JP2009142928A - Grinding method and grinding device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a grinding method and a grinding device for improving deburring accuracy and productivity. <P>SOLUTION: The grinding device 1 uses a grinder for grinding the surface of a workpiece 200. It comprises a carrying-in conveyor 2 for carrying the workpiece 200, a measuring device 4 for measuring the displacement of the workpiece 200 relative to a reference workpiece, grinding robots 6A-6D for moving the grinder along a predetermined track to deburr the surface of the workpiece 200, a supporting device 5 for supporting the workpiece 200 when ground by the grinding robots 6A-6D, a carrying-out conveyor 7 for carrying out the workpiece 200 after deburred, and a transfer robot 3 for transferring the workpiece 200 to the measuring device 4, the supporting device 5 or the carrying-out conveyor 7. The measuring device 4 measures the displacement of the individual workpiece 200 relative to the reference workpiece. The moving track of the grinder is corrected equivalent to the displacement of the individual workpiece 200, and the grinder is moved along the corrected track to deburr the workpiece 200. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a grinding method and a grinding apparatus for grinding burrs and the like generated on the surface of a workpiece.

  The grinding tool that removes burrs generated on the surface of the workpiece has a grinding tool traveling direction in order to avoid adverse effects on the deburring due to dimensional errors in the workpiece finish (such as burrs are left behind and the base material is ground). By scanning the front with a sensor, information on the position, size, and height of the part to be ground (burrs) is acquired. Based on this information, the robot holding the grinding tool is controlled to perform grinding with the appropriate depth of cut. What to do is known (see, for example, Patent Document 1).

Also, prior to the main grinding for deburring with a grinding tool, the workpiece is initially ground, the base material and burrs are photographed during this initial grinding, and the temperature distribution based on the heat propagation generated by the initial grinding is measured by image processing. There is also known a grinding method for recognizing the size of a burr based on the temperature distribution and performing main grinding on the workpiece based on the burr information (see, for example, Patent Document 2).
Japanese Utility Model Publication No. 61-144949 JP-A-9-70742

  However, in the grinding apparatus described in Patent Document 1, since the sensor is scanned in a plane, it is not possible to cope with the case where the base material of the part where the burr is generated has a complicated shape, Further, since control for correcting the movement of the robot is performed while scanning the front of the grinding tool in the traveling direction, there is a problem that the processing time becomes long and the productivity is low.

In addition, the grinding method described in Patent Document 2 has a problem that it is difficult to recognize burrs when the base material and the shape of the burrs are similar. Further, since the temperature distribution is measured by image processing, there is a problem that high-speed processing is difficult and productivity is low.
Therefore, the present invention provides a grinding method and a grinding apparatus excellent in productivity.

The invention according to this application employs the following means in order to solve the above problems.
The invention according to claim 1 is a grinding device (for example, in an embodiment described later) that grinds the surface of a workpiece (for example, a workpiece 200 in an embodiment described later) with a grinding tool (for example, a grinder 111 in an embodiment described later). A grinding device 1), which is a measuring device (for example, a measuring device 4 in an embodiment to be described later) for measuring the displacement amount of each workpiece relative to a reference workpiece, and a grinding robot that moves the grinding tool along a predetermined locus (E.g., grinding robots 6 </ b> A to 6 </ b> D in an embodiment described later) and a control device (e.g., in an embodiment described later) that corrects the trajectory for each workpiece based on the displacement amount of each workpiece measured by the measuring device. Step S106).
With this configuration, the trajectory to be traced by the grinding tool can be corrected for each individual workpiece based on the amount of displacement measured for each individual workpiece. Only can be removed reliably.
Further, since the displacement measuring process by the measuring device and the grinding process by the grinding tool by the grinding robot can be successively performed, productivity is improved.

The invention according to claim 2 is a grinding method for grinding a surface of a workpiece (for example, workpiece 200 in an embodiment described later) by moving a grinding tool (for example, a grinder 111 in an embodiment described later) along a predetermined locus. The amount of displacement of each workpiece relative to the reference workpiece is measured, the displacement is corrected for each workpiece with respect to the locus, and the grinding is performed by tracing the corrected locus for each workpiece. A grinding method characterized by grinding a surface of each workpiece by moving a tool.
With this configuration, the trajectory to be traced by the grinding tool can be corrected for each individual workpiece based on the amount of displacement measured for each individual workpiece. Only can be removed reliably.
Moreover, since the measurement process of the displacement amount of each workpiece | work and the grinding process with respect to each workpiece | work can be performed sequentially sequentially, productivity improves.

