolytic abrasive grain polishing, Wherein the polishing automatically electrolytic abrasive grain by a plurality of the polishing tool with the part corresponding to a plurality of three-dimensional free-form surface having a dimension free-form surface.

According to the above configuration, the polishing line rotates the part having a plurality of three-dimensional free-form surfaces with the parts using a plurality of polishing tools corresponding to the plurality of three-dimensional free-form surfaces of the parts. A series of operations for polishing electrolytic abrasive grains by moving the polishing tool in the X, Y, and Z directions is performed automatically, and requires less operator skill than manual electrolytic abrasive polishing. A stable polished surface can be obtained, the polishing time can be greatly shortened, and the conveying line conveys a plurality of pallets on which the part parts having a plurality of three-dimensional free-form surfaces are mounted. The arm moves the parts before polishing to the polishing line and the parts after polishing to the transfer line from the transfer line. By this, a plurality of parts can be automatically polished and operated 24 hours a day. Is possible.

Furthermore, in the electrolytic abrasive grain automatic polishing apparatus according to the second aspect of the present invention, the transfer line is composed of two rows of a carry-in lane and a carry-out lane, the carry-in lane before polishing toward the stop position from the carry-in entrance. The pallet carrying the parts having the plurality of three-dimensional free-form surfaces is transported, and the carry-out lane is opposite to the carry-in lane with the pallets carrying the parts having the plurality of three-dimensional free-form surfaces after polishing. It is characterized by being conveyed in the direction.

According to the above configuration, the transfer line is divided into two rows, the carry-in lane for carrying the parts before polishing and the carry-out lane for carrying the parts after polishing. Misunderstandings have been eliminated, enabling stable unmanned operation and shorter transport line lengths.

Further, in the automatic abrasive polishing apparatus according to the third and fourth aspects of the present invention, the transfer arm is arranged at one end of a transfer line and a polishing line arranged in parallel, and the transfer line and the polishing Moves in the direction perpendicular to the longitudinal direction of the line, and moves the pallet carrying the parts having the three-dimensional free-form surface before polishing at the stop position of the carry-in lane to the polishing tank of the polishing line And a function of moving the pallet on which the parts having a plurality of three-dimensional free-form surfaces after polishing are moved from the polishing tank to a carry-out lane.

According to the above configuration, since the transfer arm is arranged at one end of the transfer line and the polishing line arranged in parallel, the line can be shortened.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1-3 show an example of an automated line of the electrolytic abrasive grain automatic polishing apparatus of the present invention.
1 is a plan view, FIG. 2 is a front view, and FIG. 3 is a side view.
The automated line of the above-described electrolytic abrasive grain automatic polishing apparatus includes a pallet carrying line 5 comprising a pallet carrying lane 5-1 and a pallet carrying lane 5-2, a polishing line 6, and between the pallet carrying line 5 and the polishing line 6. Pallet moving means (auto pallet changer) 12, and the pallet conveying means is arranged in parallel in two rows of the carry-in lane 5-1 and the carry-out lane 5-2, and the carry-in lane 5-1 The pallet 3 loaded with the parts 1 is conveyed in the direction of the arrow in FIG. 1 (from the right to the left toward the paper surface), and the carry-out lane 5-2 illustrates the pallet 3 loaded with the parts 1 after polishing. 1 is conveyed in the direction of the arrow (from the left to the right toward the paper surface).
The polishing line 6 includes the polishing tank 7, the tool holder 8, the spindle 9, and a touch sensor 16, and the polishing tank 7, the tool holder 8, and the touch sensor 16 are integrated as shown in FIG. It moves on the table 11 in the X-axis direction of FIG. The spindle 9 moves in the Z-axis direction in FIG. 2 (vertical direction toward the paper surface) and in the Y-axis direction in FIG.
A pallet moving means (auto pallet changer) 12 is installed at the left end toward the paper surface in FIGS. 1 and 2 across one end of the conveying line 5 and the polishing line 6. As shown in FIG. 3, the pallet constituting the pallet 13 has a Z-axis direction (vertical direction toward the paper surface) and a Y-axis direction at a predetermined height (the longitudinal direction of the conveyance line 5 and the polishing line 6). The pallet 3 loaded with the parts before polishing is moved from the loading lane 5-1 to the polishing tank 7 of the polishing line 6, and the parts after polishing are polished. It is moved from the tank 7 to the carry-out lane 5-2.
The control device 15 in FIG. 3 is a control device composed of a CPU for automatically controlling the conveying line 5, the polishing line 6 and the pallet moving means 12 constituting the electrolytic abrasive grain automatic polishing apparatus of the present invention.
In the automated line of the electrolytic abrasive grain automatic polishing apparatus of the present invention, since the transport line 5 and the polishing line 6 are arranged in parallel in the longitudinal direction of each line, the length of the line can be shortened, and In addition, the arrangement is not wasteful in terms of area, and the installation place has flexibility. Further, the movement of the part 1 between the transfer line 5 and the polishing line 6 is automated by a pallet moving means (auto pallet changer = APC (Auto Palette Changer), hereinafter referred to as APC) by the pallet transfer arm 13. is doing. Further, in order to polish the part 1 having a plurality of three-dimensional free-form surfaces, a plurality of types of the polishing tools 10 are required according to the plurality of three-dimensional free-form surfaces, and the polishing tool 10 can be automatically replaced. A tool changer (auto tool changer = ATC (Auto Tool Changer), hereinafter referred to as ATC) and electrolytic grain polishing of the part 1 having a plurality of three-dimensional free-form surfaces into a plurality of three-dimensional free-form surfaces Automation is realized by a plurality of corresponding polishing tools 10.
Further, the touch sensor 16 includes a tool length measurement touch sensor 16-1 for measuring the tool length of the polishing tool 10 chucked on the spindle 9 and a tool diameter assumption touch sensor 16-2 for measuring the diameter of the polishing tool. Each is configured to automatically measure the tool length and tool diameter of the polishing tool at a predetermined load.
The specific configuration and operation of this apparatus will be described in detail below.

