JP3407357B2 - Automatic polishing method and automatic polishing tool - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic polishing method and an automatic polishing tool, and more particularly, for teaching a polishing target surface and performing an actual polishing operation on the polishing target surface based on teaching data. Method and an automatic polishing tool used directly in this polishing method.

[0002]

2. Description of the Related Art Conventionally, an automatic polishing method using an industrial robot or the like has been proposed in order to improve the polishing efficiency of various molds. Then, in order to improve the polishing accuracy by the automatic polishing, the method of teaching the polishing target surface in advance and performing the actual polishing operation based on the teaching data is also used.

Therefore, by performing the automatic polishing operation based on the teaching of the polishing target surface and the teaching data, the polishing time required for the polishing target surface as a whole can be greatly shortened while maintaining the high polishing accuracy of the polishing target surface. be able to.

[0004]

When the above method is adopted and the surface to be polished is a smooth surface over a relatively wide range, only a relatively small number of surfaces to be polished are used as the entire die. Since it is only necessary to classify the surface into the surfaces and teach each of the polishing target surfaces, there is no inconvenience that the work for teaching and the required time significantly increase. However, when the surface to be polished includes a relatively narrow recessed portion, a protruding portion, and a relatively steep inclined surface located between the both (for example, the surface of a mold such as an automobile structural press-molded article inside) In the case of a polishing object), the number of polishing surfaces to be taught is significantly increased, so that the work for teaching and the required time are significantly increased, and thus, the entire automatic polishing operation including the teaching work is required. There is an inconvenience that the time becomes extremely long.

In consideration of this inconvenience, the polishing tool is provided with a floating mechanism having a large stroke so that a relatively wide range can be set without paying special attention to a relatively narrow recess, protrusion, inclined surface, or the like. It is possible to teach it as the surface to be polished, but if you simply increase the stroke by the floating mechanism, for example,
Even if a relatively good polishing performance (polishing efficiency and polishing accuracy) can be exhibited on a flat surface,
Especially for steeply inclined surfaces, there is a new inconvenience that the followability of the polishing tool becomes insufficient and only a considerably insufficient polishing performance can be exhibited. In addition, if the followability of the polishing tool is insufficient,
There is a risk of significantly higher damage to the slope. And, it is a fatal inconvenience as an automatic polishing device that the polishing performance becomes considerably insufficient as described above, and therefore, the work for teaching and the significant increase in the required time have to be accepted. is there.

[0006]

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and does not significantly lower the polishing accuracy,
Moreover, it is an object of the present invention to provide an automatic polishing method and an automatic polishing tool that can significantly reduce the work for teaching and the required time.

[0007]

In order to achieve the above object, the automatic polishing method according to claim 1 teaches a predetermined range of a polishing object to approximate a predetermined range to a plane, and a polishing tool capable of advancing and retracting a predetermined distance. Based on the teaching data, the brushing efficiency increases as the relative angle of the actual polishing surface to the above plane increases, based on the teaching data, and the polishing range for the entire range taught by the polishing tool is increased. And a second polishing operation for polishing the entire range taught by using the polishing tool whose polishing efficiency decreases as the relative angle of the actual polishing surface with respect to the plane increases. Is the way.

A polishing tool having a higher polishing efficiency as the relative angle of the actual polishing surface to the plane increases, and the polishing tool is mounted on an elastic member whose inner surface and outer surface are both gradually expanding at the tip and on an inner surface near the tip of the elastic member. And a wear resistant member integrally housed in the base of the elastic member,
Moreover, the tip of the elastic member is a guide portion for the actual scuffed surface, and the inclined surface opposite to the inner surface of the elastic member is formed on the peripheral edge of the lower surface of the abrasion resistant member.

