JPH0357413Y2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field] The present invention is designed to prevent overloads caused by dimensional variations in the workpiece when deburring or chamfering the workpiece. This invention relates to a driven joint for a rotating tool having an inclined center.

[Conventional technology]

Conventionally, processing machines for deburring and chamfering workpieces were developed, for example, by
Publication No. 13762 is proposed. In this conventional invention, a rotary tool for deburring is supported by an industrial robot via a free holding means, and the free holding means has a reciprocating part and a tool holding part that can tilt with respect to the reciprocating direction. and a resistance section that acts in a direction to prevent tilting. When an overload is applied to the rotary tool, the free holding means displaces, applying a pressing force to the workpiece while giving freedom in its relative position to the workpiece, allowing the tip of the rotary tool to move toward the workpiece. At the same time, deburring work is performed.

[The problem that the idea attempts to solve]

However, in the above-mentioned conventional invention, since the free holding means has a built-in air motor for rotating the tool, the structure of the free holding means becomes large, and moreover, it requires a special hand with a built-in air motor. , there is a problem that it lacks versatility as a free holding means. Furthermore, since the structure is such that the tool holder holds the tool in such a way that it can tilt, the amount of tilting is small, and most of the displacement when an overload is applied is carried out in the direction in which the free holding means can reciprocate. Because we are
There is a problem in that a rotating tool having a conical blade shape must be used.

The present invention was developed in view of the above-mentioned circumstances, and is not limited by the shape of the rotary tool, and when an overload is applied to the rotary tool due to the dimensional variation of the workpiece, the axis of the rotary tool is adjusted according to the load. This invention provides a driven joint for a rotary tool whose purpose is to prevent the drive device from being overloaded by tilting the rotary tool.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a drive device in which a rotary tool is attached to the output shaft of the drive device via a driven joint, and the driven joint is attached to the output shaft of the drive device. a drive holder that is detachable from the drive holder; a slide support that is slidably inserted into the inner periphery of the drive holder via a spring; and a slide support that is pressed against the slide support via a steel ball to transmit rotation to the drive holder. The driven holder is capable of being engaged with the driven holder, and a rotary tool is attached to the tip of the driven holder.

[Effect]

Based on the above configuration, the present invention provides a rotating tool for deburring a workpiece, in which driving force is applied by a drive device such as an air turbine through a driven joint, and an excessive load is applied to the rotating tool. When the overload is removed, the rotary tool rotates and tilts around the center point of the steel ball to absorb the overload, and once the overload is removed, the rotary tool returns to the axis of the driven joint. Moreover, since the rotary tool can be rotated and tilted in any direction, there are no restrictions on the shape of the blade of the rotary tool.

〔Example〕

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a perspective view showing an industrial robot according to the present invention, FIG. 2 is a cross-sectional view showing main parts of a robot hand according to the present invention, and FIG. 3 is a cross-sectional view showing a driven joint of a rotating tool according to the present invention.
The fourth is a - sectional view of FIG.

Reference numeral 1 indicates an industrial robot, 2 a robot hand, and 3 various control panels for the robot. An air turbine 4 is held at the tip of the robot hand 2 by a holding part 5, and the output shaft 4a of the air turbine 4 is rotated by high pressure air supplied from an air supply port 4b. It's summery.

The output shaft 4a of the air turbine 4 has a third
A rotary tool 7, which is a deburring tool, is attached to the tip via a driven joint 6 as shown in the figure.

The driven joint 6 to which the rotary tool 7 is mounted is
As shown in FIG. 3, the output shaft 4 of the air turbine 4
a cylindrical drive holder 9 removably fastened to a with a pin 8, a slide support 11 slidably inserted into the inner circumference of the drive holder 9 via a coil spring 10, and the slide support 9. A driven holder 13 having a steel ball in contact with a tapered hole 11a at the center of the lower surface of the holder 11, and a tapered hole 13b in contact with the steel ball 12 at its center so that it can be tilted in any direction through the steel ball 12.
and the driven holder 13 to the drive holder 9.
and an outer cylinder 14 screwed onto the outer periphery of the drive holder 9 so as to rotate together with the drive holder 9. The rotary tool 7 is removably attached to the driven holder 13 with a screw 15.