  According to the first aspect of the present invention, only the burrs generated on the surface of the workpiece can be reliably removed, and the workpiece base material can be prevented from being ground.

  According to the invention which concerns on Claim 2, while only the burr | flash which has arisen on the surface of a workpiece | work can be removed reliably, it can prevent that the base material of a workpiece | work is ground. In addition, productivity is improved.

  Embodiments of a grinding method and a grinding apparatus according to the present invention will be described below with reference to the drawings of FIGS. In this embodiment, when a camshaft for operating an intake / exhaust valve of a vehicle engine is cast, an embodiment of a grinding apparatus that removes burrs 210 generated in a parting line of the camshaft 200 as shown in FIG. It is.

  As shown in FIGS. 1 to 3, the grinding apparatus 1 includes a carry-in conveyor 2, a transfer robot 3, a measurement device 4, a support device 5, grinding robots 6 </ b> A to 6 </ b> D, a carry-out conveyor installed on a common base 9. 7 is provided. Here, for convenience of explanation, the direction in the horizontal plane is defined as the X direction and the Y direction shown in FIG. 1, and in FIG. 1, the left side of the page is defined as the front side in the X direction, and the right side of the page is defined as the heel side in the X direction. To do.

  The carry-in conveyor 2 and the carry-out conveyor 7 are arranged side by side with the conveying direction as the X direction, and both of them are installed on the common base 9 at the back side in the X direction, and the front side in the X direction is arranged outside the common base 9. Has been. Moreover, the conveyance direction of the carry-in conveyor 2 is set to the back side from the X direction front side, and the transfer direction of the carry-out conveyor 7 is set to the front side from the X direction back side. The measuring device 4 is arranged adjacent to the back side in the X direction from the carry-in conveyor 2 and the carry-out conveyor 7 along the longitudinal direction thereof along the Y direction. The transfer robot 3 is arranged adjacent to the back side in the X direction from the measuring device 4. The support device 5 is disposed adjacent to the back side in the X direction with respect to the transfer robot 3 with its longitudinal direction along the X direction. Two grinding robots 6 </ b> A to 6 </ b> D are arranged on both sides of the support device 5 so as to be separated from each other in the X direction.

  The carry-in conveyor 2 is driven by an electric motor, and the camshafts (hereinafter sometimes referred to as workpieces) 200 after casting are held one by one from the front side in the X direction to the back side while holding the axis in a horizontal posture. Transport. The workpiece 200 conveyed to the predetermined position on the end side of the carry-in conveyor 2 is transferred to the measuring device 4 by the transfer robot 3.

  The transfer robot 3 includes a rotary table 11 installed on a common base 9 and capable of rotating 360 degrees in a horizontal plane. A robot arm 12 is supported on the rotary table 11 so as to be rotatable in the vertical direction. The robot hand unit 13 is attached so as to be able to rotate in the vertical direction and to be able to move forward and backward. Robot hands 14, 14 are provided at the front end of the robot hand unit 13 so as to be openable and closable. The robot hand 14, 14 holds the workpiece 200, rotates the rotary table 11, rotates the robot arm 12, By rotating and moving the robot hand unit 13 forward and backward, the workpiece 200 can be transferred to a desired position. The transfer robot 3 is driven by an electric motor, an electric actuator, or the like.

  The measuring device 4 is a device that measures the total length of the workpiece 200 and the radial bending (displacement amount) at a predetermined position in the axial direction of the workpiece 200. The camshaft, which is the shaft-shaped workpiece 200, is subject to expansion and contraction and bending within the allowable dimensions of the entire length after casting depending on the casting conditions and the surrounding environment. Therefore, when the burr 210 generated on the parting line of the workpiece 200 is removed by the grinding robots 6A to 6D, which will be described later, the grinders of the grinding robots 6A to 6D are traced along the trajectory with respect to the reference workpiece without expansion or contraction or bending. If only the burr 210 is moved, the burr 210 alone cannot be accurately removed. Therefore, in this grinding apparatus 1, only the burr 210 can be accurately removed by correcting the movement locus of the grinders of the grinding robots 6 </ b> A to 6 </ b> D by the amount of displacement of each workpiece 200 with respect to the reference workpiece. To do. The measuring device 4 is a device that acquires basic data for calculating the correction amount.

