JP2019141924A - Machining device - Google Patents

Abstract

To provide a machining device capable of realizing an appropriate movement with respect to a flat processed surface such as a vertical surface and performing the teaching efficiently.SOLUTION: A machining device is a device for performing machining such as polishing or grinding on a workpiece by urging a work shaft 41 for operating a processing tool provided at the tip by a floating structure 13 in a thrust direction of the work shaft 41 with a predetermined pressure. The device comprises urging means for supporting the work shaft 41 so as to be movable in a radial direction along a plane orthogonal to the thrust direction, and applying a force to push back the processing tool when moving in the radial direction. This urging means includes air actuators 24 arranged radially around the work shaft 41.SELECTED DRAWING: Figure 2

Description

The present invention relates to a machining apparatus, and more particularly to a machining apparatus suitable for polishing and grinding.

Today, machining such as polishing and grinding is detachably attached to the tip of the processing axis of a processing tool such as an air tool that rotates and moves back and forth, and the processing axis is attached to the specified pressure by a floating structure. Therefore, a machining apparatus is widely used in which machining is performed on a workpiece by urging the machining shaft in the thrust direction.

In Patent Document 1, there is a work tool device for processing a workpiece with a tool attached to the tip of a wrist of a robot, a cylinder attached to the wrist of the robot, and an inside of the cylinder A sliding member inserted so as to be slidable, an urging means for urging the sliding member with a predetermined pressing force, a frame attached to the sliding member, and a spherical bearing fixed to the frame; A tool holder that is tiltably supported by the spherical bearing, a tool attached to the tool holder, a drive device that rotationally drives the tool, a first stopper that limits an angle at which the tool holder tilts, There has been proposed a machining apparatus comprising a second stopper for limiting an angle at which the tool holder rotates about the same axis as the axial direction of the tool. Proposal shown in 2 have also been made.

As shown in FIG. 6 of Patent Document 1, the conventional machining apparatus (working tool apparatus) at the stage where the proposal of Patent Document 1 was made, “drives a rotating grindstone (tool) 27 attached to the tip”. It is driven by a motor 60 and the floating grindstone 27 is pressed against the workpiece 50 with a predetermined pressure by the floating structure 26 to polish the workpiece 50. Here, the floating structure 26 presses the piston 61 by air pressure. As a result, the rotating grindstone 27 is urged and held in a certain direction with a predetermined pressing force, and at the same time, the error of the shape of the workpiece 50, the state of the machining surface changing for each workpiece, the displacement of the position where the workpiece 50 is installed, etc. Therefore, the displacement generated between the workpiece 50 and the reference workpiece is also absorbed by the floating grindstone 27 floating in the direction in which the piston 61 moves. "(See Patent <Prior Art> DETAILED DESCRIPTION OF THE INVENTION literature 1) are those, it stops only the thrust direction of the degrees of freedom in the axial direction of the piston is given.

Patent Document 1 solves this problem, and as shown in the detailed description of the invention <Problem to be Solved by the Invention> Although the displacement in the same direction as the piston 61 moves on the processed surface of the object 50 can be absorbed, when polishing a free curved surface such as the body of an automobile, the displacement is generated in multiple directions. Therefore, the rotation center axis 101 of the rotating grindstone 27 and the normal direction 102 of the machining surface are not in the same direction, that is, the grindstone surface 90 of the rotating grindstone 27 is the target machining position of the workpiece 50. Therefore, there is a problem that the surface of the workpiece 50 is not properly contacted, the processing state of the processed workpiece 50 is not uniform, or the workpiece 50 is processed more than necessary and the quality deteriorates. This In order to avoid such problems, it is necessary to teach the robot the machining locus matched to the free-form surface, but this work is very time consuming but has not been fully effective. ” By using a tool holder supported so as to be tiltable by the above, the problem has been solved.
Specifically, as shown in FIG. 1 and FIG. 5, Patent Document 1 adopts a floating structure that moves the machining axis in the axial direction (thrust direction) under the biased state. By using a structure that tilts the machining axis under the biased state, the tool can be moved appropriately following the machining surface of the workpiece even when grinding a free-form surface. It was.

