JP2021053759A - Blast processing device - Google Patents

Abstract

To provide a blast processing device capable of reducing an amount of deformation due to residual stress by applying uniform blast processing to a workpiece.SOLUTION: A blast processing device 10 includes a multi-axis robot 20 having a plurality of rotation axes A1-A6. A chuck part 30 for holding a workpiece is provided at a tip part of the multi-axis robot 20. An ejection port 16a for ejecting an abrasive material forward is provided under an installation surface 15a of the multi-axis robot 20. The multi-axis robot 20 places the workpiece held by the chuck part 30 in front of the ejection port 16a and then handles the workpiece such that a projection object area is changed and such that the abrasive material is projected under a prescribed projection object condition for each projection object area .SELECTED DRAWING: Figure 1

Description

The present invention relates to a blasting apparatus.

As a blasting device that removes foreign matter such as casting sand and scale (oxide film) adhering to the surface of the material, the cleaning material is conventionally projected toward the work using the centrifugal force associated with the rotation of the impeller. Therefore, a shot blasting apparatus for blasting the work is known (see, for example, Patent Document 1). In the shot blasting device, the work is held by the jig in a predetermined posture, and the cleaning material is projected over a wide range from the projection port to the work at a predetermined projection angle without changing the posture of the work. ..

Japanese Unexamined Patent Publication No. 2006-167826

In the blasting process by the shot blasting device, depending on the shape of the work, there are places where the polishing material is easy to hit and places where the polishing material is hard to hit. Even so, since the cleaning material is projected over a wide area on the work whose posture is fixed, if the projection time and the projection density of the cleaning material are adjusted to ensure the cleaning quality in the latter, excessive blasting in the former Processing is done. Further, depending on the work, the degree to which foreign matter to be removed adheres to the surface may be uneven. In that case, if the projection time and the projection density of the cleaning material are adjusted according to the part where the degree of foreign matter adhesion is high, the blasting process is performed in a wide range with a high degree of processing, so excessive blasting is performed in the part where the degree of foreign matter adhesion is low. Processing is done.

As described above, when the degree of blasting becomes non-uniform, the residual stress generated in the work by the blasting also becomes non-uniform, and the non-uniform residual stress is released and deformation is likely to occur. In particular, when the work is an automobile part, in recent years, there has been a demand for thinning the part to reduce the weight in order to improve fuel efficiency. In addition, the shape of parts is becoming more complicated, and due to the complicated shape, a part where the cleaning material is easy to hit and a part where the cleaning material is hard to hit are formed. Therefore, the problem that deformation is likely to occur due to non-uniformity of residual stress becomes more remarkable.

Therefore, it is a main object of the present invention to obtain a blasting apparatus capable of uniformly blasting a work to reduce the amount of deformation due to residual stress.

In order to solve the above problems, in the blasting apparatus of the first invention,
A multi-axis robot with multiple axes of rotation and
A chuck portion provided in the tool mounting portion of the multi-axis robot to hold the work, and a chuck portion.
A spout that ejects the polishing material forward and
A robot control unit that controls the drive of the multi-axis robot so that the work held by the chuck unit is arranged in front of the spout.
With
By changing the posture and the three-dimensional position of the work, the robot control unit changes the projected area on which the cleaning material is projected facing the ejection port, and further, the projected area is changed. It is characterized in that the drive of the multi-axis robot is controlled so that the cleaning material hits each of them under predetermined projection conditions.

In the second invention, the projection condition is each element of the distance between the ejection port and the projection area, the angle at which the cleaning material hits the projection area, and the time when the cleaning material hits the projection area. It is a feature that the condition includes at least one of.

A third aspect of the present invention is characterized in that the ejection port is provided so as to eject the polishing material in the horizontal direction below the installation surface of the multi-axis robot.

A fourth aspect of the present invention is characterized in that the multi-axis robot further includes a temporary stand for temporarily placing the work when the work is changed.

In the fifth invention, the chuck portion is
A through hole that penetrates the chuck portion and
A plurality of chuck claws provided so as to be movable in a direction orthogonal to the extending direction of the through hole on the inner surface forming the through hole, and arranged at a gripping position for gripping the work and a retracting position retracted from the gripping position. When,
A claw accommodating hole provided on the inner surface and accommodating the chuck claw,
An air flow passage that supplies air to the gap between the chuck claw and the claw accommodating hole and discharges the air to the through hole.
It is characterized by being equipped with.

