JP2020019126A - Automatic deburring and/or edge finishing device, and automation method of deburring and/or edge finishing - Google Patents

Abstract

To provide a technique capable of highly accurately providing automation of deburring/edge finishing without using a precise and expensive visual sensor and a force sensor even when there is no three-dimensional data with respect to an object.SOLUTION: An automatic deburring/edge finishing device 10 as the device provided with a tool 36 which removes a burr from an object 50 or chamfers an edge of the object includes a robot 30 which moves at least either one side of the object and the tool relatively each other and a robot program production part which produces a program. Therein, at least one surface of the object and the tool are brought into contact with each other and are stopped at least one time, relative position data of the object and the tool are provided, and a robot program is automatically produced so as to move the tool relatively with respect to the object along a position of a portion on which a burr of the object is removed or the edge of the object is chamfered.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technology for automatically removing burrs formed at a boundary portion when a work is processed and finishing an edge.

  2. Description of the Related Art Conventionally, there has been known an apparatus that automatically removes burrs formed at a boundary portion when a work is processed and finishes an edge. For example, a deburring apparatus including a visual sensor and a force sensor disclosed in Patent Literature 1 discloses a deburring tool for removing burrs on an object, a robot for moving the object or the tool, and a force acting on the tool. It has a force sensor for detecting, and a visual sensor for detecting the position of the deburring portion of the object. In the deburring apparatus of Patent Document 1, the shape data of the deburring portion and the information on the posture of the tool are acquired in advance based on the three-dimensional data of the object, and the robot is provided based on the shape data and the posture of the tool. A program is created. Then, the robot program is appropriately updated according to the actual deburring site detected by the visual sensor. Further, in the deburring step, the operation of the robot is controlled by force control using the detection value of the force sensor.

Japanese Patent No. 5845212

  However, according to the technology disclosed in Patent Document 1, the posture of the tool and the robot program are created based on the three-dimensional data of the deburring target, but the drawing is not normally drawn with three-dimensional data such as CAM. When a gear or the like is an object, there is a problem that it is necessary to newly create and acquire three-dimensional data of the object.

  Further, in the technology disclosed in Patent Literature 1, a visual and force sensor is used to reduce the time and accuracy of deburring, but these sensors are precision products and expensive products. Therefore, it is unsuitable for use in a bad environment such as deburring where chips are generated, and if a failure occurs due to use in a bad environment, it costs more to replace etc. is there.

  Further, in the technique disclosed in Patent Document 1, in order to improve the accuracy of deburring, the robot program is appropriately updated in accordance with the actual deburring site detected by the visual sensor. However, there is a high possibility that burrs are present at the deburring site, particularly at the edge portion, and that the burrs are overlying. It is difficult to accurately detect the deburring site, particularly the edge portion, with a visual sensor. There is a problem that it is difficult to perform finishing processing with high accuracy.

  In view of the above-described problems, an object of the present invention is to provide a high-precision and expensive visual sensor in a bad environment where chips are generated even when there is no three-dimensional data such as CAM for an object. An object of the present invention is to provide a technology capable of realizing automation of deburring and / or edge finishing with high accuracy without using a force sensor.

  In order to solve the above-mentioned object, an automatic deburring and / or edge finishing apparatus according to the present invention is provided with an automatic deburring and / or edge removing tool having a tool for removing burrs from an object or chamfering an edge of an object. An edge finishing device, a robot that moves at least one of an object and the tool relative to each other, and a robot program generating unit that generates a robot program including at least a robot operation command for controlling the operation of the robot And, stopping the contact of at least one surface of the object and the tool at least once or more, obtaining relative position data between the object and the tool, and representing the position data and the shape of the object. Eliminates burrs on an object or surfaces the edges of an object based on data representing the shape of the tool Benefit along the position of the site, so as to relatively move the tool relative to the object, the robot program is automatically generated by the robot program generating unit.