However, in the machining apparatus of Patent Documents 1 and 2 that tilts and swings the machining axis in this way, it is advantageous if the work surface of the workpiece is a curved surface. The following problems arise.
When teaching with an industrial robot for machining such as polishing on a vertical surface, if the processing tool (abrasive material) 101 shown in FIG. As shown in FIG. 5 (B), it becomes a point. As a result, as shown in FIG. 1C, it is necessary to perform teaching in consideration of the angle in advance. For this reason, the teaching work becomes complicated, and there is a problem that it takes a lot of time. Furthermore, as shown in FIGS. 1D and 1E, generally, the abrasive of the processing tool (abrasive) 101 is worn away from the point of contact with the surface to be processed. In the machining apparatus of Patent Documents 1 and 2, since the abrasive is tilted and swung, the abrasive is reduced obliquely, and the B dimension portion on the tip side in FIGS. 1D and 1E is quickly destroyed. For this reason, the polishing material is replaced while leaving the A dimension part on the rear end side still usable, resulting in a high processing cost due to wasteful use of the polishing material.

JP-A-3-281189 Japanese Patent No. 6041317

The problem to be solved by the present invention is to provide a machining apparatus that realizes an appropriate movement with respect to a flat work surface such as a vertical surface and that can efficiently perform teaching. is there.

The present invention solves the above-mentioned problems by providing a machining device that includes means for supporting a machining tool so as to be movable in a plane and providing a force for pushing back the polishing tool during the plane movement.
That is, in a machining apparatus in which a machining shaft for operating a machining tool provided at a tip is urged in a thrust direction of the machining shaft with a predetermined pressure by a floating structure to perform machining on a workpiece. A support portion that supports the machining shaft so as to be movable along a radial direction orthogonal to the machining axis, and a pressurizing portion that applies a force in the radial direction to the machining axis from a plurality of surrounding directions. A machining apparatus is provided, wherein the machining shaft is biased to be movable in the radial direction while maintaining a state in which the machining axis is orthogonal to the radial direction by a force from the pressurizing unit. To do.

The pressurizing unit is implemented as including a plurality of fluid pressure actuators arranged radially around the machining axis and a pressure adjusting unit that adjusts a radial force applied by the fluid pressure actuator. Can do.
The support portion is disposed between a reference member having a reference surface along the radial direction, a guide member relatively moving in the radial direction along the reference surface, and the reference member and the guide member. The sliding shaft is provided, and either the reference member or the guide member supports the machining shaft so that the machining shaft moves in the radial direction.

More specifically, the processing axis is an output shaft of the processing tool that rotates or moves back and forth provided in the processing tool, and the support portion moves the body of the processing tool in the radial direction. The processing shaft is supported by movably supporting the processing shaft, and the pressing portion applies a force in the radial direction to the body of the processing tool from a plurality of surrounding directions. To apply a radial force to the machining axis, and the floating structure includes an air cylinder supported by an arm of an industrial robot and a cylinder slidably inserted into the air cylinder. A machine, wherein the body of the processing tool is inserted into the cylinder of the cylindrical piston so as to be movable in the thrust direction and the radial direction. To provide a processing apparatus.

The present invention has been able to provide a machining apparatus capable of realizing an appropriate movement with respect to a flat work surface such as a vertical surface.
Further, the present invention has been able to provide a machining apparatus capable of efficiently performing teaching that realizes such an appropriate movement.

The front view of the machining apparatus which concerns on embodiment of this invention. The longitudinal cross-sectional view of the same machining apparatus. FIG. The principal part perspective view of the machining apparatus. 1 shows a conventional machining device, (A) is a front view, (B) is a front view of a main part showing a use state, (C) is a front view of a main part showing a use state for performing proper teaching, (D) is a front view which shows the subject of the same use condition, (E) is a principal part front view which shows the subject of the use condition.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(Overview)
The machining apparatus 10 according to this embodiment attaches a machining shaft 41 for operating a machining tool 42 such as a polishing tool provided at the tip to the thrust direction of the machining shaft 41 with a predetermined pressure by a floating structure. This is a processing apparatus that performs mechanical processing such as polishing and grinding.

