JP3641758B2 - Automatic chamfering device - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a novel chamfering apparatus capable of automatically chamfering an edge of a small accessory member for reinforcement disposed on a structural material such as a box girder or a plate girder.
[0002]
[Prior art]
For example, large structural materials such as box girders and plate girders used for long structures such as bridges are small parts such as plate-like stiffener materials and splice materials for the purpose of improving the strength and rigidity of the structural materials. In general, a large number of (workpieces) are arranged. In this small member, if the edge is at a right angle, there is a danger in handling and there is a problem in strength due to a lack of corners, and the edge must be chamfered. Yes. In addition, structural materials used on the shore are treated with special paint or vinyl paint to prevent salt damage. In this case, the edge of small parts is used to prevent the paint from peeling off. Is required to be rounded with the required roundness. Note that “rounding” is generally also referred to as “R chamfering”, and therefore “chamfering” is used in the present specification to include “rounding”.
[0003]
The chamfering work of the accessory member generally relies on manual work performed by a worker using a grinder or the like. For this reason, the production efficiency cannot be improved, and the metal powder is scattered to handle the grinder. In addition, the number of small parts used in the structural material is extremely large, and chamfering all the small parts has been a drawback that puts labor on the workers. In addition, there are various sizes and shapes of small parts, and the parts that require chamfering processing differ depending on the use parts. In this way, chamfering corresponding to small parts having different conditions for each type. Processing was extremely complicated.
[0004]
Therefore, as one means for dealing with the above problem, a belt sander is inclined with respect to the small member transfer line, and the small piece member is transferred while the edge portion of the small piece member is in contact with the belt sander. It has been proposed to automatically chamfer the edge of the rim. According to this device, it is possible to release workers from heavy work and dangerous work, and to improve production efficiency.
[0005]
[Problems to be solved by the invention]
In the apparatus using the belt sander described above, it is pointed out that the service life of the belt sander is short and the running cost increases. Moreover, it is difficult to chamfer with a belt sander while transferring small parts at high speed, and although the production efficiency is improved as compared with manual work, it is not fully satisfactory. In addition, if there are undulations, bends, etc. in the small parts, or if the corners are formed diagonally, the chamfering work is not carried out at that part, and the chamfering work is performed manually by the operator in the subsequent process. There was a problem that required.
[0006]
Further, since the apparatus performs chamfering of the edge portion along the transfer direction of the accessory member, the chamfering processing of the edge portion in the direction intersecting the transfer direction of the accessory member is also necessary. It is necessary to send it back into the apparatus with the posture changed by 90 degrees in the horizontal direction. That is, there is a problem that the entire circumference of the accessory member cannot be chamfered at a time, and the number of work steps increases, so that the production efficiency cannot be improved.
[0007]
OBJECT OF THE INVENTION
The present invention has been proposed to solve this problem in view of the various problems described above, and automatically chamfers the edge of the entire circumference without changing the posture of the workpiece. It is an object of the present invention to provide an automatic chamfering apparatus that can perform the above.
[0008]
[Means for Solving the Problems]
In order to overcome the aforementioned problems and achieve the intended purpose, the present invention provides:
An automatic chamfering device for chamfering the edge of a workpiece,
A saddle that is positioned above a holding device capable of fixing and holding the workpiece in a horizontal state and is movably arranged vertically and horizontally with respect to a horizontal plane;
A vertical pivot shaft pivotally supported by the saddle;
A spindle head that is arranged to be movable up and down at a position deviated in a radial direction from the axial center of the rotation shaft, and is provided with a vertical spindle that is rotatably driven by a motor; and
A cutting tool disposed on the main shaft so as to be integrally rotatable and capable of cutting an edge portion of a workpiece fixedly held by the holding device;
Disposed in the saddle, Against the saddle A rotating means capable of positioning and rotating the rotating shaft for each required angle;
Free rotation with respect to the rotation axis Movement Freely pivoted , By position fixing means arranged on the saddle Against the saddle Positioning and fixing support member When ,
The pivot member is disposed on the support member and is coupled to the pivot shaft so as to bias the pivot shaft in a required direction with respect to the support member. Support member Against the saddle With positioning fixed The above Pivot axis For support member By swinging and energizing in the required direction, the spindle head is swung The above It comprises an urging means for bringing the cutting tool into contact with the edge of the workpiece,
According to the position of the edge part to be processed of the workpiece , Under the cancellation of the positioning by the position fixing means of the support member, Rotating the rotating shaft by the rotating means, Then, after positioning the support member by the position fixing means, The spindle head is configured to face a position where the cutting tool can be brought into contact with the edge portion by the urging means.
[0009]
【Example】
Next, an automatic chamfering apparatus according to the present invention will be described below with reference to the accompanying drawings by giving a preferred embodiment. An example in which the automatic chamfering apparatus according to the embodiment is incorporated into an automatic chamfering system including a carry-in device, a deburring device, a material detection device, a reversing device, and a carry-out device will be described.