  As shown in FIG. 4, the measuring device 4 is fixed to the common base 9 and extends in the X direction in FIG. 1. The guide 20 is fixed on the table 20 and extends in the longitudinal direction along the X direction in FIG. 1. A plurality of workpiece receiving bases 22A, 22B, 22C, a plurality of workpiece confirmation sensors 23A, 23B, a pair of left and right chuck devices 24, 25, which are fitted to the guide rail 21 and fixed at predetermined positions; Displacement amount measuring devices 26A, 26B, and 26C.

  The workpiece cradles 22A to 22C receive the workpiece 200 conveyed by the transfer robot 3, and support the workpiece 200 in the horizontal direction in the Y direction in FIG. Arranged at intervals. The work cradles 22 </ b> A to 22 </ b> C are configured such that a work receiving part 28 that receives the work 200 is supported by an actuator 27 fixed to the guide rail 21 so as to be movable up and down. The workpiece receiving portion 28 has, for example, a groove having a V-shaped cross section at the upper portion, and is configured such that the workpiece 200 is positioned by accommodating the workpiece 200 in the groove.

The work confirmation sensors 23A and 23B are for detecting whether or not the work 200 is supported by the work receiving bases 22A to 22C, that is, whether or not the work 200 is set at a predetermined position. A sensor (for example, a photoelectric sensor) 31 is attached to the upper end of the support leg 30 fixed to the guide rail 21.
One chuck device 24 is disposed at the right end portion of the guide rail 21 in FIG. 4, and the other chuck device 25 is disposed at the left end portion of the guide rail 21 in FIG. 4.

  The right chuck device 24 includes a support block 35 fixed to the guide rail 21 and a chuck unit 40 slidably supported by a slide rail 36 provided on the upper surface of the support block 35. The base 41 of the chuck unit 40 is slidably attached to the slide rail 36 and is moved by the actuator 42 in a direction approaching and separating from the left chuck device 25. A chuck body 43 is rotatably attached to the base 41, and a chuck 44 for gripping the right end portion of the workpiece 200 is attached to the distal end portion of the chuck body 43. By expanding and contracting, the right end portion of the workpiece 200 can be gripped by the chuck 44 or detached from the chuck 44. The support block 35 is provided with a proximity switch 45 that detects a fixed position (hereinafter referred to as an original position) when the chuck body 43 is retracted.

The left chuck device 25 includes a support block 47 fixed to the guide rail 21 and a chuck unit 50 slidably supported on a slide rail 48 provided on the upper surface of the support block 47. The base 51 of the chuck unit 50 is slidably attached to the slide rail 48 and is moved in the direction of approaching and separating from the chuck device 24 on the right side by the actuator 52. A chuck main body 53 is rotatably attached to the base 51, and the chuck main body 53 is rotationally driven via a belt 58 by an electric motor 57 fixed to the base 51. A chuck 54 for gripping the left end of the workpiece 200 is attached to the tip of the chuck main body 53, and the chuck 54 expands and contracts in the radial direction so that the left end of the workpiece 200 is gripped by the chuck 54. Or can be detached from the chuck 54. The support block 47 is provided with a proximity switch 55 for detecting a fixed position (hereinafter referred to as an original position) when the chuck body 53 is retracted.
By gripping both ends of the workpiece 200 with the left and right chuck devices 24 and 25 and operating the electric motor 57, the workpiece 200 can be rotated.

  The displacement measuring devices 26A, 26B, and 26C are arranged at predetermined positions that are separated from each other in the axial direction with respect to the workpiece 200 supported by the chuck devices 24 and 25. Since the configurations of the displacement measuring devices 26A to 26C are the same, the following description will explain the displacement measuring device 26A, and a description of the other displacement measuring devices 26B and 26C will be omitted.