A polishing tool whose polishing efficiency decreases as the relative angle of the actual polishing surface with respect to a plane increases, and an elastic member having a tip portion formed to have a predetermined outer diameter, and a predetermined tip surface of the elastic member. It has a grindstone member mounted at a position and a wear-resistant member integrally or directly connected to the base of the elastic member so as to surround the elastic member, and the tip surface of the elastic member is resistant to wear. The tip end surface of the abrasion resistant member is projected from the tip end portion of the abrasion resistant member, and the tip end surface of the abrasion resistant member is formed into an inclined surface inclined so that the inner side is closer to the tip end surface of the elastic member than the outer side. . Here, the tip of the elastic member may be a flat surface, or may be a protruding surface having a large radius of curvature.

[0010]

According to the automatic brushing method of the first aspect, the tool holding mechanism for teaching the predetermined range of the polishing object to be approximated to a plane and for holding the polishing tool so as to advance and retract by a predetermined distance is provided. Then, based on the teaching data, the brushing efficiency increases as the relative angle of the actual polishing surface with respect to the above-mentioned plane increases, and the polishing (first polishing operation) for the entire range taught using the polishing tool is performed. As a result, it is possible to efficiently and fairly accurately polish a polished surface (inclined surface) having a large relative angle to the teaching plane. Next, the polishing efficiency decreases with the increase of the relative angle of the actual polishing surface with respect to the above-mentioned plane, and the polishing operation is performed on the entire range taught using the polishing tool (second polishing operation), whereby A polishing surface having a small angle (a plane substantially parallel to the teaching plane) can be polished efficiently and fairly accurately.

Therefore, even if the surface to be polished has a considerably large number of irregularities, by performing the first polishing operation and the second polishing operation, the efficiency can be improved efficiently regardless of the relative angle with respect to the teaching plane. Moreover, the polishing operation can be performed with high accuracy. Even if the surface to be polished has a large number of irregularities, it is not necessary to teach for each concave portion, protrusion, and inclined portion, and it is only necessary to teach to approximate a plane as a whole. It is possible to significantly reduce the work and the time required. The automatic polishing tool according to claim 2, wherein the polishing efficiency is increased as the relative angle of the actual polishing surface with respect to the plane is increased, and the inner surface and the outer surface are both elastic members with gradually expanding tips. , A grindstone member mounted on the inner surface of the elastic member near the tip, and a wear resistant member integrally housed in the base of the elastic member, and moreover, the tip of the elastic member is guided to the actual scratched surface. Since the inclined surface opposite to the inner surface of the elastic member is formed on the peripheral edge of the lower surface of the wear resistant member, the tip portion is the guide portion, and the inner and outer surfaces are elastic with the tip gradually expanding. Due to the elastic deformation of the member and the presence of the reversal prevention member, it is possible to achieve good polishing efficiency and polishing accuracy for the polishing target surface having a considerably large inclination with respect to the teaching plane. Of course, it is possible to achieve the polishing efficiency and the polishing accuracy to some extent even for the polishing target surface that is substantially parallel to the teaching plane. Further, when the elastic member is deformed to some extent, the abrasion resistant member comes into contact with the polishing target surface, but since the inclined surface is formed at the peripheral edge of the lower surface, the smoothing of the polishing tool along the inclined surface is performed. Movement can be achieved

According to the automatic polishing tool of claim 3,
A polishing tool in which the polishing efficiency decreases as the relative angle of the actual polishing surface to the plane increases, and the polishing tool has an elastic member whose tip portion is formed to have a predetermined outer diameter, and is mounted at a predetermined position on the tip surface of the elastic member. And a wear-resistant member integrally or directly connected to the base of the elastic member so as to surround the elastic member, and the tip end surface of the elastic member is wear-resistant. Is projected from the tip of the elastic member,
Since the tip surface of the wear-resistant member is formed so as to be inclined so that the inner side is closer to the tip surface of the elastic member than the outer side, good polishing for the polishing target surface almost parallel to the teaching plane is achieved. Efficiency and polishing precision can be achieved. Further, although the polishing target surface having a considerably large inclination with respect to the teaching plane is hardly polished, the tip end surface of the abrasion resistant member surrounding the elastic member is
Since the tip end surface of the elastic member is projected more than the tip end portion of the abrasion resistant member while being formed on the inclined surface, the polishing with a considerably large inclination with respect to the teaching plane is performed smoothly on the target surface. It is possible to achieve the movement of the tool, and it is possible to prevent inconveniences such as deep scratches on the polishing target surface.

