JP3587171B2 - Automatic deburring device - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an automatic deburring device that automatically cuts burrs on a work, and more specifically, even if there is some undulation in the burrs of the work, the burrs are reliably followed by following the undulations. the present invention relates to an automatic deburring machine that can be cut.
[0002]
[Prior art]
For example, when a plastic work (such as an air spoiler of an automobile) is formed by blow molding or the like, an unnecessary protrusion (burr) occurs on the work surface due to the plastic material protruding from the joint of the used mold. . Usually, burrs have a sharp tip and are dangerous in handling, and also have a problem in appearance and appearance, and thus need to be removed.
[0003]
Conventionally, after setting the work on the jig, the operator trims (rough cuts, polishes) using a knife or cutter, and then removes it by performing roughing and finishing work using sandpaper or a grinder. ing. However, in the above deburring method, a large amount of time is required for roughing and finishing operations, and the working efficiency is extremely poor. In particular, if the removal amount of burrs due to trimming varies from place to place, it is necessary to remove the burrs in a roughing / finishing operation while eliminating the dispersion, which requires much more time.
[0004]
[Problems to be solved by the invention]
In order to solve such inconvenience, a deburring method of cutting and trimming a burr using a press die is sometimes adopted. According to such a deburring method, 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 disadvantage that the cost of the press die is high and the deburring cost is increased. In addition, after 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. Such an adverse effect on the operator naturally occurs even when the above-described deburring method for performing trimming using a knife or the like is performed.
[0005]
In addition to the above-described deburring method, a deburring tool for mounting a deburring cutting tool on a robot and controlling the drive based on position data obtained by teaching the robot to remove deburrs on the surface of the work with the cutting tool. There is a way. If this deburring method is adopted, generation of dust can be significantly reduced. However, depending on the degree of thermal shrinkage of the work and the mounting error of the jig to the work, the position (coordinates) of the surface of the work where burrs exist may vary. Therefore, drive control is performed based on position data obtained by teaching the robot. However, it is difficult to accurately cut the work surface portion where burrs are present, and problems such as excessive cutting or conversely, insufficient cutting and insufficient removal of burrs are likely to occur.
[0006]
Accordingly, a deburring apparatus has been developed which presses a cutting tool mounted on a robot near a burr on a work surface using a spring or air pressure to cut the burr. According to this apparatus, as compared with the above-described deburring method before the improvement, the degree to which the work surface portion where burrs are present is excessively cut or burrs are insufficiently reduced is reduced.
[0007]
However, the burrs are susceptible to fluctuations in resistance applied to the cutting tool during burrs, and burrs cannot often be accurately cut to the set position. 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 portion after the cutting becomes wavy. Further, depending on the posture of the cutting tool, the pressure at which the cutting tool comes into contact with the burr is excessively increased under the influence of the weight of the cutting tool, and the cutting tool bites into the work surface.
[0008]
In order to solve such a problem, the present inventor has proposed an automatic deburring apparatus capable of quickly and accurately removing burrs existing on a work while preventing generation of dust (Japanese Patent No. 3020060).
This automatic deburring device includes a tool holding means movably provided along the surface of a workpiece on which burrs exist, a rotary tool provided on the tool holding means so as to be rotatable about an axis, and a tool holding means. A copying guide member provided so as to protrude toward the workpiece surface side with a predetermined positional relationship with the rotary tool, a pressing means for pressing the copying guide member against a workpiece copying reference surface near a burr with a predetermined pressure, and a copying guide member Attitude control means for adjusting the direction of the tool holding means so that a connecting line connecting a contact point between the workpiece copying reference plane and the axis of the rotary tool coincides with a normal of the workpiece copying reference plane at the contact point. If the tool guide is moved along the burrs on the workpiece surface while the orientation is adjusted while the copying guide member is in contact with the workpiece copying reference surface, the rotating tool sets the burrs to the set position. And characterized in configuration it was that "to cut, according to this device, it is possible to cut the burr by the rotary tool while copying the work copying reference surface. 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 matches the normal of the workpiece copying reference surface at the contact point. In addition, 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, it is possible to prevent the generation of dust and to eliminate the adverse effect on the worker.
