JPH02172665A - Polishing device - Google Patents

Abstract

PURPOSE:To perform the positioning of an abrasive cloth quickly and automatically by advancing a polishing machine by an abrasive cloth positioning device and moving the abrasive cloth to a set position detachable by a detection means. CONSTITUTION:A polishing machine 4 is transferred to an abrasive cloth positioning device 7 by a polishing robot 1, an axial member 12 and connection member 23 are integrally connected with the engaging projecting part 13 of the axial member 12 being engaged with the engaging recessed part 27 of a connection member 23. A driving motor 22 is then driven, and the connection member 23 and axial member 12 are rotated in the positive direction. According to the rotation of this axial member 12, the tool main body 14 of the polishing machine 4 is moved to the rear part opposing piece 11 of a frame body 3. Thereafter, a bar like member 3 is turned in the reverse direction by the motor 22, the tool main body 14 is moved to the front part opposing piece 10 side of the frame body 3 and the light transmitted from a photoelectric switch 24 is cut off by the tip outer peripheral face of an abrasive cloth 17. The turning of the bar like member 12 is stopped via the motor 22 by this cutoff and the positioning of the abrasive cloth 17 is completed.

Description

DETAILED DESCRIPTION OF THE INVENTION a. Field of Industrial Application The present invention relates to a polishing apparatus, and more particularly to a polishing apparatus that automatically positions an abrasive cloth.

b. Prior Art Conventionally, when polishing the surface of a workpiece using a polishing device, a polishing robot 51 shown in FIG. 3 has been used. That is, at the tip of the arm 52 of the polishing robot 51, there is a polishing machine 54 equipped with a rotatable polishing cloth 53.
is attached, and a workpiece 55, which is an object to be polished, is fixedly arranged on a holding device 56.

When finishing the work 55 using such a polishing device, the polishing cloth 53 is placed in pressure contact with the surface of the work 55 by moving the polishing machine 54 with the polishing robot 51, and in this state, the polishing cloth 53 is placed in pressure contact with the surface of the work 55. The surface of the work 55 is polished by rotating the polishing cloth 53 to finish the work.

C0 Problems to be Solved by the Invention However, in the conventional polishing apparatus described above, it is difficult to compensate for the fact that the polishing cloth 53 wears out due to continuous polishing operations, and the position of the contact point with the workpiece 55 changes accordingly. Since no device was provided, the polishing quality after polishing was changed depending on the workpiece 55, and the product lacked axial properties. Therefore, conventionally, the tool body 57 of the polishing machine 54
A spring 59 is disposed between the support frame 58 and the spring 59, and the spring 59 constantly urges the abrasive cloth 53 toward the workpiece 55, so that the abrasive cloth 53 comes into contact with the surface of the workpiece 55 with a constant pressure. It is configured to obtain. However, when the amount of wear on the polishing cloth 53 increases, such a polishing device becomes unable to keep up with the increase in wear. Therefore, the operator has to correct the working position of the polishing robot 51 and have to perform complicated positioning of the polishing cloth 53. This has the disadvantage that it is difficult to improve the efficiency of polishing work.

The present invention has been made in view of the above-mentioned circumstances, and its object is to provide a polishing apparatus that can eliminate the above-mentioned drawbacks.

d. Means for Solving the Problems In order to solve the problems of the prior art described above, the present invention provides a polishing robot equipped with a rotatable polishing cloth at the tip of a movable arm of a polishing robot. In a polishing apparatus that polishes the surface of a workpiece to be polished by attaching a polishing machine and moving the polishing machine with the arm, a frame for supporting the polishing machine is attached to the tip of the arm of the polishing robot, and the polishing machine is moved by the arm. A shaft-like member extending in the front-rear direction with respect to the arm of the polishing robot is rotatably installed on the opposing piece of the frame, and an engaging portion is provided at the tip of the shaft-like member, and the rotation of the shaft-like member is A polishing machine that moves with the motion is attached to the shaft member, and a polishing cloth positioning device is installed in the movement area of the arm of the polishing robot, and the positioning device is connected to the engaging portion of the shaft member. A coupling member for mating is provided rotatably, and a detection means is provided that issues a command to stop the rotation of the coupling member when the setting position of the polishing cloth is detected, and the polishing robot is configured to rotate the shaft. The engaging portion of the shaped member is connected to the connecting member, and in this state, the connecting member and the shaft-like member are rotated to advance the polishing machine toward the positioning device, and the polishing cloth is connected to the detecting means. The abrasive cloth is positioned by moving the abrasive cloth to a set position where it can be detected.

e. Function In the polishing device according to the present invention, the engaging portion of the shaft member to which the polishing machine is movably attached is connected to the connecting member of the polishing cloth positioning device by the polishing robot, and in this state, the connecting member and By rotating the shaft-shaped member, the polishing machine is moved forward toward the positioning device, and the polishing cloth is moved to a set position that can be detected by the detection means, thereby positioning the polishing cloth. Therefore, the position of the polishing cloth relative to the workpiece is automatically kept constant.

f. Examples The present invention will now be described in detail based on illustrated examples.