[0010]
(General configuration of automatic chamfering system)
FIG. 1 is a plan view illustrating the entire automatic chamfering system according to the embodiment, and FIG. 2 is a side view illustrating the entire automatic chamfering system according to the embodiment. In the illustrated automatic chamfering system 10, the processing line of the small member 12 is formed by the conveyor 13 configured by arranging the first conveyor 13 </ b> A, the second conveyor 13 </ b> B, the third conveyor 13 </ b> C, and the fourth conveyor 13 </ b> D in series. In addition, a chamfering process section is provided in the line. The system 10 selects the small member 12 placed in the required pattern on the carry-in pallet 11 and transfers it to the first conveyor 13A, and the variability of the small member 12 transferred by the first conveyor 13A. , A material detector 17 for confirming the shape of the accessory member 12 transferred by the second conveyor 13B via the deburring device 15, and a chamfer provided on the downstream side of the material detector 17 An automatic chamfering device 19 disposed in the process section (arrangement region of the third conveyor 13C), a reversing device 20 for reversing the accessory member 12 sent out from the automatic chamfering device 19 by 180 degrees, and a fourth through the reversing device 20 It is basically composed of an unloading device 23 for transferring the accessory member 12 transferred downstream by the conveyor 13D to the unloading pallet 22 in a required pattern. . The conveyor 13 is a roller conveyor, and the first to fourth conveyors 13A, 13B, 13C, and 13D are driven and driven independently.
[0011]
(About the loading device)
Three loading pallets 11 are arranged in parallel at the take-out position of the accessory member 12 adjacent to the first conveyor 13A in the conveyor 13. Small members 12 of various sizes and shapes are placed on each pallet 11 in a required pattern (see FIG. 6), and these small members 12 are appropriately selected by the carry-in device 14 and transferred to the first conveyor 13A. It is configured as follows. That is, a plurality of support columns 24 are provided so as to surround the first conveyor 13A and the three loading pallets 11, and the front and rear support columns 24, 24 aligned in the direction intersecting the material transfer direction of the conveyor 13 are arranged. Cross beams 25 are installed between the upper ends (see FIG. 4). Guide rails 26 are respectively disposed on both lateral girders 25, 25, and as shown in FIG. 3, a carriage 27 is movably mounted between the guide rails 26, 26. A rotating shaft 28 extending in the direction in which the guide rails 26 and 26 are separated from each other is rotatably supported on the carriage 27, and pinions 29 disposed at both ends of the rotating shaft 28 are connected to the corresponding cross beams 25. It is comprised so that it may mesh with the rack 30 arrange | positioned. Further, a drive motor 31 is disposed on the carriage 27, and the rotation shaft 28 is rotated in the forward and reverse directions by the motor 31, so that the carriage 27 is placed above each loading pallet 11 and the first conveyor 13A as shown in FIG. It is designed to move between the top and the bottom.
[0012]
A holding body 33 supported horizontally via a plurality of guide rods 32 is suspended from the carriage 27 so as to be lifted and lowered. The holding body 33 is mounted on the carriage 27 in an inverted state. It is configured to move up and down by forward / reverse biasing. A total of twelve electromagnets 35 in two rows in the width direction (moving direction of the carriage 27) and six rows in the length direction (separating direction of the guide rails 26 and 26) are suspended from the lower surface of the holding body 33. Yes. Each electromagnet 35 is individually ON / OFF controlled in accordance with the size, shape, etc. of the small member 12 placed on the carry-in pallet 11, and is set to magnetically attract only the selected small member 12.
[0013]
A sensor holder 36 is disposed on the holding body 33 so as to extend in the width direction adjacent to the two electromagnets 35, 35 aligned in the width direction, and a material sensor 37 is disposed on the holder 36. Yes. The material sensor 37 activates the corresponding electromagnet 35 when the detection piece 37a disposed on the sensor holder 36 comes into contact with the small member 12 when the cylinder 34 is energized and the holding body 33 is lowered. It is set to make it. Incidentally, in the sensor holder 36 corresponding to the electromagnets 35 and 35 positioned at the reference end (right end in FIG. 3) of the holding body 33, as shown in FIG. Arranged. That is, the width dimension of the small member 12 placed on the carry-in pallet 11 is detected by the five material sensors 37, and the small member 12 is magnetically attracted by using a group of electromagnets aligned in the length direction. It functions to select whether the small member 12 is magnetically attracted by using two rows of electromagnet groups.
[0014]
For example, as shown in FIG. 6A, the carry-in pallet 11 has a first pattern on which one small member 12 is placed, and as shown in FIG. 6B, small items are arranged in two rows in the width direction. There is a second pattern in which the members 12 are placed, and a third pattern in which the accessory members 12 are placed in two rows in the width direction and in the length direction as shown in FIG. 6C. In any case, only the electromagnet 35 corresponding to the selected accessory member 12 is turned ON, and the other accessory members 12 are not magnetically attracted. Note that the order of the accessory members 12 taken out from the carry-in pallet 11 is set in advance by inputting to the control device (not shown).
[0015]
(About deburring equipment)
A deburring device 15 is disposed between the first conveyor 13A and the second conveyor 13B to remove burrs generated when a hole is made in the small member 12 or when it is cut. As shown in FIG. 2, the deburring device 15 is configured by arranging two conventionally known belt sanders 38 in series in the material transfer direction. While the burr is removed, the burr on the upper surface side of the accessory member 12 is removed by the belt sander 38 on the downstream side. In addition, when removing the burr | flash of the accessory member 12 with each belt sander 38, this member 12 is pressed by the air pressure toward the belt sander 38 side.