  Further, the automated deburring and / or edge finishing method according to the present invention is an automated deburring and / or edge finishing method for removing burrs from an object or chamfering an edge of an object, comprising the steps of: A moving step of moving at least one of the robot and the tool relative to each other by a robot, a generating step of generating a robot program including at least a robot operation command for controlling the operation of the robot, and at least one surface of an object And stopping the tool and the tool at least once, and acquiring the relative position data between the object and the tool, based on the position data, the data representing the shape of the object, and the data representing the shape of the tool. Along the position of the part to remove burrs on the object or chamfer the edge of the object , So that relatively moving the tool relative to the object, comprising a robot program, an automatic generating step of automatically generating at a robot program generating unit.

  According to the automatic deburring and / or edge finishing apparatus and the automated deburring and / or edge finishing method employing the above-described configuration, conductive contact between the object and the tool, and the contact between the object and the tool by the eddy current sensor can be achieved. Since actual deburring and edge-finished parts can be detected using gap measurement, actual object and tool shape data are matched based on the actual deburring and edge-finished part position information. A robot program can be automatically created so as to conform to. Therefore, the time required to create a robot program to be taught to the robot can be significantly reduced, and deburring and edge finishing can be performed even when individual differences between objects are remarkable or when positioning of the object is not performed accurately. It can be executed with high accuracy.

It is a schematic diagram showing composition of an automatic deburring and / or edge finishing device concerning a 1st embodiment. It is a block diagram showing the function of the automatic deburring and / or edge finishing device concerning a 1st embodiment. It is a flowchart explaining the automatic method of deburring and / or edge finishing concerning 1st Embodiment. FIG. 7 is a diagram illustrating a method for setting a desired machining surface state input by a user according to the first embodiment. It is a figure explaining the method of grasping the position of the internal gear work by conduction contact concerning a 1st embodiment. It is a figure explaining the method of grasping the phase of the internal gear work by the eddy current sensor according to the first embodiment. FIG. 4 is a diagram illustrating a method for automatically generating a deburring and finishing robot program according to the first embodiment. It is a figure showing an example of the processing surface state before and after deburring and finishing concerning a 1st embodiment. It is a schematic diagram showing composition of an automatic deburring and / or edge finishing device concerning a 2nd embodiment. It is a schematic diagram showing composition of an automatic deburring and / or edge finishing device concerning a 3rd embodiment.

  Hereinafter, an automatic deburring and / or edge finishing method and an automatic deburring and / or edge finishing apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited by the embodiment.

<First embodiment>
FIG. 1 is a schematic diagram showing a configuration of an automatic deburring and / or edge finishing device 10 according to a first embodiment of the present invention. The automatic deburring and / or edge finishing apparatus 10 includes an articulated robot 30 having a plurality of arms, a deburring and / or edge finishing tool 36 attached to a wrist 32 located at the tip of the robot arm, a deburring and / or edge finishing tool 36, And / or an eddy current sensor 40 attached to the edge finishing tool 36 via an insulator, and a robot controller 60 for controlling the robot 30.

  The robot 30 can take various positions and postures by rotating an electric motor (servo motor) (not shown) provided at each joint according to a control signal output from the robot control device 60. The robot is not limited to the illustrated one, and the present embodiment can be similarly applied to any robot having a known form.

  The deburring and / or edge finishing tool (hereinafter simply referred to as “tool”) 36 is a tool generally used for removing burrs, and is not limited to a specific form. , A grinder or the like. The tool 36 is fixed to the wrist 32 of the robot 30 and moves with the wrist 32 as the robot 30 moves.

  The eddy current sensor 40 applies a high-frequency current to a coil in the sensor head to generate a high-frequency magnetic field. When a metal body is present in the magnetic field, the magnetic induction acts on the surface of the object to cause the magnetic flux to pass through in the vertical direction. Eddy currents flow and the impedance of the sensor coil is changed. The gap distance from the surface of the object is measured by the change in the oscillation state due to this phenomenon. The eddy current sensor 40 is fixed to the wrist 32 or the tool 36 of the robot 30 via an insulator, and moves together with the wrist 32 or the tool 36 as the robot 30 operates.

