JPH04283067A - Polishing tool - Google Patents

Abstract

PURPOSE:To maintain adhesion between a grinding stone and a work in a proper state and to perform automatic and simple operation to mount and demount a polishing tool to and from a holding device, such as the moving arm of a robot. CONSTITUTION:A holder 3 to hold a grinding stone 2 for polishing a work 1 is mounted in a rotatable state on a vibrating tool 6 to perform given vibrating operation by means of air serving as a drive source. The grinding stone 2 and the holder 3 are integrally rotated following the shape and orientation of the work 1. A connection metal 9 having an annular groove approximately in a V-shape in cross section formed in the whole periphery of a side part and an air connection port 10 formed in the central part of an upper surface and capable of being mounted and demounted to and from a polishing tool holding device is suspended in the vicinity of the end part of the vibrating tool 6. Air is fed to the vibrating tool 6 through a tube 12 after the passage of it through a coupling 11 by means of the air connection port 10 of the connection metal 9.

Description

[Detailed description of the invention]

0001

[Field of Industrial Application] The present invention relates to a polishing tool that performs polishing using air as a driving source.
The present invention relates to a polishing tool in which the polishing tool and a polishing tool holding device can be easily joined and separated, and which can be used in an automatic polishing device using a robot or the like.

0002

2. Description of the Related Art FIG. 7 is a perspective view showing an example of the use of a conventional polishing tool.

In the figure, 1 is an object to be polished such as a mold, 2 is a grindstone for polishing the object to be polished 1, 6 is a vibrating tool that vibrates with air, and 23 is a position for placing the object to be polished 1 in a position where it is easy to polish the object. This is a fixed table.

[0004] Conventional polishing tools are constructed as described above, and an operator performs polishing work by holding the vibrating tool 6 directly in his hand.

The driving source of this vibrating tool 6 is air.
Normally, factory air pressure is 1.0 to 7.0 [Kg/cm2]
of air is supplied to a cylinder (not shown) in the vibrating tool 6, and the cylinder reciprocates at a maximum of 3700 times/m.
in. ], vibrates with a stroke of 9 [mm]. Air consumption at this time was 0.24 [m2/min. ]. A grindstone 2 installed at the tip of this vibrating tool 6
also vibrates at high speed.

The grindstone 2 in this vibrating state is pressed against the object to be polished 1 to perform various polishing processes such as chamfering or deburring the object to be polished.

[0007]

[Problems to be Solved by the Invention] Conventional polishing tools such as those described above have to be held in the hands of an operator during polishing work.

[0008] Therefore, such manual work by humans is difficult in terms of stabilizing the accuracy and quality of the polishing process or improving work efficiency.

[0009] For this reason, automation using machines is required.
Various automatic polishing devices have been developed. At the same time, polishing technology also improved. Along with this, various types of polishing tool attachment/detachment devices have also been developed. For example, patent application No. 62-310
A polishing tool attachment/detachment device described in No. 035 and the like has been devised.

However, in the conventional manual polishing work, the close contact between the grindstone 2 and the object to be polished 1 could be maintained by the worker pressing the grindstone 2 against the object to be polished 1 by hand.
In automatic polishing equipment that uses a polishing tool attachment/detachment device,
Depending on the positioning accuracy of the tool and the shape of the object to be polished 1,
It was not always possible to maintain close contact between the grindstone 2 and the object to be polished 1. That is, even if the leading end of the grindstone 2 is in close contact with the object 1 to be polished, a phenomenon occurs in which the rear end of the grindstone 2 is floating above the object 1 to be polished.

SUMMARY OF THE INVENTION Therefore, the present invention provides a polishing tool that can properly maintain the close contact between the grindstone and the object to be polished, and that can automatically and easily attach and detach the polishing tool to a holding device such as a movable arm of a robot. The challenge is to

0012

[Means for Solving the Problems] In the present invention, a grindstone for grinding an object to be polished and a holding portion of the grindstone are rotatably mounted, and a vibrator that performs a predetermined vibration operation using air as a driving source. A polishing tool holding device, which is disposed near the end of the vibrating tool and has an annular groove portion having a substantially V-shaped cross section provided around the entire circumference of the side surface and an air connection port provided at the center of the top surface. The vibrating tool includes a connecting fitting that can be attached and detached, and a tube that supplies air to the vibrating tool from an air connection port of the connecting fitting through the joint.