1 and 2 show an embodiment of the polishing apparatus according to the present invention. In FIG. 0, 1 is a polishing robot controlled by a groove device (not shown); A frame 3 for supporting a polishing machine 4 is attached to the tip of the arm 2. The polishing robot 1 consists of a rotatable column 5 and an arm 2 attached to the upper end of the column 5 so as to be rotatable in the front-rear and vertical directions. Clamp jig 6
and an abrasive cloth positioning device 7 are arranged.

The work clamp jig 6 clamps and fixes a work 8, which is an object to be polished, in a predetermined position, and is placed on a base 9.

The frame body 3 is provided with opposing pieces io and it whose both ends are bent downward at right angles, and the opposing pieces 10 and 11 have a shaft shape extending along the front and back direction with respect to the arm 2 of the polishing robot 1. A member 12 is rotatably installed. A threaded portion 12a is formed on the outer peripheral surface of the shaft-like member 12, and a bevel gear-shaped engagement convex portion 13 is provided at the tip of the shaft-like member 12 that protrudes from the front opposing piece 10. .

On the other hand, the polishing machine 4 includes a tool body 14 movably attached to a shaft member 12, and a movable frame 16 attached to the lower front surface of the tool body 14 via a support stay 15.
and a rotatable polishing cloth 17 held by this movable frame 16.
A tapped hole I8 is formed in the upper part of the tool body 14 to fit into the shaft-like member 12. Further, a compression spring 19 is disposed between the tool body 14 and the movable frame 16, and the compression spring 19 always urges the movable frame 16 forward. It operates in response to irregularities and can contact the surface to be polished with a constant pressure. Note that the reference numeral 20 is a direct-coupled motor that rotates the polishing cloth 17.

The abrasive cloth positioning device 7 detects a drive motor 22 disposed on a support 21, a connecting member 23 that is rotated in either forward or reverse directions by the drive motor 22, and the set position of the abrasive cloth 17. A photoelectric switch 24 that issues a command to stop the rotation of the connecting member 23 and a limit switch 25 that controls the energization of the drive motor 22 are provided, respectively, and each of these components is placed at a predetermined position on the mounting table 26. They are placed in a related manner. A bevel gear-shaped engagement recess 27 that engages with the engagement protrusion 13 of the shaft member 12 is formed at the tip of the connecting member 23, and these engagement protrusions 13 and the engagement recess 17 engage with each other. Shaft member 1 in the assembled state
2 and the connecting member 23 are integrally connected.

To finish polishing the workpiece 8 using the polishing device described above, first, the workpiece 8 is fixed and held in a predetermined position by the clamp jig 6, and the arm 2 of the polishing robot l is moved to hold the polisher 4 in the clamp jig. Convey to tool 6 (see Figure 1). Next, the arm 2 is further moved toward the workpiece 8 side to press the polishing cloth 17 against the surface of the workpiece 8, and in this state, the polishing cloth 17 is driven by driving the motor 20 in response to a command from the polishing robot ■. The surface of the workpiece 8 is polished by rotating it.

When a predetermined number of works 8 are polished by repeating such polishing operations, the polishing cloth 17 is worn accordingly. Therefore, after the polishing work is completed (or when the polishing cloth 17 is replaced), the polishing cloth 17 is positioned.
That is, as shown in FIG.
A4 is conveyed to the polishing cloth positioning device 7, and the shaft-like member 12
The arm 2 is moved until the engaging protrusion 13 engages with the engaging recess 27 of the connecting member 23 and the shaft-like member 12 and the connecting member 23 are integrally connected. During this time, the movable frame 16 is always urged upward and comes into contact with the limit switch 25, which is in the OFF state, and presses it downward, turning the switch ON and supplying current to the drive motor 22.

