JP3020060B1 - Automatic deburring device - Google Patents

Abstract

Abstract: PROBLEM TO BE SOLVED: To quickly and accurately remove burrs of a work while preventing generation of dust. SOLUTION: The rotary tool 30 and a copying guide member (41).
And a copying guide member (4
Pressing means 50 for pressing 1) against workpiece copying reference surface Ws
And attitude control means for adjusting the direction of the tool holding means 10 so that the burr Wb can be cut in the direction of the normal line N of the workpiece copying reference surface Ws.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic deburring apparatus for automatically cutting burrs on a work.

[0002]

2. Description of the Related Art For example, when a plastic work (such as an air spoiler of an automobile) is formed by blow molding or the like, unnecessary protrusions on the surface of the work are caused by the plastic material protruding from a joint of a used mold. (Burrs) occur. Usually, burrs have a sharp tip and are dangerous in handling, and also have a problem in appearance and appearance, and need to be removed.

Conventionally, after setting a work on a jig, a burr is trimmed (roughly cut, flattened) by using a knife or a cutter, and then roughing and finishing are performed by using a sandpaper or a grinder. Has been removed.

[0004]

However, in the above deburring method, a large amount of time is required for roughing and finishing operations, and the working efficiency is very poor. In particular, if the amount of burrs removed by trimming varies from place to place, it is necessary to remove the burrs in the roughing / finishing operation while eliminating the variances, which requires much more time.

In order to solve such inconveniences, a deburring method of cutting and trimming a burr using a press die is sometimes adopted. When such a deburring method is performed, the amount of deburring does not vary from place to place, and the time required for roughing and finishing operations can be reduced to some extent. However, there is a drawback that the cost of the press die is high and the deburring cost is increased. Further, after the trimming, roughing and finishing operations are performed using a sandpaper or a grinder, so that a large amount of dust (plastic fine particles, sandpaper fine particles) is generated, which has a serious adverse effect on the worker's body. The adverse effects on such workers are:
Of course, this also occurs when the above-described deburring method of performing trimming using a knife or the like is performed.

In addition to the above-described deburring method, a cutting tool for deburring is mounted on a robot, and the robot is driven and controlled based on position data obtained by teaching.
There is a deburring method for removing burrs on the work surface with a cutting tool. If such a deburring method is adopted, the generation of dust can be significantly reduced. However, depending on the degree of thermal shrinkage of the work and the mounting error of the work to the jig, etc.
The position (coordinates) of the work surface portion where burrs exist varies. Therefore, even if the robot is driven and controlled based on the position data obtained by teaching, it is difficult to accurately cut the surface portion of the work where burrs exist, and it is difficult to remove burrs due to excessive cutting or insufficient cutting. Inconveniences such as becoming sufficient easily occur.

Therefore, a deburring apparatus has been developed which presses a cutting tool mounted on a robot against a burr on a work surface using a spring or air pressure to cut the burr. According to such an apparatus, as compared with the above-described deburring method before the improvement, the degree to which the work surface portion where the burr is present is excessively cut or the removal of the burr is insufficient is reduced.

However, the burrs are susceptible to fluctuations in the resistance applied to the cutting tool during burrs, and burrs cannot be accurately cut to the set position in many cases. For example, when the tip of the burr has a wavy shape, the cutting tool cuts the burr according to the wavy shape, and the cut portion becomes wavy. Further, depending on the posture of the cutting tool, the pressure at which the cutting tool contacts the burr is excessively increased due to the influence of the tool weight, and the cutting tool bites into the work surface.

It is an object of the present invention to provide an automatic deburring apparatus capable of quickly and accurately removing burrs existing on a work while preventing generation of dust.

[0010]

According to a first aspect of the present invention, there is provided a tool holding means movably provided along a surface of a work on which burrs exist, and a tool holding means provided rotatably about an axis. A rotating tool, a copying guide member provided in the tool holding means so as to protrude toward the workpiece surface side with a predetermined positional relationship with the rotating tool, and the copying guide member is pressed against the workpiece copying reference surface near the burr with a predetermined pressure. Pressing means, and the direction of the tool holding means so that the connecting line connecting the contact point between the copying guide member and the workpiece copying reference plane and the axis of the rotary tool coincides with the normal of the workpiece copying reference plane at the contact point. And a posture control means for adjusting the rotation of the workpiece when the tool holding means moves along the burr on the surface of the workpiece while the orientation is adjusted in a state where the scanning guide member is in contact with the workpiece scanning reference plane. There is characterized by being configured to cut up to the set position burrs.