[0013]

Embodiments will be described in detail below with reference to the accompanying drawings showing embodiments. 1 is a central longitudinal sectional view showing an embodiment of a first polishing tool 1 capable of achieving high polishing efficiency and polishing accuracy with respect to a polishing target surface having a large inclination with respect to a teaching plane, and FIG. 2 is a bottom view. , A wear-resistant member 11 made of a wear-resistant synthetic resin, a hollow and gradually expanding elastic member 12, and an inversion of the elastic member 12 at the tip of the support shaft 10 mounted on an industrial robot or the like. A reverse blocking member 13 for blocking is mounted in this order. And the elastic member 1
In the reference numeral 2, the base portion is formed with a thick wall and the front portion is formed with a thin wall, and the most distal end portion is formed with a guide portion 12a extending outward in a plane perpendicular to the support shaft 11.
A grindstone 14 having a predetermined shape is mounted on the outermost peripheral portion of the taper surface following a. Further, as the material of the elastic member 12,
Rubber, synthetic resin, etc. can be adopted. In addition, this grindstone 14
It is preferable that the brush can exhibit good conformability to the surface to be brushed, and for example, a diamond cloth having a predetermined shape can be adopted. Further, the grindstones 14 are mounted at a predetermined interval in the circumferential direction, and the elastic member 12 can be expanded and contracted in this interval.

The wear-resistant member 11 is made of a material such as high-density polyethylene that is less likely to wear with friction with a metal, and has an upper surface along the inner depth of the elastic member 12. In addition to being formed as a tapered surface, the peripheral portion of the lower surface is formed as a tapered surface 11a that faces away from the upper surface. The angle of the tapered surface 11a can be set in correspondence with the maximum inclination angle of the polishing target surface. For example, 45 ° is associated with the maximum inclination angle of the polishing target surface that can be polished only by floating support. It is preferable to set to.

The reversal prevention member 13 engages with a predetermined range of the outer surface of the elastic member 12 on the base side, and the abrasion resistant member 11
The elastic member 12 is sandwiched between the upper surface and the upper surface. The operation of the first polishing tool 1 having the above configuration is as follows. If a pressing force for polishing is applied to the elastic member 12 and a moving force in a horizontal direction (a predetermined direction within a plane perpendicular to the support shaft 10) is applied to the elastic member 12, the polishing target surface is horizontal. In some cases, the amount of deformation of the elastic member 12 is the smallest, so that a considerably low polishing efficiency is exhibited. On the contrary, when the polishing target surface is considerably inclined, the amount of deformation of the elastic member 12 increases, so that the pressing force of the grindstone 14 against the polishing target surface increases, and high polishing efficiency is exhibited. Of course, in the latter case, since the guide portion 12a is present on the outer peripheral side of the grindstone 14, good followability with respect to the inclined surface is exhibited, and the inconvenience of causing deep scratches on the polishing target surface is caused. Can be prevented.

FIG. 3 is a diagram showing the removal height when the inclination angle of the polishing target surface is changed and the first polishing tool 1 is moved a predetermined number of times. The removal height increases as the inclination angle increases. I know that it has become. The removal height is
Since it is the height (depth) of the portion removed by the polishing operation, the higher the removal height, the higher the polishing efficiency.

FIG. 4 is a central longitudinal sectional view showing an embodiment of the second polishing tool 2 capable of achieving high polishing efficiency and polishing accuracy with respect to the polishing target surface substantially parallel to the teaching plane. An elastic member 22 having a predetermined shape is attached to a front end portion of a support shaft 20 attached to a robot or the like, and a casing 21 surrounding a base portion of the elastic member 22 over a predetermined range is attached to a predetermined position near the front end. The elastic member 22 has a large diameter only at the tip portion, and the tip surface is formed so as to slightly project in an arcuate shape. The grindstone 2 having a predetermined shape is formed on the outer peripheral edge portion of the tip surface.
4 is attached. However, the elastic member 22 may be formed to have substantially the same outer diameter over the entire range. Incidentally, the grindstones 24 are mounted on the tip end surface of the elastic member 22 in a state in which there is a predetermined interval in the circumferential direction.

