JP2011104683A - Surface processing work tool unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily replace a surface processing work tool by making force to be imparted to an object constant, regardless of stroke for pressing the surface processing work tool on the object, in a surface processing work tool unit. <P>SOLUTION: This surface processing work tool unit 10 includes a guide shaft 20 with built-in damper device 30 and a tool mounting shaft 60. The tool mounting shaft 60 has the surface processing work tool 70 arranged at a distal end part along an axial direction, is held by the guide shaft 20, and is easily removed from the guide shaft 20 to be replaced with another by operating a guide pin 50. The damper device 30 has an output shaft movable in the axial direction, and has a characteristic in which axial direction drag output from the output shaft according to stroke of the axial direction of the output shaft becomes a size in a fixed range fixed in advance, regardless of the size of the stroke, in the range of effective stroke fixed in advance. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a surface processing work tool unit, and more particularly to a surface processing work tool unit that is attached to a rotating shaft and rotates a surface processing work tool while pressing the surface processing work tool against the target.

  When a metal material or a plastic material is processed, burrs are generated at the peripheral edge of the processed portion. This burr can be removed manually by rubbing the target portion of the object with a file, sandpaper, a brush with a flat tip, or the like. In addition, as a machine that uses mechanical force, a deburring work machine in which a grindstone disk, a sandpaper grindstone in which abrasive grains are bonded to cloth or paper with an appropriate binder, or a sanding disk is attached to the tip of a rotary tool The burr is removed by rubbing the target portion of the symmetrical object while rotating the grindstone disk and the sanding disk. In addition, an end mill, a carbide rotary tool, and a deburring tool are attached to the robot, and these are moved along a machining locus using a machining program.

  For example, in Patent Document 1, as a tool unit of an automatic deburring device, a brush-like body shaft is slidably inserted into a cylindrical rotating body, and a cushioning member or cushioning material is interposed at the top of the brush body. A configuration is disclosed in which a floating mechanism is configured, a cylindrical rotating body is rotatable together with a brush-like body, and a pressing force is controlled by the floating mechanism to remove burrs. Here, a spring member is described as the buffer member, and a fluid such as oil or air is described as the buffer material.

JP 2000-233350 A

  According to Patent Document 1, even if a deburring tool such as a brush-like body is pressed against an object during deburring by the floating mechanism, the object can be damaged because the deburring can be performed while appropriately retreating. Is prevented.

  By the way, when a spring member is used as a buffer member of the floating mechanism in Patent Document 1, the force applied to the object varies depending on the stroke of pressing the deburring tool against the object, so that deburring cannot be performed stably. obtain. That is, when the stroke is small, the force for pressing the deburring tool against the object is small, and sufficient deburring cannot be performed. If the stroke is too large, the force pressing the deburring tool against the object becomes excessive, and the object may be scraped in addition to deburring. The same thing occurs for surface processing operations such as chamfering other than deburring.

  For example, castings and aluminum die casts have many dimensional variations, so when using a machining program for surface machining work created based on the machining trajectory when machining with a robot, the stroke is small. Too much or too large can occur. In such a case, the surface processing work by the robot is insufficient.

  Patent Document 1 also describes that a fluid such as oil or air is interposed as a cushioning material at the top of the brush-like body, but in this case, a fluid sealing structure is provided at the top of the brush-like body. And the structure becomes complicated.

  An object of the present invention is to provide a surface processing work tool unit that has a simple configuration and can maintain a constant force applied to an object regardless of a stroke of pressing the surface processing work tool against the object. Another object is a surface processing work tool that can be exchanged according to the purpose with a simple configuration, while maintaining a constant force applied to the object regardless of the stroke of pressing the surface processing work tool against the object. Is to provide a unit. The following means contribute to at least one of these purposes.