[0009]
However, as a result of further research conducted by the present inventors, the automatic deburring apparatus described above allows the copying guide member to be pressed against the workpiece copying reference plane, that is, to move only in the direction perpendicular to the workpiece copying reference plane. If the burr or chamfered part is undulating in the vertical direction due to the configuration, the copying guide cannot follow the burrs of the burr or chamfered part and cut the burr or chamfered part accurately. It was found that there was an inconvenience that burrs or chamfers remained on the work. Therefore, in the present invention, while the copying guide member is pressed against the workpiece copying reference surface, and can be moved vertically with respect to the surface of the burr or chamfered portion so as to follow the undulation of the burr or chamfered portion. provides automatic deburring device configuration was, an object therefore to solve the above problems in this.
[0010]
[Means for Solving the Problems]
For this reason, the technical solution adopted by the present invention is:
Tool holding means movably provided along the surface of the work where the burrs or chamfers are present, a cutting tool rotatably provided on the tool holding means, and a part of the cutting tool into which the cutting tool is inserted. A scanning guide member that is exposed and can move along the burrs or chamfers; pressing means for pressing the tracing guide member against a burrs or a workpiece profiling reference surface near the chamfers with a predetermined pressure; and burrs formed on the work. Or, posture control means for adjusting the direction of the tool holding means so as to apply the cutting tool substantially at right angles to the chamfered portion, and further, the copying guide member is provided on the holder fixing member in parallel with the rotation axis of the cutting tool. An erect guide support, a support member for slidably holding the guide support, and a spring around the guide support for elastically holding the guide support relative to the support member. Comprising a moving means of the scanning guide member, copying portion of the copying guide member in a state of being pressed to the work copying reference surface of the workpiece, the tool holder is moved along the burr or chamfer orientation adjusted while the workpiece surface In this case, the copying guide member is configured to move while following the undulation of the burr or chamfered portion, and the cutting tool cuts the burr or chamfered portion to a set position.
Further, an automatic deburring apparatus is provided, wherein a suction duct for sucking chips is arranged on the copying guide member.
[0011]
BEST MODE FOR CARRYING OUT THE INVENTION
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a side view of a six-axis articulated robot equipped with tool holding means (tool holding device), and FIG. FIG. 3 is a sectional view taken along line AA in FIG. 2, and FIG. 4 is a front view of the tool holding means. FIG. 5 is a view for explaining the positional relationship between the tool holding means and the workpiece . The tool holder on the left side in the figure corresponds to FIG. 7 described later, and the tool holder on the right side in the figure is shown in FIG. It corresponds to. Also, FIG. 6 is Ri illustration der of a cutting tool, as a cutting tool, FIG. 6 (b), an end mill and router bits, as shown in (b), also, as shown in the (c) instead of the end mill This is an example using a simple T-slot cutter or the like.
[0012]
The automatic deburring apparatus according to the present invention includes a six-axis articulated robot R provided with a posture control means for adjusting the direction of the tool holding means, and a tool holding means TH mounted on the robot.
[0013]
The 6-axis articulated robot R is a known robot having an appearance as shown in FIG. 1, and the arm of the 6-axis articulated robot has six axes (S axis, L axis, U axis, R axis, B axis, T axis). (Axis) direction. This 6-axis articulated robot has a built-in attitude control means of a tool holding means in its main body, can teach position data and the like of the work W, and is inserted into a copying guide member (described later). It is possible to move a cutting tool while maintaining a constant distance from the surface of the work where burrs exist. More specifically, as shown in FIG. 5, the attitude control means controls the tracing portion Tg of the tool holder 4 as a tracing guide member to abut on the tracing reference surface Ws of the work, and the burrs of the work are formed as escape portions 4b. In this case, the controller of the 6-axis articulated robot adjusts the direction of the tool holding unit based on the position data of the workpiece copying reference plane Ws read by teaching. Adjust. In this embodiment, the attitude control means is formed from the control unit of the above-described 6-axis articulated robot. However, an articulated robot of another form is used depending on the shape of the work for deburring or chamfering. It is also possible to use a dedicated machine.
[0014]
2 to 4, the tool holding means TH attached to the 6-axis articulated robot has a cutting tool 3 and a copying tool which inserts the cutting tool, exposes a part thereof, and moves along a burr or a chamfered portion of a work. A guide member 4 and a pressing means 31 for pressing a copying portion Tg formed on the copying guide member 4 against the workpiece copying reference surface Ws are provided. The burrs or chamfered portions are cut along the workpiece copying reference surface Ws. That is, as shown in FIG. 5, the direction of the tool holding means is adjusted so that the copying portion Tg of the copying guide member 4 keeps abutting against the workpiece copying reference surface Ws with a predetermined pressing force, and the chamfered portion of the workpiece surface or the burr Wb is formed. The cutting tool 3 cuts and removes the burrs Wb or the chamfered portions (the details of this cutting situation will be described later).