A wear resistant member 21a is integrally attached to the tip of the casing 21. The wear resistant member 21a is formed as a cylindrical body having an inner diameter equal to the inner diameter of the casing 21, and the tip surface is formed as a tapered surface 21b having a lower inner peripheral side and a higher outer peripheral side.
Further, the wear-resistant member 21a has a length such that the most tip portion thereof is a predetermined distance from the outer peripheral edge of the tip surface of the elastic member 22.
It is set to be located on the 0 side. Therefore,
Even if the tip end surface of the elastic member 22 is slightly inclined, it is possible to prevent the inconvenience that the abrasion resistant member 21a hinders the polishing operation, and achieve a satisfactory polishing operation.

The operation of the second polishing tool 2 having the above structure is as follows. If a pressing force for polishing is applied to the elastic member 22 and a moving force in the horizontal direction (a predetermined direction within a plane perpendicular to the support shaft 20) is applied to the elastic member 22, the polishing target surface is horizontal. In some cases, elastic member 2
The deformation amount of 2 is the smallest, and moreover, almost the entire range of the grindstone 24 is pressed against the surface to be polished, so that high polishing efficiency is exhibited. On the contrary, when the polishing target surface is considerably inclined, the deformation amount of the elastic member 22 increases, but since the elastic member 22 does not deform sufficiently to fit the polishing target surface, only the whetstone 14 is applied to the polishing target surface. The area to be pressed is reduced,
Delivers a fairly low polishing efficiency. Of course, in the latter case, the abrasion resistant member 21a exists on the outer peripheral side of the grindstone 24, and the tip of the abrasion resistant member 21a has the tapered surface 2
Since it is formed in 1b, it is possible to exhibit good followability with respect to the inclined surface and prevent the occurrence of the inconvenience of deeply scratching the surface to be polished.

FIG. 5 is a diagram showing the removal height when the inclination angle of the surface to be polished is changed and the second polishing tool 2 is moved a predetermined number of times. The smaller the inclination angle, the larger the removal height. I know that it has become. FIG. 6 is a schematic view of a main part showing a mounting state of the polishing tool with respect to the polishing tool driving unit of the industrial robot or the like.
Has a holding portion 31 for holding the support shafts 11 and 21 at the tip portion, and also has a floating mechanism portion 32 at a predetermined position closer to the base portion than the holding portion 31. The floating mechanism portion 32 holds the holding portion 31 at the most projecting position in the unloaded state and reduces the projecting amount of the holding portion 31 as the load increases. However, the detailed description thereof will be omitted.

A case will be described below in which the first polishing tool 1 and the second polishing tool 2 are used to perform the polishing operation on the surface to be polished. It is assumed that the polishing target surface has a recess, a protrusion, and an inclined surface as shown in FIG. The polishing target surface shown in FIG. 7 is the first
-It has the 6th planes 41-46, and has the 1st-6th inclined surfaces 51-56, and furthermore, the 2nd plane 42 most recessed, and the 6th plane 46 most protruding. The height difference is smaller than the reciprocating distance of the polishing tool by the floating mechanism 32. A radius is formed at the boundary between the adjacent surfaces.

Upon polishing the polishing target surface, first, the polishing target virtual plane 6 is taught by setting the predetermined position of the first plane 41 and the predetermined position of the sixth plane 46 as reference points. (See dashed line in 7). Therefore, the work and time required for teaching can be significantly reduced as compared with the case where all of the above surfaces are taught. After the polishing target virtual plane 6 is taught as described above, first, the supporting unit 21 of the second polishing tool 2 is held by the holding unit 31 of the polishing tool driving unit, and in this state, the polishing target virtual plane 6 is polished. When the polishing tool driving unit is operated to perform the operation, the floating mechanism unit 32 causes the second polishing tool 2 to have the first to sixth planes 41 to 46 and the first to sixth planes which are actually only polishing surfaces. It moves along each of the inclined surfaces 51 to 56. But,
Since the second polishing tool 2 exhibits higher polishing efficiency as the inclination angle is smaller, the first to sixth planes 41 to 4 are
While 6 can be brushed efficiently and accurately,
The first to sixth inclined surfaces 51 to 56 can hardly be polished.