  A surface processing work tool unit according to the present invention is a surface processing work tool unit that performs surface processing work on an object by rotating the surface processing work tool while pressing the surface processing work tool against the object by being attached to a rotating shaft, The axial drag output from the output shaft in accordance with the axial stroke of the output shaft is constant within a predetermined effective stroke range regardless of the stroke size. A damper device having characteristics within a range, a tool mounting shaft in which a surface processing work tool is arranged at a tip portion along the axial direction, and a guide pin is provided to protrude to the outer peripheral surface on the other end side, and the damper device The tool mounting shaft is supported so that it can move in the axial direction according to the stroke in the axial direction of the output shaft of the damper device corresponding to the pressing stroke of the surface processing work tool. A mounting shaft support hole, characterized in that it comprises a guide shaft and a guide hole portion connected to the mounting shaft support hole for guiding the axial movement of the guide pin is provided along the axial direction.

  Further, in the surface processing work tool unit according to the present invention, the guide hole portion has a slot along the axial direction, and the length along the axial direction of the slot is within the effective stroke range of the damper device. It is preferable to correspond.

  Moreover, it is preferable that the surface processing work tool unit according to the present invention includes an attachment / detachment mechanism that can attach and detach the tool attachment shaft with respect to the guide shaft.

  Further, in the surface processing work tool unit according to the present invention, a pin guide hole provided as a detachable mechanism in a direction perpendicular to the axial direction of the tool mounting shaft and having a depth longer than the entire length of the guide pin and having a female thread portion And a guide pin having an operating groove in the head and having a male screw portion meshing with the female screw portion of the tool mounting shaft, and the tool mounting shaft is moved relative to the guide shaft by forward rotation or reverse rotation of the head of the guide pin. It is preferable to be detachable.

  With the above configuration, the surface processing work tool unit has an output shaft movable in the axial direction, and the axial drag output from the output shaft according to the axial stroke of the output shaft is within a predetermined stroke range. Supports a damper device that has a characteristic within a predetermined range regardless of the stroke size, a tool mounting shaft on which the surface processing work tool is arranged at the tip, and a damper device and a tool mounting shaft. And a guide shaft. In this way, a special fluid-tight structure is provided on the tool mounting shaft by separating the damper device that can keep the force applied to the target within a certain range regardless of the stroke for pressing the surface processing work tool against the target. It is not necessary to provide it, and the configuration can be simplified.

  In the surface machining work tool unit, the length along the axial direction of the slot of the guide hole corresponds to the effective stroke range of the damper device. Regardless of the stroke to be pressed against, the force applied to the object can always be within a certain range.

  In addition, the surface processing work tool unit includes an attachment / detachment mechanism that can attach and detach the tool attachment shaft with respect to the guide shaft. As described above, the damper device and the tool mounting shaft are separated, so by providing an attachment / detachment mechanism, the tool mounting shaft with the surface processing work tool placed at the tip can be easily replaced without changing the damper device. Can be attached and detached.

  Further, the surface processing work tool unit includes an attachment / detachment mechanism that supports the guide pin so that the guide pin can be inserted / removed in the direction perpendicular to the axial direction of the tool mounting shaft. Thus, the tool mounting shaft can be automatically changed according to the application.

  Further, in the surface processing work tool unit, as a detachable mechanism, a pin guide hole provided in a direction perpendicular to the axial direction of the tool mounting shaft, having a depth longer than the entire length of the guide pin, and having a female thread portion, and a head And a guide pin provided with a male screw portion that meshes with the female screw portion of the tool mounting shaft. Thereby, for example, when a surface processing work tool unit is mounted on the robot apparatus, the guide shaft of the surface processing work tool unit is attached to the arm of the robot apparatus, and the guide pin is used as the robot apparatus using the operation groove on the head of the guide pin. By providing a mechanism that automatically operates in the forward direction or the reverse direction, the tool mounting shaft can be automatically changed according to the application.

It is a figure explaining the mode of the robot apparatus by which the surface processing work tool unit of embodiment which concerns on this invention is mounted. It is a figure explaining the structure of the surface processing work tool unit of embodiment which concerns on this invention. It is an exploded view of the surface processing work tool unit of embodiment which concerns on this invention. In embodiment which concerns on this invention, it is a figure explaining the characteristic of a damper apparatus. It is a figure explaining the mode of surface processing work tool exchange about the surface processing work tool unit of embodiment which concerns on this invention.