Although this machining apparatus 10 can be held by hand, in this example, as shown in FIG. 1, it is assumed that the machining apparatus 10 is used by being attached to a machining machine such as an arm 11 of an industrial robot. .
In addition to adopting a floating structure in which the machining shaft 41 and the machining tool 42 are moved in the axial direction (thrust direction Z) with respect to the arm 11, the machining apparatus 10 is in a biased state. Is used in combination with a structure that moves the machining axis horizontally (radial direction XY, which is a direction orthogonal to thrust direction Z), and is movable while being urged in two directions, thrust direction Z and radial direction XY. By maintaining the state, teaching is performed so that the machining tool 42 can be machined on the vertical workpiece surface 52 of the workpiece 51. As described above, the processing tool 42 is rotated and moved back and forth for polishing and grinding the processing surface 52 by the processing tool 32 such as an air tool while being movable in the above two directions under the biased state. Thus, machining is performed on the work surface 52.

(Elements of movement)
This movement for machining is realized by the following four movements.
1st element (the main part is shown by the slanting line on the right in Fig. 2)
The first element is an element fixed to the arm 11 of the industrial robot and moving integrally therewith. The first element does not move with respect to the arm 11 and moves together with the arm 11.

Specifically, a connection member 12 for the arm 11 and an air cylinder 14 (cylinder body) of a floating structure 13 fixed to the arm 11.

Second element (The main part is indicated by the downward slanted diagonal line in Fig. 2)
The second element is an element movable in the thrust direction Z with respect to the first element.
Specifically, the cylinder of the air actuator 24 of the cylindrical piston 21 of the floating structure 13, the mounting portion 22 fixed to the distal end side of the cylindrical piston 21, and the pressurizing portion 23 fixed and supported by the mounting portion 22. Main body 25). Note that the tip of the cylindrical casing 20 is fixed to the tip of the attachment portion 22, and this cylindrical casing 20 extends to the vicinity of the connection member 12 on the rear end side. It is not fixed.

Third element (The main part is shown by the slanting right slanted line in Fig. 2)
The third element is an element movable in the radial direction XY with respect to the second element, and moves in the thrust direction Z and the radial direction XY with respect to the arm 11 of the machining apparatus 10.
Specifically, a piston 31 that appears and disappears from the cylinder body 25 of the air actuator 24, and a machining tool 32 that is biased by the piston 31.

Fourth element (the main part is indicated by the upward-sloping thick diagonal line in FIG. 2)
The fourth element is specifically the machining axis 41 and the machining tool 42 that are the output axes of the above-described machining tool 32, and the third element performs a movement (rotation and back-and-forth movement) for machining. Is an element. Therefore, the arm 11 moves in the thrust direction Z and the radial direction XY and is directly biased for machining with respect to the work surface 52 of the workpiece 51 while being biased.

Next, each of these elements will be described in order.
(About the first element)
The first element is a connection member 12 for the arm 11 and an air cylinder 14 (cylinder body) of a floating structure 13 fixed to the arm 12. The air cylinder 14 includes a supply path 16 for supplying air to the internal cylinder space 15, and air of a predetermined pressure for operating the cylindrical piston 21 is supplied from the supply path 16.

(About the second element)
The second element includes a cylindrical piston 21 of the floating structure 13, a mounting portion 22 fixed to the distal end side of the cylindrical piston 21, and a plurality of pressurizing portions 23 that are fixed and supported by the mounting portion 22. This is a cylinder body 25 of the air actuator 24.

The cylindrical piston 21 is urged in the distal direction when the pressure in the cylinder space 15 is increased by pressurized air from the supply path 16 of the first element. The stroke of the cylindrical piston 21 is for urging the machining tool 42, and although it depends on the size of the tool, a small dimension is sufficient. Specifically, it may be about 3 to 10 mm.

