JP2019034396A - Full-automatic deburring machine and floating mechanism - Google Patents

Abstract

To provide a deburring device which removes burrs generated at a molding without damaging a casting surface irrespective of a kind and a size of a workpiece, and can grind the molding with a constant width regardless of expansion and contraction when the molding is further solidified.SOLUTION: A workpiece is installed at a workpiece table 12, and an articulated robot 11 attached with a grindstone 15 grinds the workpiece by automatic operation. The workpiece table 12 is rotated by 180 degrees in a horizontal direction, the articulated robot 11 is brought into contact with the workpiece table while bending a joint portion, and deburring is thereby performed from various directions. By automatically changing the grindstone 15 attached to the articulated robot 11 to a grindstone which is adapted to a grinding portion of the workpiece, a surface and a core are ground irrespective of the material quality of the workpiece by a single piece of a deburring machine. A floating mechanism 14 which elongates and contracts by rubber, and automatically adjust a pressure which is generated by contact of the grindstone with the workpiece is introduced between a tip of the articulated robot and a motor 13 to which the grindstone 15 is attached, and the workpiece is ground at a constant pressure irrespective of its expansion rate.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a deburring machine for removing burrs generated on a workpiece when casting, and in particular, the working speed can be increased more than before, and the burrs can be obtained without deteriorating the accuracy of the workpiece. It relates to a deburring machine that can grind.

  Deburring in casting is indispensable for arranging a workpiece into a predetermined shape and maintaining a constant dimension. Cast burrs are generated in a cast product and are removed after solidification. However, the position where the cast burrs are generated and the size of the cast burrs change each time. However, it is necessary to remove all casting burrs regardless of the occurrence of casting burrs of various shapes and sizes.

  By the way, the conventional deburring machine mainly employs a method of grinding a casting burr by holding the work at the robot tip and bringing the work into contact with a grindstone fixed in the deburring machine.

Japanese Patent Laying-Open No. 2015-16510

  However, when deburring is performed by the above method, the robot can hold only one workpiece, and therefore can grind only one workpiece at a time. In addition, since the workpiece and the grindstone are hard and inflexible, if they are simply brought into contact with each other, delicate strength adjustments corresponding to expansion and contraction during solidification, which is a characteristic of castings, cannot be made. A shortage occurs.

  In order to solve the above-described problems, the present invention provides a deburring machine capable of grinding a plurality of workpieces at a time and finely adjusting the strength during grinding.

  In order to solve the above problems, in the present invention, a work table on which a plurality of workpieces to be ground are mounted, a motor that rotationally drives a grinding wheel, a motor that holds the motor, and that flexes and rotationally drives a joint portion. It is characterized by comprising a joint robot, a floating mechanism provided at a connection portion between the motor and the articulated robot, a grindstone automatic exchanging program for exchanging a grindstone, and a grindstone shelf.

  In addition, the work table is rotated 180 degrees in a horizontal direction with the work installed, and the arm portion of the articulated robot is moved in the vertical direction and the front-rear direction and has a rotation shaft. The workpiece surface is brought into contact with the displaceable range so that burrs can be ground to a predetermined cutting depth.

  Further, the size of the workpiece can be ground within one operation regardless of the shape, material and size of the workpiece as long as it can fit on the work table.

  The grinding wheel attached to the articulated robot is detachable, and an automatic exchanging device capable of automatically exchanging the grinding wheel is provided in the deburring machine.

  A floating mechanism using a rubber material provided between the tip of the articulated robot and a grindstone rotating motor attached to the articulated robot is provided.

  The floating mechanism is provided with a rubber material that shrinks in accordance with the pressure applied to the grinding wheel and the wheel rotation motor during grinding, so that the pressure applied to the work is kept constant and occurs when the work is solidified. It is characterized by being able to grind to a constant width regardless of expansion or contraction.

  As is apparent from the above description, according to the present invention, it is possible to grind a plurality of workpieces at a time and improve the grinding accuracy.

A side view of a deburring machine. The top view of a deburring machine. The side view of an articulated robot. The top view of the grinding device concerning one embodiment of the present invention. The schematic diagram of the floating mechanism which concerns on one Embodiment of this invention. The flowchart which shows the order from the grinding | polishing start to completion | finish.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each figure, the workpiece to be ground is not shown.

  As shown in FIG. 1, the deburring machine includes a work table 12 including a jig for holding a work, a motor 13 having a grinding wheel 15 attached thereto, a floating mechanism 14, and a multi-joint for holding and driving the motor. A robot 11 is provided. (Note that 13, 14, and 15 are collectively referred to as a grinding device.)

  The motor 13 is attached to the rotating shaft 11f of the articulated robot 11 shown in FIG. The grinding wheel 15 is connected to the motor 13a shown in FIG. 4, and the grinding wheel 15 rotates around the rotation shaft when the motor 13 is driven to rotate.

  In addition, although the motor 13 depicted in FIGS. 1 and 3 is one, it may be two. Two motors 13 can be attached to the articulated robot 11. In that case, the motor 13 shown in FIG. 1 and FIG. In this case, when the driving portion 11f of the articulated robot 11 rotates 180 degrees, the two motors can be interchanged with each other. That is, when one of the two motors 13 and the grinding wheel 15 grinds a workpiece, the other faces the opposite direction to the workpiece and is not involved in the grinding process. Further, by attaching grinding wheels 15 having different diameters, shapes, and grain sizes to these two motors 13, it is possible to use grinding wheels 15 suitable for the size, shape, and location of the casting burr. It is possible to save time and labor involved in exchanging the grindstone 15.