According to the first invention, in front of the spout, the projected area on the work on which the cleaning material ejected from the spout is projected is freely changed by the multi-axis robot, and therefore blasting is desired. The site can be the projected area. In addition, since the drive of the multi-axis robot is controlled so that the cleaning material hits each projected area under predetermined projection conditions, foreign matter can be applied by applying the cleaning material according to the adhesion status of the foreign matter to be removed. Can be removed. Therefore, unlike the conventional shot blasting apparatus, the work can be uniformly blasted and the amount of deformation due to residual stress can be reduced.

According to the second invention, the distance, the angle, and the hitting are depending on the situation of the place where the projected area exists on the work (the surface, the inner surface of the hole or the recess, etc.) and the state of attachment of foreign matter in the projected area. The way the cleaning material hits can be changed depending on at least one factor of time. As a result, various blasting processes can be performed.

According to the third invention, it is possible to prevent the polishing material ejected from the ejection port from falling on the multi-axis robot and damaging the multi-axis robot.

According to the fourth invention, the work can be temporarily placed on the temporary storage table, the position where the multi-axis robot grips the work can be changed, and the work can be changed. Even if the projected area on the work can be freely changed by the multi-axis robot, there may be places where it is difficult for the polishing material to hit, such as a part where the work is gripped by the chuck part and a part facing the chuck part. In that case, by changing the work, it is possible to perform blasting on the portion where the polishing material was initially difficult to hit as the projected region. As a result, the entire work can be blasted.

According to the fifth invention, in the chuck portion, when the chuck claw moves in and out from the inner surface of the through hole, the gripped portion of the work inserted in the through hole is gripped or released by the chuck claw. At least when the cleaning material is projected, if air is constantly discharged from the periphery of the chuck claw toward the through hole, the cleaning material and the removed foreign matter will enter the movable part of the chuck claw and move. It is possible to prevent the portion from being worn or deteriorated.

The figure which shows the whole image of a blasting apparatus. Sectional drawing which shows the chuck part. FIG. 2 is an enlarged cross-sectional view showing the periphery of the supply / discharge passage. The block diagram which shows the electrical structure of a blasting apparatus. The figure which shows the operation of a multi-axis robot at the time of blasting. The figure which shows the blasting process for the work held by the chuck part.

Hereinafter, a blasting apparatus (air blasting apparatus) according to an embodiment embodying the present invention will be described with reference to the drawings.

As shown in FIG. 1, the blasting apparatus 10 includes a multi-axis robot 20 and a chuck portion 30. These are provided in the blasting chamber 12 inside the cabinet 11. The cabinet 11 is provided with a work take-in port 13 for taking the work W (see FIGS. 5 and 6) into the blasting chamber 12. The work intake port 13 is opened and closed by the shutter 14. The shutter 14 is driven by an opening / closing drive unit 52 such as a motor.

The multi-axis robot 20 is a vertical articulated robot, and more specifically, a 6-axis robot having 6 joints K1 to K6. Each joint K1 to K6 has a first axis to a sixth axis A1 to A6 as its rotation axis (joint axis). In the present embodiment, the first axis A1 extends in the vertical direction, and the multi-axis robot 20 is installed on the installation surface 15a of the base 15 provided in the blasting chamber 12.

The rotation base 21 of the multi-axis robot 20 is rotatable around the first axis A1 and is installed on the base 15. The first arm 22 is connected to the rotation base 21. The first arm 22 is rotatable with respect to the rotation base 21 about the second axis A2 (indicated as a point in FIG. 1) extending in the horizontal direction as a rotation center. A second arm 23 is connected to the first arm 22. The second arm 23 is rotatable with respect to the first arm 22 with the third axis A3 (indicated as a point in FIG. 1) extending in the horizontal direction as a rotation center. A third arm 24 is connected to the second arm 23. The third arm 24 is rotatable with respect to the second arm 23 about the fourth axis A4 extending in the connecting direction with the second arm 23 as a rotation center.

A wrist portion 25 is provided at the tip end portion of the third arm 24. The wrist portion 25 is rotatable with respect to the third arm 24 about the fifth axis A5 (indicated as a point in FIG. 1) extending in the horizontal direction as a rotation center. The wrist portion 25 is provided with a hand portion 26 for attaching a tool or the like. The hand portion 26 corresponds to a tool mounting portion. The hand portion 26 is rotatable about the sixth axis A6, which is the center line thereof, in the twisting direction with respect to the wrist portion 25.