[0015]
Hereinafter, each component such as tool holding means will be described.
The tool holding means TH is detachably attached to the tip of the arm 21 of the six-axis articulated robot shown in FIG.
2 to 5, a cutting tool 3 is mounted on a chuck 2 of an output shaft of a motor 1 provided in a tool holding means TH, and the cutting tool 3 is configured to be rotatable about its axis. Here, the cutting tool 3 is an end mill, which is rotatable at a high speed by the motor 1, and can cut burrs with a blade formed around the end mill. As the cutting tool, an end mill and a router bit as shown in FIGS. 6A and 6B, and a T-slot cutter as shown in FIG. 6C can be used instead of the end mill. .
[0016]
The cutting tool 3 is fitted into a tool holder 4 as a scanning guide member as shown in FIGS. The tool holder 4 has a cylindrical shape, and a flange 5 is formed at an end thereof, and the flange 5 is fixed to a holder fixing member 6 (see FIG. 4). As shown in FIG. 4, the holder fixing member 6 includes two guide posts 7 and 8 erected at both ends of the holder fixing member 6, and the guide posts 7 and 8 are provided with respect to the supporting members 9 and 10 in the figure. It is slidably held in the vertical direction. The guide posts 7 and 8 are erected in parallel with the rotation axis of the cutting tool 3. The guide posts 7 and 8 are elastically held around the guide posts 7 and 8 with respect to the support members 9 and 10. Vertical springs 11 and 12 are provided, and these constitute a moving means of the copying guide member. With this configuration, the position of the tool holder 4 can be changed vertically with respect to the cutting tool. The number of the guide posts is not limited to two, but may be one or a plurality of guide posts as long as they can accurately guide the cutting tool 3 up and down in parallel with the output shaft. is there. The spring is not limited to the above example as long as the spring can be elastically supported so that the copying guide member can move along the axis of the cutting tool.
[0017]
Next, the configuration of the tool holder will be described. In order to expose the cutting tool to the tool holder 4 and to correspond to the burrs formed on the work, a cutout recess as an exposed portion is formed. Various forms can be considered depending on the shape of. Hereinafter, the configuration of various tool holders 4 will be described with reference to FIGS.
The tool holder shown in FIG. 7 is a V-cut tool holder. In the V-cut tool holder, a part of the cutting tool 3 is exposed from a tapered cut portion (exposed portion) 4a forming a copying portion Tg formed on the tool holder. It has become. A chamfer relief portion 4b for shaving burrs is formed at the innermost portion of the tapered cut portion 4a. In this V-cut tool holder, when chamfering a workpiece before chamfering shown in the figure, chamfering is performed while pressing the copying portion Tg of the tool holder so as to abut against the copying reference surface Ws of the workpiece. The chamfered shape is as shown in FIG. At the time of chamfering, the copying portion Tg of the tool holder abuts on the copying reference surface Ws of the workpiece, so that the chamfering depth is controlled. This V-cut tool holder is suitable for chamfering an edge generated after pressing and molding of resin, aluminum, copper, iron, or the like. Next, FIG. 8 shows a slit tool holder. The slit tool holder has an exposed portion of the cutting tool formed continuously over a predetermined length in the axial direction and up to the end, and the exposed portion has a copying portion Tg parallel to the cutting tool axis. Further, a slit-shaped burr escape portion 4b is formed at a predetermined height position from the copying portion Tg to the back. In this slit tool holder, when cutting burrs standing on the side surface of the work as shown in the figure, the burrs are cut with a cutting tool while being inserted into the slit-shaped burrs 4b. At this time, the copying portion Tg of the tool holder hits the copying reference surface Ws of the workpiece from which the burrs have been cut, thereby preventing the cutting tool from cutting the side face of the workpiece more than necessary. This slit holder is suitable for burrs generated after molding of resin, aluminum or the like.
Next, FIG. 9 shows a deep tool holder. The deep tool holder is provided with a cutting tool exposing portion at a distal end portion, and a copying portion Tg is formed in the exposing portion. Further, the copying portion has an escape portion for a slit-shaped burr formed in a chamfered portion of a work. 4b is formed. This deep tool holder is suitable for chamfering a portion having a depth as shown in the figure, and cuts at the end face of the cutting tool while inserting the burr portion into the slit-shaped burr relief portion 4b. At the time of burr cutting, as shown in the figure, the copying portion Tg of the tool holder hits the copying reference surface Ws of the workpiece, thereby preventing the workpiece from being unnecessarily chamfered by the cutting tool. The deep tool holder is suitable for deep chamfering and deburring, and performs cutting at a V-cut portion of a cutting tool with a vertical holder.