When the shaft member 12 and the connecting member 23 are connected, the drive motor 22 receives a command from the polishing robot 1 and drives.
The connecting member 23 and the shaft member 12 are rotated in the forward direction. As the shaft member 12 rotates, the tool body 1 of polishing [4]
4 moves to the rear facing piece ll side of the frame body 3. When the tool body 14 reaches the rear opposing piece 11, the drive motor 22 receives a command from the polishing robot i again and rotates the connecting member 23 and the shaft member 12 in the opposite direction. As the shaft-shaped member 12 rotates, the tool body 14 moves toward the front facing piece 1 of the frame body 3.
0 side, and advances until the outer peripheral surface of the tip of the polishing cloth 17 blocks the light emitted from the charging switch 24. When the abrasive cloth 17 interrupts the light from the photoelectric switch 24, it means that the set position of the abrasive cloth 17 has been detected. By stopping the rotation of the shaped member 12 and also stopping the forward movement of the tool body 14, the positioning of the polishing cloth 17 is completed. Thereafter, the arm 2 of the polishing robot 1 is moved to pull out the engagement protrusion 13 of the shaft-like member 12 from the engagement recess 27 of the connecting member 23 to release the engagement between the two members, and the required polishing operation is performed again. Make it possible to do it.

In the polishing device configured in this way, the shaft-like member 12
By rotating the connecting member 23 in a connected state, the tool body 14 of the polishing machine 4 is advanced, and the polishing cloth 17 is moved forward.
Since the polishing cloth 17 is moved to a set position that can be detected by the photoelectric switch 24, it is possible to automatically position the polishing cloth 17.

Although one embodiment of the present invention has been described above, the present invention is not limited to the embodiment described above, and various modifications and changes can be made based on the technical idea of the present invention.

For example, in the embodiment described above, a bevel gear-shaped engagement convex portion 13 is used as a connecting means between the shaft member 12 and the connecting member 23.
Although the engaging recess 27 is used, other connecting means can be applied as long as the structure allows the two members 12 and 23 to be easily and reliably connected and the rotational force from the drive motor 22 can be transmitted to the shaft member 12. Needless to say.

g. Effects of the Invention As described above, in the polishing apparatus according to the present invention, the polishing cloth positioning device moves the polishing machine forward to move the polishing cloth to a set position that can be detected by the detection means. The polishing cloth can be positioned quickly and automatically.
The time required for positioning work is significantly reduced, and the efficiency of polishing and finishing work can be improved. In addition, in the polishing device of the present invention, the position of the polishing cloth relative to the workpiece to be polished is always constant, so if the workpiece is polished using the polishing device, a highly reliable product with the same polishing quality can be obtained. can be obtained.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing the entire polishing apparatus according to an embodiment of the present invention, FIG. 2 is a perspective view showing the polishing machine of the polishing apparatus conveyed to the polishing cloth positioning device, and FIG. FIG. 2 is a perspective view showing a conventional polishing device. ■... Polishing robot, 3... Frame, 7... Abrasive cloth positioning device, 10.11... Opposing piece, 13... Retaining convex portion, 15... Support stay 17. ... polishing cloth, 20 ... direct-coupled motor, 22 ... drive motor, 24 ... photoelectric swift, 2 ... arm, 4 ... polishing machine, 8 ... workpiece, 12 ... axis 14... Tool body, 16... Movable frame, 18... Screw hole, 21... Abutment, 23... Connecting member, 25... Limit switch, 27... Partitioner Matching recess. 26...Placement stand, Figure 1

Claims (1)

[Claims] A polishing device in which a polishing machine equipped with a rotatable polishing cloth is attached to the tip of a movable arm of a polishing robot, and the polishing machine is moved by the arm to polish the surface of a workpiece to be polished, A frame body supporting a polishing machine is attached to the tip of the arm of the polishing robot, and a shaft-shaped member extending along the front and back direction with respect to the arm of the polishing robot is rotatably installed on the opposing piece of the frame body, An engaging portion is provided at the tip of the shaft-like member, and a polishing machine that moves as the shaft-like member rotates is attached to the shaft-like member;
An abrasive cloth positioning device is installed in the moving area of the arm of the polishing robot, and the positioning device is rotatably provided with a connecting member that engages with the engaging portion of the shaft-like member, and the abrasive cloth is set. A detection means is provided that issues a command to stop the rotation of the connecting member when the position is detected, and the polishing robot connects the engaging portion of the shaft-shaped member with the connecting member, and in this state, the By rotating the connecting member and the shaft member, the abrasive machine is moved forward toward the positioning device, and the abrasive cloth is moved to a set position that can be detected by the detection means, thereby locating the abrasive cloth. A polishing device characterized in that it is configured to perform.