JPH01149254U

JPH01149254U -

Info

Publication number: JPH01149254U
Application number: JP4684888U
Authority: JP
Priority date: 1988-04-08
Filing date: 1988-04-08
Publication date: 1989-10-16

Description

[Brief explanation of the drawing]

第１図は本考案の一実施例に係るバリ除去装置
の全体を示す模式図、第２図はバリ除去グライン
ダを一部破断して示す側面図、第３図は第２図の
正面図、第４図は砥石摩耗補正装置を示す側面図
、第５図は砥石摩耗補正装置の補正過程を示す模
式図、第６図は砥石の摩耗補正および更新手順を
示す流れ図、第７図はアツプセツト管のバリ発生
状態を示す模式図である。１１……管、１３Ａ……バリ、４０……バリ除
去ロボツト、４１……バリ除去グラインダ、４２
……倣い爪、４３……回転砥石、４０Ｂ……可動
アーム、４４……固定フレーム、４５……倣いフ
レーム、４６……砥石フレーム、４７……クラン
プ装置、４８……イコライズ装置、６０……砥石
摩耗補正装置、６１……基準ブロツク、６２……
検出子、６３……検出センサ、８０……砥石更新
装置、８１……チヤツク装置、８２……位置決め
孔、８２Ａ……作動エア供給通路、８３……案内
ピン、８４……インロウ係合部、８５……弾発部
材、８６……エアシリンダ装置、８７……チヤツ
ク爪。 FIG. 1 is a schematic diagram showing the entirety of a burr removal device according to an embodiment of the present invention, FIG. 2 is a partially cutaway side view of a burr removal grinder, and FIG. 3 is a front view of FIG. 2. Fig. 4 is a side view showing the grinding wheel wear correction device, Fig. 5 is a schematic diagram showing the correction process of the grinding wheel wear correction device, Fig. 6 is a flowchart showing the grinding wheel wear correction and update procedure, and Fig. 7 is the setup pipe. FIG. 3 is a schematic diagram showing a state in which burrs are generated. 11...Pipe, 13A...Burr, 40...Burr removal robot, 41...Burr removal grinder, 42
... Copying claw, 43 ... Rotary grindstone, 40B ... Movable arm, 44 ... Fixed frame, 45 ... Copying frame, 46 ... Grinding wheel frame, 47 ... Clamping device, 48 ... Equalizing device, 60 ... Grinding wheel wear correction device, 61...Reference block, 62...
Detector, 63... Detection sensor, 80... Grinding wheel renewal device, 81... Chuck device, 82... Positioning hole, 82A... Working air supply passage, 83... Guide pin, 84... Pilot engagement part, 85... Resilient member, 86... Air cylinder device, 87... Chuck claw.

Claims

[Scope of Claim for Utility Model Registration] (1) A burr removal robot equipped with a burr removal grinder that uses a rotating grindstone to remove burrs from a workpiece while following the shape of the workpiece's base material, and a grindstone for the burr removal grinder. A burr removal device comprising: a grindstone wear correction device that corrects the amount of wear; and a grindstone renewal device that replaces the burr removal grinder. (2) The burr removal grinder included in the burr removal robot includes a fixed frame fixed to a movable arm of the robot, and a copying frame that supports a grindstone and is movably coupled to the fixed frame in the cutting direction of the grindstone. , a copying claw that is provided on the copying frame and follows the shape of the base material of the workpiece, and an equalization device that is interposed between the fixed frame and the copying frame and presses the copying frame against the fixed frame in the cutting direction of the grindstone. The burr removing device according to claim 1, comprising: (3) ○a The burr removal grinder included in the burr removal robot is connected to a fixed frame so as to be movable in the cutting direction of the grindstone, and has a tracing claw that follows the shape of the base material of the workpiece. a copying frame, a grinding wheel frame configured to be slidable in the grinding wheel wear direction relative to the copying frame, and having a grinding wheel; and a clamp interposed between the copying frame and the grinding wheel frame to clamp the grinding wheel frame to the copying frame. The ○b grinding wheel wear correction device includes a reference block against which the copying claw of the copying frame collides, a detector against which the grinding wheel of the grindstone frame collides, and a detector located at a specific position with respect to the reference block. The grinding wheel frame, which has been unclamped by the clamp device, can be slid against the copying frame by its own weight under the condition that the profiling claw of the copying frame ○c is brought into contact with the reference block, and the grinding wheel frame is The grindstone of the frame is brought into contact with the detector, and when the detection sensor detects that the detector is located at a specific position with respect to the reference block, the clamp device is clamped, and the grindstone which is brought into contact with the detector is clamped. 2. The deburring device according to claim 1, further comprising a wear compensation system that is set at a fixed position with respect to the copying claw that abuts against the reference block. (4) The grinding wheel renewal device is provided with a chuck device that can attach and detach the burr removing grinder to the movable arm of the burr removing robot, and the chuck device fits into a positioning hole provided in the fixed frame of the grinder, and a cylindrical guide pin that also serves as a working air supply path from a working air supply source to the grinder, and a resilient member that engages with a spigot engaging portion provided on a fixed frame of the grinder;
2. The burr removing device according to claim 1, further comprising a chuck claw that is not engaged with the air cylinder device.