  Embodiments according to the present invention will be described below in detail with reference to the drawings. In the following description, the surface processing work tool unit is described as being mounted on a robot apparatus, but of course, it may be attached to a sanding disk apparatus for manual work. In the following, the surface processing operation for rubbing and smoothing the surface after processing will be described as deburring, but this is an example for explanation, and in addition to the deburring operation, chamfering operation, surface polishing Surface processing operations that rub and smooth the surface after processing such as operations are widely included.

  In the following description, three types of replaceable tool mounting shafts will be described. Of course, other types of tool mounting shafts may be used in accordance with the contents of deburring which is a surface processing operation.

  Below, the same code | symbol is attached | subjected to the same element in all the drawings, and the overlapping description is abbreviate | omitted. In the description in the text, the symbols described before are used as necessary.

  FIG. 1 is a diagram illustrating a state in which a surface processing work tool unit 10 is mounted on a robot apparatus. Here, as the robot apparatus, a combination of the swing arm 2, the rotation arm 4, and the axial movement arm 6 is illustrated. Of course, the surface processing work tool unit 10 may be mounted on a robot apparatus having a configuration other than this. Here, the surface processing work tool unit 10 is a tool capable of performing deburring work on an object, and is attached to a tool attachment shaft 8 provided at the tip of an operation arm of the robot apparatus. In the case of FIG. 1, since the operation arm is the axial movement arm 6, the surface processing work tool unit 10 is firmly attached to the tool attachment shaft 8 provided at the tip of the axial movement arm 6. The tool attachment shaft 8 is a rotation shaft having a chuck mechanism to which a tool can be attached.

  By mounting the surface processing work tool unit 10 on the robot device in this way, the position and angle of the operation arm can be changed in accordance with the three-dimensional shape of the object not shown. As a result, the surface working tool unit 10 can be moved so that the deburring angle is appropriate for the position of the burr on the three-dimensional shape. In addition, as a robot processing program, an operation trajectory of the surface processing work tool unit 10 attached to the tool attachment shaft 8 can be created based on a processing trajectory when an object is processed. In this case, by executing the machining program, the surface machining work tool unit 10 can be automatically moved along a position where deburring should be performed.

  The surface processing work tool unit 10 includes a guide shaft 20 having a damper device 30 described later and a tool mounting shaft 60. Here, the tool mounting shaft 60 has a surface processing work tool 70 arranged at the tip portion along the axial direction, and is held by the guide shaft 20 and can be easily moved from the guide shaft 20 by operating the guide pin 50. Can be removed and replaced with another.

  FIG. 2 is a diagram illustrating the configuration of the surface processing work tool unit 10, and FIG. 3 is an exploded view of the surface processing work tool unit 10. 2 and 3 show the guide pins 50 viewed from directions different from each other by 90 degrees around the axial direction so that the state of the guide pins 50 can be easily understood.

  As described above, the surface processing work tool unit 10 includes the guide shaft 20 and the tool mounting shaft 60. The guide shaft 20 includes a guide shaft main body 22 and a damper device 30 incorporated therein. The tool mounting shaft 60 includes a mounting shaft main body 40, a nut 48, and a surface processing work tool 70.

  The guide shaft main body 22 of the guide shaft 20 is a shaft member having a stepped shaft outer shape and having a stepped bottomed hole along the central axis. The guide shaft 20 has a function of holding the damper device 30 and supporting the tool mounting shaft 60 while guiding the tool mounting shaft 60 so as to be movable in the axial direction.

  The damper holding hole 26 of the guide shaft 20 is a narrow bottomed hole on the bottom side of the stepped bottomed hole. The damper holding hole 26 has an inner diameter that is slightly larger than the outer diameter of the damper device 30, thereby allowing the damper device 30 to be inserted and removed freely, and has a function of holding the bottom of the damper device 30 against the bottom.