Each joint K1 to K6 is provided with a motor (servo motor, not shown). The motor can rotate in both forward and reverse directions, and the joints K1 to K6 are rotationally driven with reference to the origin position by driving the motor, whereby the six components (rotation base 21, first arm 22, first). The 2 arm 23, the 3rd arm 24, the wrist portion 25, and the hand portion 26) rotate.

The chuck portion 30 chucks and holds the work W (see FIG. 6 described later) to be blasted. As shown in FIG. 2, the chuck portion 30 is provided on the hand portion 26 of the multi-axis robot 20.

The chuck portion 30 includes a chuck support plate portion 31 and a chuck device 40. The chuck support plate portion 31 is provided on the hand portion 26 of the multi-axis robot 20. The chuck support plate portion 31 stands upright with respect to the tip surface 26a of the hand portion 26. The chuck device 40 is attached to one of the pair of flat surfaces 31a and 31b of the chuck support plate portion 31.

The chuck device 40 has a chuck main body 41 having a tubular shape. The inside of the chuck main body 41 is a main body through hole 42. The main body through hole 42 extends in a direction orthogonal to the flat surface 31a on which the chuck main body portion 41 is attached in the chuck support plate portion 31, and penetrates the entire chuck main body portion 41. The inner surface forming the main body through hole 42 is formed of a material having wear resistance to the sweeping material, or a protective layer is provided by the material to impart wear resistance. In the following, in the direction in which the main body through hole 42 extends, the side of the chuck support plate portion 31 is the back side, and the opposite side is the inlet side.

An annular piston chamber 43 is provided on the back side of the chuck main body 41. As shown enlarged in FIG. 3, the piston chamber 43 extends along the direction in which the main body through hole 42 extends, and accommodates an annular piston 44 that can move in that direction. By accommodating the annular piston 44, the piston chamber 43 is divided into a first chamber 43a and a second chamber 43b. The first chamber 43a is arranged on the back side, and the second chamber 43b is arranged on the entrance side.

As shown in FIGS. 2 and 3, the chuck main body 41 is provided with supply / discharge passages Pa and Pb for supplying / discharging air to the first chamber 43a and the second chamber 43b, respectively. The supply / discharge passages Pa and Pb are connected to the air supply / discharge device 51 via an air passage (not shown) provided in the chuck support plate portion 31, and air is supplied / discharged by the air supply / discharge device 51. The air supply / exhaust device 51 includes an air supply source such as a switching valve and a compressor for switching between air supply and air discharge.

A seal ring S seals between the annular piston 44 and the inner surface of the piston chamber 43 to prevent air from leaking from one of the first chamber 43a and the second chamber 43b to the other. Therefore, by switching the air supply / discharge to the first chamber 43a and the second chamber 43b, the annular piston 44 moves to the back side or the inlet side along the extending direction of the main body through hole 42. ..

Returning to FIG. 2, an annular accommodation space 45 is provided on the entrance side of the piston chamber 43. The accommodating space 45 is provided with an annular ring member 46. The accommodation space 45 extends along the direction in which the main body through hole 42 extends, and the ring member 46 is movable along the same direction. The ring member 46 is connected to the annular piston 44 via an annular protrusion 44a that projects from the annular piston 44 toward the accommodation space 45. Therefore, as the annular piston 44 moves, the ring member 46 also moves along the direction in which the main body through hole 42 extends. The periphery of the annular protrusion 44a is also sealed by the seal ring S to prevent air from leaking.

A plurality of (three in this embodiment) chuck claws 47 are provided at the inlet side end of the chuck main body 41. The chuck claws 47 are provided at equal intervals in the circumferential direction. Since FIG. 2 is a cross-sectional view, one chuck claw 47 is not shown. Each chuck claw 47 is accommodated in the claw accommodating hole 48 in a state where the gap is 1 mm or less. The claw accommodating hole 48 is provided on the inner surface forming the main body through hole 42, and penetrates between the main body through hole 42 and the accommodating space 45 in a direction orthogonal to the direction in which the main body through hole 42 extends. The chuck claw 47 housed in the claw accommodating hole 48 is movable in the orthogonal direction.