  As shown in FIG. 5, the displacement measuring device 26 </ b> A includes a swing arm 63 supported on a top of a stand 61 fixed to the guide rail 21 so as to be pivotable in the vertical direction about a support shaft 62. ing. A contact 64 is fixed to one end of the swing arm 63, and an upper surface 64a of the contact 64 is formed with a narrow width along the axial direction of the workpiece 200 and a smooth surface with high finishing accuracy. ing. When measuring the bending of the workpiece 200, the upper surface 64 a of the contactor 64 abuts on the outer peripheral surface of the cylindrical portion 201 (for example, the journal portion of the camshaft) 201 in the workpiece 200 supported by the chuck devices 24 and 25. The installation positions of the displacement measuring devices 26A, 26B, 26C, the length of the swing arm 63, and the like are set in advance.

  The other end of the swing arm 63 is connected to a post 66 fixed to the lower portion of the stand 61 via a spring 65, and the other end of the swing arm 63 is attached downward by the pulling force of the spring 65. It is fast. As a result, the contact 64 provided at one end of the swing arm 63 is biased upward, and when measuring the bending of the workpiece 200, the upper surface 64 a of the contact 64 is placed on the cylindrical portion 201 of the workpiece 200. The upper surface 64a of the contactor 64 can be slid relative to the cylindrical portion 201 of the workpiece 200 when the workpiece 200 is rotated.

  The displacement measuring device 26 </ b> A includes a contact-type displacement sensor 67 arranged in parallel with the stand 61. In the displacement sensor 67, the main body portion 67 b passes through the attachment member 68 provided on the stand 61 so that the tip end portion 67 a contacts the lower portion between the support shaft 62 and the attachment portion of the spring 65 in the swing arm 63. It is fixed to the mounting member 68 by a set bolt (not shown). The lower part of the main body 67b is loosely inserted into a hole provided in the post 66. The distal end portion 67a of the displacement sensor 67 is urged in a direction protruding from the main body portion 67b and is attached to the main body portion 67b so as to be able to move forward and backward. The displacement sensor 67 measures the amount of displacement of the distal end portion 67a.

  When the cylindrical portion 201 of the workpiece 200 is eccentric, when the workpiece 200 supported by the chuck devices 24 and 25 is rotated, the contact 64 that relatively slides on the outer peripheral surface of the cylindrical portion 201 is displaced in the vertical direction. Then, the swing arm 63 swings around the support shaft 62, and accordingly, the tip end portion 67a of the displacement sensor 67 is displaced in the vertical direction. By measuring the displacement amount of the displacement sensor 67, the displacement amount of the workpiece 200 in the radial direction can be measured.

Here, the measurement procedure of the workpiece 200 in the measurement apparatus 4 will be described. The following operations are automatically controlled by an electronic control device (not shown).
First, the state of the measuring device 4 before receiving the workpiece 200 will be described. Both chuck devices 24 and 25 are retracted to their original positions so as not to obstruct the reception of the workpiece 200 (the positions indicated by solid lines in FIG. 4). ), The work cradles 22 </ b> A to 22 </ b> C are raised to a position where the work 200 can be received. Further, the chuck 54 of the left chuck device 25 is closed, and the chuck 44 of the right chuck device 24 is open.

  In this state, the transfer robot 3 conveys the workpiece 200 from the carry-in conveyor 2 to the measuring device 4 and places it on the workpiece receiving portion 28 of the workpiece receiving bases 22A to 22C. The axis center of the workpiece 200 placed on the workpiece receiving unit 28 is set in advance so as to be substantially the center of the chucks 44 and 54 of the chuck devices 24 and 25. When the workpiece 200 is placed on the workpiece receiving portion 28 of the workpiece receiving base 22A to 22C, the upper surface 64a of each contactor 64 of the displacement measuring devices 26A to 26C contacts the corresponding cylindrical portion 201 of the workpiece 200. To do.

  Next, the actuator 42 of the right chuck device 24 is operated to move the chuck body 43 to the left. When the chuck 44 abuts against the flange portion 202 formed at the right end portion of the workpiece 200, the actuator 42 stops operating, stops the chuck body 43, and closes the chuck 44. Grab the right end of Further, the movement distance from the original position of the chuck body 43 is measured based on the movement amount of the actuator 42.

  Next, the actuator 52 of the left chuck device 25 is actuated to move the chuck body 53 to the right. Then, when the tip end surface of the chuck 54 comes into contact with the left end surface 203 of the workpiece 200, the actuator 52 stops and the chuck main body 53 stops. At this time, the movement distance from the original position of the chuck body 53 is measured based on the movement amount of the actuator 52. Since the original positions of the chuck bodies 43 and 53 are known in advance, the total length of the workpiece 200 is calculated by measuring the movement distance from the original position of the chuck body 43 and the movement distance from the original position of the chuck body 53. Can do.