  The object to be deburred and / or edge-finished, for example, the internal gear work 50, is fixed to a floor or a work table (not shown) within the movable range of the robot 30. Therefore, when the robot 30 is driven, the tool 36 moves relatively to the internal gear work 50. A burr 54 is formed on the internal gear work 50 along the edge 50A of the internal gear when, for example, gear cutting is performed by a machine tool. The deburring and / or edge finishing device 10 can remove the burr and finish the edge of the internal gear work 50 by moving the tool 36 along the edge 50A of the internal gear while pressing the tool 36 against the internal gear work 50. I can do it.

  In the present embodiment, an embodiment using the internal gear work 50 will be described, but the technology of the present invention is applied to a helical internal gear, a spur gear, a helical gear, a screw gear, a bevel gear, a rack, and a spiral. The present invention is applicable to gears such as bevel gears and miter gears, and works such as castings, die castings, and sand molds, and is not limited thereto.

  Before performing deburring and / or edge finishing, the internal gear work 50 and the tool 36 are brought into contact with each other in a state where a voltage is applied between the internal gear work 50 and the tool 36 by a power supply (not shown), and the robot By stopping 30 and storing the position, relative position data between the internal gear work 50 and the tool 36 can be detected. Further, by measuring the gap between the internal gear work 50 and the eddy current sensor 40 by the eddy current sensor 40 provided at a predetermined position of the tool 36, the position of the internal gear work 50 where the gap is measured is changed to the internal gear. The location of the work 50 can be detected. The detected values of the position data and the gap data are input to the robot controller 60 as data for automatically generating a robot program for removing burrs or finishing edges as described later.

  FIG. 2 is a block diagram illustrating the functions of the automatic deburring and / or edge finishing device 10. The automatic deburring and / or edge finishing device 10 controls the operation of the robot 30 using the data processing unit 62, the position data 22 detected by the contact conduction, and the gap data 42 measured by the eddy current sensor 40. The control device 60 is provided. The robot control device 60 includes a robot program generation unit 68 as shown in FIG. The robot control device 60 has a hardware configuration formed of a CPU that executes various calculations, a volatile RAM that temporarily stores calculation results, and a non-volatile ROM that regulates various programs and parameters.

  The data processing unit 62 can be, for example, a personal computer connected to the robot control device 60 or the eddy current sensor 40 as shown in FIG. The data processing unit 62 can read out the shape data 52 of the internal gear work 50, for example, gear specification information such as a module, the number of teeth, a dislocation coefficient, a tooth tip diameter, and a tooth bottom diameter as needed. . The data processing unit 62 can also read the shape data 38 of the tool 36 as necessary. Further, the data processing section 62 can read data 80 of a desired machined surface state input by the user as needed.

  The robot program generation unit 68 detects the shape data 38 of the tool read from the data processing unit 62, the shape data 52 of the internal gear work, the data 80 of the desired machining surface state input by the user, and the contact conduction. A robot program for the automatic deburring and / or edge finishing device 10 can be created based on the position data 22 and the gap data 42 measured by the eddy current sensor.

  Since the data processing unit 62 has a program creation function equivalent to that of the robot control device 60, the data processing unit 62 creates a robot program for the automatic deburring and / or edge finishing device 10 and sends it to the robot control device 60. It is also possible to transmit a program to cause the robot 30 to perform deburring and / or edge finishing operations.

<Example>
Next, the operation of the automatic deburring and / or edge finishing device 10 when removing burrs from the internal gear work 50 or finishing edges will be described based on embodiments. FIG. 3 is a flowchart illustrating an automatic deburring and / or edge finishing method performed by the automatic deburring and / or edge finishing apparatus 10 according to the present embodiment.