As shown in FIG. 1, the transport line 5 is composed of the carry-in lane 5-1 and the carry-out lane 5-2, and the pallet 3 is transported from the right side to the left side in the carry-in lane 5-1 toward the paper surface. In the carry-out lane 5-2, the pallet 3 is conveyed from the left side to the right side. First, the pallet 3 on which already prepared parts are set is manually placed on the carry-in entrance 5-3 at one end of the carry-in lane 5-1. The placed pallet 3 is transported toward the other end of the carry-in lane 5-1 and stops at a stop position 5-4 at the other end. Next, the pallet 3 on which the second part is set is manually placed on the carry-in port 5-3 at one end of the carry-in lane 5-1, and the second pallet 3 placed on the pallet 3 is The second pallet 3 is stopped by a stopper in front of the first pallet 3 that has been transported toward the other end of the carry-in lane 5-1 and has already been carried into the other end of the transport line 5. The stopper passes through when the pallet 3 is not present at the other end of the carry-in lane 5-1. The third and subsequent pallets 3 are also placed sequentially. The number of the pallets 3 to be placed is determined as appropriate, and the length of the lane is adjusted according to the quantity.
In addition, it is desirable that the part 1 and the pallet 3 are electrically connected to each other (the reason is that an electric current can be applied to the part 1 through the pallet 3).

Next, the first pallet 3 transported to the other end of the carry-in lane 5-1 is sent to the other end of the transport line 5 and one of the polishing lines 6, as shown in FIGS. It is transported to the polishing line 6 by a transport arm installed at the end. The movement arm will be described in more detail. As shown in FIG. 1, the transfer arm moves horizontally at a predetermined height from point A to point C, and moves up and down at points A, B, and C. The transfer arm 13 descends vertically when it moves to the point B, chucks the first pallet 3 transferred to the other end of the transfer lane 5-1, Rise to the height of. Next, it moves horizontally to point C, descends vertically when it reaches point C, and the pallet 3 is fixed to the polishing tank pallet holding part 4 (see FIG. 6) of the polishing tank 7 set at the position to descend. The
The pallet 3 is fixed to the polishing tank pallet holding part 4 (see FIG. 6) by placing the pallet 3 mounted on the holding part 4 of the polishing tank 7 on the polishing tank pallet holding part 4 (see FIG. 6) from the side. It is sandwiched and fixed by the provided pallet clamper 4-1 (see FIGS. 4A and 4B). FIG. 4A shows an example in which the pallet 3 is fixed by the pallet clamper 4-1, and the parts fixed to the parts fixing jig 2 are mounted on the pallet 3 (of course, The parts mounting jig is fixed to the pallet 3), and the pallet 3 is engaged with the pallet positioning pins 4-3 of the polishing tank pallet holding section 4 (see FIG. 6), and the pallet clamper 4-1 is shown in the figure. Thus, the pallet 3 is sandwiched and fixed. FIG. 6B shows a state in which the pallet 3 fixed to the polishing tank pallet holding part 4 (see FIG. 6) is released. As is clear from FIGS. 6A and 6B, the pallet clamper 4-1 is sandwiched while rotating around a fulcrum.

The parts 1 having a plurality of three-dimensional free-form surfaces fixed to the polishing tank pallet holding part 4 (see FIG. 6) of the polishing tank 7 are embedded in the body shown in FIGS. 4 (a) and 4 (b). A case 1-1 (showing a cross-sectional view) of an auxiliary artificial heart is taken as an example and polished. As shown in FIGS. 4A and 4B, the inner surface of the case 1-1 of the in-vivo type auxiliary artificial heart is divided into five three-dimensional free-form surfaces a to e, which correspond to the respective three-dimensional free-form surfaces. Five types of the polishing tool 10 are prepared.