Although not shown, the supply path 16 is connected to an air supply source such as a compressor provided with a pressure adjustment unit such as a pressure adjustment valve, and supplied with air set to a predetermined value. The urging pressure by air may be a force that can effectively perform polishing and grinding by the processing tool 42. Specifically, it may be about 0.1 MPa to 0.2 MPa, and it is also preferable that the pressure adjusting unit can variably adjust the pressure.

The cylindrical piston 21 has a tip projecting from the air cylinder 14, and a pressurizing portion 23 is attached to the tip via an attachment portion 22. As shown in FIGS. 3 and 4, the pressurizing unit 23 includes a plurality of air actuators 24 arranged radially around the machining tool 32, and is applied by the radial force XY applied by each air actuator 24. The processing tool 32 is supported so as to be movable in the same direction while being urged in the radial direction XY. The number of air actuators 24 may be three or more from the viewpoint of smoothly energizing in the radial direction XY, but is preferably six or more, and twelve are provided in the illustrated example. The cylinder main body 25 of these air actuators 24 can also be implemented by providing a plurality of cylinder spaces 26 radially on one member such as a ring cylinder.
Each air actuator 24 includes a supply passage 27 for supplying air to the cylinder space 26 inside the cylinder body 25, and air of a predetermined pressure for operating the piston 31 is supplied from the supply passage 27. .

Moreover, in order to move the processing tool 32 in the radial direction XY with certainty, it is preferable to include a support portion. As shown in FIG. 2, the support portion includes a guide member 28 as a second element and a reference member 33 as a third element.
In this example, the guide member 28 is implemented as an annular plate member, and a rear end surface thereof is fixed to the cylinder body 25. These guide members 28 are provided with bearings 29 as sliding members for promoting smooth movement on the front end side surface or rear end side surface thereof.

(About the third element)
The third element includes a piston 31 that protrudes and slides from the cylinder body 25 of the air actuator 24 of the second element, a processing tool 32 biased by the piston 31, and a reference member 33.

A reference member 33 is fixed to the processing tool 32 in correspondence with the guide member 28 described above, and the reference member 33 and the processing tool 32 move in the radial direction XY while being guided by the guide member 28. . Specifically, the reference member 33 is implemented as an annular plate member, and a surface (a rear end surface or a front end surface) that is in contact with and faces the bearing 29 is a reference surface. The reference surface is an annular flat surface along the radial direction XY, and the processing tool 32 can reliably and smoothly move in the radial direction XY along the reference surface.
The member for providing the reference plane may be a member on the second element side such as the guide member 28. In addition to the bearing 29, the sliding member may be made of a material having good sliding properties.

In the piston 31, the pressure in the cylinder space 26 is increased by the air from the supply passage 27, so that the tip protruding from the cylinder body 25 urges the processing tool 32 in the radial direction XY. The stroke of the piston 31 is for urging the machining tool 42, and although it depends on the size of the tool, a slight dimension is sufficient. Specifically, it may be about 3 to 10 mm. Although not shown, the supply path 27 is connected to an air supply source such as a compressor having a pressure adjustment unit such as a pressure adjustment valve, and supplied with air set to a predetermined value. The pressure of the air bias may be a force that can effectively perform polishing and grinding by the processing tool 42, specifically, about 0.1 MPa to 0.2 MPa, and the pressure adjusting unit can change the pressure. It is also preferable that it can be adjusted. A clearance for realizing the above movement is provided between the processing tool 32 and each member of the first element and the second element.

As the processing tool 32, an air tool such as a spindle air motor can be employed, or an electric tool or a tool that repeatedly slides back and forth may be used. Although the shape of the processing tool 32 is not limited, it is preferable that the portion contacting the tip of the piston 31 has a perfect circular cross section or a regular polygon in terms of realizing uniform movement in the radial direction XY.