[0016]
(About material detection equipment)
A material detection device 17 for confirming the shape of the accessory member 12 from which burrs are removed is disposed on the downstream side of the second conveyor 13B. The material detection device 17 is set to read the state in which the small member 12 transferred by the second conveyor 13B is irradiated with laser light with a CCD camera and to input it to the control device. Then, the small member 12 is image-processed three-dimensionally by the control device so that the shape of the member 12 is accurately confirmed, and the automatic chamfering device 19 disposed in the chamfering process unit is controlled based on the detection result. It is configured to
[0017]
An ink jet printer 39 is disposed on the upstream side of the material detection device 17 so that an index erased when the burrs are removed by the deburring device 15 can be newly printed. The ink jet printer 39 is not an essential requirement, and the printer 39 can be omitted.
[0018]
(About positioning device)
The chamfering process section provided in the processing line is a first positioning device for positioning the small member 12 which is transferred from the second conveyor 13B to the third conveyor 13C and transferred to a predetermined position by the conveyor 13C at a fixed position. 40 and a second positioning device 41 are disposed.
[0019]
As shown in FIG. 7, the first positioning device 40 includes a restriction plate 42 disposed on one side frame 16 of the third conveyor 13C, and a pusher 43 facing the restriction plate 42 with the third conveyor 13C interposed therebetween. Consists of The pusher 43 is a pair of bases 44 arranged on the outside of the other side frame 16 of the third conveyor 13 </ b> C and spaced apart in the material transfer direction so that the upper part of the third conveyor 13 </ b> C can move forward and backward toward the restriction plate 42. Guide rods 45, 45, and a presser plate 46 is disposed at the tip of both guide rods 45, 45 that faces the regulating plate 42. A cylinder 47 is disposed between the guide rods 45, 45 in the base 44 in parallel with the rod 45, and the piston rod is connected to the presser plate 46. Then, by pressing the cylinder 47, the presser plate 46 retracted from the upper side of the third conveyor 13C to the side is brought close to the regulating plate 42, and the side surface of the small member 12 positioned on the conveyor 13C. Is placed in contact with the regulating plate 42 to perform positioning in the width direction. The cylinder 47 is reversely biased when appropriate detecting means (not shown) detects that the small member 12 has come into contact with the regulating plate 42, and the presser plate 46 is retracted from above the third conveyor 13C. It is set to do.
[0020]
As shown in FIG. 8, the second positioning device 41 includes a stopper 48 disposed on the downstream side of the third conveyor 13C and a pushing device 49 disposed on the upper side of the third conveyor 13C. The stopper 48 is connected to a piston rod directed upward of a cylinder 50 disposed vertically below the third conveyor 13C, and is configured to be able to protrude and retract between adjacent rollers in the conveyor 13C by forward / reverse biasing of the cylinder 50. Has been.
[0021]
A plurality of struts 51 are erected on both sides in the width direction across the third conveyor 13C so as to be spaced apart from each other in the material transfer direction. Inside the plurality of struts 51 aligned in the transfer direction, Parallel first guide rails 52 are disposed to extend a required length in the material transfer direction. A carriage 53 is movably mounted between a pair of first guide rails 52, 52 facing each other across the third conveyor 13C. As shown in FIG. 7, the carriage 53 is configured such that a pinion 55 rotated by a forward / reverse drive motor 54 disposed on the carriage 53 is engaged with a rack 56 disposed on one first guide rail 52. Yes. Therefore, the carriage 53 reciprocates along the first guide rails 52 and 52 by driving the drive motor 54 forward and backward.
[0022]
As shown in FIG. 7, a support member 58 is disposed under the carriage 53 at a position biased toward the arrangement side of the restriction plate 42 via a pair of brackets 57, 57. A cylinder 59 parallel to the material transfer direction is disposed on the upper side. A claw member 61 is disposed on a shaft 60 pivotally supported by the support member 58 so as to be integrally rotatable, and a lever 62 is disposed on the shaft 60. A piston rod 59a of the cylinder 59 is connected to the protruding end of the lever 62, and the claw member 61 is rotated between the operating position and the retracted position by urging the cylinder 59 forward and backward. . The claw member 61 can come into contact with the rear end of the small member 12 facing the third conveyor 13C by facing the operating position, and the small member 12 facing the third conveyor 13C by facing the retracted position. Is set so as not to interfere with. That is, the stopper 48 is protruded above the third conveyor 13C, and the carriage 53 is moved toward the downstream side in the material transfer direction with the claw member 61 facing the operating position. The front end of the small member 12 can be brought into contact with the stopper 48 to perform positioning in the length direction. The pushing device 49 moves the claw member 61 to the retracted position and detects the carriage 53 automatically chamfering device when appropriate detecting means (not shown) detects that the accessory member 12 has come into contact with the stopper 48. 19 is set to move upstream to a position where it does not interfere with 19.
[0023]
(About the holding device)
Below the third conveyor 13C, the accessory member 12 positioned at a fixed position by the first positioning device 40 and the second positioning device 41 is immobilized and held in a state where the automatic chamfering device 19 can perform chamfering. A holding device 121 is provided. That is, a pair of link mechanisms 64 disposed between the third conveyor 13C and the fixed table 63 disposed below the conveyor 13C, spaced apart in the material transfer direction of the table 63, as shown in FIG. A movable table 65 is supported via 64 by being movable up and down while maintaining a horizontal posture. The pair of link mechanisms 64, 64 are connected to a cylinder 66 disposed on the fixed table 63, and are configured to operate synchronously by urging the cylinder 66 forward and backward. Accordingly, by energizing the cylinder 66 and operating the link mechanisms 64 and 64, the movable table 65 moves up and down while maintaining the horizontal posture. On the upper surface of the movable table 65, electromagnets 67 are erected at positions corresponding to the respective rollers of the third conveyor 13C. By moving the movable table 65 up and down, the electromagnets 67 face the lower side of the conveyor 13C. It is positioned at the retracted position and a fixed position protruding above the conveyor 13C. Then, by positioning the electromagnet 67 at a fixed position, the small-sized member 12 is lifted upward from the third conveyor 13C and is held in an immobile manner by immobilizing it.