FIG. 10 shows an open tool holder. The open tool holder has an opening for exposing the cutting tool which is largely cut obliquely with respect to the traveling direction of the tool holder, and a slit-shaped flash relief 4b is formed at the rear of the opening. In this open tool holder, the copying portion Tg abuts on the copying reference surface Ws of the work while cutting burrs, thereby preventing the side surface of the work from being cut off. This open tool holder is suitable for deburring that occurs after molding of resin, aluminum, or the like.
FIG. 11 shows a tapered tool holder. The tapered tool holder has an opening (exposed portion) for exposing the cutting tool, which is cut obliquely downward and largely. This open tool holder can adjust the chamfer width by changing the height of the cutting tool.
Incidentally, the tool holder shown in FIGS. 7 to 10 follows the undulation by the action of the copying portion Tg or the relief portion 4b formed on the tool holder even if the chamfered portion or the burr is undulated (details will be described later). B) By moving the tool holder up and down, deburring and chamfering can always be performed stably.
It should be noted that the tool holder is not limited to the above shape, but can be changed into various shapes according to burrs. Further, the shape of the burr escape portion 4b is not limited to the tapered shape or the slit shape, but may be another shape.
[0018]
As shown in FIG. 2, the motor 1, the cutting tool 3, the holder fixing member 6, the guide posts 7, 8, the support members 9, 10, the copying guide member (tool holder) 4, and the like, as shown in FIG. Is mounted via a pressing means 31.
[0019]
The pressing unit 31 is a unit that presses the copying guide member 4 against the end of the burr Wb and the workpiece copying reference surface with a predetermined pressure. In this embodiment, the pressing means 31 is capable of moving in the left-right direction in FIG. 2 using air pressure and capable of pressing the guide member 4 on the work surface, and supplies air to the air slide table 32. And air supply means (not shown).
[0020]
Next, a description will be given of a situation in which burrs formed on the work surface by using the slit tool holder shown in FIG. 8 are cut.
First, the tool holding means TH is supported by a six-axis articulated robot so as to be movable along the surface of the work on which the burr Wb exists.
In this embodiment, the work W is a plastic air spoiler blow-molded using a mold 16 as shown in FIG. The burrs Wb are formed around the work, and are undulated up and down as shown in FIG. The work W is deburred by the present apparatus in a manner described later.
[0021]
As shown in FIG. 8, the cutting tool is inserted into the relief portion 4b of the tool holder constituting the copying guide member, and in this state, the tool holding means TH moves along the burrs Wb on the work surface while the direction is adjusted, and the cutting tool burrs. Wb is cut to the set position.
[0022]
At this time, the copying portion Tg of the tool holder 4 is constantly pressed against the workpiece copying reference surface Ws by the pressing means 31, and the upper and lower surfaces of the slit-shaped relief portion 4b and the upper and lower surfaces of the burrs abut on each other. As shown, the tool holder 4 moves up and down with respect to the cutting tool 3 while bending the springs 11 and 12 along the undulations of the burr Wb. That is, when the burrs Wb formed on the work have undulations, the upper and lower surfaces of the slits 4b formed in the tool holder 4 move up and down along the undulations of the burrs Wb while contacting the upper and lower surfaces of the burrs Wb. . Further, since the copying portion Tg of the tool holder 4 is always pressed against the workpiece copying reference surface with a predetermined force by the pressing means 31 (see FIG. 8), even if the burr Wb has undulation, the burr Wb is always accurately cut. be able to. Therefore, the burr Wb can be quickly and accurately removed regardless of its shape and undulation, and even when the thermal contraction amount of the work W is large.
In addition, since the copying portion of the other tool holder is in contact with the copying reference surface of the work, even if there is a undulation in the chamfered portion or the burr, the burr and the chamfer can be surely performed as described above.
[0023]
Next, a second embodiment will be described.
In the above-described embodiment, the chips cut by the cutting tool are scattered around as it is. However, in the second embodiment, the chips are sucked by the suction means to take measures to prevent the chips from scattering.
In FIG. 14, a suction port 17a of a chip suction duct 17 is disposed behind the copying guide member 4 (on the side opposite to the burr Wb) so that chips generated simultaneously with cutting can be sucked. By doing so, the chips are not scattered to the work place, and the work environment can be prevented from deteriorating. Note that the chip suction duct and the suction means can be appropriately configured using known members.