Each chuck claw 47 is formed with an inclined surface 47a on the opposite inner surface side in the moving direction (the side opposite to the inner surface side of the main body through hole 42). The inclined surface 47a is inclined so as to spread from the entrance side to the back side. The ring member 46 is formed with an inclined surface 46a that comes into contact with the inclined surface 47a. When the ring member 46 moves along the extending direction of the main body through hole 42, the chuck claw 47 moves in the direction orthogonal to the direction due to the contact action between the inclined surface 46a of the ring member 46 and the inclined surface 47a of the chuck claw 47. Move along. When the annular piston 44 moves to the moving end on the back side, the chuck claw 47 is arranged at a position protruding from the inner surface of the main body through hole 42. When the annular piston 44 moves to the moving end on the inlet side, the chuck claw 47 is arranged at a position retracted from the protruding position to the inner surface side.

In FIG. 2, the air supply / exhaust device 51 switches to a state in which air is supplied to the first chamber 43a (see FIG. 3) and air is discharged from the second chamber 43b (see FIG. 3), and the annular piston is displayed. 44 shows a state in which the chuck claws 47 are moved to the moving end on the inlet side and the chuck claws 47 are arranged in the retracted position. When the work W to be blasted is chucked by the chuck portion 30, the gripped portion of the work W is inserted into the main body through hole 42 from the inlet side thereof in this state. As shown in FIG. 6, when the work W is provided with tubular portions Wa and Wb, the tubular portions Wa and Wb are used as gripped portions.

After inserting the gripped portion of the work W into the main body through hole 42, the air supply / discharge is switched, the air is discharged from the first chamber 43a, and the air is supplied to the second chamber 43b. Then, as shown in FIG. 6, the annular piston 44 moves to the moving end on the back side, and each chuck claw 47 is arranged at the protruding position. As a result, the gripped portion (first tubular portion Wa) of the work W is gripped by each chuck claw 47. The protruding position of the chuck claw 47 corresponds to the gripping position.

Returning to FIG. 2, the chuck main body 41 is provided with an air supply passage Pc for supplying air to the accommodation space 45. During the blasting process, air is constantly supplied to the air supply passage Pc by the air supply / discharge device 51 via the air passage (not shown) provided in the chuck support plate portion 31. When air is supplied to the accommodation space 45, the air is discharged toward the main body through hole 42 from the gap between the claw accommodating hole 48 opening in the accommodation space 45 and the chuck claw 47. The air flow passage includes an air supply passage Pc, an air passage (not shown) provided in the chuck support plate portion 31, and a storage space 45.

In the chuck portion 30, the chuck support plate portion 31 is provided with a plate portion through hole 32 at a position facing the inner side of the main body through hole 42. The plate through hole 32 is formed along the direction in which the main body through hole 42 extends, and penetrates the pair of planes 31a and 31b. The plate through hole 32 communicates with the main body through hole 42. The main body through hole 42 is provided with a protective cylinder 33 for preventing wear by a polishing material. The protective cylinder 33 projects from the plane 31b on the opposite side of the chuck support plate portion 31 from the plane 31a on which the chuck device 40 is provided.

The chuck device 40, the chuck support plate portion 31, and the protective cylinder 33 are covered with a wear-resistant protective cover 34 together with the hand portion 26 of the multi-axis robot 20. The protective cover 34 has a pair of openings 35, 36. The first opening 35 is opened at a position facing the inlet side opening of the main body through hole 42 of the chuck device 40. As shown in FIG. 6, the first opening 35 is covered when the gripped portion (first tubular portion Wa) is inserted into the main body through hole 42 so that the chuck portion 30 grips the work W. The grip is inserted. The second opening 36 is provided on the side opposite to the first opening 35 in the extending direction of the main body through hole 42, and is opened at a position facing the opening of the protective cylinder 33. Therefore, in the chuck portion 30, a chuck portion through hole 37 along one direction is formed by each element of the first opening 35, the main body through hole 42, the inside of the protective cylinder 33, and the second opening 36. ing.

Returning to FIG. 1, the blasting apparatus 10 includes a polishing material ejection nozzle 16, a polishing material unloading device 17, and a temporary storage base 18 in addition to the multi-axis robot 20 and the chuck portion 30. These are provided in the blasting chamber 12 in the cabinet 11.