  The mounting shaft support hole 28 of the guide shaft 20 is a thick hole on the opening side of the stepped bottomed hole opened from the end of the thick shaft of the guide shaft 20 which is a stepped shaft toward the damper holding hole 26. It is. The inner diameter of the mounting shaft support hole 28 is larger than the inner diameter of the damper holding hole 26 and larger than the outer diameter of the mounting shaft main body 40. Accordingly, the attachment shaft support hole 28 has a function of holding the tool attachment shaft 60 so as to be movable in the axial direction.

The guide hole 24 provided along the axial direction by connecting to the mounting shaft support hole 28 of the guide shaft 20 is a slot for guiding the axial movement of the guide pin 50 provided on the tool mounting shaft 60. Since the length of the slot along the axial direction of the guide hole portion 24 regulates the fleeting length, which is the stroke S of the guide pin 50, in the damper device 30 described below, the drag F is ( The length may correspond to the range of the effective stroke S _{0 which is in} the range of F ₀ ± ΔF). Preferably, it may have a length of a range narrower than the effective stroke S _0. For example, the length of the slot along the axial direction of the guide hole 24 can be about 5 mm. Of course, other lengths may be used.

  The damper device 30 includes a housing 32 and an output shaft 34 that is movable in the axial direction. The damper device 30 performs work = force × distance by moving while acting a drag force in a direction opposite to the moving direction of the output shaft 34. This is a device that performs the action of absorbing the energy generated by the movement of the output shaft 34 and stopping the movement of the output shaft 34. An apparatus that performs such an action is widely used to absorb an impact, and is generally called a shock absorber. In the damper device 30, a device called a shock absorber, in addition to the characteristic of absorbing shock, the drag F appearing on the output shaft 34 is substantially constant regardless of the stroke S that is the amount of movement of the output shaft 34. The characteristic which becomes is used.

  As the damper device 30 having such characteristics, the casing 32 having a sealed structure except for the portion where the output shaft 34 protrudes is used as the outer tube, and the inner tube is disposed in the outer tube, and the inner tube has a stroke direction. A structure in which a plurality of orifice holes are provided along a piston, and a piston integrated with the output shaft 34 slides along the inner wall of the inner tube in a high-pressure fluid such as pressure oil sealed in the double structure. A multi-hole orifice type shock absorber having the following can be used.

  FIG. 4 is a diagram showing a characteristic 80 of the drag force F and the stroke S when a multi-orifice shock absorber is used as the damper device 30. The horizontal axis in FIG. 4 is the stroke S that is the amount of axial movement of the output shaft 34, and the vertical axis is the axial drag F generated when the output shaft 34 moves. FIG. 4 also shows the resistance F and stroke characteristics 82 for the spring for reference.

As shown in FIG. 4, the drag force F and the stroke S characteristic 80 of the damper device 30 are determined in advance by the axial drag F output from the output shaft 34 according to the axial stroke S of the output shaft 34. Within the range of the effective stroke S ₀ , it has a characteristic of having a magnitude within a predetermined range (F ₀ ± ΔF) regardless of the magnitude of the stroke S. ± ΔF can be made a small range by appropriately increasing the number of holes of the porous orifice.

  Thus, the characteristic 80 of the damper device 30 is substantially constant regardless of the drag F that appears on the output shaft 34 regardless of the stroke S that is the amount of movement of the output shaft 34. On the other hand, the resistance F of the spring F and the characteristic 82 of the stroke S increase in proportion to the stroke S when the stroke S increases.

  Therefore, if the movement of the output shaft 34 of the damper device 30 is the same as the movement of the tool mounting shaft 60, the tool mounting shaft can be changed even if the stroke S for pressing the tool mounting shaft 60 against the object to be deburred fluctuates. The drag F applied to the object to be deburred by 60 is substantially constant. As a result, the deburring can be performed with the force applied to the burrs being substantially constant, so that the deburring process can be performed efficiently.

  2 and 3 again, the attachment shaft main body 40 of the tool attachment shaft 60 is a threaded shaft member having a flange portion 44 and a male screw 46 at the distal end portion of the elongated shaft portion 42. The nut 48 is a fastening member having a female screw corresponding to the male screw 46.