[0024]
Although the automatic deburring apparatus according to the present invention has been described above, a plastic automobile air spoiler is selected as the work W. However, the present invention is not limited to this, and is also used for deburring a metal work, for example. it can.
In addition, it goes without saying that the tool holder, the fixing structure of the tool holder, the pressing means, and the like can adopt another configuration that can achieve the same function at the time of design. Also, the shape of the tool holding means is not limited to the one shown in the drawing, and any shape can be arbitrarily changed at the time of design as long as the same function can be achieved.
Also, the present invention may be embodied in any other form without departing from the spirit or main characteristics of the present invention. Therefore, the above-described embodiment is merely an example in all aspects and should not be interpreted in a limited manner.
[0025]
【The invention's effect】
As described above, according to the present invention, the tool holding means TH on which the cutting tool and the copying guide member are mounted, the pressing means for pressing the copying guide member against the workpiece copying reference surface, and the cutting of burrs on the workpiece surface Since the apparatus includes the attitude control means for adjusting the direction of the tool holding means TH so that the burrs can be formed, the copying guide member moves along the burrs of the work and can constantly cut the burrs. 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. In addition, since the burrs are removed by cutting, generation of cutting chips can be prevented, and adverse effects on the operator can be eliminated.
In particular, even if the burrs have undulations in the vertical direction, since the copying guide member moves up and down with respect to the burrs along the burrs, the burrs can be accurately cut regardless of the burrs. In addition, inconveniences such as cutting the reference surface of the workpiece by the action of the copying portion formed by the tool holder are eliminated. Further, by sucking the chips generated during the burr cutting, it is possible to prevent the workplace environment from deteriorating.
[Brief description of the drawings]
FIG. 1 is a side view of a six-axis articulated robot to which tool holding means (tool holding device) is mounted. .
FIG. 2 is an enlarged side view of a main part in a state where tool holding means is mounted on the robot.
FIG. 3 is a sectional view taken along line AA in FIG. 2;
FIG. 4 is a front view of the tool holding means.
FIG. 5 is a diagram illustrating a positional relationship between a tool holding unit and a work.
FIG. 6 is an explanatory diagram of a cutting tool stored in a tool holder.
FIG. 7 is a side sectional view and an AA sectional view of a V-cut tool holder.
FIG. 8 is a side sectional view and an AA sectional view of the slit tool holder.
FIG. 9 is a sectional side view of the deep tool holder, and a sectional view taken along line AA.
FIG. 10 is a side sectional view and an AA sectional view of the open tool holder.
FIG. 11 is a sectional side view of the tapered tool holder, taken along the line AA.
FIG. 12 is an explanatory diagram of a work having burrs with undulations.
FIG. 13 is an explanatory diagram of a situation in which burrs with undulation are cut.
FIG. 14 is a side view of a main part of an automatic deburring apparatus according to a second embodiment.
[Explanation of symbols]
Reference Signs List 1 Motor 2 Chuck 3 Cutting tool 4 Copying guide member 4b Relief portion 5 Flange 6 Holder fixing member 7, 8 Guide column 9, 10 Support member 11, 12 Vertical spring 17 Suction duct 21 Arm 31 Pressing means 32 Air slide table R 6 axes Articulated robot TH Tool holding means

Claims (2)

Tool holding means movably provided along the surface of the work where the burrs or chamfers are present, a cutting tool rotatively provided on the tool holding means, and a part of the cutting tool into which the cutting tool is inserted. A copying guide member that is exposed and can move along a burr or chamfered portion, pressing means for pressing the copying guide member against a burr or a workpiece copying reference surface near a chamfered portion with a predetermined pressure, and a burr or chamfer formed on the work Attitude control means for adjusting the direction of the tool holding means so as to apply the cutting tool substantially at right angles to the portion, and further, the copying guide member stands on the holder fixing member in parallel with the rotation axis of the cutting tool. And a support member that slidably holds the guide post, and a spring that elastically holds the guide post around the guide post with respect to the support member. Comprising a moving means of the scanning guide member, copying portion of the copying guide member in a state of being pressed to the work copying reference surface of the workpiece, the tool holder is moved along the burr or chamfer orientation adjusted while the workpiece surface An automatic deburring apparatus, wherein the copying guide member moves while following the undulation of the burr or chamfer, and the cutting tool cuts the burr or chamfer to a set position. 2. The automatic deburring apparatus according to claim 1, wherein a suction duct for sucking chips is arranged on the copying guide member.

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