The polishing tool 10 used above has its shape, size, and type of abrasive (a non-woven fabric containing an abrasive or a rubber-based grindstone, a paper grindstone wrapped around a metal core, a metal core brush, etc.) Is appropriately selected according to the shape of the three-dimensional free-form surface of the part 1. Moreover, it is necessary to be able to apply electrolysis between the polishing tool 10 and the part 1 via an electrolytic solution (without abrasive grains or including abrasive grains).

In order to perform electrolytic abrasive polishing on the part 1 having at least a plurality of (five) three-dimensional free-form surfaces shown in FIGS. 4A and 4B, five types of the five polishing tools 10 are used. It is set in the holder 8.

First, the five polishing tools 10 are such that the set tool holder 8 moves in the X-axis direction shown in FIG. 2, and the spindle 9 moves in the Z-axis direction shown in FIG. 2 and the Y-axis shown in FIG. When both of them move in the X-axis direction and the Y-axis direction and the positions of the center of the spindle 9 and the center of the polishing tool 10 are aligned, the spindle 9 is lowered, When the required polishing tool 10 is chucked, both return to their original positions.

  Next, when the polishing tool 10 is chucked, the polishing tank 7 moves in the X-axis direction of FIG. 2, and the touch sensor 16 fixedly disposed in the polishing tank 7 is chucked. It stops at a position near the spindle. The spindle 9 descends in the vicinity of the stopped touch sensor 16, the polishing tool 10 chucked on the spindle 9 comes into contact with the touch sensor, and the tool length of the polishing tool 10 at a predetermined contact load, Or measure the tool diameter. A method of measuring the tool length and tool diameter of the polishing tool 10 by the touch sensor 16 will be described below based on FIGS. 7- (a), (b), and FIGS. 8- (a), (b). explain in detail.

7A and 7B illustrate a method of measuring the length of the polishing tool 10 chucked on the spindle 9 with the tool length measurement touch sensor 16-1.
FIG. 7- (a) shows a state in which the tip of the polishing tool 10 descends toward the contact surface of the tool length measurement touch sensor 16-1. In the figure, L0 is the distance from the tool root 18 of the polishing tool 10 to the tip of the polishing tool 10.
FIG. 7- (b) shows a state when the tip of the polishing tool 10 is in contact with the tool length measurement touch sensor 16-1 with a predetermined contact load. At the position where the measurement part center 23 of the tool length measurement touch sensor 16-1 and the center 19 of the polishing tool are coaxial, the bottom surface 20 of the polishing tool 10 contacts the tool length measurement touch sensor 16-1, and a predetermined load is applied. Measure the tool length at. In the figure, the distance L2 from the tool root 18 of the polishing tool 10 to the reference surface 17-1 of the touch sensor 16 is such that the position of the tool root 18 is automatically relative to the reference surface 17-1 of the touch sensor 16. Since the distance L1 from the contact surface of the tool length measurement touch sensor 16-1 to the reference surface 17-1 of the tool length measurement touch sensor is a specified value, (L2-L1) That is, the distance from the tool root 18 to the contact surface of the tool length measurement touch sensor 16-1 at a predetermined contact load can be automatically read. If this distance (L2−L1) = α is polished as the distance from the tool root of the polishing tool 10 to the polishing surface of the part 1 having a plurality of three-dimensional free-form surfaces, the plurality of three-dimensional freedoms are always applied with a predetermined load. The part 1 having a curved surface can be polished.
In the figure, the value obtained by subtracting (L2−L1) from the tool length L0 when the polishing tool is not in contact with the tool length measurement touch sensor 16-1 indicates that the predetermined load is applied to the polishing tool. The amount of deformation of the polishing tool. In this case, the polishing tool is an elastic body.
When the polishing tool is not an elastic body, the tool length L0 is α. Even when the polishing tool is not an elastic body, the tool length L0 is changed by polishing. Therefore, it is necessary to measure the changed tool length L0.
In the above description, it goes without saying that the distance L2 varies depending on the magnitude of the predetermined load, and the setting of the predetermined load is a matter of design.