  The outer diameter of the elongated shaft portion 42 is larger than the inner diameter of the damper holding hole 26 of the guide shaft 20 and smaller than the inner diameter of the mounting shaft support hole 28. The flange portion 44 is a portion having a function of sandwiching and fixing the surface processing work tool 70 together with the nut 48, and has an outer diameter larger than the inner diameter of the mounting hole 71 provided in the central portion of the surface processing work tool 70. . The maximum outer diameter of the male screw 46 at the tip is smaller than the inner diameter of the mounting hole 71 of the surface processing work tool 70.

  A guide pin 50 provided at an appropriate intermediate portion in the axial direction of the elongated shaft portion 42 controls the axial movement range of the tool mounting shaft 60 relative to the guide shaft 20 in cooperation with the guide hole portion 24 of the guide shaft 20. This pin has a function to

The arrangement position in the axial direction of the elongated shaft portion 42 of the guide pin 50 is set as follows. That is, as shown in FIG. 2, the damper device 30 is inserted so that the bottom portion of the damper device 30 comes to the bottom portion of the damper holding hole 26 of the guide shaft 20, and then the tool is inserted at the tip of the output shaft 34 of the damper device 30. The tool mounting shaft 60 is inserted into the mounting shaft support hole 28 so that the bottom of the elongated shaft portion 42 of the mounting shaft 60 comes. Then, when the damper device 30 is in the shortest stroke state in which the effectiveness F of the damper device 30 is (F ₀ ± ΔF), the guide pin 50 becomes one end portion of the slot of the guide hole portion 24 of the guide shaft 20. Thus, the arrangement position of the guide pin 50 is set. The end on one side of the slot is the end on the opening side of the guide shaft 20.

  Further, the guide pin 50 is supported so as to be freely inserted and removed in the direction perpendicular to the axial direction of the elongated shaft portion 42 of the tool mounting shaft 60. For this purpose, a pin guide hole 54 is provided in a direction perpendicular to the axial direction of the elongated shaft portion 42 of the tool mounting shaft 60, and a pin biasing spring 56 is disposed in the pin guide hole 54. As a restricting means for restricting the guide pin 50 from popping out and coming out of the pin guide hole 54, the pin guide hole 54 is provided with a female screw portion, and the guide pin 50 is provided with a male screw portion engaging therewith. It is done.

  The hole depth of the pin guide hole 54 is set longer than the entire length of the guide pin 50. The depth of the hole is such that the guide pin 50 can completely sink into the pin guide hole 54 when the guide pin 50 is pushed into the pin guide hole 54 against the biasing force of the pin biasing spring 56. Is set. That is, the hole depth of the pin guide hole 56 is set to be longer than the length obtained by adding the length of the guide pin 50 to the spring length when the pin urging spring 56 is compressed. In some cases, the pin urging spring 56 may be omitted. In this case, the hole depth of the pin guide hole 54 is simply set longer than the total length of the guide pin 50.

  An operation groove 52 is provided on the head of the guide pin 50. The operation groove 52 is provided to facilitate an operation when the guide pin 50 is inserted into and removed from the pin guide hole 54 by meshing between the female screw portion of the pin guide hole 54 and the male screw portion of the guide pin 50. . Specifically, an operation groove 52 having a groove shape that allows the guide pin 50 to easily rotate forward or backward is provided by a nut runner or the like used in the robot apparatus.

  Accordingly, for example, by rotating the guide pin 50 in the clockwise direction in the clockwise direction, the guide pin 50 can be sunk in the pin guide hole 54 including the head, and the tool mounting shaft 60 can be removed from the guide shaft 20. . Further, by rotating the guide pin 50 counterclockwise in the reverse direction, the guide pin 50 protrudes from the outer peripheral surface of the tool mounting shaft 60 and is guided by the guide hole portion 24 of the guide shaft 20. The tool mounting shaft 60 can be attached to the tool. In addition, the maximum diameter of the male screw portion can be made smaller than the outer diameter of the head of the guide pin 50 so that the male screw portion does not directly contact the guide hole portion 24. Depending on whether the male screw or the female screw is forward or backward, the forward rotation and the backward rotation can be interchanged. Thus, the male screw portion of the guide pin 50 and the female screw portion of the pin guide hole 54 constitute an attachment / detachment mechanism that allows the tool attachment shaft 60 to be attached to and detached from the guide shaft 20 in a replaceable manner.