[0013]

[Operation] In the polishing tool of the present invention, the holding part of the grindstone for polishing the object to be polished is rotatably attached to the vibrating tool that performs a predetermined vibration operation using air as a driving source. The grindstone and the holding part rotate according to the shape and posture of the body, and the state of close contact between the grindstone and the object to be polished can be properly maintained. It has an annular groove with a substantially V-shaped cross section and an air connection port provided at the center of the top surface, and is provided with a connection fitting that can be attached to and detached from the polishing tool holding device, and the connection fitting is inserted through the joint from the air connection port of the connection fitting. Since air is supplied to the vibrating tool through the tube, the movable arm of the robot or the like can be automatically and easily attached to and removed from the polishing tool holding device.

[0014]

[Embodiments] Each embodiment of the present invention will be explained below.

<First Embodiment> FIG. 1 is a front view showing a polishing tool according to a first embodiment of the present invention, FIG. 2 is a side view including a partial cross section showing the polishing tool of FIG. 1, and FIG. FIG. 2 is a cross-sectional view showing the A-A cross section of the polishing tool No. 2; In the drawings, the same reference numerals and symbols as those in the above conventional example indicate constituent parts that are the same as or correspond to those in the above conventional example.

In the figure, 3 is a holder which is a holding part for the grindstone 2, 4 is a bearing formed in the holder 3, and the holder 3 rotates about this bearing 4 in the direction of the arrow. Reference numeral 5 denotes a shaft attached to the vibrating tool 6, which vibrates up and down due to the vibration energy from the vibrating tool 6. Note that the vibrating tool 6 performs a predetermined vibrating operation using air as a driving source. In this way, the holder 3 is rotatably attached to the shaft 5 of the vibrating tool 6 via the bearing 4. Therefore, since the grindstone 2 and the holder 3 rotate together following the shape and position of the object to be polished 1, the grindstone 2 comes into close contact with the polishing surface of the object to be polished 1.

7 is a tool mounting plate to which the vibrating tool 6 is fixed; 8 is a flange located at the upper end of the tool mounting plate 7; 9 is a flange located at the upper end of the tool mounting plate 7;
is a connecting fitting that can be attached to and detached from a polishing tool holding device (not shown). This connecting fitting 9 is vertically installed on a flange 8 located near the end of the vibrating tool 6, and an annular groove 9a having a substantially V-shaped cross section is provided on the entire circumference of the side surface. Reference numeral 10 denotes an air connection port provided at the center of the upper surface of the connection fitting 9. Therefore, when the connecting fitting is connected to a polishing tool holding device (not shown), air is supplied from the air connection port 10 and polishing is performed. The holding mechanism (not shown) of the polishing tool holding device is disclosed in Japanese Patent Application No. 1986-31.
Since it is also disclosed in No. 0035, the explanation will be omitted here.

Reference numeral 11 denotes a joint arranged to be connected to the air connection port 10 of the connecting fitting 9. By grasping the connecting fitting 9 with the holding mechanism of the polishing tool holding device on the robot side, the connecting fitting 9 is connected to the air connecting port 10 of the connecting fitting 9. , air is supplied to the vibrating tool 6. Using this air as a driving source, the cylinder (not shown) of the vibrating tool 6 vibrates up and down as described in the conventional example.

Bolts 13 fix the flange 8 to the tool mounting plate 7, and the vibration tool 6 is fixed to the tool mounting plate 7 by bolts 14 and holding fittings 15.

As described above, in the polishing tool of this embodiment, the grindstone 2 for polishing the object to be polished 1 and the holder 3 for holding the grindstone 2 are rotatably mounted, and the grinding tool is rotated at a predetermined position using air as a driving source. A vibrating tool 6 that performs a vibrating motion, and a cross section approximately V that is vertically installed near the end of the vibrating tool 6 and provided around the entire circumference of the side surface.
Air connection port 10 provided in the letter-shaped annular groove and the center of the top surface
and a connecting fitting 9 that can be attached to and detached from the polishing tool holding device, and a joint 11 from the air connection port 10 of the connecting fitting 9.
a tube 1 through which air is supplied to the vibrating tool 6;
2.