Next, the chuck 54 of the left chuck device 25 is once opened, and in that state, the actuator 52 is actuated again to move the chuck body 53 to the right by a predetermined dimension (to the position indicated by the two-dot chain line in FIG. 4). Later, by closing the chuck 54, the left end portion of the workpiece 200 is gripped.
Next, the workpiece receiving portions 28 of the workpiece receiving bases 22 </ b> A to 22 </ b> C are lowered and retracted so that the workpiece receiving portion 28 does not interfere with the workpiece 200 when the workpiece 200 is rotated.

Next, the electric motor 57 is operated to rotate the workpiece 200 to a preset reference position in the circumferential direction of the workpiece 200 set in advance. The reference position is detected by a sensor (not shown).
Furthermore, the electric motor 57 is operated, and the displacement amount measuring devices 26A, 26B, and 26C measure the displacement amounts in the radial direction at the respective portions while rotating the workpiece 200 once from the reference position.
After the measurement, the electric motor 57 is stopped, the work receiving portions 28 of the work receiving bases 22A to 22C are raised, the chucks 44 and 54 of both chuck devices 24 and 25 are opened, and the work 200 is placed on the work receiving portion 28. After being placed, both chuck devices 24 and 25 are retracted to their original positions.

  Thereafter, an electronic control unit (not shown) estimates and calculates the radial displacement amount in the burr generating portion over the entire length of the workpiece 200 based on the measurement result of the overall length dimension and the radial displacement amount of the workpiece 200. This estimation of the amount of displacement is performed based on the fact that the workpiece 200 is considered to expand and contract evenly after casting because the workpiece 200 does not have an extremely different thickness over the entire length. Based on the ratio between the total length of the workpiece 200 and the total length of the reference workpiece, the amount of radial displacement at each site in the axial direction of each workpiece 200 is calculated. Here, the reference workpiece refers to a workpiece that is manufactured according to the reference dimensions that do not expand or contract after bending.

After the measurement, the workpiece 200 is transferred from the measuring device 4 to the support device 5 by the transfer robot 3.
The support device 5 holds the workpiece 200 immovably when the burr 210 of the workpiece 200 is removed by the grinding robots 6A to 6D. As shown in FIG. 1, the support device 5 holds the workpiece 200 in its axis. Is supported in the X direction and in a horizontal posture.
As shown in FIGS. 2 and 3, the support device 5 is provided on a gantry 70 installed on the common base 9.

As shown in FIGS. 7 and 8, the support device 5 includes work receiving bases 72 </ b> A, 72 </ b> B, 72 </ b> C fixed on the gantry 70, a work lower presser 73, and a work upper presser 74.
The work cradle 72A, 72B, 72C is disposed at a predetermined interval in the axial direction of the work 200, and is configured to receive and support the left end, the middle, and the right end of the work 200 from below. Yes. The work cradles 72 </ b> A to 72 </ b> C are configured by attaching a receiving part 76 that receives the work 200 to the upper end of the stand 75. A workpiece positioning member 77 is fixed to the upper end of the workpiece cradle 72C, and the workpiece 200 is positioned in the axial direction by abutting the left end surface of the flange portion 202 of the workpiece 200 against the workpiece positioning member 77. Can be done.

  The work lower presser 73 is disposed adjacent to the left side of the work cradle 72C, and includes a presser plate 78 that receives the work 200 from the lower side at a position adjacent to the work positioning member 77. The presser plate 78 is moved up and down. An actuator 79 is fixed to the gantry 70.

  The work upper presser 74 includes a stand 80 installed on the right side of the work cradle 72C. An actuator 81 that moves the piston toward and away from the workpiece 200 is fixed to an intermediate portion of the stand 80, and a stop pin 82 is fixed to the tip of the piston of the actuator 81. The stop pin 82 can be brought into contact with and separated from the right end surface 204 of the workpiece 200 supported by the workpiece cradle 72A to 72C by the operation of the actuator 81.