  By using this attachment / detachment mechanism, in the robot apparatus described with reference to FIG. 1, by providing a tool attachment axis exchange station having a screw rotation device such as a bit runner having a tip that fits the operation groove 52 of the head of the guide pin 50, It becomes possible to automatically attach and detach and replace the tool attachment shaft 60 with respect to the guide shaft 20.

  That is, the guide pin 50 is rotated in the forward direction by the screw rotating device with respect to the current tool mounting shaft 60 to remove the tool mounting shaft 60 from the guide shaft 20. Next, with respect to another tool mounting shaft 60, the guide pin 50 of the tool mounting shaft 60 is rotated in the forward direction, and the elongated shaft portion 42 of the tool mounting shaft 60 is attached to the mounting hole support hole 28 of the guide shaft 20 described above. Insert into. Then, the guide pin 50 is rotated in the reverse direction by aligning the guide pin 50 with the guide hole portion 28 of the guide shaft 20, and the guide pin 50 can be protruded into the guide hole portion 28. In this way, another tool attachment shaft 60 is attached to the guide shaft 20. In this way, by providing the tool attachment axis exchange station having the screw rotation device in the robot apparatus, the tool attachment axis 60 can be automatically attached to and detached from the guide axis 20 for exchange.

  As an attachment / detachment mechanism that allows the tool attachment shaft 60 to be attached to and detached from the guide shaft 20 in an exchangeable manner, another mechanism that allows the guide pin 50 to be inserted into and removed from the tool attachment shaft 60 may be used. For example, a mechanism is provided in which a pin urging spring 56 is disposed in the guide hole portion 54, and a restricting means is provided that urges the guide pin 50 against the pin guide hole 54 while being urged by the pin urging spring 56 so as not to jump out. Can be used. As the restricting means, for example, an appropriate flange portion may be provided on the guide pin 50, and a ring for restricting the movement of the flange portion may be provided in the guide hole portion 54.

  In this case, in the robot apparatus described with reference to FIG. 1, the tool mounting shaft 60 is removed from the guide shaft 20 by pressing the guide pin 50, and the tool attached to the guide shaft 20 while pressing the guide pin 50 for another tool mounting shaft 60. By providing the attachment shaft exchange station, the tool attachment shaft 60 can be automatically attached to and detached from the guide shaft 20 for replacement.

  The surface processing work tool 70 shown in FIGS. 2 and 3 is a tool for removing burrs by contacting the object to be deburred while rotating. Specifically, a sanding disk is used. In general, a sanding disk is a disc in which abrasive grains are bonded to a cloth or paper material with an appropriate binder. Here, the disc is cut into a plurality of pieces and a part of them is mutually connected. Those arranged in the circumferential direction while being shifted so as to overlap are used. Therefore, the bottom surface side of the surface processing work tool 70 which is a sanding disk is a plurality of steps formed by being cut into a plurality of pieces and partially overlapping and overlapping, thereby having an uneven bottom surface. It has become a thing. As an example of a plurality of sheets, for example, about 20 to 30 sheets can be used. Of course, one flat sanding disk may be used.

  As described above, the surface machining work tool 70 is provided with the mounting hole 71 in the center thereof, and the mounting shaft main body 40 is attached to the mounting shaft main body 40 by the male screw 46 and the nut 48 at the tip of the mounting shaft main body 40. It is firmly attached to the part 40.