That is, in this embodiment, a holder 3 holding a grindstone 2 for polishing an object to be polished 1 is rotatably attached to a vibrating tool 6 that performs a predetermined vibration operation using air as a driving source. Therefore, the grinding wheel 2 and holder 3 rotate together following the shape and position of the object to be polished 1, and even if the tip of the grinding wheel 2 is in close contact with the object to be polished 1 as in the conventional case, the grinding wheel Phenomena such as the rear end of the grinding wheel 2 lifting off from the object 1 to be polished does not occur, and the close contact between the grindstone 2 and the object 1 due to surface contact can be maintained. Further, near the end of the vibrating tool 6, there is an annular groove with a substantially V-shaped cross section provided around the entire circumference of the side surface and an air connection port 10 provided in the center of the top surface. A connecting fitting 9 that is capable of
Since air is supplied through the tube 12, the movable arm of the robot or the like can be automatically and easily attached to and detached from the polishing tool holding device (not shown).

<Second Embodiment> FIG. 4(a) is a front view showing the grindstone and holder portion of a polishing tool according to the second embodiment of the present invention, and FIG. 4(b) is a front view showing the grindstone and holder portion of the polishing tool as well. FIG. 3C is a bottom view showing the grindstone and holder portion of the polishing tool. In the drawings, the same reference numerals and symbols as those in the conventional example and embodiment described above indicate constituent parts that are the same as or correspond to those in the conventional example and embodiment described above.

In the figure, 16 is a magnet, and 17 is an insulator, and the insulator 17 is located at the center of the holder 3 made of a magnetic material and the grindstone 2. 18 is a magnetic body, and a plurality of square grindstones 2 are attached via this magnetic body 18. Note that the polishing surfaces of the plurality of grindstones 2 constitute the same plane. Reference numeral 19 denotes a magnetic path formed around the insulator 17, and this magnetic path 19 is formed by a magnetic field flowing through the object to be polished 1, the grindstone 2, the magnetic material 18, and the holder 3 by the magnet 16.

Therefore, the grinding wheel 2 and the holder 3 part configured as in this embodiment can be used as the grinding wheel 2 for grinding the object to be polished 1,
A holder 3 that holds the grindstone 2 is rotatably mounted, and a vibrating tool 6 that performs a predetermined vibration operation using air as a driving source is installed vertically near the end of the vibrating tool 6, and the entire side surface of the holder 3 is rotatably mounted. A connecting fitting 9 having an annular groove with a substantially V-shaped cross section provided around the periphery and an air connecting port 10 provided at the center of the upper surface, and capable of being attached and detached from a polishing tool holding device, and an air connection of the connecting fitting 9. If adopted in a polishing tool equipped with a tube 12 that supplies air from the mouth 10 to the vibrating tool 6 through the joint 11, the attraction force of the magnet 16 will further increase the ability to follow the object 1 to be polished, and the grinding wheel 2 and the object will be The close contact state due to surface contact with the polishing body 1 can be strongly maintained. Furthermore, as in the above embodiment, near the end of the vibrating tool 6, there is an annular groove with a substantially V-shaped cross section provided around the entire circumference of the side surface and an air connection port 10 provided in the center of the top surface. A connecting fitting 9 that can be attached and detached from the polishing tool holding device is installed vertically, and air is supplied from an air connection port 10 of the connecting fitting 9 to the vibrating tool 6 through a joint 11 and a tube 12, so that the movable arm of the robot It is possible to automatically and easily attach and detach the polishing tool to a polishing tool holding device (not shown) such as the like.

<Third Embodiment> FIG. 5(a) is a front view showing the grindstone and holder portion of a polishing tool according to the third embodiment of the present invention, and FIG. 5(b) is a front view showing the grindstone and holder portion of the polishing tool as well. FIG. 3C is a bottom view showing the grindstone and holder portion of the polishing tool. In the drawings, the same reference numerals and symbols as those in the above-mentioned conventional example and each embodiment indicate constituent parts that are the same as or correspond to those in the above-mentioned conventional example and each embodiment.