(About the fourth element)
The fourth element is a machining shaft 41 that is an output shaft of the machining tool 32 and a machining tool 42 that is provided on the machining shaft 41 via an attachment member such as a chuck. As the machining shaft 41, a shaft that exhibits a form and movement according to a specific tool type of the machining tool 32 described above is employed. As the processing tool 42, a polishing tool such as a grindstone or polishing paper, or a cutting tool having cutting ability is employed.

(Example of change)
The present invention can be implemented in various modifications. In the above embodiment, the third element movable in the radial direction XY is provided next to the second element movable in the thrust direction Z. The second element may be movable in the radial direction XY relative to the first element, and the third element may be movable in the thrust direction Z. Further, the biasing means such as the air cylinder 14 of the floating structure 13 and the pressurizing unit 23 and the air actuator 24 are advantageous in that the fluid pressure actuator using the fluid pressure can variably adjust the pressure. It may be changed or used together with means such as urging by elastic deformation or urging by magnetic force such as a magnet.

(how to use)
In the machining apparatus 10 according to this embodiment, since the machining tool 42 is supported so as to be movable in the radial direction XY, teaching is performed perpendicularly to the vertical workpiece surface 52 of the workpiece 51. The processing tool 42 can be made to approach in parallel with the surface 52 to be processed. As a result, the entire abrasive material comes into contact with the work surface 52 almost evenly, and the teaching work is simplified, and the time can be reduced and the teaching cost can be reduced. Further, since the abrasive is not reduced diagonally as in the prior art, but is reduced in parallel, there is no unevenness of reduction and the abrasive can be used without waste, so that the cost of the abrasive can be reduced.

DESCRIPTION OF SYMBOLS 10 Machining apparatus 11 Arm 12 Connection member 13 Floating structure 14 Air cylinder 15 Cylinder space 16 Supply path 20 Casing 21 Cylindrical piston 22 Mounting part 23 Pressurization part 24 Air actuator 25 Cylinder main body 26 Cylinder space 27 Supply path 28 Guide member 29 Bearing 31 Piston 32 Machining tool 33 Reference member 41 Machining shaft 42 Machining tool 50 Work piece 52 Work surface Z Thrust direction XY Radial direction

Claims (5)

In a machining apparatus for machining a workpiece by urging a machining shaft for operating a machining tool provided at the tip in a thrust direction of the machining shaft with a predetermined pressure by a floating structure,
The machining axis of the machining tool is supported so as to be movable in a radial direction along a plane perpendicular to the thrust direction, and a force for pushing back the machining tool during the movement in the radial direction is applied to the machining axis to be biased. A machining apparatus characterized by comprising a structure for: A support portion that supports the machining shaft so as to be movable in the radial direction;
A pressing unit that applies a force in the radial direction from a plurality of directions around the processing axis;
2. The machine according to claim 1, wherein the machine shaft is urged so as to be movable in the radial direction while maintaining a state in which the machining axis is orthogonal to the radial direction by a force from the pressure unit. Processing equipment. The pressurizing unit includes a plurality of fluid pressure actuators arranged radially around the machining axis, and a pressure adjusting unit that adjusts a radial force applied by the fluid pressure actuator. The machining apparatus according to claim 2. The support portion includes a reference member having a reference surface along the radial direction, a guide member that moves relatively in the radial direction along the reference surface, and a space between the reference member and the guide member. A sliding member arranged,
4. The machining apparatus according to claim 3, wherein either one of the reference member and the guide member supports the machining shaft so that the machining shaft moves in the radial direction. . The machining axis is an output axis of the machining tool that rotates or moves back and forth provided in the machining tool,
The support portion supports the processing axis by supporting the body of the processing tool movably along the radial direction,
The pressurizing unit applies the radial force to the processing axis by applying the radial force to the body of the processing tool from a plurality of surrounding directions.
The floating structure includes an air cylinder supported by an arm of an industrial robot, and a cylindrical piston slidably inserted into the air cylinder,
5. The machining apparatus according to claim 2, wherein the body of the machining tool is inserted into the cylinder of the cylindrical piston so as to be movable in the thrust direction and the radial direction. .

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