  The operation of the above configuration will be described in detail with reference to FIGS. As shown in FIG. 1, a surface machining tool unit 10 is attached to a tool attachment shaft 8 at the tip of an operation arm of a robot apparatus. Specifically, the axial direction of the guide shaft main body portion 22 of the guide shaft 20 of the surface processing work tool unit 10 is aligned with the axial direction of the tool mounting shaft 8 and firmly fixed. In this state, the robot apparatus is operated to move the surface processing work tool 70 of the surface processing work tool unit 10 to a position where it just contacts the object to be deburred. Therefore, the surface processing work tool 70 is pressed against the object to be deburred while the tool mounting shaft 8 is rotated at a predetermined rotational speed.

  When the tool mounting shaft 8 rotates, the guide shaft 20 rotates. When the guide shaft 20 rotates, the guide pin 50 of the tool mounting shaft 60 is restrained from moving in the radial direction by the guide hole 24 of the guide shaft 20. The tool mounting shaft 60 rotates. Thereby, since the sanding disk of the surface processing work tool 70 contacts the object while rotating, the burr is removed by the abrasive grains of the rotating sanding disk. When using a robot machining program in which an operation trajectory of the surface machining work tool unit 10 is created based on a machining trace when machining an object, the machining program is executed to execute the surface machining work tool. The unit 10 can be automatically moved along the position where deburring is to be performed.

During this deburring, the tool mounting shaft 60 is pressed against the object to be deburred, and the stroke S that is the moving distance of the pressing is appropriately set by the robot apparatus. As described with reference to FIG. 4, when the stroke S is within the effective stroke S _{0 due to} the function of the damper device 30, the drag F applied to the object to be deburred by the tool mounting shaft 60 is the specification of the damper device 30. The value is substantially constant within a predetermined range of (F ₀ ± ΔF).

The length of the slot of the guide hole portion 24 provided in the guide shaft 20 is set to a length corresponding to this effective stroke S ₀ or less, so that the stroke S set by the robot apparatus is effective. It is limited to a range of the stroke S _0. Accordingly, even if the stroke fluctuates during the deburring operation, the effective stroke S ₀ is applied to the object to be deburred by the tool mounting shaft 60 at all times (F ₀ ± ΔF). ).

Thus, according to the deburring target, (F ₀ ± ΔF) suitable for deburring is obtained, the damper device 30 satisfying the specification is selected, and the guide shaft 20 of the surface working tool unit 10 is selected. Built-in inside does not cause excessive damage to the object to be deburred and does not damage it, nor does it become an excessive force against deburring, so stable and effective deburring is possible. It can be performed.

  FIG. 5 is a diagram for explaining a state in which the tool mounting shaft 60 is replaced in accordance with an object to be deburred which is a surface processing operation. 5 includes the tool mounting shaft 60 described in FIGS. 1 to 4, and other tool mounting shafts 62 and 64 are shown. The tool mounting shaft 60 is provided with a surface processing work tool 70 using a relatively small sanding disk. The tool mounting shaft 62 is provided with a surface processing work tool 72 using a relatively large sanding disk.

  The comparatively small size and the comparatively large size distinguish the relative size of the outer shape. For example, the surface processing work tool 70 has an outer diameter of about 50 mm, and the surface processing work tool 72 has an outer diameter of about 100 mm. Can be. Of course, a sanding disk having a size other than this may be used.

  The tool mounting shaft 64 is provided with a surface machining work tool 74 using a carbide rotary tool at the tip. Sanding discs can be used for deburring that occurs in relatively soft metals, plastics, wood, and composites of these, and carbide rotary tools can handle burrs or irregularities that occur in relatively hard metals, ceramics, etc. It can be used for planarization.

  A common mounting shaft main body 40 is used for all of the tool mounting shafts 60, 62, and 64. The tool mounting shafts 60 and 62 use a common nut 48, and the corresponding surface processing work tools 70 and 72 are sandwiched between the male screw 46 at the tip of the mounting shaft main body portion 40 and firmly. Fixed. For the tool mounting shaft 64, an appropriate cap nut 49 is used to fix the surface processing work tool 74 using a carbide rotary tool using the male screw 46 of the mounting shaft main body 40.