  As shown in FIG. 3, in step S301, the internal gear work 50 was first fixed by a milling chuck (not shown). The internal gear work 50 was arranged in the configuration shown in FIG. Robot 30 used MZ07 made by Fujikoshi. A spindle motor EM4020A made by Nakanishi and a spindle NR4040AQC were attached to the wrist portion 32 of the robot 30 via a jig, and a tool 36 was gripped at the tip thereof via a collet holder and a collet. As the tool 36, an Aqua Drill EX Starting AQDEXST0300-140 manufactured by Fujikoshi having a shank diameter of 3 mm and a tool tip angle of 140 ° was used. A voltage was applied between the tool 36 and the internal gear work 50 by a power source (not shown). The eddy current sensor 40 uses a keyence eddy current displacement sensor head EX-008 and an amplifier unit EX-502 (not shown), and has a configuration shown in FIG. The sensor head EX-008 was attached.

  Subsequently, as shown in FIG. 3, in step S302, the data of the internal gear and the data of the desired finished surface state are input to the data processing unit 62. Here, the internal gear work 50 having the burr 53 after skiving was used as the internal gear work 50. The material used was an SCM440, outer diameter Φ213 mm, width 66 mm, inner diameter Φ185.37 mm, module 2.5, 75 teeth, and a 4.5 kg internal gear work.

  FIG. 4 is a diagram illustrating a method of setting a desired machining surface state input by a user, which is executed according to the automatic deburring and / or edge finishing device 10 according to the embodiment of FIG. 4 as the desired machining surface state. As such, the deburring and / or edge finish width 80A was set to 0.475 mm.

  Then, as shown in FIG. 3, in step S303, automatic gear position determination by conducting contact was performed. The robot is operated in a state in which a voltage is applied between the tool 36 and the internal gear work 50, and the gear work by conductive contact executed according to the automatic deburring and / or edge finishing apparatus 10 according to the present embodiment of FIG. As shown in the figure for explaining the method of grasping the position of the tool, the robot is stopped at the moment when the tool 36 and the upper surface of the internal gear work 50 are brought into contact with each other, so that the tool 36 and the gear work 50 at the contacted position are I understood the relative positional relationship. More specifically, as shown in FIG. 5A, by contacting and conducting three points on the upper surface of the gear work 50, the inclination of the plane of the upper surface of the internal gear work 50 and the height of the work edge 50A of the internal gear are increased. Was measured. At this time, the posture of the tool 36 was adjusted so as to take the normal direction to the plane of the upper surface portion of the internal gear work 50. Then, as shown in FIG. 5B, the center position of the gear work 50 was measured by bringing the tool 36 into contact with the outer peripheral portion of the gear work 50 at three points. With the above measurement, the position data 22 detected by the contact conduction could be created. For example, even when the gear work 50 is inclined due to foreign matter being caught when the gear work 50 is chucked, the position data 22 accurately indicates the inclination of the plane of the upper surface of the gear work 50 and the center position of the gear work 50. Since the detection can be performed, the robot program can be freely set so that the tool 36 and the gear work 50 can be processed as desired.

  Subsequently, as shown in FIG. 3, in step S304, automatic phase measurement of the gear work 50 by the eddy current sensor 40 was performed. As shown in FIG. 6 illustrating the method of grasping the phase of the internal gear work by the eddy current sensor performed according to the automatic deburring and / or edge finishing apparatus 10 according to the present embodiment, as shown in FIG. The eddy current sensor 40 is used to measure the side surface of the gear work 50 that is less affected by burrs in the gear work 50, and the trajectory of the eddy current sensor 40 and the output data of the eddy current sensor 40, ie, the gear phase, That is, information on the tooth tip and the tooth bottom could be calculated. The gap data 42 measured by the eddy current sensor 40 was created based on the above calculated data. By using this method, for example, a mechanism for mechanically chucking the gear work 50 in a state where the tooth tip and the tooth bottom are accurately positioned becomes unnecessary. There is an advantage that the gear work 50 need only be chucked with a simple configuration.