8A and 8B illustrate a method of measuring the diameter of the polishing tool 10 chucked on the spindle 9 with the tool diameter measuring touch sensor 16-2.
FIG. 8A shows a state in which the side surface of the polishing tool 10 moves toward the contact surface of the tool diameter measuring touch sensor 16-2. In the figure, L3 is the distance from the reference surface 17-2 of the tool diameter measuring touch sensor to the contact surface of the tool diameter measuring touch sensor.
FIG. 8- (b) shows a state when the side surface of the polishing tool 10 is in contact with the tool diameter measuring touch sensor 16-2 with a predetermined contact load. At a position where the center axis 22 of the tool diameter measuring touch sensor and the center axis 19 of the polishing tool coincide, the side surface 21 of the polishing tool 10 contacts the tool diameter measuring touch sensor 16-2, and the tool diameter at a predetermined load is reached. Measure. In the drawing, the distance L4 from the tool radius measuring touch sensor reference surface 17-2 from the tool radius measuring center 19 of the polishing tool 10 is such that the position of the tool diameter measuring center 19 is the tool diameter measuring touch sensor. The reference surface 17-2 can be automatically read, and the distance L3 between the contact surface of the tool diameter measuring touch sensor 16-2 and the reference surface 17-2 of the tool diameter measuring touch sensor is defined. Therefore, the value of (L4−L3), that is, the distance from the tool diameter center 19 to the contact surface of the tool diameter measurement touch sensor 16-2 at a predetermined contact load can be automatically read. If this distance (L4−L3) = β is polished as the distance from the tool center 19 of the polishing tool 10 to the polishing surface of the part 1 having a plurality of three-dimensional free-form surfaces, the plurality of three-dimensional objects are always applied with a predetermined load. The part 1 having a free curved surface can be polished.
In the figure, the value obtained by subtracting (L4−L3) from the tool radius φ0 when the tool is not in contact with the tool diameter measurement touch sensor 16-2 of the polishing tool is the result of applying a predetermined load to the polishing tool. The amount of deformation of the polishing tool. In this case, the polishing tool is an elastic body.
When the polishing tool is not an elastic body, the tool radius φ0 is β. Even when the polishing tool is not an elastic body, the tool radius φ0 is changed by polishing. Therefore, it is necessary to measure the changed tool diameter φ0.
In the above description, it goes without saying that the distance L4 changes depending on the magnitude of the predetermined load, and the setting of the predetermined load is a matter of design.

As described above, a predetermined polishing pressure can be set by the touch sensor 16, and a three-dimensional free-form surface can be polished under the same conditions set by the touch sensor 16. Uniform polishing is possible under the same conditions.
Even if the polishing conditions change due to wear of the polishing tool during polishing, the tool length and the tool diameter are measured at a predetermined pressure determined by the touch sensor at an appropriate cycle during polishing, and the results are obtained. By feeding back to the polishing conditions, an error from a certain setting condition is reduced, so that uniform polishing with higher accuracy is possible.

After measuring the tool length and the tool diameter when a predetermined load is applied to the polishing tool 10 with the touch sensor, based on the measured tool length (L2−L1) = α and the tool diameter (L4−L3) = β. Then, the electrolytic abrasive grain automatic polishing operation for a part having a plurality of three-dimensional curved surfaces is started.

The polishing tank 7 in which the part 1 before polishing is set moves in the X-axis direction of FIG. 2, and is stopped near the spindle 9 where the polishing tool 10 is chucked. The spindle 9 descends in the vicinity of the stopped three-dimensional free-form surface a of the part 1, and the polishing tool 10 of the rotating spindle 9 comes into contact with the three-dimensional free-form surface a of the part 1, and a nozzle is formed at the contact portion. 14, while flowing an electrolytic solution (without abrasive grains or including abrasive grains), a current flows between the polishing tool 10 and the part 1 through the electrolytic solution with the polishing tool 10 as a negative electrode and the part 1 as a positive electrode. Electrolytic abrasive polishing is performed. At this time, the part 1 is automatically polished in the X-axis direction in FIG. 2, and the polishing tool 10 chucked on the spindle 9 is moved in the Y-axis direction in FIG. 3 and the Z-axis direction in FIG. The
At this time, when the part having the plurality of three-dimensional free-form surfaces is polished at the tip of the polishing tool 10, the tool length (L2-L1) = α always measured by the tool length measuring touch sensor 16-1. Polish to be. Further, when polishing a part having the plurality of three-dimensional free-form surfaces on the side surface of the polishing tool, the tool diameter (L4−L3) = β always measured by the tool diameter measuring touch sensor-16-2 is always obtained. So as to polish.

After a predetermined time, when the electrolytic abrasive grain polishing of the three-dimensional free-form surface a of the part 1 is completed, the spindle 9 rises in the Z-axis direction in FIG. 2, and the polishing tank 7 moves in the X-axis direction in FIG. The tool holder 8 moves immediately below the spindle 9 in the X-axis direction in FIG. 2, and the spindle 9 descends to hold the polishing tool 10 chucked on the spindle 9 in the tool holder 8. Returning to the part 8-1, the next polishing tool 10 (for polishing the three-dimensional free-form surface b of the part 1 shown in FIG. 4A) is chucked. The chucked spindle 9 and the tool holder 8 are returned to their original positions.