    As shown in FIG. 3, in the articulated robot 11, 11c rotates in the horizontal direction, 11a, 11b, and 11e move the axes back and forth and up and down around the rotation axis, and 11d rotates the arm axis. , 11f has a rotating shaft for rotating the motor 13. These 11a to 11f portions are movable and rotated in the horizontal, front and rear, left and right, and up and down directions, which are movable ranges, so that the grinding surface of the grinding stone 15 can be brought into contact with the workpiece at a suitable angle.

    Next, the work installation and holding means will be described. The work table 12 shown in FIG. 2 rotates between 0 degrees and 180 degrees in the horizontal direction. By rotating the work table 12 with the work placed thereon and the range of motion of the multi-joint robot 11, it is possible to grind from many directions.

    Further, on the work table 12, a jig according to the shape of the work is installed. As a work holding means, a jig is set on the work table 12 on which the work is set, and the jig fixes the work by automatic operation. In addition, when a jig interferes with grinding, the jig is automatically detached only at that point, and is automatically fixed again after the grinding is completed.

    Next, automatic replacement of the grinding wheel 15 will be described. As shown in FIG. 2, the shelf on which the grinding wheel for replacement of the grinding wheel 15 is installed is 16b. The articulated robot 11 faces the direction 16b by rotating in a horizontal direction 11c, which is a movable range of the articulated robot 11 shown in FIG. Next, 11a and 11b move the arm to place the grinding wheel 15 previously held on 16b, and hold the installed replacement grindstone.

    The grinding wheels for automatic replacement may have different diameters, shapes, and particle sizes, or may have the same diameter, shape, and particle size. When the diameter, shape, and particle size are different, it is possible to use different grinding stones according to the size, shape, and location where the casting burrs are formed, and more delicate deburring can be achieved. The grindstone may be disk-shaped or rod-shaped. If the diameter, shape, and particle size are completely the same, for example, the wear speed of one type of grindstone is fast, and even if one of the grindstones is time to replace, grinding continues with the other grinding tool. As a result, it is possible to prevent the trouble of changing the grindstone.

    Next, the floating mechanism depicted in FIGS. 4 and 5 will be described. The load applied to the grinding wheel 15 and the ground contact surface of the workpiece is transmitted to the floating mechanism 14 through the motor 13. The rubber material of 14d and 14e absorbs this load and curves according to the load. When the portions 14d and 14e are curved, 14a becomes a fulcrum and moves up and down in the direction 14b. By this vertical movement, the pressure applied to the grinding wheel 15 and the ground contact surface of the workpiece is kept constant, preventing excessive grinding of the workpiece and preventing the motor 13 and the articulated robot 11 from being excessively loaded.

    As shown in FIG. 5, 14d and 14e are formed of rubber materials having different hardnesses. By sandwiching flexible rubber with hard rubber, it is possible to handle from heavy loads to weak loads. Furthermore, it is possible to disperse and soften the load when the rubber is bent, and to prevent cracks and lacerations. Further, since the floating mechanism portion is close to the grinding portion, it is surrounded and fixed by 14f and 14g protective members so as to prevent dust generated by grinding.

11 Articulated robot 11a Articulated robot movable axis 11b Articulated robot movable axis 11c Articulated robot rotational axis 11d Articulated robot rotational axis 11e Articulated robot movable axis 11f Articulated robot rotational axis 12 Worktable 13 Motor 13a For motor and grinding Whetstone connection 14 Floating mechanism 14a Floating fulcrum 14b Floating range 14c Floating mechanism and motor connection 14d Floating mechanism rubber material (hard)
14e Floating mechanism rubber material (soft)
14f Floating mechanism cover (table)
14g Floating mechanism cover (back)
DESCRIPTION OF SYMBOLS 15 Grinding wheel 16 Grinding wheel automatic changer 16a Whetstone automatic changer shelf S1-7 Deburring machine operation | movement steps 1-7 of FIG.

Claims (6)

  A work table on which a plurality of workpieces to be deburred are installed, an articulated robot provided in the center of the machine so as to correspond to the plurality of workpieces, a grindstone rotating motor attached to the articulated robot, and the articulated robot A floating mechanism provided between a tip portion and the grinding wheel rotating motor, a grinding wheel attached to the motor, an automatic replacement program for the grinding wheel, and a shelf for the replacement grinding wheel. Deburring machine that features.   The workpiece table is rotated 180 degrees in a horizontal direction with a workpiece installed, and the arm portion of the articulated robot moves in the vertical direction and the front-rear direction and includes a rotation shaft. 2. The deburring machine according to claim 1, wherein the grinding wheel and the work surface are brought into contact with each other within the displaceable range so that the casting burr can be ground to a predetermined cutting depth.   3. The deburring machine according to claim 1, wherein the deburring machine can be ground within one operation regardless of the shape, material, and size of the workpiece as long as the size fits on the work table. Deburring machine.   In the deburring machine, the grinding wheel attached to the motor is detachable, and an automatic changer capable of automatically replacing the grinding wheel is provided in the deburring machine. Item 4. A deburring machine according to item 1, 2 or 3.   The deburring machine includes a floating mechanism using a rubber material provided between the tip of the articulated robot and a grindstone rotating motor attached to the articulated robot. The deburring machine according to 1, 2, 3 or 4.   6. The floating mechanism according to claim 5, wherein a rubber material that contracts in accordance with the pressure applied to the grinding wheel and the grinding wheel rotating motor during grinding is provided, so that the pressure applied to the workpiece is constant. 6. The deburring machine according to claim 1, wherein the deburring machine is capable of grinding to a constant width regardless of expansion and contraction generated during solidification of the workpiece.

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