Next, the first polishing tool 2 is replaced with the first polishing tool 2.
If the supporting shaft 11 of the polishing tool 1 is held by the holding portion 31 of the polishing tool driving portion and the polishing tool driving portion is operated to perform the same polishing operation, the first polishing tool is operated by the action of the floating mechanism portion 32. Reference numeral 1 moves along each of the first to sixth planes 41 to 46 and the first to sixth inclined surfaces 51 to 56 which are actually only polished surfaces. However, since the first polishing tool 1 exhibits higher polishing efficiency as the inclination angle increases, the first to sixth inclined surfaces 5
1 to 56 can be efficiently and accurately polished, while the first to sixth planes 41 to 46 can hardly be polished.

Therefore, the polishing operation performed by the first polishing tool 1 and the polishing operation performed by the second polishing tool 2 complement each other to perform the polishing operation, and finally, the polishing operation with considerably high accuracy can be achieved. it can. That is,
It is possible to significantly reduce the work amount for teaching the polishing target surface without significantly lowering the polishing accuracy.
It is possible to greatly reduce the time required for the entire automatic polishing operation including the teaching work.

In general, when the surface of a die such as an internal structural press-formed product such as an automobile is to be polished,
In most cases, the concave radius does not require brushing,
As a whole, the deterioration of the brushing accuracy is hardly a problem. 8 is a central longitudinal sectional view showing another embodiment of the second polishing tool 2 capable of achieving high polishing efficiency and polishing accuracy with respect to a polishing target surface substantially parallel to the teaching plane, and is shown in FIG. The difference from the second polishing tool is that the elastic member 22
It is only the point where the tip surface of is flat.

The second polishing tool 2 of this embodiment can achieve almost the same inclination angle-removal height characteristic as the second polishing tool of FIG. 4, but the tip surface of the elastic member 22 is a flat surface. Due to this, compared to the second polishing tool 2 of FIG. 4, it exhibits a characteristic that a high removal height can be obtained corresponding to a state where the inclination angle is increased to some extent (see FIG. 9). ).

Therefore, most of the surface to be polished is composed of a flat surface and a steeply inclined surface, and the height difference between adjacent surfaces is smaller than the protruding distance of the elastic member 22 from the tip of the abrasion resistant member 21a. In such a case, by adopting the second polishing tool 2 of FIG. 8 instead of the second polishing tool 2 of FIG. 4 to perform the polishing operation, the polishing can be achieved with considerably high accuracy. Of course, the work and the time required for teaching the polishing target surface can be significantly reduced.

[0028]

As described above, according to the first aspect of the invention, teaching work and required time can be greatly reduced by ignoring irregularities of the polishing target surface and teaching the polishing target surface. In addition, since it is possible to achieve a considerably high polishing accuracy simply by performing the first polishing operation and the second polishing operation, the overall operation of the automatic polishing operation including the teaching operation can be performed without substantially lowering the polishing accuracy. It has a unique effect that the required time can be significantly shortened.

According to the second aspect of the invention, it is possible to achieve good polishing efficiency and polishing accuracy for the polishing target surface having a considerably large inclination with respect to the teaching plane.
Even for a polishing target surface that is substantially parallel to the teaching plane, it is possible to achieve polishing efficiency and polishing accuracy to some extent, and it is also possible to achieve smooth movement of the polishing tool along the inclined surface, and at the same time, such polishing target surface. It has a unique effect that it is possible to prevent the occurrence of inconveniences such as deep scratches on the skin.