The figure is the same as FIG. 4 except for the shapes of the object to be polished 1 and the grindstone 2. That is, in this embodiment, the polished surface of the polished object 1 has an arc shape,
The grindstone 2 also has a semi-cylindrical shape. Also, in this embodiment, a magnetic path is formed around the insulator 17, as in the above embodiment.
9 is a polished object 1, a grindstone 2, a magnetic body 18,
It is formed by a magnetic field flowing inside the holder 3.

Therefore, the grindstone 2 and the holder 3 having the structure of this embodiment can be used as the grindstone 2 for grinding the object 1 to be polished,
A holder 3 that holds the grindstone 2 is rotatably mounted, and a vibrating tool 6 that performs a predetermined vibration operation using air as a driving source is installed vertically near the end of the vibrating tool 6, and the entire side surface of the holder 3 is rotatably mounted. A connecting fitting 9 having an annular groove with a substantially V-shaped cross section provided around the periphery and an air connecting port 10 provided at the center of the upper surface, and capable of being attached and detached from a polishing tool holding device, and an air connection of the connecting fitting 9. If adopted in a polishing tool equipped with a tube 12 that supplies air from the opening 10 to the vibrating tool 6 through the joint 11, the object to be polished 1 can be tracked by the attraction force of the magnet 16, as in the second embodiment. Whetstone 2
The state of close contact between the object 1 and the object 1 to be polished can be strongly maintained. especially,
This is convenient when the surface of the object to be polished 1 has a curved shape, and the polishing tool is most suitable for polishing a curved surface. For this reason,
Even when polishing the object to be polished 1 having a curved surface, stable polishing can be performed with constant quality. Furthermore, as in the above embodiment, near the end of the vibrating tool 6, there is an annular groove with a substantially V-shaped cross section provided around the entire circumference of the side surface and an air connection port 10 provided in the center of the top surface. A connecting fitting 9 that can be attached and detached from the polishing tool holding device is installed vertically, and air is supplied from an air connection port 10 of the connecting fitting 9 to the vibrating tool 6 through a joint 11 and a tube 12, so that the movable arm of the robot It is possible to automatically and easily attach and detach the polishing tool to a polishing tool holding device (not shown) such as the like.

Next, an automatic polishing device equipped with a polishing tool will be explained. FIG. 6 is a perspective view showing an entire automatic polishing apparatus equipped with a polishing tool according to an embodiment of the present invention. In the figure,
The same reference numerals and symbols as those in the above conventional example and each embodiment indicate constituent parts that are the same as or correspond to those in the above conventional example and each embodiment.

In the figure, 20 is a robot that supports the polishing tool and performs a predetermined polishing process, and 21 is a control unit that controls the operation of the robot 20 during the polishing process, as well as the operation of exchanging the polishing tool to the robot 20. 22 is a surface plate on which the object to be polished 1 is fixed; 23 is a table on which the surface plate 22 is placed; 24 is a machining liquid tank built into the table 23; and 25 is a machining liquid. 26 is a tool stand on which various polishing tools and the like are installed. A plurality of vibrating tools 6 are stored in advance in this tool stand 26 with connecting fittings 9 and the like attached thereto. The object to be polished 1 fixed on the surface plate 22 is polished by the grindstone 2 at the tip of the vibrating tool 6 attached to the arm of the robot 20. In addition, the tip of the arm of this robot 20 has a special patent application issued in 1986.
2-310035 is installed.

[0030] Here, the operation of attaching and detaching the polishing tool and the polishing operation by this automatic polishing apparatus will be explained.

A plurality of polishing tools (not shown) are stored in advance in the tool stand 26, which has a structure in which polishing tools can be attached and removed. Each of these polishing tools has a connecting fitting 9 that functions as a joint mechanism. On the other hand, the tip of the arm of the robot 20 has a hold mechanism that can be attached to and detached from the joint mechanism of the polishing tool.