The cleaning material ejection nozzle 16 is connected to the cleaning material supply device 53 via a supply pipe T. The cleaning material discharged from the cleaning material supply device 53 and transported by the compressed air is ejected from the ejection port 16a which is an opening of the cleaning material ejection nozzle 16. The polishing material is made of, for example, metal grains such as iron, stainless steel, and alumina, glass grains, sand, grains obtained by crushing synthetic resin, walnut, and the like, and the type is not limited. A liquid such as water may be mixed with the cleaning material (wet blasting). The polishing material ejection nozzle 16 is provided at a predetermined position below the installation surface 15a of the multi-axis robot 20 on the base 15 on which the multi-axis robot 20 is installed. The cleaning material ejection nozzle 16 ejects the cleaning material in the direction in which the sixth axis A6 extends and in the horizontal direction in the basic posture (state shown in FIG. 1) of the multi-axis robot 20. It is fixed in the positioned state. Therefore, the cleaning material ejected from the ejection port 16a is ejected only in the horizontal direction.

The cleaning material unloading device 17 is, for example, a screw type conveyor or the like. However, the configuration is arbitrary as long as it has a function of carrying out the cleaning material. The cleaning material carry-out device 17 is provided at the lower end of the blasting chamber 12, and ejects the cleaning material from the ejection port 16a and collects the cleaning material at the lower end of the blasting chamber 12 to the outside of the room.

At the time of blasting, the temporary storage table 18 is temporarily placed with the work W in order to change the holding of the work W. For example, as shown in FIG. 6, when gripped by the chuck portion 30, it is difficult for the work W having the flat surface Wc facing the chuck portion 30 to apply the polishing material to the flat surface Wc. Similarly, it is difficult to apply the polishing material to the surface of the first tubular portion Wa that is inserted into the chuck portion through hole 37 and is gripped by the chuck claw 47. In such a case, the work W is temporarily placed on the temporary storage table 18 in order to replace the gripped portion gripped by the chuck portion 30 with a portion different from the initial gripped portion (first tubular portion Wa). ..

Next, the electrical configuration of the blasting apparatus 10 will be described with reference to FIG. As shown in FIG. 4, the blasting apparatus 10 has a controller 54. The controller 54 is mainly composed of a well-known microcomputer having a CPU or the like, and includes a storage unit 55 for storing an operation program. The controller 54 controls the entire blasting apparatus 10 by a preset operation program.

The controller 54 has a robot control unit 56 that controls the operation of the multi-axis robot 20. The robot control unit 56 controls the drive of motors (not shown) provided in the joints K1 to K6 of the multi-axis robot 20 based on the operation program. As a result, the multi-axis robot 20 performs various handling operations necessary for performing blasting on the work W. For example, the work W is taken into the blasting chamber 12, the projected area of the cleaning material in the taken-in work W (see, for example, the projected area R shown in FIG. 6) is variously changed, and the work W is changed. The work W that has been blasted is discharged to the outside of the blasting chamber 12. The projected area R is changed by changing the posture and the three-dimensional position of the work W by the multi-axis robot 20.

The projected region R is a laboratory that ejects horizontally from the ejection port 16a in the blasting target portion (for example, the entire surface, a partial region of the surface, the inner surface such as a tubular portion or a concave portion) on the work W. It means the local area where the sweeping material hits. The projected region R is basically narrower than the blasting target portion, but both may be the same depending on the desired blasting content.

The operation program of the multi-axis robot 20 is set in advance to perform the above-mentioned various operations, or is set by using a teaching pendant (not shown) connected to the robot control unit 56. In this case, the desired blasting is performed based on the shape of the work W and the deposition state (thickness variation, etc.) of the foreign matter I (see FIG. 6) in each projected region R in the blasting target portion. It is set so that the cleaning material hits under the projection conditions of the cleaning material.

The projection conditions include, for example, the distance between the ejection port 16a and the assumed projection area R on the work W, the angle at which the cleaning material hits the projection area R, and the time when the cleaning material hits the projection area R. It is a condition that includes at least one of each element of. The shorter the distance, the narrower the projected area R and the stronger the cleaning material hits, and the longer the distance, the wider the projected area R and the weaker the cleaning material. The fact that the cleaning material hits the projected region R at a high angle is suitable for removing the foreign matter I in the thicker layer and the foreign matter I adhering to the flat surface portion. The fact that the cleaning material hits the projected region R at a low angle is suitable for removing foreign matter I in a thinner layer and removing foreign matter I adhering to the inner surface such as a tubular portion or a recess. The longer the time it takes for the cleaning material to hit the projected area R, the higher the degree to which the foreign matter I is removed, and the shorter the time it hits, the less the degree to which the foreign matter I is removed.