  An arm 83 extends from the upper end of the stand 80 to the left (in a direction approaching the work cradle 72A) in a horizontal posture, and two actuators 84 and 85 are attached to the arm 83. Each of the actuators 84 and 85 moves up and down the pressing members 86 and 87 that press a predetermined portion of the workpiece 200 from above. The pressing member 86 is disposed almost directly above the pressing plate 78 of the workpiece lower pressing member 73, and can hold the vicinity of the flange portion 202 in the workpiece 200 in cooperation with the pressing plate 78. Further, the pressing member 87 is disposed between the work receiving bases 72B and 72C, and can press the work 200 from above.

Here, the operation of the support device 5 will be described. The following operations are automatically controlled by an electronic control device (not shown).
The workpiece 200 transferred from the measuring device 4 by the transfer robot 3 is placed on the workpiece receiving portion 76 of the pedestals 72A to 72C. At this time, the flange portion 202 of the workpiece 200 is placed on the workpiece pedestal 72C. It arrange | positions between the receiving part 76 and the workpiece | work positioning member 77, and is set so that the burr | flash 210 of the workpiece | work 200 may be located on a horizontal surface.

Next, the actuator 81 is operated to bring the stop pin 82 into contact with the right end surface 204 of the workpiece 200, and the workpiece 200 is pushed leftward by the actuator 81, so that the flange portion 202 of the workpiece 200 is moved to the workpiece positioning member 77. Is positioned in the axial direction.
Next, the actuators 79, 84, and 85 are operated to raise the holding plate 78, and the holding members 86 and 87 are lowered to support the workpiece 200 so that it cannot rotate and cannot move in the axial direction.

  By operating the grinding robots 6A to 6D in this state, the burrs 210 of the workpiece 200 are removed. After removing the burrs, the presser plate 78 is lowered, the presser members 86 and 87 are raised, and the stop pin 82 is retracted, so that the workpiece 200 can be moved from the support device 5.

  As described above, the grinding robots 6 </ b> A to 6 </ b> D are arranged two on each side of the support device 5, and the burr 210 generated on the left half of the workpiece 200 supported by the support device 5 in FIG. 7. Are removed by the grinding robots 6A and 6C, and the burrs 210 formed on the right half of the workpiece 200 in FIG. 7 can be removed by the grinding robots 6B and 6D.

  The grinding robots 6A to 6D are so-called teaching robots that move a grinding blade 154 of a grinder 111, which will be described later, along a pre-stored trajectory, and are manufactured according to standard dimensions that do not expand or contract after bending. The workpiece of the case is used as a reference workpiece, and the locus of the grinder 111 when the burr 210 of the reference workpiece is removed is stored as a reference locus.

  Since all of the grinding robots 6A to 6D have the same basic configuration and differ only in the reference trajectory, the following explanation will be made on the grinding robot 6A, and explanation of the other grinding robots 6B to 6D will be omitted.

  As shown in FIG. 3, the grinding robot 6 </ b> A is provided on a gantry 100 that is installed on a common base 9. A base 101 of a grinding robot 6A is fixed to the gantry 100, and an arm support portion 102 is movable on the base 101 in the X direction (the axial direction of the workpiece 200 supported by the support device 5) in FIG. It is attached. The arm support portion 102 is configured to be moved by an actuator (not shown).

A first arm 103 is provided on the arm support portion 102 so as to be rotatable in the vertical direction, and a second arm 104 is provided at the tip of the first arm 103 so as to be rotatable in the vertical direction.
A grinder device 110 is attached to the second arm 104 so as to be movable along the outer surface of the distal end portion of the second arm 104.

  As shown in FIGS. 9 to 11, the grinder device 110 is attached to a moving base 105 that moves along the outer surface of the distal end of the second arm 104, and a base 112 fixed to the moving base 105, A first float 114 suspended from the base 112 via a slide rail 113 in the X direction in FIG. 1 (the axial direction of the workpiece 200 supported by the support device 5), and a slide rail 115 attached to the first float 114. The second float 116 is suspended so as to be movable in the Y direction in FIG. 1 (the direction orthogonal to the axial direction of the workpiece 200 supported by the support device 5), and is suspended and fixed to the second float 116. And a grinder 111.