[0024]
(About automatic chamfering equipment)
A beam member 68 is installed between the upper ends of the plurality of columns 51 on which the first guide rail 52 is disposed, and a second guide rail 69 is disposed on the upper surface of the beam member 68 in parallel with the material transfer direction. . A girder 70 is movably mounted between the second guide rails 69 and 69 facing each other across the third conveyor 13C, and a pinion 72 rotated by a motor 71 disposed on the girder 70 is connected to one girder. It meshes with a rack 73 disposed on the material 68. Therefore, by driving the motor 71 forward and backward, the girder 70 reciprocates along the second guide rails 69 and 69.
[0025]
As shown in FIG. 7, a pair of guide rails 73, 73 are arranged in parallel along the longitudinal direction of the girder 70 on the rear surface of the girder 70 facing the upstream side in the material transfer direction. A saddle 74 is movably disposed on the guide rails 73 and 73. A screw shaft 75 is rotatably disposed in parallel between the guide rails 73, 73 on the rear surface of the girder 70, and the screw shaft 75 is rotated by a motor 76 that can be rotated forward and backward. It is designed to rotate. The screw shaft 75 is screwed into a nut 77 disposed and fixed to the saddle 74. Therefore, the saddle 74 reciprocates along the guide rails 73 and 73 by rotating the screw shaft 75 in the forward and reverse directions by the motor 76. Moving. That is, the saddle 74 is configured to be movable in the length direction (vertical direction) and the width direction (horizontal direction) with respect to the horizontal upper surface of the accessory member 12 immobilized and held by the holding device 121.
[0026]
As shown in FIG. 8, a pivot shaft 78 extending vertically is rotatably supported on the saddle 74. As shown in FIG. 9, a guide surface 79 extending in the vertical direction is formed on the lower portion of the rotating shaft 78 that hangs down from the saddle 74, and the spindle head 80 is slidably disposed on the guide surface 79. ing. Further, the spindle head 80 includes a spindle 81 extending in the vertical direction so as to be rotatable, and a cutting tool 82 is detachably attached to an end portion of the spindle 81 protruding downward from the spindle head 80. Furthermore, a support plate 83 is disposed at a position facing the upper portion of the spindle head 80 on the rotation shaft 78, and a motor 84 connected to the main shaft 81 is disposed on the support plate 83. A hydraulic cylinder 85 is disposed upside down on the support plate 83, and its piston rod 85 a is connected to the spindle head 80. Therefore, by urging the hydraulic cylinder 85 in the forward and reverse directions, the spindle head 80 reciprocates in the vertical direction along the guide surface 79. A copying roller 87 is disposed on the spindle head 80 via a bracket 86, and the copying roller 87 is formed on the upper surface (front surface or back surface) of the accessory member 12 when the spindle head 80 is biased downward by the hydraulic cylinder 85. It comes to contact. The hydraulic cylinder 85 is hydraulically controlled so that the copying roller 87 is always brought into contact with the upper surface of the small member 12 at a required pressure when the small tool 12 is chamfered by the cutting tool 82. The lower end portion of the copying roller 87 is positioned so as to substantially coincide with the cutting portion of the cutting tool 82 attached to the main shaft 81.
[0027]
As shown in FIG. 9, a plurality of cutting tips 88 are arranged and fixed at a predetermined interval in the circumferential direction on the outer periphery of the lower portion of the main body 82 a of the cutting tool 82 provided on the main shaft 81. The upper edge of the chamfer is chamfered. It should be noted that by changing the shape of the cutting tip 88, the edge portion of the accessory member 12 can be selectively chamfered or rounded. A support shaft 89 is inserted into and supported by the tool body 82a through a through hole 82b formed along the axis thereof so as to freely rotate. A copying roller 90 is disposed on an end portion of the support shaft 89 protruding downward from the tool body 82a so as to be integrally rotatable, and an outer peripheral end of the copying roller 90 is set to substantially coincide with a cutting portion of the cutting tip 88. ing. The copying roller 90 is set so as to contact the side surface of the accessory member 12 when the spindle head 80 is urged in the direction approaching the accessory member 12.
[0028]
A support plate 91 is disposed on an upper portion of the rotation shaft 78 protruding upward from the saddle 74 so as to be rotatable with respect to the rotation shaft 78, and a cylinder 92 is horizontally swingable on the support plate 91. It is arranged. The piston rod 92a of the cylinder 92 is connected to an end portion of a lever 93 that is rotatably fixed integrally to the shaft end of the rotation shaft 78 and extends in the radial direction. The support plate 91 is positioned so as to be immovable by a positioning pin 94 disposed on the saddle 74 at a position that is horizontally displaced by 90 degrees with respect to the saddle 74. Accordingly, if the cylinder 92 is biased forward and backward with the support plate 91 positioned, the rotation shaft 78 rotates with respect to the support plate 91. Here, since the spindle head 80 is offset in the radial direction from the axis of the rotating shaft 78, the spindle head 80 is centered on the axis of the rotating shaft 78 as the rotating shaft 78 rotates. By swinging, the cutting tool 82 is brought into contact with the edge of the accessory member 12. The cutting tool 82 is set so as to always come into contact with the end edge portion of the accessory member 12 at a required pressure by urging the piston rod 92a of the cylinder 92 in the extending direction. Further, when the small member 12 is chamfered by the cutting tool 82, the cylinder 92 is biased and controlled so that the copying roller 90 is always brought into contact with the side surface of the small member 12 with a required pressure.
