JPH02116466A - Grinding device - Google Patents

Abstract

PURPOSE:To automatize the grinding of a three dimensional curved face by weaving relatively a work to a tool and also controlling a pitching angle, rolling angle and the size of the weaving. CONSTITUTION:The signal transmitted from three distance sensors arranged so as to surround an offset grindstone 21 is fed to a robot controller 40 via a lateral gap detecting circuit 38a and longitudinal gap detecting circuit 38b and the signal from a motor speed detector via a current detecting circuit 39, and are subjected to comparison operating thereat. The rolling angle is set by the signal from a rolling control part 41, the pitching angle by the signal from a pitching control part 42 and the weaving amt. by a weaving device 24 by the signal from a weaving amt. command part 43, and the number of rotations of an offset grindstone 21 is controlled by the signal from a feed speed control part 44. Thus, the curved face grinding of a complicated shaped work can be performed with good efficiency and high accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a grinding device that is attached to an industrial robot and performs grinding or deburring of a workpiece having a three-dimensional curved surface.

(Prior Technology) Conventionally, the finishing of three-dimensional curved surfaces of large parts has been done manually by workers using hand grinders, which requires a lot of man-hours under the adverse effects of the abrasive powder produced by the hand grinder. be.

In recent years, attempts have been made to automate the work of workers in such work environments using industrial robots, etc. However, due to the functional limitations of industrial robots, it is difficult to work with simple-shaped workpieces or with small grinding allowances. It is limited to a small number of so-called polishing processes, and is limited to small workpieces.

(Problem to be solved by the invention) As mentioned above, automation using industrial robots, etc.
Due to the functional limitations of industrial robots, they are limited to simple-shaped workpieces and so-called polishing processes with small grinding allowances.In addition, the position and inclination of the tool relative to the workpiece are determined by the robot's teaching. The positional relationship between the workpiece and the tool is determined by the distance between the teaching points, and the positional relationship of the tool with respect to the workpiece cannot be controlled to an appropriate condition.

Further, in automation using industrial robots and the like, no consideration is given to the so-called weaving operation in which a tool is oscillated relative to a workpiece, which is performed manually.

The present invention has been made in view of the above points, and it automates the grinding or deburring of a workpiece with a three-dimensional curved surface by controlling the positional relationship of the tool to the workpiece under appropriate conditions and applying a weaving action to the workpiece. It is an object of the present invention to provide a grinding device capable of performing the following operations.

[Structure of the invention]

(Means for Solving the Problems) The grinding device of the present invention includes a distance sensor that measures the distance between the workpiece and the tool, and a measurement signal from the distance sensor that adjusts the pitching angle and rolling angle of the tool with respect to the workpiece. An angle adjustment mechanism, a weaving device that moves the workpiece or tool in one or two axis directions to weave it relative to the workpiece shell, and a control device that controls the pitching angle, rolling angle, and weaving size. It is composed of:

(Function) In the grinding process of the present invention, the robot is taught while the tool is not rotating, and then the tool is rotated and moved along the teaching point. When the tool approaches the workpiece, the distance sensor is activated. Grinding of a workpiece with a three-dimensional curved surface is achieved by controlling the positional relationship of the tool with respect to the workpiece under appropriate conditions, and by applying a weaving action to the workpiece using a controllI device and controlling the pitching angle, rolling angle, and size of weaving. This allows the processing or deburring process to be automated.

(Example) An embodiment of the present invention will be described below with reference to the drawings.

In FIG. 1, reference numeral 1 denotes an arm of an industrial robot, and a mounting flange 1a provided at the outlet end of the arm 1 of this industrial robot is equipped with a pitching device 2 and a rolling device 3 for angle adjustment. Mechanism 4 is attached with a mounting number. The pitching device 2 includes an arcuate rack 5 having an arcuate tooth row and a rack holder 6 that supports the arcuate rack 5.
and a drive motor 7. Rack holder 6 is arm 1
Mounting 7 This rack holder 6 is attached to the flange 1a.
A drive motor 7 is fixed to. Drive shaft 8 of drive motor 7
A pinion 9 is attached to the pinion 9, and this pinion 9 meshes with the bow-shaped rack 5. The bow-shaped rack 5 is guided to the rack holder 6 by the drive of the drive motor 7, and is prevented from pitching and swinging.
It has become so.