  Subsequently, as shown in FIG. 3, in step S305, a robot program for deburring and finishing was automatically generated. Specifically, as shown in FIG. 7, a diagram illustrating a method of automatically generating a robot program for deburring and finishing executed according to the automatic deburring and / or edge finishing apparatus 10 according to the present embodiment, as described above. An internal gear edge point group 52A was created from the internal gear work shape data 52. Then, as shown in FIGS. 7A and 7B, the point group 52A of the internal gear edge is actually chucked by the position data 22 detected by the contact conduction and the gap data 42 measured by the eddy current sensor 40. Of the internal gear work 50 in the bent state and the edge 50A of the internal gear work to be finished. Then, as shown in FIG. 4 and FIG. 7C, the point group 52A of the internal gear edge is actually converted into a tool using the tool shape data 38 and data 80 of a desired machining surface state input by the user. Is shifted to the teaching point group 52B for operating the robot, the robot program generation unit 68 can automatically generate a robot program for deburring and finishing.

  Then, as shown in FIG. 3, in step S306, all gears were automatically deburred and finished. Actually, a tool 36 for performing deburring and finishing at the same time when the above-described robot program is created, that is, the robot 30 is set to have a moving speed of 10 mm / sec, and is attached to the spindle by a spindle controller (not shown). The tool 36 was set to rotate at 12,000 rpm. FIG. 8A is a diagram showing an example of a processed surface state before and after deburring and finishing performed according to the automatic deburring and / or edge finishing apparatus 10 according to the embodiment of FIG. (B is an image after processing), the processing surface widths 80B and 80C are 0.47 mm and 0.48 mm, and the desired processing surface state data 80A input by the user is 0.475 mm. Good results were obtained.

  Therefore, according to the automatic deburring and / or edge finishing method and the automatic deburring and / or edge finishing device 10 adopting the above configuration, the conductive contact between the internal gear work 50 and the tool 36 and the eddy current sensor 40 By using the data of the gap measurement between the internal gear work 50 and the tool 36, the actual deburring and edge finishing parts can be accurately detected, so that the actual positions of the actual deburring and edge finishing parts are accurate. Based on the information, by additionally using the shape data 38 of the internal gear work 50 and the tool 36, a robot program that is accurately adapted to a location where deburring and finishing of the actual internal gear work 50 is automatically performed. Can be created with Therefore, the time required for creating a robot program to be taught to the robot can be significantly reduced, and deburring can be performed even when the individual difference of the internal gear work 50 is remarkable or when the positioning of the internal gear work 50 is not performed accurately. And edge finishing can be performed accurately.

  Furthermore, according to the above configuration, deburring and / or deburring can be performed using the eddy current sensor 40 which can be measured even in a bad environment where chips are generated and which is less expensive than a precise and expensive visual sensor and force sensor. Since the automation of the edge finishing can be realized with high accuracy, it is possible to suppress the cost related to the automation method and apparatus related to the deburring and the edge finishing.

<Second embodiment>
Next, an automatic deburring and / or edge finishing method and an automatic deburring and / or edge finishing apparatus according to a second embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 9 is a schematic diagram showing a configuration of an automatic deburring and / or edge finishing device 200 according to the second embodiment of the present invention. The difference from the first embodiment is that the gear work 50 is gripped by the robot 30 and the tool 36 is fixed to a table or the like. However, since the relationship between the tool 36 and the gear work 50 can be relatively the same, it is possible to realize the same function as that of the first embodiment. Further, in the second embodiment of the present invention, for example, the robot 30 can be used for loading / unloading the work gear 50, so that more efficient production can be performed.

<Third embodiment>
Next, an automatic deburring and / or edge finishing method and an automatic deburring and / or edge finishing apparatus according to a third embodiment of the present invention will be described in detail with reference to the drawings. FIG. 10 is a schematic diagram illustrating a configuration of an automatic deburring and / or edge finishing device 300 according to the third embodiment of the present invention. Both the tool 36 and the gear work 50 are gripped by the robot 30. In the present embodiment, the relationship between the tool 36 and the gear work 50 can be relatively the same as in the first and second embodiments. Therefore, it is possible to realize the same functions as those of the first and second embodiments. Further, in the present embodiment, since the posture of the tool 36 and the gear work 50 can be freely set by the robot 30, deburring and / or edge finishing of more complicated portions and shapes can be performed, and a more general-purpose processing can be performed. Production becomes possible.