  Standing walls 117, 118 are provided upright at both ends of the first float 114, positioning bolts 119 are screwed into the standing wall 117 and fixed immovably by a lock nut 120, and springs are mounted on the standing wall 118. The support bolt 121 is screwed and fixed by a lock nut 122. A base 112 is disposed between the positioning bolt 119 and the spring support bolt 121, and the base 112 is fixed by a spring 124 provided between the spring receiving plate 123 fixed to the spring support bolt 121 and the base 112. The base 112 is urged in a direction approaching the positioning bolt 119, thereby pressing the base 112 against the tip of the positioning bolt 119.

  Further, upright walls 137 and 138 are provided upright at both ends of the second float 116, and positioning bolts 139 are screwed into the upright wall 137 and fixed to the upright wall 138 by a lock nut 140 so as not to move. The spring support bolt 141 is screwed and fixed by a lock nut 142. A first float 114 is disposed between the positioning bolt 139 and the spring support bolt 141, and is provided by a spring 144 provided between the spring receiving plate 143 fixed to the spring support bolt 141 and the first float 114. The first float 114 is biased in a direction approaching the positioning bolt 139, and thereby the first float 114 is pressed against the tip of the positioning bolt 139.

Further, grinder mounting portions 151 and 152 are provided from both ends of the second float 116, and the grinder 111 is mounted at a predetermined angular posture by the grinder mounting portions 151 and 152. Since the grinder 111 is the same as a general grinder, a detailed description thereof is omitted. 200 burrs 210 can be ground. In addition, the grinding blade 154 has its in-plane direction set to the vertical direction.
Then, when entering the grinding process by the grinder 111, the first arm 103 and the second arm 104 operate in a predetermined manner, and as shown in FIGS. 3, 8, and 12, the grinding blade 154 of the grinder 111 is moved to the workpiece 200. Position it to the side.

  Further, a proximity switch 155 for detecting an overload on the grinder 111 is installed on the second float 116 at a position facing the upright wall 117 of the first float 114 via a bracket 125. The proximity switch 155 is installed so as to be turned on when the load on the grinder 111 is normal.

  The grinding blade 154 is set so as to press against the workpiece 200 with a predetermined pressure by the elastic force of the spring 144 of the second float 116. However, if the height of the burr 210 of the workpiece 200 is large, the grinding blade 154 is excessive. As a result, the grinder 111 receives a pressing force higher than normal from the workpiece 200, and as a result, the second float 116 is pushed rearward (to the right in FIG. 9) against the spring 144 and displaced. At this time, since the first float 114 is linked to the base 112 via the slide rail 113, it cannot be displaced in the same direction as the second float 116. Therefore, the distance between the proximity switch 155 and the upright wall 117 of the first float 114 increases, and the proximity switch 155 is turned off. Thereby, an overload on the grinding blade 154 can be detected.

  When the proximity switch 155 is detected to be OFF, the grinder 111 is in an overload state. At this time, the rotation speed of the grinding blade 154 of the grinder 111 is not changed, and the feed speed of the grinder 111 (that is, the grinding robot 6A). The control is performed to slow down (moving speed of ˜6D).

Note that the movement of the grinding robot 6 </ b> A tracing the locus of the grinding blade 154 is performed by the movement of the arm support portion 102 relative to the base 101 and the rotation of the second arm 104.
The workpiece 200 from which the burr 210 is removed is transferred from the support device 5 to the carry-out conveyor 7 by the transfer robot 3.
The carry-out conveyor 7 is driven by an electric motor, and conveys the workpiece 200 from the rear side in the X direction to the front side in FIG.

  Next, the burr removal procedure of the workpiece 200 by the grinding apparatus 1 will be described with reference to the flowchart of FIG. Note that the burr removal processing shown in this flowchart is automatically performed by an electronic control device (not shown).

First, in step S101, the workpieces 200 are loaded one by one by the carry-in conveyor 2.
Next, it progresses to step S102, and the workpiece | work 200 transferred to the terminal part of the carry-in conveyor 2 is transferred to the measuring apparatus 4 with the transfer robot 3, and is set to the measuring apparatus 4. FIG.
Next, it progresses to step S103 and the measuring device 4 measures the full length of the workpiece | work 200, and the displacement amount of radial direction. The procedure for setting the workpiece 200 to the measuring device 4 and the procedure for measuring the total length of the workpiece 200 and the displacement amount in the radial direction are as described above, and thus the description thereof is omitted here.