First, the operation when the joint mechanism of the polishing tool is not attached to the hold mechanism will be described. In this case, when the arm of the robot 20 approaches the tool stand 26, the cylinder (not shown) of the hold mechanism is actuated by air adjustment, and the holder (not shown) is activated.
to the open state. Then, the connecting fitting 9 of the desired polishing tool is inserted into the insertion portion of the holding mechanism and grasped. The annular groove 9a of the connecting fitting 9 is fitted into the convex portion of the holding mechanism, and is housed at a predetermined position approximately in the center of the holding mechanism, so that the connecting fitting 9 is securely fixed by the holding mechanism. The coupling operation between the joint mechanism of the polishing tool and the hold mechanism on the polishing tool holding device side is performed by commands from the control panel 21.

After that, the robot 20 moves the arm equipped with the polishing tool to the surface plate 22 above the object 1 to be polished, and performs the polishing process on the object 1 to be polished. This polishing operation is also performed on the control panel 2.
This is done by commands from 1. When the grinding wheel 2 approaches the object to be polished 1, the magnet 16 built in the holder 3 of the grinding wheel 2
As a result, a suction force acts between the polishing member and the object to be polished 1.

On the other hand, during the polishing process using the polishing tool 3, the hold mechanism and the joint mechanism are maintained in a connected state, and the connection between the air connection port 10 of the connection fitting 9 and the joint 11 is maintained.
Air is supplied to the vibrating tool 6 through the tube 12, and the vibration of the vibrating tool 6 causes the grindstone 2 to vibrate. The arm of the robot 20 moves back and forth and left and right along the surface of the object to be polished 1, and sucks up the machining liquid 25 from the machining liquid tank 24 with a pump (not shown) and passes it through a hose (not shown) to the object to be polished. The object to be polished 1 is polished while dripping the machining fluid 25 onto the object 1. These series of operations are also performed on the control panel 2.
All are controlled by 1.

When replacing the polishing tool, the robot 2
0's arm is moved to the vicinity of the tool stand 26, and the attached polishing tool is stored at a predetermined position on the tool stand 26. Then, by adjusting the air, the cylinder (not shown) of the holding mechanism is opened, and the connecting fitting 9 is pulled out from the holding mechanism, thereby removing the polishing tool.

Thereafter, in order to attach another polishing tool, the connecting fitting 9 of the new polishing tool is inserted into the insertion portion of the holding mechanism, and the connecting fitting 9 is fixed by the same operation as described above. In this way, it can be replaced with another polishing tool.

By using the automatic polishing apparatus as shown in FIG. 6 and the polishing tool of this embodiment, the attachment and detachment of the polishing tool can be performed automatically, easily, and in a short time. Therefore, for example, various polishing tools with different shapes and grain sizes of the grinding wheels 2 may be stored in the tool stand 26, and the polishing tool may be appropriately selected according to the surface to be polished of the object to be polished 1 to perform the polishing process. Automatic polishing by program is possible. For example, when the polished surface of the polished object 1 is flat, FIG.
If the surface to be polished of the object 1 to be polished is a curved surface, use a polishing tool having a grindstone and a holder part as shown in FIG. 5, and adjust the polishing tool appropriately. It is possible to select and perform appropriate polishing. Alternatively, all polishing tools of the same type may be stored in the tool stand 26, and the polishing tools may be automatically changed as appropriate depending on the degree of wear of the grindstone 2 due to polishing. As a result, automation of the polishing device can be promoted and the scope of use can be expanded.

As described above, in the polishing tool of each embodiment, the grindstone 2 for polishing the object to be polished 1 and the holder 3 for holding the grindstone 2 are rotatably mounted, and air is used as the drive source. A vibrating tool 6 that performs a predetermined vibrating operation, an annular groove portion with a substantially V-shaped cross section provided vertically near the end of the vibrating tool 6, and provided around the entire circumference of the side surface, and an air connection port 1 provided in the center of the top surface.
0, and a connecting fitting 9 that can be attached to and detached from the polishing tool holding device, and an air connection port 10 of the connecting fitting 9 to the joint 1.
1 and a tube 12 through which air is supplied to the vibrating tool 6.