In the case of this invention, burrs are cut by the rotary tool while following the workpiece copying reference plane. At this time, the burrs are cut in a state where the connecting line connecting the contact point between the copying guide member and the workpiece copying reference surface and the axis of the rotary tool coincides with the normal of the workpiece copying reference surface at the contact point. The burr can be cut to the set position with the distance between the workpiece copying reference plane and the rotary tool always being constant. Therefore, the burrs can be quickly and accurately removed regardless of the shape thereof and even when the thermal deformation of the work is large. Further, the generation of dust can be prevented, and the adverse effect on the operator can be eliminated.

According to a second aspect of the present invention, there is provided an automatic control apparatus having an interval adjusting means for increasing or decreasing a distance between the copying guide member and the rotary tool in accordance with an increase or a decrease in an interval between the set position and the workpiece copying reference plane. It is a deburring device.

In the case of this invention, for example, when the workpiece copying reference plane moves away from the set position (ie, when the interval increases), the distance between the copying guide member and the axis of the rotary tool is increased by the increased interval. The distance is also increased. Further, when the workpiece copying reference surface approaches the set position (that is, when the interval is reduced), the distance between the copying guide member and the axis of the rotary tool is reduced by the reduced interval. Therefore, even when the distance between the workpiece copying reference plane and the set position changes, the burr can be more accurately cut to the set position and removed.

Embodiments of the present invention will be described below with reference to the drawings.

An automatic deburring apparatus according to the present invention is shown in FIGS.
As shown in FIG. 8, the tool holding means 10 on which the rotating tool 30 and the copying guide member (the copying guide roller 41) are mounted.
Pressing means 50 for pressing the copying guide member (41) against the workpiece copying reference surface Ws; and the tool holding means 1 so that the burr Wb can be cut from the normal N direction of the workpiece copying reference surface Ws.
And a posture control means for adjusting the orientation of the workpiece surface while the tool holding means 10 is being adjusted in a state in which the copying guide member (41) is in contact with the workpiece copying reference surface Ws.
When moving along the burr Wb of i, the rotary tool 30 is configured to cut and remove the burr Wb to the set position Ps.

Further, in this embodiment, the copying guide member (41) and the rotary tool 30 are adjusted according to the increase or decrease of the distance L0 between the set position Ps and the workpiece copying reference surface Wb so that the burrs Wb can be more accurately removed. Is provided with an interval adjusting means 60 for increasing or decreasing the distance L1 between them.

Hereinafter, each component such as the tool holding means 10 will be described.

First, the tool holding means 10 is provided movably along the work surface Wi on which the burr Wb exists. In this embodiment, as shown in FIG. 10, the workpiece W is a plastic air spoiler blow-molded using a mold 5. The work W is deburred while being attached to a dedicated jig (not shown).

More specifically, the tool holding means 10 is provided on the arm 2 of the six-axis articulated robot 21 shown in FIGS.
2 is detachably attached to the distal end portion 23. The arm 22 of the six-axis articulated robot 21 has six axes (S axis, L axis, U axis).
(Axis, R axis, B axis, T axis).
The six-axis articulated robot 21 can teach position data and the like of the work W, and can move the tool holding means 10 while keeping a constant distance from the work surface Wi where the burr Wb exists.

Next, as shown in FIG. 11, the rotary tool 30 is provided on the tool holding means 10 so as to be rotatable about an axis 30a.

The copying guide member (41) is provided on the tool holding means 10 so as to protrude toward the workpiece surface Wi with a predetermined positional relationship with the rotary tool 30. The copying guide member (41) and the rotary tool 30 will be described later in detail. The rotating tool 30 and the copying guide member (41) are mounted on the main body 11 of the tool holding means 10 via the pressing means 50.

The pressing means 50 includes a copying guide member (41).
Is pressed against the workpiece copying reference surface Ws near the burr Wb with a predetermined pressure. In this embodiment, the pressing means 50
1 is an air slide table 51 that can move in the left-right direction in FIG. 1 using air pressure and can press the guide member (41) along the work surface Wi;
And air supply means (not shown) for supplying air to the apparatus.

A drive motor 35 for a rotary tool is mounted on the air slide table 51 via a mounting plate 15, and a rotary tool 30 is mounted on a rotary shaft 36 of the drive motor 35. Therefore, when the drive motor 35 is driven, the rotary tool 30 rotates at high speed about the axis 30a.