  Next, the process proceeds to step S104, and the radial displacement amount in the burr generating portion is estimated and calculated over the entire length of the workpiece 200. This estimation of the amount of displacement is based on the premise that the workpiece 200 expands and contracts evenly after casting as described above, based on the ratio of the measured total length of the workpiece 200 and the total length of the reference workpiece. The amount of displacement in the radial direction at each part in the direction is estimated and calculated.

Next, it progresses to step S105, the workpiece | work 200 after completion | finish of measurement is transferred to the support apparatus 5 from the measuring apparatus 4 with the transfer robot 3, and is set to the support apparatus 5. FIG. Since the procedure for setting the workpiece 200 to the support device 5 is as described above, the description thereof is omitted here.
Next, the process proceeds to step S106, and the movement trajectories of the grinding robots 6A to 6D are corrected according to the amount of displacement estimated and calculated in step S104.

Next, the process proceeds to step S107, and the burr 210 of the workpiece 200 is ground and removed by the grinding blade 154 of the grinder 111 while moving the grinding robots 6A to 6D along the movement locus corrected in step S106.
Next, it progresses to step S108, and the workpiece | work 200 after completion | finish of a burr | flash removal is transferred to the conveyance conveyor 7 from the support apparatus 5 with a transfer robot, is carried out by the conveyance conveyor 7, and a series of burr | flash removal processes are complete | finished.

  As described above, according to the grinding apparatus 1 and the grinding method, before the burr grinding by the grinding robots 6 </ b> A to 6 </ b> D, the displacement amount is measured for each individual workpiece, and for each individual workpiece 200 based on the measured displacement amount. Since the locus to be traced by the grinder 111 is corrected, grinding according to the shape of the base material of the workpiece 200 can be performed, and only the burr 210 can be surely removed, and excessive grinding can be avoided. Removal defects can be eliminated.

If the movement locus is corrected in consideration of the wear of the grinding blade 154 of the grinder 111, the burr removal accuracy can be further improved.
In addition, while the deburring process is performed by the grinding robots 6A to 6D, the measuring apparatus 4 can perform the displacement amount measuring process on the next workpiece 200, so that productivity is improved.

[Other Examples]
The present invention is not limited to the embodiment described above.
For example, in the above-described embodiment, when measuring the displacement amount of the workpiece, the displacement amount is measured at three positions in the axial direction. However, the number of displacement measurement points is not limited to three, but at least a plurality of positions in the axial direction. Is measured, the displacement amount over the entire axial length of the workpiece can be estimated and calculated. However, it is preferable that the number of measurement points of the displacement amount is higher because the estimation accuracy becomes higher.
In the above-described embodiment, the work is divided by providing a plurality of grinding robots in relation to efficiency. However, even one grinding robot can be implemented.
Further, the workpiece is not limited to the camshaft, and can be applied to various processed products.
The grinding tool is not limited to a grinder, and various tools can be used.

It is a top view in the Example of the grinding device concerning this invention. It is a front view of the grinding device. It is a side view of the grinding device. It is a front view of the measuring device in the grinding device. It is a side view which expands and shows the principal part of the said measuring device. It is a front view which expands and shows the principal part of the said measuring device. It is a front view of the support device in the grinding device. It is a side view of the said support apparatus. It is a front view which expands and shows the principal part of the grinding robot in the said grinding apparatus. It is a principal part top view of a grinding robot. It is a principal part side view of a grinding robot. It is a figure explaining the burr | flash which arises in a workpiece | work. It is a flowchart of a burr | flash removal process.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Grinding device 4 Measuring device 6A-6D Grinding robot 177 Grinder (grinding tool)
200 Camshaft (work)
S106 Control device

Claims (2)

A grinding device for grinding the surface of a workpiece with a grinding tool,
A measuring device that measures the displacement of each workpiece relative to the reference workpiece;
A grinding robot that moves the grinding tool along a predetermined path;
A control device for correcting the trajectory for each workpiece based on the displacement amount of each workpiece measured by the measuring device;
A grinding apparatus comprising: A grinding method for grinding a workpiece surface by moving a grinding tool along a predetermined path,
Measure the amount of displacement of each workpiece relative to the reference workpiece, correct the amount of displacement for each workpiece relative to the trajectory, and move the grinding tool along the trajectory corrected for each workpiece. And grinding the surface of each workpiece.

Images