[0029]
Since the urging direction of the cutting tool 82 by the cylinder 92 is one direction, only the edge of one of the four sides of the accessory member 12 can be chamfered in the same posture. Therefore, the automatic chamfering apparatus 19 according to the embodiment is configured to be able to perform chamfering on the entire periphery of the accessory member 12 by rotationally displacing the spindle head 80 and the cylinder 92 in units of 90 degrees (FIG. 10). reference). That is, a motor 95 is disposed on the saddle 74, and a spur gear 96 that is rotationally driven by the motor 95 meshes with a spur gear 97 that is disposed and fixed so as to rotate integrally with the rotating shaft 78. . The motor 95 is rotationally controlled to rotate the rotation shaft 78 in units of 90 degrees, and as shown in FIG. 10, the cylinder 92 and the spindle head 80 are positioned at positions corresponding to the edge of each side of the accessory member 12. To come. The positioning pin 94 disposed on the saddle 74 is configured to move between a fixed position and a release position by the urging of the cylinder 98. When the rotating shaft 78 is rotated by the motor 95, the positioning pin 94 is moved. The positioning of the support plate 91 is canceled to allow the support plate 91 to rotate integrally with the rotation shaft 78. Further, when the cutting tool 82 is urged by the cylinder 92 and abuts against the edge of the accessory member 12, the rotation shaft 78 is allowed to rotate while the spur gears 96 and 97 are engaged with each other. It is configured to
[0030]
(About reversing device)
As shown in FIG. 1, between the third conveyor 13 </ b> C and the fourth conveyor 13 </ b> D, the top and bottom of the accessory member 12 whose surface side edge is chamfered by the automatic chamfering device 19 is inverted, A reversing device 20 is arranged with the back side facing up. As shown in FIGS. 11 and 12, the reversing device 20 includes a pair of rotating rings 99 and 99 that are spaced apart from each other in the material transfer direction and are rotatable, and the first reversing conveyor 100 is interposed between the rings 99 and 99. And the second reversing conveyor 101 are arranged so as to be horizontally opposed to each other with a predetermined gap therebetween. Each of the reversing conveyors 100 and 101 is independently driven and driven toward the upstream side or the downstream side in the material transfer direction by the attached forward and reverse motors 102 and 103. The first reversing conveyor 100 and the second reversing conveyor 101 transfer the conveyors 100 and 101 facing downward when the rotating rings 99 and 99 are rotated 180 degrees around the axis line along the transfer direction of the accessory member 12. The surface is set to face the same level as the material transfer level of the third conveyor 13C and the fourth conveyor 13D.
[0031]
The rotating ring 99 includes flanges 99a and 99a extending radially outward at both ends in the axial direction, and an outer peripheral surface facing between the flanges 99a and 99a intersects the material transport direction with the ring 99 interposed therebetween. It is slidably supported by guide rollers 104, 104 rotatably arranged on both sides. Further, guide rollers 104, 104 disposed on one side of both rotating rings 99, 99 are disposed on a common drive shaft 105 so as to be rotatable integrally with each other. It is connected to. A chain 107 is wound around the outer periphery of one flange 99a of each rotating ring 99, and a sprocket 108 that engages with the chain 107 is disposed at a position corresponding to each chain 107 of the drive shaft 105 so as to be integrally rotatable. Is done. Therefore, when the drive shaft 105 is rotated forward and backward by the motor 106, both the rotating rings 99 and 99 are rotated under the engaging action of the sprocket 108 and the chain 107. As shown in FIG. 13, the motor 106 rotates the rotating rings 99, 99 180 degrees counterclockwise from the state in which the first reversing conveyor 100 faces downward and the second reversing conveyor 101 faces upward. The conveyor 101 is moved downward, and the rotating ring 99, 99 is rotated 180 degrees clockwise from this state so that the first reversing conveyor 100 faces again downward.
[0032]
As shown in FIG. 13, the first reversing conveyor 100 is slidably disposed with respect to a frame member 109 disposed inside both rotary rings 99 and 99, and a cylinder 110 disposed on the rings 99 and 99. It is comprised so that it may move to approach and separate with respect to the 2nd inversion conveyor 101 which opposes. When the small member 12 enters between the two reversing conveyors 100 and 101, the small member 12 is placed between the two conveyors 100 and 101 by bringing the first reversing conveyor 100 close to the second reversing conveyor 101. In this state, the small rings 12 are reversed by rotating the rotating rings 99 and 99.
[0033]
As shown in FIG. 13, the cylinder 112 is disposed upside down on the frame 111 surrounding each of the rotating rings 99, and the piston rod 112 a of the cylinder 112 is moved up and down on the frame 111 via the guide rods 113 and 113. The brake shoe 114 is freely connected (see FIG. 14). That is, the cylinder 112 is energized to extend the piston rod 112 a, so that the brake shoe 114 abuts on the outer peripheral surface of the rotating ring 99 and applies braking to the ring 99. In FIG. 13, reference numeral 115 denotes a driven roller that guides the rotation by holding the rotating ring 99 from both sides in the axial direction.