  The tool mounting shafts 60, 62, 64 are each provided with a common guide pin 50, and these guide pins 50 can be inserted and removed in a direction perpendicular to the axial direction of the mounting shaft main body 40 of the tool mounting shaft 60. Supported by Therefore, for any of these tool mounting shafts 60, 62, 64, the guide pin 50 is rotated in the forward direction to sink the guide pin 50 so as not to come out of the outer peripheral surface of the tool mounting shaft 60. Is inserted into the mounting shaft support hole 28 of the guide shaft 20 and the guide pin 50 is rotated in the reverse direction when the guide pin 50 reaches the guide hole 24, the guide pin 50 enters the guide hole 24. Since it protrudes, it can be attached to the guide shaft 20.

  In addition, any of the tool mounting shafts 60, 62, and 64 attached to the guide shaft 20 in this way does not rotate the guide pin 50 in the forward direction so that the guide pin 50 comes out on the outer peripheral surface of the tool mounting shaft 60. The mounting shaft main body 40 can be removed from the guide shaft 20 by being pulled out from the mounting shaft support hole 28 of the guide shaft 20. The guide pin 50 can be automatically rotated in the forward direction or the reverse direction by using an appropriate screw rotating device such as a bit runner having a tip that fits the operation groove 52 on the head of the guide pin 50. it can.

  In this way, any one of the tool mounting shafts 60, 62, 64 can be attached to or removed from the guide shaft 20, so that the tool mounting shafts 60, 62, 64 are replaced with respect to the guide shaft 20. It can be attached and detached as possible.

  The surface processing work tool unit according to the present invention can be used for deburring work, chamfering work, surface polishing work and the like that occur in processing of metal, plastics and the like.

  2 swing arm, 4 rotary arm, 6 axial movement arm, 8 tool mounting shaft, 10 surface processing work tool unit, 20 guide shaft, 22 guide shaft body, 24 guide hole, 26 damper holding hole, 28 mounting shaft Support hole, 30 damper device, 32 housing, 34 output shaft, 40 mounting shaft main body, 42 elongated shaft, 44 flange, 46 male screw, 48 nut, 49 cap nut, 50 guide pin, 52 operation groove, 54 pin Guide hole, 56-pin biasing spring, 60, 62, 64 Tool mounting shaft, 70, 72, 74 Surface processing work tool, 71 Mounting hole, 80, 82 Characteristics.

Claims (4)

A surface processing work tool unit that performs surface processing work of an object by rotating the surface processing work tool while pressing it against the object by being attached to a rotating shaft,
It has an output shaft that can move in the axial direction, and the axial drag output from the output shaft in accordance with the axial stroke of the output shaft is determined in advance within the range of the predetermined effective stroke regardless of the stroke size. A damper device having a characteristic within a certain range;
A tool mounting shaft in which a surface processing work tool is disposed at a tip portion along the axial direction, and a guide pin is provided protruding to the outer peripheral surface on the other end side;
A damper holding hole for holding the damper device, a mounting shaft support hole for supporting the tool mounting shaft so as to be movable in the axial direction, and an axial movement of the guide pin provided along the axial direction by connecting to the mounting shaft support hole. A guide shaft having a guide hole for guiding;
A surface processing work tool unit comprising: In the surface processing work tool unit according to claim 1,
The guide hole portion has a slot along the axial direction, and the length along the axial direction of the slot corresponds to the effective stroke range of the damper device. In the surface processing work tool unit according to claim 1,
A surface machining work tool unit comprising an attachment / detachment mechanism capable of detachably attaching a tool attachment shaft to a guide shaft. In the surface processing work tool unit according to claim 3,
As a detachable mechanism,
A pin guide hole provided in a direction perpendicular to the axial direction of the tool mounting shaft, having a depth longer than the entire length of the guide pin, and having a female thread portion;
Using a guide pin that has an operation groove in the head and has a male thread part that meshes with the female thread part of the tool mounting shaft, the tool mounting shaft can be attached to and detached from the guide shaft by forward or reverse rotation of the guide pin head A surface processing work tool unit characterized by:

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