JPH0129031Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a deburring robot that automatically processes burrs generated when, for example, a steel plate or the like is melted or cut.

In the past, burrs that were created when cutting or fusing steel plates, etc., were generally done manually using a grinder, but as the material is used for mass production, the amount of burrs is large, resulting in severe worker fatigue. Moreover, it was not only dangerous, but also caused harmful effects such as dust scattering.

There was also a semi-automatic deburring device using endless sandpaper, but in this case the paper had a short lifespan and the paper had to be replaced frequently, which was not only troublesome but also expensive.

In any case, the above-mentioned conventional deburring method, especially for a workpiece that has just been heated by fusing,
There are various disadvantages such as danger and inefficiency, as well as difficulty in responding to abnormal repulsive force against tools held with a constant pressing force because the height and size of the burrs are not uniform. The current situation is that there is a desire for complete automation.

In view of the above-mentioned current situation, the present invention is designed to enable relative movement of a scale hammer and a workpiece mounting device, which are arranged separately on a base, in at least two axes out of two orthogonal horizontal axes and a vertical rotation axis.
The scale hammer can be raised and lowered in a vertically balanced state using a holding member and a balance weight, and can be pushed toward the top surface of the workpiece with a predetermined force using an air cylinder that also serves as a lifting drive source. By providing a deburring robot with the following characteristics, the objective is to enable automatic deburring work that is efficient and free of danger, regardless of whether it is straight or curved.

The first embodiment shown in FIGS. 1 to 3 will be described in detail below. 1 is a gate-shaped support pillar erected on the base 2,
A hanging column 1a hangs down from the central lower surface, and guide rails 3a, 3b are fixed vertically to the front and rear surfaces.

Reference numerals 4 and 5 denote a holding member and a balance weight that engage with the guide rails 3a and 3b via slide bearings 6 and 7, respectively, and are arranged to be able to move up and down;
Two angle members 9a and 9b fixed to the upper surface of the gate-shaped support column 1 via a bracket 8 are connected by a cable 11 that engages two pulleys 10a and 10b rotatably supported, Air cylinder 12 mounted downward by the bracket 8
The tip of the rod is connected to the holding member 4, and the holding member 4 can be moved up and down by the expansion and contraction operation of the cylinder.

Reference numeral 13 denotes a rotary plate provided below the holding member 4, which can be horizontally rotated by a motor 14 with a reduction gear, and a commercially available scale whose tip part vibrates in the front and rear directions by air pressure on the lower surface. Hammer 1
The balance weight 5 is arranged obliquely so that its tip is aligned with the center line of the rotating plate 13, and the balance weight 5 is designed to balance the weight of the holding member 4 provided with the hammer 15 and the like. Incidentally, an appropriate sensor (not shown) is provided near the tip of the scale hammer 15 to teach the work line of the workpiece W so that the robot can be operated in a playback manner.

Reference numeral 16 denotes a workpiece mounting device provided on the base 2 below the rotating plate 13, and a back-and-forth moving table 17 that can be moved in the front and rear directions via a slide base as appropriate.
A left-right movable table 18 that is movable in the left-right direction and a fixing table 19 with a positioning device for fixing the workpiece W using a magnet are provided in a multi-tiered manner upward.

The air cylinder 12, motor 14, scale hammer 15, sensor, back and forth moving table 17, left and right moving table 18, fixed table 19, etc. are controlled by a control device built into a computer (not shown).

Next, the effect will be explained. First, the square workpiece W is positioned on the fixing table 19 and fixed by magnetization, and then a teaching operation is performed to teach the working line of the workpiece W by the scale hammer 15, and this is stored in the computer in the control device.

When the first teaching is completed, the hammer 15 is returned to the starting position and the start button of the control device is pressed to start the predetermined deburring work.

That is, the hammer 1 is moved by the extension operation of the cylinder 12.
5 descends to the starting position on the upper surface of the workpiece W and is pressed onto the workpiece W with a predetermined pressing force.Subsequently, the hammer 15 starts to vibrate and the back and forth moving table 17 moves, deburring one side of the workpiece W. conduct. When the hammer 15 reaches the end of the side, the movable table 17 stops, and after the rotary plate 13 is rotated by 90 degrees by the motor 14, the left and right movable table 18 starts moving to deburr the next side. Deburring is performed on the four sides of the square work W in the same manner.

Once the deburring of one workpiece W is completed, the robot is temporarily stopped and replaced with the next workpiece W, and then the deburring is performed again in the same manner as described above. Deburring can be performed sequentially, but in this case, the work W
Even if there is an abnormal protrusion in the height of the burr and an upward thrust force is instantaneously applied, there is no problem because it is absorbed by the cushioning properties of the air cylinder 12. In addition, even if there is some dimensional error in the workpiece W, since the tip of the scale hammer 15 has a wide cutting edge, there is no need to make corrections for each teaching.
It can be performed continuously with the same program.

Figures 4 to 6 show a second embodiment in which deburring is performed in a circular shape. Reference numeral 101 denotes a support column erected on a base 102, and guide rails 103a vertically extend above the left and right sides. , 103b are fixed.