[0034]
(About the unloading device)
Three unloading pallets 22 are arranged in parallel at the loading position of the small member 12 adjacent to the fourth conveyor 13D in the processing line, and the small member 12 transferred to the fourth conveyor 13D is moved by the unloading device 23. It is configured to be transferred to the unloading pallet 22 in a required pattern. In addition, since the structure of the carrying-out apparatus 23 is the same as that of the carrying-in apparatus 14 mentioned above, the same code | symbol is attached | subjected to the same member and the detailed description is abbreviate | omitted.
[0035]
[Effect of the embodiment]
Next, the operation of the automatic chamfering apparatus according to the embodiment configured as described above will be described together with the entire operation of the automatic chamfering system incorporating the same.
[0036]
Prior to the chamfering of the accessory member 12, the accessory members 12 of various sizes and shapes are placed on the three carry-in pallets 11 as shown in FIG. Note that a plurality of small members 12 having the same size and shape are stacked. Further, the operator inputs the following information (1) to (4), for example, through an operation panel (not shown) connected to the control device. (1) As the accessory member 12, there are a splice material that requires chamfering of the edge portions on both the front and back sides, and a stiffener material that chamfers only the edge portion on the front side, so the type of the material is designated. . (2) Also, the placement pattern of the accessory members 12 placed on the carry-in pallet 11 and the position of each pallet 11 are designated. {Circle around (3)} Also, the loading pattern of the small member 12 that has been chamfered to the carry-out pallet 22 is designated. (4) Further, processing order data is designated.
[0037]
When the system 10 is started, the drive motor 31 of the carry-in device 14 is driven based on the information input to the control device, and the carriage 27 is moved above the designated carry-in pallet 11. Next, the cylinder 34 disposed on the carriage 27 is energized, the electromagnet 35 is lowered together with the holding body 33, and the detection is disposed at a position corresponding to the electromagnets 35, 35 in each row (aligned in the width direction). Only the electromagnet 35 at the position where the piece 37a is in contact with the accessory member 12 is turned on. Thereby, only the target small member 12 is magnetically attracted to the electromagnet 35. In a state where the cylinder 34 is reversely urged to lift the accessory member 12, the drive motor 31 is driven to move the carriage 27 above the first conveyor 13 </ b> A. Then, after the cylinder 34 is energized again and the small member 12 is placed on the first conveyor 13A, the electromagnet 35 is turned off, so that the small member 12 is transferred to the first conveyor 13A.
[0038]
The accessory member 12 transferred to the downstream side by the first conveyor 13A passes through the two belt sanders 38 in the deburring device 15, thereby removing burrs on the front surface (upper surface) and the rear surface (lower surface). . The accessory member 12 that passes through the deburring device 15 and is transferred downstream by the second conveyor 13B is printed by the ink jet printer 39 as necessary, and the shape is confirmed by the material detection device 17. Is done. Then, on the basis of the shape of the accessory member 12 confirmed by the material detection device 17, the operation of the downstream automatic chamfering device 19 is controlled.
[0039]
When the small member 12 delivered from the second conveyor 13B to the third conveyor 13C arrives between the regulating plate 42 and the pusher 43 in the first positioning device 40, the third conveyor 13C is controlled to stop. . Next, the cylinder 47 of the pusher 43 is urged in the direction in which the piston rod extends, and the small plate 12 on the third conveyor 13C is pushed by the press plate 46 by bringing the press plate 46 close to the regulating plate 42. Is pressed against the restricting plate 59. Thereby, positioning of the accessory member 12 in the width direction is performed. Further, when the cylinder 47 of the pusher 43 is reversely urged to retract the presser plate 46 from above the third conveyor 13C, the stopper 48 of the second positioning device 41 shown in FIG. Projecting above the third conveyor 13C. Next, the cylinder 59 of the pushing device 49 is energized so that the claw member 61 facing the retracted position is brought into contact with the rear end of the accessory member 12 by facing the operating position. Further, the drive motor 54 disposed on the carriage 53 is driven to move the carriage 53 toward the downstream side in the material transfer direction, whereby the accessory member 12 on the third conveyor 13C is pushed by the claw member 61 and The front end is brought into contact with the stopper 48. Thereby, positioning of the accessory member 12 in the length direction is performed. When the positioning of the accessory member 12 is completed, the pushing device 49 moves the claw member 61 to the retracted position and then moves upstream to a position where it does not interfere with the automatic chamfering device 19.
[0040]
When the accessory member 12 is positioned on the third conveyor 13 </ b> C, the cylinder 66 of the holding device 121 is biased, and the movable table 65 moves upward through the pair of link mechanisms 64 and 64. As the movable table 65 rises, a plurality of electromagnets 67 projecting from the upper surface of the table 65 move from a retracted position facing below the conveyor 13C to a fixed position protruding above the conveyor 13C, and on the third conveyor 13C. Then, the small member 12 is lifted upward (see FIG. 8). Further, the electromagnet 67 is excited, and the accessory member 12 is held in an immobilized state in which a plurality of electromagnets 67 are magnetically attracted.