Here, on the outer periphery of the upper end of the driven holder 13, as shown in FIG. are interlocking with each other. Further, when the driven holder 13 is pressed by the coil spring 10 via the steel balls 12 and the slide support 11, a predetermined gap m is created between the upper end surface of the driven holder 13 and the concave end surface 9b of the drive holder 9. is held, and within this gap m,
The rotary tool 7 attached to the driven holder 13 can move in the axial direction, and the axial center of the rotary tool 7 can be tilted.

A tapered hole 13b is formed in the center of the upper surface of the driven holder 13, and a tapered hole 11a is formed in the center of the lower surface of the slide support 11. A steel ball 12 is formed between the tapered holes 11a and 13b.
is arranged, and the driven holder 13 is connected to the coil spring 1 via the steel ball 12 and the slide support 11.
0, the rotary tool 7
When a radial overload is applied to the driven holder 13, the driven holder 13 tilts laterally.

Next, the operation of the entire apparatus configured as described above will be explained.

First, high-pressure air is supplied to the air turbine 4 from the air supply port 4b of the air turbine 4 held at the tip of the robot hand 2, and when the output shaft 4a is rotationally driven, the rotary tool 7 is The workpiece A is rotated, and deburring work on the workpiece A is started according to instructions from the control panel 3. If an overload is applied in the radial direction to the tip of the rotary tool 7 due to dimensional variations in the workpiece A during the deburring operation, the driven holder 13 and the rotary tool 7 will move together with the steel balls 12 as shown in FIG. It tilts against the biasing force of the coil spring 10 according to the load within the range of the gap m between the upper end surface of the driven holder 13 and the lower end surface of the drive holder 9, with the center of the drive holder 9 as the center point. The overload is absorbed by tilting the driven holder 13. When the excessive radial load is removed, the coil spring 1 will move as shown in Figure 3.
The rotating tool 7 is pushed into the driven holder 1 by the urging force of 0.
3 and returns to the axis of the driven joint 6.

When the rotary tool 7 is in an inclined state, the rotary tool 7
Since a pressing force is applied in the vertical and lateral directions via the steel balls 12, the deburring work can be carried out reliably.

[Effect of idea]

As explained above, in the present invention, the driven holder that grips the rotary tool is configured to be rotated and tilted by the steel ball, so when an overload is applied to the rotary tool, the driven holder along with the rotary tool is rotated and tilted. By tilting, overload can be absorbed, and when this overload is removed, the driven holder returns to the rotation center. The driven holder can also move vertically. Therefore, even if a vertical overload acts on the rotary tool, the overload can be absorbed, and deburring can be performed reliably without being restricted by the shape of the blade of the rotary tool.

For example, an air turbine that is rotationally driven by high-pressure air is held at the tip of the robot hand, and a rotary tool for deburring is attached to the output shaft of this air turbine via a driven joint, making it compact. It can be used as a versatile driven joint regardless of the driving device.

Furthermore, when applied to industrial robots, there is no need for the robot hand to be a special hand that can handle overloads, so the robot can be used effectively.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing an industrial robot to which the present invention is applied, FIG. 2 is a sectional view showing the main parts of the robot hand, and FIG. 3 is a sectional view showing a driven joint in a rotary tool according to an embodiment. The fourth is - in Figure 3.
FIG. 5 is a cross-sectional view of the main parts of the rotary tool of the present invention when an overload is applied in the radial direction. 1... Industrial robot, 2... Robot hand, 3... Control panel, 4... Air turbine, 6...
... Driven joint, 7 ... Rotary tool, 9 ... Drive holder, 10 ... Coil spring, 11 ... Slide support, 11a ... Tapered hole, 12 ... Steel ball, 13 ... Driven holder, 13a ... Protrusion Part, 13b...Tapered hole, 14...Outer cylinder.

Claims (1)

[Claims for Utility Model Registration] A rotary tool is attached to the output shaft of the drive device via a driven joint, and the driven joint includes a drive holder that is detachably attached to the output shaft of the drive device, and a drive holder that is detachably attached to the output shaft of the drive device. A slide support is slidably inserted into the inner circumference of the holder via a spring, and the slide support is pressed through a steel ball and engaged with the drive holder to enable rotation transmission, and a rotary tool is attached to the tip. A driven joint for a rotating tool, characterized in that it is equipped with a driven holder.