Therefore, since the holder 3 holding the grinding wheel 2 for polishing the object 1 to be polished is rotatably attached to the vibrating tool 6 which performs a predetermined vibration operation using air as a driving source, the object to be polished 1 can be rotated. Grindstone 2 follows the shape and position of 1.
When the holder 3 rotates as a unit, even if the tip of the grinding wheel 2 is in close contact with the object 1 as in the conventional case, the rear end of the grinding wheel 2 lifts up from the object 1. The grindstone 2 and the object to be polished 1 can maintain close contact due to their surface contact. This allows for stable polishing with constant quality. In addition, near the end of the vibrating tool 6, there is an annular groove with a substantially V-shaped cross section provided around the entire circumference of the side surface and an air connection port 10 provided in the center of the top surface. A connecting fitting 9 is provided vertically, and air is supplied from an air connection port 10 of the connecting fitting 9 to a tube 12 through a joint 11 to the vibrating tool 6. (not shown) is automatic and easy to attach and detach. Therefore, automation of the polishing device can be promoted and work efficiency can be improved.

Incidentally, in the above embodiment, a vibrating air tool was used as the polishing tool, but other types of polishing tools such as a rotary type may be used as long as the polishing tool is an air tool.

Further, in the above embodiment, the magnetic path 19 is formed between the magnet 16 of the holder 3 and the object to be polished 1, and the grinding wheel 2 is pressed against the object to be polished 1 by the magnetic attraction force. 1
Although the case of polishing has been described, in addition to the magnet 16, the grindstone 2 may be pressed against the object to be polished 1 by a pressing force using a spring or air.

[0042]

As explained above, in the polishing tool of the present invention, a grindstone for polishing an object to be polished, a vibrating tool that performs a predetermined vibration operation using air as a driving source, and a polishing tool holding device can be attached and detached. A grinding wheel holder is rotatably attached to the vibrating tool, so that it can follow the shape and position of the object to be polished. The whetstone and the holding part rotate, and the close contact between the whetstone and the object to be polished can be properly maintained, which allows for stable polishing with constant quality. A connecting fitting having an annular groove with a substantially V-shaped cross section provided around the periphery and an air connection port provided at the center of the upper surface is vertically installed, and air is supplied from the air connection port of the connection fitting to the vibrating tool by a tube through a joint. By being supplied with the polishing tool, the robot's movable arm or the like can be automatically and easily attached to and detached from the polishing tool holding device, thereby promoting automation of the polishing device and improving work efficiency.

[Brief explanation of the drawing]

FIG. 1 is a front view showing a polishing tool according to a first embodiment of the present invention.

FIG. 2 is a side view, partially in section, showing the polishing tool of FIG. 1;

FIG. 3 is a sectional view showing the AA cross section of the polishing tool of FIG. 2;

FIG. 4(a) is a front view showing a grindstone and a holder portion of a polishing tool according to a second embodiment of the present invention, and FIG. 4(b) is a side view showing a grindstone and a holder portion of the polishing tool. c) is a bottom view showing the grindstone and holder portion of the polishing tool as well.

FIG. 5(a) is a front view showing a grindstone and a holder portion of a polishing tool according to a third embodiment of the present invention, and FIG. 5(b) is a side view showing a grindstone and a holder portion of the same polishing tool. c) is a bottom view showing the grindstone and holder portion of the polishing tool as well.

FIG. 6 is a perspective view showing an entire automatic polishing apparatus equipped with a polishing tool according to an embodiment of the present invention.

FIG. 7 is a perspective view showing an example of use of a conventional polishing tool.

[Explanation of symbols]

1　　　　Object to be polished 2. Whetstone 3 Holder 6 Vibrating tools 9 Connection fittings 9a Annular groove part 10 Air connection port 11 Coupling 12 Tube 16 Magnet 19 Magnetic path

Claims (1)

[Claims] 1. A grindstone for grinding an object to be polished, a vibrating tool in which a holding portion of the grindstone is rotatably mounted and performs a predetermined vibration operation using air as a driving source, and an end portion of the vibrating tool. A cross section approximately V located nearby and provided around the entire circumference of the side surface
A connecting fitting that has a letter-shaped annular groove and an air connection port provided at the center of the top surface and is detachable from the polishing tool holding device;
A polishing tool comprising: a tube that supplies air from an air connection port of the connection fitting to the vibrating tool through a joint.