When the spindle 9 is chucked with the second polishing tool 10 for polishing the three-dimensional free-form surface b of the part 1,
The polishing tank 7 moves in the X-axis direction of FIG. 2 and is stopped near the spindle 9 where the polishing tool 10 is chucked. The spindle 9 descends in the vicinity of the stopped three-dimensional free-form surface a of the part 1, and the polishing tool 10 of the rotating spindle 9 comes into contact with the three-dimensional free-form surface b of the part 1, and a nozzle is formed at the contact portion. While flowing an electrolytic solution containing abrasive grains from 14, the polishing tool 10 is a negative electrode and the part 1 is a positive electrode, and an electric current is passed between the polishing tool 10 and the part 1 through the electrolytic solution to perform electrolytic abrasive polishing. Do. At this time, the part 1 is automatically polished in the X-axis direction in FIG. 2, and the polishing tool 10 chucked on the spindle 9 is moved in the Y-axis direction in FIG. 3 and the Z-axis direction in FIG. The The movement of the spindle 9 in the Y-axis direction is performed by the spindle 9 Y-axis driving section, and the movement in the Z-axis direction is performed by the spindle 9 Z-axis driving section.

In the automatic polishing described above, it is desirable that the polishing tool 10 and the part 1 are always polished at a constant pressure that is optimal. Therefore, a touch sensor that can detect the polishing pressure is provided in another place (actual The pressure of the polishing tool 10 and the part 1 is not measured), and the position is controlled by the touch sensor so as to keep the optimum pressure constant.

  By repeating the above operation, the three-dimensional free-form surfaces c, d, and e of the part 1 are polished.

When the polishing of the three-dimensional free-form surfaces a, b, c, d, and e of the part 1 is completed, the polishing tank 7 moves directly below the transfer arm 13 at one end of the polishing line 6, When the part 1 after polishing in the polishing tank 7 is fixed and the polished part 1 is chucked by the transfer arm 13, the transfer arm 13 is lifted, and at a certain height, this time, FIG. 3 moves in the Y-axis direction and reaches the pallet installation location in the carry-out lane 5-2 of the transfer line 5 and then descends in the Z-axis direction (vertical direction toward the paper surface) to carry out the parts 1 after polishing. It is placed at a predetermined installation location in lane 5-2. The placed part 1 after polishing is transported by the transport lane 5-2 to the transport outlet 5-5 of the transport lane 5-2 and stopped.

Next, the second pallet 3 and the subsequent pallets 3 conveyed to the other end of the carry-in lane 5-1 are also polished in the same manner as the first pallet 3, and a plurality of pallets 3 in the carry-in lane 5-1 When all of the pallet 3 is polished, the pallet 3 after polishing is conveyed to the carry-out lane 5-2.

APC (Auto Palette Changer) means by the pallet arm 13 for moving the pallet 3 carrying the part 1 between the conveying line 5 and the polishing line 6 and the polishing tool 10 are automatically replaced. A specific procedure of the ATC (Auto Tool Changer) means that can be performed is specifically shown below.
<APC operation>
(1) The pallet 3 replacement command from the control panel
(2) Move the polishing tank 7 to the pallet 3 replacement position
(3) Confirmation of the presence or absence of the pallet 3 at the installation location of the pallet 3 in the polishing tank 7
With this pallet 3 → (4)
No pallet 3 → (14)
(4) Confirmation of the presence or absence of the pallet 3 at the pallet transfer position in the carry-out lane 5-2
With this pallet 3 → Alarm Without the pallet 3 → (5)
(5) Air blow ON
(6) Pallet The transfer arm 13 is moved to the polishing tank 7 side.
(7) Pallet transport arm 13 descending
(8) Clamp the pallet 3 with an arm
(9) The pallet fixing mechanism on the polishing tank 7 side unclamps (releases) the pallet 3
(10) Ascending the transfer arm 13 (11) While moving the transfer arm 13 to the carry-out side, rotate the carry-out conveyor for a certain period of time,
Transport the pallet 3 in the unloading lane 5-2 (12) Lower the transport arm 13
(13) Unclamp (release) the pallet 3
(14) The transfer arm 13 is raised (15) The pallet 3 stopper is lowered in the loading lane 5-1
(16) The conveyor in the loading lane 5-1 rotates.
(17) The pallet stopper raising sensor in the loading lane 5-1 confirms that the pallet 3 is present, and the pallet stopper is raised.
(18) The pallet replacement position sensor in the carry-in lane 5-1 confirms the presence or absence of the pallet 3
With the pallet 3 → Stop the conveyor in the loading lane 5-1 after a certain time (19)
No pallet 3 → Alarm (19) Move the transfer arm 13 to the loading lane 5-1
(20) Lowering of the transfer arm 13
(21) Clamp the pallet 3 with an arm
(22) The transfer arm 13 is raised
(23) Move the transfer arm 13 to the polishing tank 7 side.
(24) Lowering of the transfer arm 13
(25) Clamp the pallet 3 in the polishing tank 7 and confirm the presence / absence of the pallet 3 and the pallet number (26) The transfer arm 13 unclamps (releases the pallet 3)
(27) Air blow OFF
(28) The transfer arm 13 is raised
(29) The transfer arm 13 moves to the carry-in lane 5-1
(30) End signal