The rolling device e43 includes an arcuate rack 10, a rack holder 11 supporting the arcuate rack 10, and a drive motor 1.
2. This rack holder 11 is fixed to the arcuate rack 5 of the pitching device 2. Also, rack holder 1
A drive motor 12 is attached to 1. Drive motor 12
A pinion 14 is attached to the drive @13, and this pinion 14 meshes with the arcuate rack 11. However,
The arcuate rack 10 is guided by the rack holder 11 and rolled by driving the drive motor 12.

In addition, the base 1 of the grinding device main body 15 is attached to the angle IJI adjustment mechanism 4.
6 is installed. The mounting plate 17 of the grinding device water body 15 is connected to the base 16 and the spring device 1
8, and are freely connected around one support shaft.

On the other hand, an angle grinder 20 is attached to the mounting plate 17 of the grinding device main body 15, and an off-cera l-1g stone 21 is attached to the output shaft of the angle grinder 20. Three distance sensors 22a, 22b, and 22C are arranged on the outer circumferential side of the grindstone so as to surround the offset grindstone 21. These three distance sensors 22a, 22
b, 22c G, 1, J1 contact type B, which constitutes a position detection device for the offset grinding wheel 21,
Three points close to the contact surface of the offset grindstone 'cJ21 of the workpiece 23 are measured to detect the inclination of the A-offset grindstone 21 with respect to the workpiece 23. That is, the distance sensor 22a
is located on the tip side of the off-kett grinding wheel 21, and detects the rolling angle by comparing it with a pre-positioned standard value.
The distance sensors 22b and 22c are located on both sides of the offset grindstone 21, and detect the pitching angle by comparing their values.

On the other hand, the work 23 is attached to a weaving device 24 having a weaving function.
4 has a work support board (weaving board) 25 on which a work 23 is placed. As shown in FIGS. 3 and 4, this weaving plate 25 is slidably attached via guides 28 to a pair of guide rails 27 and 27 provided on the upper surface of a mounting base 26 serving as a processing table. There is. Further, between the pair of guide rails 27, 27 of the mounting base 26, a ball screw 29 is arranged as one screw knot so as to be parallel to the guide rail 27.

This ball screw 29 has a bearing 31 equipped with a limit switch 30a and a bearing 32 equipped with a limit switch 30b.
It is pivoted by.

The ball screw 29 and the workpiece support plate 25 are connected by a double nut 33. The ball screw 29 is connected at one end to a reversibly rotatable motor 35 via a step G-shaped coupling 34. A speed detector 36 and a position detector 37 are attached to this motor 35.

Therefore, when the motor 35 is operated and the Borl screw 29 is turned, the workpiece support 511125 reciprocates along the guide rail 27 provided on the mounting base 26, and the workpiece 23 is weaved.

FIG. 5 shows a control block diagram of the OII control device that operates the grinding tearing according to the present invention, and shows three distance sensors 22a and 22b as position detection devices arranged so as to surround the offset grindstone 21.

The signal from 22c is sent to the robot controller 40 via the horizontal gap suspension detection circuit 38a and the vertical gap amount detection circuit 38b. Also, the speed detector 3 of the motor 35
6 is sent to the robot controller 40 via the current detection circuit 39, and the signals that are compared and calculated here are the rolling control section 41, pitching vi control section 42, weaving ■ command section 43, and feed rate! , and to the IJ control section 44, the drive motor 12 of the rolling device 3 is controlled by the signal from the rolling 1III control section 41 to set the rolling angle, and the pitching device 2 is driven by the signal from the pitching control section 42. motor 7
is i, lI till to set the pitching angle, and the motor 35 of the weaving device 24 is controlled by the signal from the weaving suspension command M43 to set the weaving skewer, and the signal from the feeding speed melon control section 44 is J:
The rear angle grinding 20 is rotated, and the rotation speed of the A-noset grindstone 21 is controlled.

Next, the effect will be explained.

(1'?I' Ease the robot with the offset stone 21 not yet rotated, then rotate the A-no-hit grindstone 21 and move it along the teaching point,
When Offsera 1 to Grindstone 21 approach the work 23, the distance sensors 22a, 22b, and 22c are activated to measure three points on the work 23 that are close to where Offsera 1 to Grindstone 21 hit, and move the grindstone 21 to Offsera 1 to Work 23. Detects the inclination of the That is, the distance sensor 22a is connected to the offset grindstone 21.
Located on the tip side of 4? The rolling angle is detected by comparing with the J semi-detector, and the distance sensors 22b and 22c are located on both sides of the offset grindstone 18, and the pitching angle is detected by comparing their values.