As shown in FIG. 4, a predetermined number of blades 31 are formed on the outer peripheral surface of the rotary tool 30.
As shown in FIG. 5, the outer end 31s of each blade 31 of the rotary tool 30 has an arc shape (radius R). As a result, the work surface W where the burr Wb exists
The i-part can be cut smoothly without causing scum.
Note that the cut portion has a shape in which the cross section is concave in an arc shape.

Further, the copying guide member (41) is mounted on the above-mentioned mounting plate 15 via a distance adjusting means 60.

As shown in FIGS. 7 and 8, the spacing adjusting means 60 adjusts the spacing L0 between the set position Ps and the portion of the workpiece copying reference surface Ws where the copying guide member (41) is in contact with the copying guide. This is a means for increasing or decreasing the distance L1 between the member (41) and the axis 30a of the rotary tool 30.

Specifically, as shown in FIGS. 1 and 2, the interval adjusting means 60 is formed of a servo motor 68, a cam mechanism 61, a connecting member 64, a slide mechanism 65 and the like. The servo motor 68 is fixed to the mounting plate 15 as shown in FIG. The cam mechanism 61 includes a cam 62 mounted on a rotating shaft of a servomotor 68 and a cam follower 63 rotatably mounted on the left end of the connecting member 64 in FIG. The connecting member 64 is connected to the mounting plate 15 via the slide mechanism 65.
Are held movably in the left-right direction in FIG.

The slide mechanism 65 includes a holding member 67 mounted on the mounting plate 15 and the holding member 67.
And a slide member 65 fixed slidably to the connecting member 64. At the right end in FIG. 1 of the connecting member 64, a copying guide roller 41 as a copying guide member is mounted rotatably about an axis 41a.

Therefore, when the servo motor 68 is driven to rotate by the drive signal, the connecting member 64 is moved to the cam mechanism 6.
1 to the left (or right) in FIG. As a result, the distance L1 between the copying guide roller 41 and the rotary tool 30 is increased or decreased. Thereby, the copying guide roller 41
Even if the distance L0 between the workpiece scanning reference surface Ws portion contacting with the workpiece and the set position Ps changes, the change in the distance can be absorbed and the rotary tool 30 can cut and remove the burr Wb accurately to the set position Ps. it can.

As shown in FIG. 6, the attitude control means determines that the connecting line RL connecting the contact point C between the copying guide member (41) and the workpiece copying reference surface Ws and the axis 30a of the rotary tool 30 is the contact point C. Is a means for adjusting the direction of the tool holding means 10 so as to coincide with the normal line N of the workpiece copying reference plane Ws. In this embodiment, the attitude control means includes the above-mentioned 6
It is formed from the control unit of the multi-joint robot 21. 6
The control unit of the articulated robot 21 moves the arm 22 based on the position data and the like of the workpiece scanning reference plane Ws read by the teaching so that the connection line RL connects the workpiece scanning reference plane Ws.
The direction of the tool holding means 10 is adjusted so as to match the normal line N.

Next, the operation of this embodiment will be described.

As shown in FIGS. 6 and 7, when the copying guide roller 41 is in contact with the workpiece copying reference surface Ws,
The tool holding means 10 moves along the burrs Wb on the work surface Wi while the direction is adjusted, and the rotary tool 30 cuts the burrs Wb to the set position Ps.

At this time, when the burrs Wb are cut, as shown in FIG. 6, a connecting line RL connecting the contact point C between the copying guide roller 41 and the workpiece copying reference surface Ws and the axis 30a of the rotary tool 30 is used. Since the process is performed in a state where the normal line N of the workpiece copying reference surface Ws at the point C is matched, the burr Wb can be cut while the distance L1 between the workpiece copying reference surface Ws and the rotary tool 30 is always constant. Therefore, the burr Wb
10C can be quickly and accurately removed regardless of the shape thereof and even when the amount of thermal shrinkage of the work W is large, as shown in FIG. Further, the generation of dust can be prevented, and the adverse effect on the operator can be eliminated. Further, since the copying guide roller 41 is in rolling contact with the workpiece copying reference surface Ws, the reference surface Ws is not damaged.

As shown in FIG. 8, when the workpiece scanning reference plane Ws moves away from the set position Ps (ie, when the interval L0 increases), the workpiece scanning reference roller 41 rotates with the scanning guide roller 41 by the increased interval. Axis 30a of tool 30
Is also increased by the distance adjusting means 60. Further, the workpiece copying reference plane Ws is set at the set position P
When the distance approaches s (that is, when the distance L0 decreases), the distance L1 between the scanning guide roller 41 and the axis 30a of the rotary tool 30 is also reduced by the distance reduction. Therefore, even when the distance L0 between the workpiece scanning reference surface Ws contacted by the scanning guide roller 41 and the set position Ps changes, the burr Wb can be more accurately set to the set position Ps.
Can be removed by cutting.