[0041]
The automatic chamfering device 19 is positioned above one corner A on the downstream side of the accessory member 12 shown in FIG. In the apparatus 19, the hydraulic cylinder 85 is urged to lower the spindle head 80 along the guide surface 79 of the rotating shaft 78 while the cutting tool 82 disposed on the spindle 81 is rotationally driven by the motor 84. As a result, the copying roller 87 contacts the surface of the accessory member 12 as shown in FIG. Further, by energizing the cylinder 92 disposed on the support plate 91, the spindle head 80 disposed on the rotation shaft 78 is swung in a direction in contact with one side 12 a in the width direction of the accessory member 12. The As a result, the copying roller 90 disposed on the cutting tool 82 is brought into contact with the side 12a, and the cutting tip 88 of the cutting tool 82 is brought into contact with the edge portion on the surface side.
[0042]
In this state, the motor 71 disposed on the girder 70 is driven, and the girder 70 moves upstream along the second guide rails 69 and 69, so that the edge of the accessory member 12 on the surface side of the side 12 a is reached. The edge is cut by the cutting tool 82 and chamfered. Since the hydraulic cylinder 85 and the cylinder 92 are controlled so that the copying roller 87 and the copying roller 90 are always in contact with the surface and side surfaces of the small member 12, the small member 12 may be deformed by a wave or bend. Even if there exists, the cutting tool 82 can move according to the displacement of a deformation | transformation location, and can perform a reliable chamfering process.
[0043]
When the cutting tool 82 reaches one corner B on the upstream side of the accessory member 12, the girder 70 is stopped and the bias of the cylinder 92 is released. Further, the positioning pin 94 disposed on the saddle 74 is actuated by the cylinder 98 to release the positioning of the support plate 91. Next, the motor 95 disposed on the saddle 74 is driven to rotate the rotation shaft 78 by 90 degrees, so that the cutting tool 82 is biased by the cylinder 92 and the end of the upstream side 12b of the accessory member 12 is thereby moved. Make a posture that can contact the edge. Then, after the support plate 91 is positioned in the immobilization state by the positioning pin 94, the copying roller 90 provided in the cutting tool 82 is moved to the side 12b by urging the cylinder 92 provided in the support plate 91. At the same time, the cutting tip 88 of the cutting tool 82 comes into contact with the edge portion on the surface side. In this state, the motor 76 disposed on the girder 70 is driven, and the saddle 74 is moved along the guide rails 73 and 73 of the girder 70 toward the corner C of the small member 12, whereby the small member 12. The edge portion on the surface side of the side 12b is cut by the cutting tool 82 to be chamfered.
[0044]
When the cutting tool 82 reaches the corner C of the accessory member 12 due to the movement of the saddle 74, the saddle 74 is stopped and then the rotating shaft 78 is rotated 90 degrees as described above, and the spindle head 80 is displaced to a posture in which the side 12c of the small member 12 can be chamfered. Then, by moving the girder 70 downstream, the cutting tool 82 chamfers the edge of the side 12c of the accessory member 12, and after the cutting tool 82 arrives at the corner portion D, the rotating shaft 78 is again formed. Is rotated 90 degrees to displace the spindle head 80 in a posture in which the side 12d of the accessory member 12 can be chamfered. In this state, the saddle 74 is moved toward the corner portion A along the girder 70, whereby the chamfering process is performed on the edge portion on the surface side of the side 12d of the accessory member 12.
[0045]
In this way, each time the chamfering of each side 12a, 12b, 12c, 12d of the small member 12 is performed, the small automatic member 19 can be used for the small member 12 only by rotating the rotation shaft 78 by 90 degrees. Chamfering can be performed on the entire circumference. The automatic chamfering device 19 is controlled by the data of the shape of the accessory member 12 confirmed by the material detecting device 17, so that it is possible to accurately chamfer four sides. Further, depending on the type of the accessory member 12, it is also possible to perform processing by skipping sides that do not need to be chamfered.
[0046]
When the chamfering process on the surface side of the accessory member 12 is completed by the automatic chamfering device 19, the movable table 65 of the holding device 121 is lowered to place the accessory member 12 on the third conveyor 13C. The stopper 48 of the second positioning device 41 is lowered below the third conveyor 13 </ b> C when the accessory member 12 is immobilized and held by the holding device 121. Accordingly, by driving the third conveyor 13 </ b> C, the accessory member 12 is transferred to the downstream side and is supplied between the reversing conveyors 100 and 101 in the reversing device 20. In the reversing device 20, as shown in FIG. 13, the first reversing conveyor 100 is located on the lower side, and its transfer surface faces the same level as the material transfer level of the third conveyor 13C and the fourth conveyor 13D. It shall be.
[0047]
When appropriate detecting means (not shown) detects that the small member 12 is supplied between the two reversing conveyors 100 and 101, the first reversing conveyor 100 located below is second reversed by the cylinder 110. The small object 12 is sandwiched between the conveyors 100 and 101 by approaching the conveyor 101. Next, the motor 106 is driven, and the rotating rings 99 and 99 rotate while being guided by the plurality of guide rollers 104 and the driven rollers 115 under the engagement action of the sprockets 108 and 108 and the chains 107 and 107. . Then, when the second reversing conveyor 101 arrives at the lower side, the rotation of the rotating rings 99, 99 is stopped, whereby the accessory member 12 is reversed so that the back surface thereof faces the upper side. When the rotating rings 99 and 99 are rotated by 180 degrees, the brake shoe 114 is brought into contact with each ring 99 by the cylinder 112 disposed on the frame body 111 and braking is applied.