These detected values are fed back to the robot controller 40 through the horizontal gap detection @path 38a and the vertical gap amount detection circuit 38b, and the robot controller 40 moves the robot arm 1 and drives the drive motor 7 of the pitching device 2. Activated bow rack 5
or the drive motor 1 of the rolling device 3
2 to move the arcuate rack 5 and control the rolling angle and pitching angle to desired values. This υt
wm causes the offset grindstone 21 to advance along the teaching locus while grinding the surface of the workpiece 23 at high speed rotation U.

In this way, the position and attitude of the offset grinding wheel 21 relative to the workpiece 23 having a three-dimensional oil level can be controlled to be always optimal for the shape of the workpiece 23, and efficient curved surface grinding or deburring work can be performed. I can do it.

In addition, in order to apply a weaving motion to the workpiece 23 by the weaving device 24, as shown in FIGS. 3 and 4, the motor 35 controlled by the speed detector 36 and the position detector 37 is operated, and the ball screw 29 This is done by rotating the workpiece support plate 25 on which the workpiece 23 is placed between the bearing 31 equipped with the limit switch 30a and the bearing 32 equipped with the limit switch 30b.

Then, the weaving device 24 is actuated by the control device fblJ tXI to perform a weaving action on the workpiece, and the pitching angle, rolling angle, and weaving size are controlled 1I11 to perform grinding or deburring of the workpiece having a three-dimensional curved surface. Processing can be automated.

In the above example, the workpiece was started in one axis direction, but the workpiece was moved in one axis direction and the tool was rested in one axis direction, allowing both people to move! IJ m to 1. By using II In, it is also possible to sweep the workpiece in any direction by the required amount. It is also possible to have the weaving device on the tool side.

As a modification of the present invention, instead of an offset grindstone, a flat grindstone, a cup-shaped grindstone, etc. are used as the grinding tool depending on the material of the workpiece, and the pitching angle and rolling angle are controlled by a hydraulic mechanism equipped with a hydraulic cylinder. be able to. If the motor current is roughly detected and the grinder feed speed is controlled based on that value, the quality of the ground surface will be higher.

〔Effect of the invention〕

As described above, according to the present invention, the distance between the workpiece and the tool is measured, and the pitching angle and rolling angle of the tool with respect to the workpiece are adjusted based on this measurement signal, and the workpiece or tool is moved along one or two axes. Since the workpiece is weaved by relative movement in the direction, the followability of the workpiece to the grinding surface is improved, and curved surface grinding of a workpiece with a complex shape can be performed efficiently and with high precision.

[Brief explanation of the drawing]

FIG. 1 is a side view of the grinding machine according to the present invention, FIG. 2 is a front view thereof, FIG. 3 is a plan view of the weaving device, FIG. 4 is a side view of the weaving device, and FIG. 5 is a side view of the weaving device according to the present invention. It is a block diagram showing a control device of a grinding machine. 1...Industrial robot arm, 2...Pitching device, 3...Rolling device, 1...Angle adjustment! ! Mechanism, 15... Grinding device main body, 16... Base, 17
...Mounting plate, 18...Spring device, 20...Angle grinding, 21...Offset grindstone, 22a,
22b, 22c... distance sensor, 23... workpiece,
24... Weaving device, 25... Work support board, 29... Ball screw, 38a... Horizontal gap amount detection circuit, 38b... Vertical gisep suspension detection circuit, 40...
- Robot controller, 41...Rolling 1 control unit, 42...Pitching control unit, 43...-Queeping suspension command unit, 44...Feed rate control unit. Figure Figure

Claims (1)

[Claims] A distance sensor that measures the distance between the workpiece and the tool, an angle adjustment mechanism that adjusts the pitching angle and rolling angle of the tool with respect to the workpiece based on the measurement signal of the distance sensor, and a mechanism that moves the workpiece or tool in one or two axes. A grinding device comprising: a weaving device that moves to weave a workpiece relative to a tool; and a control device that controls the pitching angle, rolling angle, and magnitude of weaving.