<ATC operation>
(1) Specifying the tool number to be replaced from the control panel
(2) Clamping the spindle and confirming the tool number being used
(3) Tool sensor movement to clamped tool number position
(4) Tool sensor descent
(5) Check for tools
With tools → (6)
No tools → (9)
(6) Tool sensor rise
(7) Alarm display with tool after moving to tool escape (origin) position
(8) Go to (3) with the automatic start button ON

(9) Tool sensor rise
(10) Spindle movement to the clamped tool number position
(11) Z-axis lowering
(12) Spindle air blow ON
(13) Unclamp the spindle tool
(14) Z-axis origin return
(15) Tool sensor movement to the installation position of the tool to be replaced
(16) Tool sensor descent
(17) Check for tool presence
With tools → (21)
No tools → (18)
(18) Tool sensor rise (19) After moving to the tool retracting (origin) position, alarm display without tool (20) Automatic start button ON to (3) (21) Tool sensor rise (22) Installation of tool to be replaced Spindle movement to position (23) Z-axis descent (24) Spindle clamps tool (25) Spindle air blow off
(26) Z-axis origin return (27) Move to X / Y-axis specified position (28) End signal

Table 1 shows conditions and polishing results when the above-mentioned case 1-1 of the in-vivo type auxiliary artificial heart is subjected to electrolytic abrasive polishing.

(The above number of times refers to the number of times that the polishing tool 10 circulates the part 1.)
From the results of Table 1 above, the surface roughness (Ra) of b, c, and d at the polishing location is higher than that of the measurement locations a and e, but the conditions (material and shape of the polishing tool 10) It is suggested that the surface roughness of 0.2 μmRa or less can be achieved by packing the presence or absence of contained abrasive grains, the size of the abrasive grains when present, and the like.

,
Table 2 shows the results of polishing the base 1-2 of the in-vivo implantable artificial heart shown in FIGS. 5 (a) and 5 (b) with the above-described electrolytic abrasive grain automatic polishing apparatus of the present invention.
(The above number of times refers to the number of times that the polishing tool 10 circulates the part 1.)
In the results of Table-2 above, the surface roughness is 0.2 μmRa or less at any polishing location.

In Tables 1 and 2, the electrolytic solution may or may not contain abrasive grains. Also, the polishing tool 10 may or may not contain abrasive grains. The combination is determined as appropriate.
Further, the material of the base 1-2 and the case 1-1 of the above-mentioned implantable auxiliary artificial heart is titanium (Ti), and machining (cutting, polishing, etc.) is difficult among metals.
Although the present embodiment has been described assuming the case of an in-vivo embedded artificial heart made of titanium, it goes without saying that it can be applied to other metal materials such as stainless steel and aluminum in addition to titanium.

Next, when the polishing time is manually polished and when it is polished by the electrolytic abrasive grain automatic polishing apparatus of the present invention, it is several hours to several tens of hours when manually polishing (the polishing time depends on the shape of the part 1). This can be achieved in about 1/10 of the manual time in the electrolytic abrasive grain automatic polishing apparatus of the present invention.

As mentioned above, the electrolytic abrasive grain automatic polishing apparatus of the present invention ensures equivalent quality (surface roughness Ra) obtained by manual electrolytic abrasive polishing, and enables a significant reduction in polishing time. In addition, compared with manual operation, it achieves epoch-making effects such as improvement of safety to humans through automation and stable quality by replacing skilled workers with automated mechanization.

  The automatic abrasive polishing apparatus of the present invention realizes automatic polishing of electrolytic abrasive grains of parts having a plurality of three-dimensional free-form surfaces, and significantly reduces time and polishing characteristics quality compared to manual polishing. It is intended to stabilize and improve safety and contributes to precision polishing of parts having a plurality of three-dimensional free-form surfaces.