104 and 105 are connected to the guide rail 103 via slide bearings 106 and 107, respectively.
A and 103b are engaged with each other, and a holding member and a balance weight are arranged to freely move up and down, and the support column 101 is rotatably supported by two angle members 109a and 109b fixed to the upper end of the support column 101 via a bracket 108. pulleys 110a, 110b
The rod end of the air cylinder 112, which is attached downward by the bracket 108, and the holding member 10 are connected by a cable 111 that engages with the
4, the holding member 104 can be moved up and down by the expansion and contraction operation of the cylinder.

Reference numeral 113 denotes a back-and-forth movable table provided on the lower surface of the holding member 104, and has the following configuration.

Reference numeral 114 denotes concave members fixed to the left and right sides of the upper surface of the rectangular bed plate 115, which are fitted with convex members 104a fixed to the left and right sides of the lower surface of the holding member 104 in the front-rear direction, so that they can be slid back and forth. A hammer mounting member 116 is hung downward from the lower surface of the base plate 115.

Reference numeral 117 denotes a back-and-forth moving table drive device, which includes a ball screw 1 with a sprocket 118 fixed to its rear end by bearings provided at the front and rear portions of the lower surface of the holding member 104.
19 and a sprocket 120 fixed to the output shaft end of the motor 121 with a reducer is attached to the holding member 104.
The sprockets 118 and 1
20 are connected by an endless chain 122, and a ball nut 123 fixed to the upper surface of the rectangular bed plate 115 is fitted to the ball screw 119, so that the back and forth moving table 113 is moved in the front and back direction by the drive of the motor 121. It is made to move.

A scale hammer 124 is attached to the hammer mounting member 116 and has exactly the same structure as the hammer 15 in the first embodiment, and is similarly provided with a sensor (not shown) near its tip.

Reference numeral 125 denotes a base 10 below the back and forth moving table 113.
This is a horizontal rotary workpiece mounting device provided on the top of the workpiece W', which is comprised of a drive motor 126, a rotary plate 127, and a fixing base 128 with a positioning device that fixes the workpiece W' at the center of rotation using a magnet.

Reference numeral 129 denotes a control device with a built-in computer, which controls the drive of each part in the same manner as in the first embodiment.

Regarding the operation, during teaching, it is sufficient to first position the tip of the hammer 124 on the outer periphery of the circular workpiece W' by operating the back and forth moving device 113, and then rotate the workpiece mounting device 125.

In addition, even in the case of a circular workpiece, the forward and backward moving device 113 is moved in accordance with the rotation of the workpiece mounting device 125
This is possible by moving the , and the functions of the other parts are the same as in the first embodiment, and will therefore be omitted.

The first embodiment described above is mainly suitable for straight line machining (curve machining is also possible by simultaneously driving the front and rear and left/right moving tables 17 and 18, but the teaching operation is troublesome), and the second embodiment is mainly suitable for circular and straight machining. It is suitable for circular machining, and if a left-right moving table is added to the second embodiment, complex curve machining is also possible.

In addition, the installation position and orientation of the scale hammer attached to the rotating plate, the position of the front/back/left/right moving table, the horizontal rotation device, etc. are not limited to the above-mentioned embodiments, and various combinations are possible. This makes it possible to make the optimum selection for the target machining shape.

As detailed above, when using the robot of the present invention, it is possible to safely and efficiently deburr a flat surface of any shape automatically, and since the hammer tip shape is wide, it is possible to deburr some workpieces of the same shape. Even if there is a positional shift, there is no need to correct the teaching, and continuous machining is possible with one teaching, and the hammer is pressed with a buffering force by an air cylinder that also serves as the lifting source. , even if a momentary upward force is applied during machining due to some reason, it can be absorbed, thereby safely protecting the equipment.Furthermore, the holding member that supports the hammer can be raised and lowered in a balanced manner using a balance weight. Therefore, it has many effects, such as requiring only a small amount of power for driving up and down.

[Brief explanation of the drawing]

1 to 3 show the first embodiment of the present invention, in which FIG. 1 is a front view, FIG. 2 is a plan view, FIG. 3 is a sectional view taken along the - arrow in FIG. The figures show the second embodiment, with Figure 4 being a front view and Figure 5 being a front view.
The figure is a plan view, and FIG. 6 is a sectional view taken in the direction of the arrow in FIG. 4. In the figure, 1 is a support column, 4 is a holding member, 5 is a balance weight, 13 is a rotating plate, and 15
is a scale hammer, 16 is a workpiece mounting device, 17
18 indicates a back-and-forth moving table, and a left-right moving table.

Claims (1)

[Scope of utility model registration request] A scale hammer installed on a support column erected on the base and a workpiece mounting device separately installed on the base are arranged in at least two axes around two horizontal axes and a vertical rotation axis that are perpendicular to each other. In the case where the scale hammer is relatively movable, the scale hammer is vertically balanced by a holding member and a balance weight so that it can be raised and lowered, and an air cylinder that also serves as a lifting drive source has a buffering force and is applied to the upper surface of the workpiece with a predetermined force. A deburring robot characterized by being able to press toward.