In the above embodiment, the copying guide member is formed from the copying guide roller 41. However, the present invention is not limited to this. For example, the tip portion shown in FIG. May be. When the copying guide member is formed from the copying guide 45, the copying guide 45 may be formed integrally with the connecting member 64 of the interval adjusting means 60. In FIG. 9, 64h is a connecting member 64.
The through hole formed in the rotary tool 30 serves to pass the rotary tool 30 when the rotary tool 30 is attached or detached.

Although a plastic automobile air spoiler is selected as the work W, the present invention is not limited to this, and can be used for deburring a work made of a metal material, for example. It can also be used for chamfering. Further, it can be used for applying an adhesive or the like to a predetermined portion of the work.

Further, by teaching the six-axis articulated robot 21, even if the work W has a complicated shape, the burr Wb can be quickly and accurately removed.

Further, when deburring, the rotating tool 3
The burrs Wb may be cut in a wet state by applying water to a contact portion between the burrs 0 and the burrs Wb. Thereby, generation of dust can be more reliably prevented.

[0038]

According to the first aspect of the present invention, the tool holding means on which the rotating tool and the copying guide member are mounted, the pressing means for pressing the copying guide member against the workpiece copying reference plane, and the burrs for copying the workpiece surface. Since there is provided attitude control means for adjusting the direction of the tool holding means so that cutting can be performed from the normal direction of the reference surface, the distance between the workpiece copying reference surface contacted by the copying guide member and the rotary tool is always constant. Burrs can be cut in a state. Therefore, burrs can be quickly and accurately removed regardless of the shape and even when the amount of thermal shrinkage of the work is large. Further, since the burrs are removed by cutting, the generation of dust can be prevented, and the adverse effect on the operator can be eliminated.

According to the second aspect of the present invention, the distance between the copying guide member and the axis of the rotary tool is increased or decreased according to the increase or decrease in the distance between the set position and the workpiece copying reference plane. Even if the distance between the
Burrs can be more precisely cut to the set position and removed.

[Brief description of the drawings]

FIG. 1 is a diagram for explaining an embodiment of the present invention.

FIG. 2 is a plan view for explaining an interval adjusting unit.

FIG. 3 is a view for explaining a six-axis articulated robot to which the tool holding means is attached.

FIG. 4 is a plan view for explaining the shape of the rotary tool.

FIG. 5 is a view for explaining the shape of the outer end surface of the blade of the rotary tool.

FIG. 6 is also a view for explaining the attitude adjustment of the tool holding means.

FIG. 7 is a view for explaining a positional relationship among a copying guide roller, a rotary tool, and a work.

FIG. 8 is a view showing a state where the distance between the copying guide roller and the rotary tool is increased.

FIG. 9 is a view for explaining a semicircular scanning guide;

FIG. 10 is a diagram for explaining a work.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Tool holding means 21 6-axis articulated robot 30 Rotary tool 41 Copying guide roller (Copying guide member) 45 Copying guide (Copying guide member) 50 Pressing means 60 Interval adjustment means

Claims (2)

(57) [Claims] 1. A tool holding means movably provided along the surface of a work on which burrs exist, a rotary tool provided on the tool holding means so as to be rotatable about an axis, and a rotary tool provided on the tool holding means. A copying guide member provided so as to protrude toward the work surface side with a predetermined positional relationship with the
A pressing means for pressing the copying guide member against the workpiece copying reference surface near the burr with a predetermined pressure, and a connecting line connecting a contact point between the copying guide member and the workpiece copying reference surface with the axis of the rotary tool is a workpiece at the contact point. Attitude control means for adjusting the direction of the tool holding means so as to match the normal line of the copying reference surface, and in a state where the copying guide member is in contact with the workpiece copying reference surface, the tool holding means is adjusted in direction and the work surface is adjusted. An automatic deburring device characterized in that the rotary tool cuts the burr to a set position when it moves along the burr. 2. An automatic apparatus according to claim 1, further comprising an interval adjusting means for increasing or decreasing a distance between said copying guide member and said rotary tool in accordance with an increase or a decrease in an interval between said set position and said workpiece copying reference plane. Deburring device.