An example of the automated line of the electrolytic abrasive grain automatic polishing apparatus of the present invention is shown, and a plan view thereof is shown. An example of the automation line of the electrolytic abrasive grain automatic polishing apparatus of the present invention is shown, and a front view thereof is shown. An example of the automation line of the electrolytic abrasive grain automatic polishing apparatus of the present invention is shown, and a side view thereof is shown. The part 1 having a plurality of three-dimensional free-form surfaces of the present invention is an example of a case 1-1 of an in-vivo type auxiliary artificial heart, and shows a partial cross-sectional view of the case 1-1. Is. The part 1 having a plurality of three-dimensional free-form surfaces of the present invention is an example of a case 1-1 of an in-vivo type auxiliary artificial heart, and shows a partial cross-sectional view of the case 1-1. Is. The part 1 having a plurality of three-dimensional free-form surfaces of the present invention is an example of the case of a base 1-2 of an in-vivo type auxiliary artificial heart, and is a plan view. FIG. 5 shows an example in which the part 1 having a plurality of three-dimensional free-form surfaces of the present invention is a base 1-2 of an in-vivo type auxiliary artificial heart; FIG. 5 (a) is a sectional view taken along line YY of FIG. It is shown. The state of fixing the pallet 3 is shown, and the state of fixing the pallet 3 to the polishing tank pallet holding part 4 of the polishing tank 7 is shown. The state of fixing of the pallet 3 is shown, and the state of releasing the fixation of the pallet 3 to the polishing tank pallet holding part 4 of the polishing tank 7 is shown. The tip of the polishing tool 10 is shown descending toward the contact surface of the tool length measurement touch sensor 16-1. The state when the tip of the polishing tool 10 is in contact with the tool length measurement touch sensor 16-1 with a predetermined contact load is shown. The side surface of the polishing tool 10 moves toward the contact surface of the tool diameter measuring touch sensor 16-2. The state when the side surface of the polishing tool 10 is in contact with the tool diameter measuring touch sensor 16-2 with a predetermined contact load is shown.

Explanation of symbols

1 A part having a plurality of three-dimensional free-form surfaces 1-1 Case of an implantable auxiliary artificial heart 1-2 Base of an internal implantable auxiliary artificial heart 2 Parts fixing jig 3 Pallet 4 Polishing tank pallet holding part 4-1 Pallet clamper 4-2 Pallet fixing table 4-3 Pallet positioning pin 5 Transport line 5-1 Carry-in lane 5-2 Carry-out lane 5-3 Carry-in inlet 5-4 Stop position 5-5 Carry-out port 6 Polishing line 7 Polishing tank 8 Tool holder 8 -1 Polishing tool holding unit 9 Spindle 9-1 Spindle Z-axis drive unit 9-2 Spindle Y-axis drive unit 10 Polishing tool 11 Table 12 Auto pallet changer 13 Transfer arm 14 Nozzle 15 Controller 16 Touch sensor 16-1 Tool length measurement Touch sensor 16-2 Tool diameter measurement touch sensor 17-1 Tool length measurement touch sensor Surface 17-2 Reference surface 18 for tool diameter measurement touch sensor 18 Tool root reference surface 19 Tool diameter center reference surface 20 Polishing tool bottom surface 21 Polishing tool side surface 22 Tool diameter measurement touch sensor central axis 23 Tool length measurement touch Sensor center axis A Point B where the transfer arm descends vertically on the unloading lane Point B where the transfer arm descends vertically on the loading lane C Point where the transfer arm descends vertically on the polishing tank
L0 Tool length when there is no load φ0 Tool radius when there is no load α Distance from the tool spindle root to the touch sensor contact surface at a given load β Distance between the tool diameter center and the touch sensor contact surface at a given load
L1 Distance from the contact surface of the tool length measurement touch sensor to the reference surface of the tool length measurement touch sensor
L2 Distance from the base of the tool spindle to the reference surface of the touch sensor for measuring the tool length at a given load
L3 Distance from the contact surface of the tool diameter measurement touch sensor to the reference surface of the tool diameter measurement touch sensor
L4 Distance from the center of the tool diameter at the specified load to the reference surface of the touch sensor for measuring the tool diameter

Claims (7)