The controller 54 is connected to the air supply / exhaust device 51. The controller 54 controls the air supply and discharge to the supply and discharge passages Pa and Pb. When the chuck claw 47 is arranged in the retracted position and the work W is not gripped, the controller 54 enters the supply / discharge passages Pa and Pb so that air is supplied to the first chamber 43a of the piston chamber 43. Switch the air supply and discharge. On the contrary, when the chuck claw 47 is arranged at the gripping position to grip the work W, the air supply / discharge to the supply / discharge passages Pa and Pb is switched so that the air is supplied to the second chamber 43b.

The controller 54 is connected to the opening / closing drive unit 52 of the shutter 14. The controller 54 controls the opening and closing of the shutter 14. The controller 54 opens the shutter 14 when the work W is taken into the blasting chamber 12 at the start of blasting and when the work W is discharged from the blasting chamber 12 at the end of machining. Further, when the work W is blasted by ejecting the polishing material from the ejection port 16a, the shutter 14 is closed.

The controller 54 is connected to the cleaning material supply device 53. The controller 54 controls the start and stop of the supply of the cleaning material from the cleaning material supply device 53. After the work W is taken into the blasting chamber 12 and the shutter 14 is closed, the controller 54 drives the cleaning material supply device 53 to start supplying the cleaning material in order to perform blasting on the work W. To do. As a result, the cleaning material is ejected from the ejection port 16a of the cleaning material ejection nozzle 16. When the blasting process for the work W is completed, the driving of the cleaning material supply device 53 is stopped to stop the ejection of the cleaning material.

Next, the operation when blasting the work W using the blasting apparatus 10 configured as described above will be described with reference to FIGS. 5 and 6. Unless otherwise specified, the main body of the operation control of the blasting apparatus 10 is the controller 54.

Here, as an example of the work W to be blasted, it is assumed that the raw material is formed by casting and has been demolded (disassembled). As shown in FIG. 6, it is assumed that the shape has a pair of tubular portions Wa and Wb protruding in opposite directions, and the insides of the cylinders of both tubular portions Wa and Wb communicate with each other. In this work W, since foreign matter I such as casting sand and scale (oxide film) is present on the entire surface and the inner surface of the cylinder, the entire surface and the inner surface of the cylinder are designated as blasting target parts, and the foreign matter I in the portion is removed. To do.

As shown in FIG. 5, the worker places the demolded work W on the work mounting table 19 installed outside the blasting chamber 12. After that, when the worker performs an operation of instructing the blasting apparatus 10 to start the operation, the shutter 14 of the cabinet 11 is opened and the work taking-in process is executed. In the work taking-in process, the multi-axis robot 20A standing by in the basic posture takes out the chuck portion 30 from the work taking-in port 13 and grips the work W as shown as the multi-axis robot 20B in FIG. lift. After that, the multi-axis robot 20 takes the work W into the blasting chamber 12 and closes the shutter 14.

Subsequently, the work cleaning process is executed. In the work cleaning step, the cleaning material is ejected from the ejection port 16a. At the same time, the multi-axis robot 20 arranges the work W in front of the ejection port 16a as shown as the multi-axis robot 20C in FIG. 5, and by handling the work W, the cleaning material to be ejected is projected by a preset setting. While changing the area R, each projected area R is applied to the work W according to each projected condition. When the cleaning material is applied to the inside of the cylinder of the work W, as shown in FIG. 6, the cleaning material ejected from the ejection port 16a enters the tubular portions Wa and Wb of the work W and is assumed to be a projected area. The multi-axis robot 20 is driven so as to hit R under the set projection conditions. As a result, the polishing material hits the surface of the work W and the inside of the cylinder, and the foreign matter I is removed. The cleaning material that has entered the tubular portions Wa and Wb of the work W passes through the chuck portion through hole 37 and is discharged from the second opening 36.

At this time, since the chuck portion 30 is covered with the protective cover 34, the chuck portion 30 is protected from wear by the polishing material. The cleaning material that has entered the cylinder passes through the chuck portion through hole 37 and is discharged from the chuck portion 30. Abrasion resistance is imparted to the inner surface forming the main body through hole 42, and a protective cylinder 33 is provided on the side of the second opening 36 of the chuck portion through hole 37. Therefore, the inner surface of the chuck portion through hole 37 is protected from wear by the polishing material, and the cleaning material is prevented from entering the protective cover 34.