According to the third aspect of the present invention, it is possible to achieve good polishing efficiency and polishing accuracy for a polishing target surface that is substantially parallel to the teaching plane, and at the same time, polish the polishing target surface having a considerably large inclination with respect to the teaching plane. Can be almost eliminated, and a smooth movement of the polishing tool with respect to the polishing target surface having a considerably large inclination with respect to the teaching plane can be achieved, and such a polishing target surface can be deeply scratched. It has a unique effect that it is possible to prevent the occurrence of inconveniences such as being lost.

[Brief description of drawings]

FIG. 1 is a central longitudinal sectional view showing an embodiment of a first polishing tool capable of achieving high polishing efficiency and polishing accuracy for a polishing target surface having a large inclination with respect to a teaching plane.

FIG. 2 is a bottom view of the same.

FIG. 3 is a diagram showing a tilt angle-removed height characteristic of a first polishing tool.

FIG. 4 is a second view that can achieve high polishing efficiency and polishing accuracy with respect to a polishing target surface that is substantially parallel to the teaching plane.
It is a central longitudinal cross-sectional view showing an embodiment of a polishing tool.

FIG. 5 is a diagram showing an inclination angle-removed height characteristic of a second polishing tool.

FIG. 6 is a schematic view of a main part showing a mounting state of a polishing tool with respect to a polishing tool driving section of an industrial robot or the like.

FIG. 7 is a vertical cross-sectional view showing an example of a polishing target surface.

FIG. 8 is a second view that can achieve high polishing efficiency and polishing accuracy with respect to a polishing target surface that is substantially parallel to the teaching plane.
It is a center longitudinal cross-sectional view showing another embodiment of the polishing tool.

9 is a diagram showing a tilt angle-removal height characteristic of the second polishing tool shown in FIG.

[Explanation of reference numerals] 1st polishing tool 2 2nd polishing tool 6 Virtual plane for polishing 11 and 21a Abrasion resistant member 11a Tapered surface 12 and 22 Elastic member 12a Guide part 14 and 24 Whetstone 21b Tapered surface 31 Holding part 32 Floating mechanism

Continuation of front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B24B 19/08 B24B 1/00 B24B 27/00 B24D 7/18

Claims (3)

(57) [Claims] 1. A tool holding mechanism (31) (3) for teaching a predetermined range of an object to be polished to approximate a plane (6) and holding a polishing tool (1) (2) so that the polishing tool can advance and retreat by a predetermined distance.
2) is provided, and based on the teaching data, the brushing efficiency becomes higher as the relative angle of the actual polishing surface to the plane (6) increases. Polishing tool (2) in which the polishing efficiency decreases with the first polishing operation for polishing and the increase in the relative angle of the actual polishing surface to the above plane.
Second to polish the entire range taught by using
An automatic polishing method characterized by performing a polishing operation. 2. A polishing tool (1), the polishing efficiency of which increases with an increase in the relative angle of the actual polishing surface with respect to the plane (6), wherein the inner and outer surfaces of the elastic member (12) have gradually expanding tips. ), A grindstone member (14) mounted on the inner surface of the elastic member (12) near the tip, and an abrasion resistant member (11) integrally housed in the base of the elastic member (12), Moreover, the tip portion of the elastic member (12) is the guide portion (12a) for the actual scratched surface, and the wear resistant member (1
An automatic polishing tool characterized in that an inclined surface (11a) opposite to the inner surface of the elastic member (12) is formed at the peripheral edge of the lower surface of 1). 3. A polishing tool (2), the polishing efficiency of which decreases as the relative angle of the actual polishing surface with respect to the plane (6) increases, and an elastic member having a tip portion formed to have a predetermined outer diameter. 22), a grindstone member (24) mounted at a predetermined position on the tip surface of the elastic member (22), and an elastic member (22).
And a wear resistant member (21a) integrally or directly connected to the base of the elastic member (22) to surround the elastic member (22), and the end surface of the elastic member (22) is wear resistant. The wear-resistant member (21a) is protruded from the tip of the elastic member (21a), and the tip end surface of the wear-resistant member (21a) is inclined so that the inside is closer to the tip end surface of the elastic member (22) than the outside. An automatic polishing tool characterized in that it is formed on an inclined surface (21b).