A plurality of parts having a plurality of three-dimensional free-form surfaces and a plurality of polishing tools corresponding to each of the plurality of three-dimensional free-form surfaces of the parts are prepared, and one of the plurality of three-dimensional free-form surfaces of the parts Using one polishing tool corresponding to one of the three-dimensional free-form surfaces, the part and the rotating polishing tool are moved in the X, Y, and Z directions to move the one three-dimensional freedom of the part. Electrolytic abrasive polishing of the curved surface, and then rotating each of the other plurality of three-dimensional free-form surfaces of the part with the part using another polishing tool corresponding to the other plurality of three-dimensional free-form surfaces of the part A series of operations for polishing the other three-dimensional free-form surface of the part by electrolytic abrasive grain movement by moving the other polishing tool in the X, Y and Z directions automatically based on the data input to the controller To have multiple 3D free-form surfaces. Electrolytic abrasive grain automatic polishing of this part has been realized, and both high quality and high efficiency have been achieved for precise polishing that does not destroy the shape of the workpiece with a minute allowance and any free-form surface with complicated uneven surface An electrolytic abrasive automatic polishing apparatus characterized by enabling polishing. In the above automatic abrasive polishing apparatus, a touch sensor for automatically measuring the shape of the polishing tool chucked on the one spindle is provided, and the touch sensor is used for the polishing tool chucked on the one spindle. A tool length measurement touch sensor for measuring a length and / or a tool diameter measurement touch sensor for measuring a diameter of a polishing tool chucked on the one spindle. The tool length measurement touch sensor is a tool length measurement tool. The tip surface perpendicular to the vertical direction is pressed against the touch sensor, and the distance (α) of the touch sensor contact surface from the root of the tool spindle when a predetermined load is reached is measured. , Measure the distance (β) from the center of the tool diameter to the touch sensor contact surface when the outer diameter surface of the tool is pressed against the sensor and the specified load is reached A plurality of parts having the three-dimensional free-form surface and the polishing tool based on the tool length measured by the tool length measurement touch sensor and the tool diameter measured by the tool diameter measurement touch sensor 2. The electrolytic abrasive grain automatic polishing apparatus according to claim 1, wherein the polishing is automatically performed so that the distance to the contact surface becomes α and β. Measurement of the tool length (α) and tool diameter (β) by the touch sensor is performed in a predetermined cycle, and based on the measurement result, the parts having the plurality of three-dimensional free-form surfaces and the contact surface of the polishing tool 3. The electrolytic abrasive grain automatic polishing apparatus according to claim 1, wherein the polishing is automatically performed so that the distance of α is equal to α and β. 4. The surface roughness of a part having a plurality of three-dimensional free-form surfaces is realized by 0.2 μmRa or less by using the above electrolytic abrasive automatic polishing apparatus. Electrolytic abrasive automatic polishing equipment. Electrolytic abrasive polishing of a conveying line for conveying a plurality of pallets on which parts having a plurality of three-dimensional free-form surfaces are mounted and one of the pallets on which the parts having the plurality of three-dimensional free-form surfaces are mounted An automatic abrasive polishing apparatus comprising a polishing line and a transfer arm that moves a pallet carrying parts before and after polishing between the transfer line and the transfer line, the polishing line comprising a rectangular table and A polishing tank disposed on the table, a tool holder, and a spindle on which a polishing tool is chucked. The polishing tank and the tool holder move in the longitudinal direction of the table, and the spindle is The polishing tank moves up and down in a direction perpendicular to the longitudinal direction of the table, and the polishing tank has a tank open on one side and the parts having the plurality of three-dimensional free-form surfaces. A holding unit for holding the mounted pallet, and a nozzle for supplying a polishing liquid to the parts having the plurality of three-dimensional free-form surfaces, and the polishing tank is a transfer arm disposed at one end of the polishing line. The parts having the plurality of three-dimensional free-form surfaces that have been moved to the position and received before polishing are received from the transfer arm, moved to a predetermined position of the spindle where one polishing tool is chucked, and data input to the control device The spindle on which the one polishing tool is chucked according to the above is a polishing tank in which the parts having a plurality of three-dimensional free-form surfaces are held vertically and vertically with respect to the longitudinal direction of the polishing line. Electrolytic abrasive polishing of one three-dimensional free-form surface of the part having a plurality of three-dimensional free-form surfaces by moving in the longitudinal direction of the line,
Subsequently, when polishing another three-dimensional free-form surface of the part having a plurality of three-dimensional free-form surfaces, the tool holder on which the plurality of the polishing tools are arranged is based on the data input to the control device. In the longitudinal direction, the spindle on which the one polishing tool is chucked moves vertically and vertically with respect to the longitudinal direction of the polishing line, so that the one polishing tool chucked on the spindle is Return the tool holder to a predetermined place in which a single polishing tool is stored, the spindle from which the single polishing tool has been removed chucks another polishing tool from the tool holder, and the other polished chucked By repeating the operation of automatically polishing the other three-dimensional free-form surface of the part having the plurality of three-dimensional free-form surfaces with the tool by electrolytic abrasive grain polishing, A plurality of the polishing tool by automatically electrolytic abrasive automatic polishing apparatus characterized by polishing electrolytic abrasive grains of the part corresponding to a plurality of three-dimensional free-form surface having a dimension free-form surface. The transport line is composed of two rows of a carry-in lane and a carry-out lane, and the carry-in lane conveys a pallet carrying parts having the plurality of three-dimensional free-form surfaces before polishing from the carry-in entrance toward the stop position. 6. The electrolysis according to claim 5, wherein the carry-out lane conveys the pallet loaded with the parts having a plurality of three-dimensional free-form surfaces after polishing in a direction opposite to the carry-in lane. Abrasive grain automatic polishing equipment. The transfer arm is arranged at one end of the transfer line and the polishing line arranged in parallel, and moves in a direction perpendicular to the longitudinal direction of the transfer line and the polishing line, and is at the stop position of the carry-in lane. A function of moving a pallet carrying a plurality of parts having a three-dimensional free curved surface before polishing to a polishing tank of a polishing line and a polishing of the pallet equipped with the parts having a plurality of three-dimensional free curved surfaces after polishing 7. The electrolytic abrasive grain automatic polishing apparatus according to claim 5, which has a function of moving from a tank to a carry-out lane.