  The present invention is a method and apparatus for automatically removing burrs and finishing edges generated when processing a member such as an automobile, an industrial machine, a construction machine, and an agricultural machine, and can be widely used in the aforementioned industries. Has the property.

10, 200, 300 Automatic deburring and / or edge finishing device 22 Position data detected by contact conduction 30 Robot 32 Wrist 36 Deburring and / or edge finishing tool 38 Tool shape data 40 Eddy current sensor 42 Eddy current sensor Data 50A Internal gear work 50A Internal gear work edge 52 Shape data of internal gear work 52A Internal gear edge point group 52B Teaching point group 53 for actually operating the tool 53 Burr 60 Robot controller 62 Data Processing unit 68 Robot program generation unit 80 Desired machining surface state data 80A input by the user 80A Machining surface width 80B for deburring and / or edge finishing Machining surface width 80C on the right side of one gear when deburring and / or edge finishing Deburring and / or edge One gear left working surface width when the finished

Claims (8)

An automatic deburring and / or edge finishing device with a tool for removing burrs from an object or chamfering an edge of an object,
A robot that moves at least one of the object and the tool relative to each other;
A robot program generation unit that generates a robot program including at least a robot operation command that controls the operation of the robot,
At least one surface of the object and the tool are stopped at least once in contact with the tool, and relative position data between the object and the tool is obtained,
Based on the position data, the data representing the shape of the object, and the data representing the shape of the tool, the tool is removed along a position of a part for removing a burr of the object or chamfering an edge of the object. An automatic deburring and / or edge finishing device that automatically generates a robot program by the robot program generation unit so as to move the robot relative to the object. An automatic deburring and / or edge finishing device according to claim 1,
A power supply for applying a voltage between the object and the tool,
In a state where a voltage is applied between the object and the tool with the power supply, at least one surface of the object and the tool are brought into contact and conduction at least once or more, and the object and the tool are To get relative location data for
Based on the position data, the data representing the shape of the object, and the data representing the shape of the tool, the tool is removed along a position of a part for removing a burr of the object or chamfering an edge of the object. The deburring and / or edge finishing apparatus according to claim 1, wherein a robot program is automatically generated by the robot program generation unit such that the robot program is moved relatively to the object. The tool further comprises an eddy current sensor with an insulator interposed therebetween,
At least one point or more of the object and the gap between the eddy current sensor are measured and acquired by the eddy current sensor,
Based on the gap measurement data, the position data, the data representing the shape of the object, and the data representing the shape of the tool, at a position of a portion where a burr of the object is removed or an edge of the object is chamfered. 3. The automatic deburring and / or edge according to claim 1, wherein a robot program is automatically generated by the robot program generation unit so as to move the tool relative to the object along the robot program. 4. Finishing equipment.   The automatic deburring and / or edge finishing method and the automatic deburring and / or edge finishing apparatus according to claim 1, wherein the object is a gear.   5. The automatic deburring and / or edge according to claim 1, wherein the robot is configured to hold the tool, and the object is fixedly installed near the robot. 6. Finishing equipment.   The automatic deburring and / or edge according to any one of claims 1 to 4, wherein the robot is configured to hold the object, and the tool is fixedly installed near the robot. Finishing equipment.   The said tool is attached to the said robot, and the said object is installed so that the position and attitude | position of the said object can be changed by a 2nd robot separate from the said robot, or an operating device. Automatic deburring and / or edge finishing device according to any one of claims 1 to 6. An automated deburring and / or edge finishing method for removing burrs from an object or chamfering edges of the object, comprising:
A moving step of moving at least one of the object and the tool relative to each other by a robot,
A generating step of generating a robot program including at least a robot operation command for controlling the operation of the robot,
At least one surface of the object and the tool and stop contact at least once or more, an acquisition step of acquiring relative position data of the object and the tool,
Based on the position data, the data representing the shape of the object, and the data representing the shape of the tool, the tool is removed along a position of a part for removing a burr of the object or chamfering an edge of the object. An automatic generation step of automatically generating a robot program by the robot program generation unit so as to relatively move the object relative to the object.
An automated method for deburring and / or edge finishing.

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