Further, in the work cleaning step, it is a projection condition that the cleaning material is applied to the first tubular portion Wa inserted into the chuck portion through hole 37 and gripped by the chuck claw 47, and the flat surface Wc facing the chuck portion 30. It is difficult to adjust. Therefore, when blasting is performed on these parts as well, the gripped portion gripped by the chuck portion 30 is changed from the initial first tubular portion Wa to the second tubular portion Wb and replaced. When the multi-axis robot 20 is changed, the work W is temporarily placed on the temporary storage table 18 as shown as the multi-axis robot 20D in FIG. After that, the work W is changed by grasping the second tubular portion Wb protruding below the temporary storage table 18, the work W is arranged in front of the ejection port 16a, and the cleaning material to be ejected is the work W. Hit to.

When the blasting process preset for the work W is completed, the driving of the cleaning material supply device 53 is stopped, and the ejection of the cleaning material is stopped. Next, the work discharge process is executed. In the work ejection process, the shutter 14 is opened, and the multi-axis robot 20 takes out the chuck portion 30 holding the blasted work W from the work intake port 13 and places it on the work mounting table 19. By going through a series of these steps (work taking-in process, work cleaning process, work discharging process), blasting is performed on the work W.

As described in detail above, according to the blasting apparatus 10 of the present embodiment, the following effects can be obtained.

(1) Since the projected area R on the work W on which the cleaning material ejected from the ejection port 16a is projected is freely changed by the multi-axis robot 20 in front of the ejection port 16a, blasting is desired. The site can be the projected region R. Further, since the cleaning material is projected for each projection area R under predetermined projection conditions, the foreign matter I can be removed by applying the cleaning material according to the adhesion state of the foreign matter I to be removed. For example, if the state of deposition of foreign matter I in the blasting target area is uneven, the cleaning material may be more strongly applied by shortening the projection distance or lengthening the projection time in the place where foreign matter I is accumulated a lot. On the contrary, the projection can be adjusted so that the cleaning material hits weaker in the place where the foreign matter I is less deposited. Therefore, unlike the conventional shot blasting apparatus, the work W can be uniformly blasted and the amount of deformation due to residual stress can be reduced.

(2) Depending on the condition of the location where the projected region R exists on the work W (surface, inner surface of holes or recesses, etc.) and the state of adhesion of foreign matter I in the projected region R, the elements of the projected condition are set. By changing it, the way the cleaning material hits can be changed. The range of the projected area R and the contact strength are changed depending on the distance from the ejection port 16a, the polishing material is applied to the back of the hole depending on the angle at which the cleaning material is applied, and the degree of foreign matter removal is determined by the time the cleaning material is applied. You can change it to perform various blasting processes.

(3) When the cleaning material ejection nozzle 16 is arranged on the multi-axis robot 20 or is arranged so as to eject toward the side of the multi-axis robot 20, the ejected cleaning material is transferred to the multi-axis robot 20. There is a risk of falling and damaging the multi-axis robot 20. By ejecting the cleaning material in the horizontal direction below the installation surface 15a of the multi-axis robot 20, it is possible to prevent the cleaning material from falling on the multi-axis robot 20 and suppress its damage.

(4) In the blasting process, the work W can be temporarily placed on the temporary storage table 18, the position where the multi-axis robot 20 grips the work W can be changed, and the work W can be changed. Even if the projected area R on the work W can be freely changed by the multi-axis robot 20, the cleaning material hits the work W, such as the gripped portion of the work W by the chuck portion 30 and the flat surface Wc facing the chuck portion 30. There may be difficult points. In that case, by switching the work W, it is possible to perform blasting as the projected region R even in a portion where the polishing material was initially difficult to hit. As a result, the entire work W can be blasted.

(5) In the chuck portion 30, the chuck claw 47 moves in and out from the inner surface of the main body through hole 42, so that the gripped portion (first tubular portion Wa) of the work W inserted into the main body through hole 42 becomes the chuck claw. It is gripped and released by 47. When the polishing material is projected, air is constantly discharged from the periphery of the chuck claw 47 toward the main body through hole 42. Therefore, the cleaning material, the removed foreign matter, etc. may enter the movable portion of the chuck claw 47 (the gap between the chuck claw 47 and the claw accommodating hole 48), and the movable portion may be worn or deteriorated. Can be suppressed.

(6) In the chuck portion 30, the chuck device 40, the chuck support plate portion 31, and the protective cylinder 33 are covered with the protective cover 34 together with the hand portion 26 of the multi-axis robot 20. As a result, it is possible to protect each of these parts from being hit by the cleaning material during blasting, and to prevent damage or deterioration.