[0048]
After the cylinder 110 is reversely biased to separate the first reversing conveyor 100 from the second reversing conveyor 101, the second reversing conveyor 101 is driven to run in the direction opposite to the material transfer direction and placed on the conveyor 101. The small member 12 is transferred again to the chamfering process section. Then, in the chamfering process portion, the small member 12 is positioned, fixedly held, and chamfered on the edge portion on the back surface side of the small member 12 in the same order as described above. When the accessory member 12 whose front and back chamfering has been completed is sent downstream from the chamfering process section, the second reversing conveyor 101 of the reversing device 20 is driven to travel in the material transfer direction, and the accessory member 12 is moved to the fourth portion. Delivered to the conveyor 13D.
[0049]
When appropriate detecting means (not shown) detects that the small article 12 transferred by the fourth conveyor 13D has arrived at the required take-out position, the conveyor 13D is controlled to stop. Next, the unloading device 23 is moved above the fourth conveyor 13D, and the small member 12 on the fourth conveyor 13D is magnetically adsorbed by the device 23, and this is set in advance for unloading. Transfer to the pallet 22.
[0050]
In addition, when chamfering only the edge part on the surface side of the accessory member 12 is performed, when the accessory member 12 is sent out from the chamfering process portion to the reversing device 20, the first located on the lower side of the device 20. The reversing conveyor 100 is driven to move in the material transfer direction, and the accessory member 12 is transferred to the fourth conveyor 13D without being sent back to the chamfering process section. The accessory member 12 is transferred to the unloading pallet 22 through the unloading device 23 in a required pattern.
[0051]
【The invention's effect】
As described above, according to the automatic chamfering apparatus according to the present invention, the position of the workpiece can be moved because the position of the cutting tool can be moved in accordance with the position of the edge portion where the workpiece is chamfered. Without changing, the edge of the entire circumference of the workpiece can be chamfered in a short time. That is, chamfering of the entire periphery of the workpiece can be performed fully automatically, and production efficiency can be dramatically improved. Further, since the workpiece is chamfered by a cutting tool, the production efficiency can be greatly improved at high speed. Furthermore, since the life of the cutting tool is longer than that of the belt sander, it is possible to keep the running cost low.
[Brief description of the drawings]
FIG. 1 is a schematic plan view of an automatic chamfering system incorporating an automatic chamfering apparatus according to an embodiment.
FIG. 2 is a schematic side view of the automatic chamfering system according to the embodiment.
FIG. 3 is a side view of the carry-in device.
FIG. 4 is a front view of the carry-in device.
FIG. 5 is a cross-sectional view of a main part showing an arrangement portion of a material sensor in a carry-in device.
FIG. 6 is an explanatory diagram showing a pattern of accessory members placed on a carry-in pallet.
FIG. 7 is a rear view showing a positioning device, a holding device, and an automatic chamfering device disposed in a chamfering process section.
FIG. 8 is a partially cutaway side view showing a positioning device, a holding device, and an automatic chamfering device disposed in a chamfering process section.
FIG. 9 is a side view of an essential part showing a part of a section of a spindle head in an automatic chamfering apparatus.
FIG. 10 is an operation explanatory diagram when chamfering four sides of the accessory member by the automatic chamfering device.
FIG. 11 is a plan view of the reversing device.
FIG. 12 is a side view of the reversing device.
FIG. 13 is a rear view showing the inverting device with a part cut away.
FIG. 14 is a side view of a main part of the reversing device with a part cut away.
[Explanation of symbols]
12 Small parts
74 saddles
78 Rotating shaft
80 Spindle head
81 spindle
82 Cutting tool
84 Motor
91 Support plate
92 cylinders
94 Positioning pin
121 Holding device

Claims (1)

An automatic chamfering device for chamfering the edge of the workpiece (12),
A saddle (74) positioned above a holding device (121) capable of fixing and holding the workpiece (12) in a horizontal state and movably vertically and horizontally with respect to a horizontal plane;
A vertical pivot shaft (78) pivotably supported by the saddle (74);
A main shaft head provided with a vertical main shaft (81) rotatably disposed at a position displaced in the radial direction from the axial center of the rotating shaft (78) and rotatably driven by a motor (84). (80),
A cutting tool (82) disposed on the main shaft (81) so as to be integrally rotatable and capable of cutting an edge of the workpiece (12) fixed and held by the holding device (121);
Rotating means (95) disposed on the saddle (74) and capable of positioning and rotating the rotating shaft (78) for each required angle with respect to the saddle (74) ;
Wherein the free rotating freely pivoted relative to the pivot shaft (78), a support member which is positioned and fixed relative to the saddle (74) by the saddle disposed position fixing means (74) (94) (91 ) And
While being disposed on said support member (91), coupled to the pivot shaft (78) so as to be pivotally urged in the desired direction the pivot axis (78) relative to the support member (91) , rotating said support member (91) by said position fixing means (94) in a state of being positioned and fixed relative to the saddle (74), in a required direction the pivot shaft (78) with respect to the support member (91) by swinging the spindle head (80) by biasing, become the cutting tool (82) from the biasing means into contact with the edge of the workpiece (12) (92),
According to the position of the edge of the workpiece (12) to be machined , the rotation of the support member (91) by the position fixing means (94) is released by the turning means (95). by rotating the shaft (78), then after positioning by the position fixing means a support member (91) (94), is brought into contact with the edge of the cutting tool (82) by said biasing means (92) An automatic chamfering device characterized in that the spindle head (80) faces the position to be obtained.

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