(7) Since the portion desired to be blasted on the work W can be set as the projected region R by the multi-axis robot 20, the work W has a portion that can be gripped by the chuck claw 47 of the chuck portion 30. , Regardless of its shape, it can be blasted. In the conventional shot blasting apparatus, it is necessary to prepare a jig according to the shape of the work W and replace the jig when blasting the work W having a different shape. In the blasting apparatus 10 of the present embodiment, a jig corresponding to the shape of the work W is not required, and the jig does not need to be replaced. Therefore, the number of component parts can be reduced and the jig is replaced. No work is required and work efficiency is improved.

In addition to the blasting apparatus 10 of the above embodiment, the blasting apparatus of the present invention may adopt another configuration such as the following.

(A) In the above embodiment, as the chuck portion 30, a configuration is adopted in which the chuck claw 47 moves in and out on the inner surface of the main body through hole 42 to grip and release the work W. Instead of this, for example, the work W may be gripped by a gripper with a plurality of fingers, or the work W may be sucked by a suction gripper to chuck the work W.

(B) In the above embodiment, a chuck portion through hole 37 is formed in the chuck portion 30 so that the inner surface of the cylinder of the work W having the tubular portions Wa and Wb is the target portion for blasting, and a polishing material is introduced. The structure is such that the cleaning material is discharged from the side opposite to the side. Instead of this, the main body through hole 42 of the chuck device 40 may be a bottomed hole.

(C) In the above embodiment, a 6-axis robot is used as the multi-axis robot 20. The number of rotation axes (joints K) included in the multi-axis robot 20 is arbitrary, and may be, for example, a 5-axis robot, a 7-axis robot, or the like.

(D) In the above embodiment, the work W to be blasted by the blasting apparatus 10 has a pair of tubular portions Wa and Wb protruding in opposite directions, and both tubular portions Wa and Wb. It is assumed that the inside of the cylinder is in communication. The type and shape of the work W are not limited to this, and are arbitrary. For example, a raw material having a shape such that the tubular portions Wa and Wb are one, or the tubular portions Wa and Wb are not provided, and a press-processed raw material may be used.

10 ... Blasting device, 15a ... Installation surface, 16a ... Spout, 18 ... Temporary stand, 20 ... Multi-axis robot, 26 ... Hand part (tool mounting part), 30 ... Chuck part, 42 ... Main body through hole (penetration) Hole), 45 ... Accommodating space (air flow passage), 47 ... Chuck claw, 48 ... Claw accommodating hole, 56 ... Robot control unit, A1 to A6 ... Rotating shaft, Pc ... Air supply passage (air flow passage), R ... Projected area, W ... Work.

Claims (5)

A multi-axis robot with multiple axes of rotation and
A chuck portion provided in the tool mounting portion of the multi-axis robot to hold the work, and a chuck portion.
A spout that ejects the polishing material forward and
A robot control unit that controls the drive of the multi-axis robot so that the work held by the chuck unit is arranged in front of the spout.
With
By changing the posture and the three-dimensional position of the work, the robot control unit changes the projected area on which the cleaning material is projected facing the ejection port, and further, the projected area is changed. A blasting apparatus characterized in that the drive of the multi-axis robot is controlled so that the cleaning material hits each of them under predetermined projection conditions. The projection condition includes at least one element of the distance between the ejection port and the projection area, the angle at which the cleaning material hits the projection area, and the time when the cleaning material hits the projection area. The blasting apparatus according to claim 1, wherein the blasting apparatus is characterized by the above. The blasting apparatus according to claim 2, wherein the spout is provided so as to eject the cleaning material in the horizontal direction below the installation surface of the multi-axis robot. The blasting apparatus according to any one of claims 1 to 3, wherein the multi-axis robot further includes a temporary stand for temporarily placing the work when the work is changed. The chuck portion is
A through hole that penetrates the chuck portion and
A plurality of chuck claws provided so as to be movable in a direction orthogonal to the extending direction of the through hole on the inner surface forming the through hole, and arranged at a gripping position for gripping the work and a retracting position retracted from the gripping position. When,
A claw accommodating hole provided on the inner surface and accommodating the chuck claw,
An air flow passage that supplies air to the gap between the chuck claw and the claw accommodating hole and discharges the air to the through hole.
The blasting apparatus according to any one of claims 1 to 3, wherein the blasting apparatus is provided.

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