JPH05131240A - Method and device for removing burr in forging product with burr - Google Patents

Abstract

PURPOSE:To precisely fit a formed body with burr into a burr removing die. CONSTITUTION:The formed body 20 with burr is laid on a transit table 11. This formed body is pholographed with a camera 5 positioned above the transit table, and a video is replaced with an electronic information by a picture processor 9. Holding claws 8 horizontally moving on the transit table are arranged at the tip of an arm 4 of a robot, and a robot controller 10 receives a command with the electronic information, and based on this command, the holding claws are moved by the necessary distance to hold the outer edge of the burr 22. By working the robot, the formed body with burr is shifted to a die for removing the burr while holding the burr and inserted into the die. Therefore, as the burr is held while always fitting the formed body 21 to a reference line 12 on the transit table, the position is fixed and the shifting can be automatized.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for deburring a forged product with burrs.

[0002]

2. Description of the Related Art A molded body molded by a forging machine presses a metal material heated to a high temperature between upper and lower molds and plastically deforms it into a shape as a mold. In this case, the volume of the material is made slightly larger than the volume of the molded body so that a compact molded body can be obtained by the pressing action in the mold, so that a thin plate-shaped extra space is left between the upper mold and the lower mold after molding. The meat protrudes. Although this surplus is called burr, it must be removed from the periphery of the molded body. Usually, in the case of a mass production forging machine, the main body of a molded body with burrs is gripped and fitted into a deburring die, and burrs protruding to the periphery are cut off. For this reason, it is necessary to transfer the molded product with burrs to the deburring mold from the position of the molding mold or from the relay position where the molded product is taken out from the mold and temporarily stored, and is fitted into the mold accurately. FIG. 3 shows an example of a transfer device for a molded body with burrs. The molded body with burrs 20 is formed by a molded body 21 and a burr 22 and is pulled out upward from the lower mold 101 by a lifter 104. On the other hand, a pair of symmetric beams 102 move forward to the center, and clamps 103 attached to the tips of the beams grip the side surface of the molded body 21 at the center and transfer it while gripping it, which is not shown. A mechanism is adopted that reaches the upper side of the deburring mold and fits into the mold.

[0003]

In the case of FIG. 3, since the side surface of the molded body is gripped directly from the mold, the gripping position is constant, and the beam 102 is deburred by a repetitive drive mechanism such as a cam or a cylinder. It has been adopted for mass production because it does not cause positional deviation when it is accurately reached and fitted. However, it is often the case that the side surface of the molded product cannot be gripped because it is difficult to maintain balance in the molded product because of its complicated shape and uneven center of gravity. In addition, when the height of the molded body is small and it is in the shape of a thin piece such as a dish, even if the molded body below the burr is gripped and moved to the deburring mold, the clamp under the burr interferes with the burr. Since there is a problem that the lower molded body cannot be fitted into the mold, the automatic transfer device using the beam 102 is not adopted. Also, unlike the molded body, the size and shape of the burr are all different for each product, so it is completely impossible to move and fit the molded body accurately into the deburring mold, and the burr is automatically gripped. The method of doing was not adopted.

In the forging work of a molded body to which the conventional automatic transfer device cannot be applied, a method is employed in which an operator grips the burr with a sandwiching tool and transfers it to the next step, that is, a deburring die. If the burr is held, it does not hinder the fitting into the deburring mold, and the molded body under the burr can be easily fitted into the mold.
It can be said that manually handling a semi-finished product having a high heat of around 000 ° C is a troublesome and difficult task.

In order to solve the above-mentioned problems, the present invention provides a molded product with burrs, which mainly comprises a transfer method capable of gripping a burr of a molded product and accurately fitting the molded product into a deburring die. It is intended to provide a deburring method and an apparatus thereof.

[0006]

According to the method for deburring a forged product with burrs according to the present invention, a molded product with burrs, which is exactly placed on a reference line on a relay table immediately after forging, is suspended above the relay table. The shape of the outer edge of the burr imaged by the visual sensor is image-processed, the outer edge of the burr is gripped at multiple points by placing it on the accurate reference line on the relay table based on the processed data, and the burr is moved away from the relay table while gripping. A molded body with a burr just after forging placed by fitting the molded body accurately into the punching die or placed almost in the vicinity of the reference line on the relay table has a burr imaged by a visual sensor suspended on the relay table. The shapes of the outer edge and the outer edge of the molded body are image-processed, the positional relationship of the burr outer edge with respect to the reference line is calculated by collating with the body of the molded body stored in advance, and the correction based on the relationship is added. At the exact reference line on the relay table holding the burr edge with a plurality of locations Te was solved the above problems by accurately fits into and transported away relay table while holding burr cutting die.

As a device used only for carrying out this method, a robot arm which can freely move in a predetermined direction is provided with a gripping tool having a U-shaped cross section, and two facing surfaces of the gripping tool are directed toward the center. There is a plurality of gripping claws that move forward and backward independently, and the camera is suspended on the relay table where the forged product with burrs is carried, and the image processing device that binarizes the image of the camera, It shows a configuration in which a robot controller that operates based on the above is connected, and the robot controller and an electric cylinder that advances and retracts the plurality of grip claws are connected.

[0008]

The forged product formed by the forging press, that is, the formed product with burrs is accurately aligned with the reference line of the relay table or placed near the reference line by a person or other means. Using this position as a starting point, the molded body with burrs is transferred from the relay table to the lower mold of the deburring press in the next step by the movement of the robot and fitted into the mold. In the case of a molded body with a burr placed exactly on the reference line on the relay table, the gripping claws grip the molded body without changing the position and transfer it to the deburring press in the next step. That is, even though the molded body is accurately positioned on the reference line, all the burrs protruding around the molded body differ in shape and size from one product to another. If the burr can be grasped at a plurality of points while the position of the molded body remains stationary, it can be accurately transferred to the deburring mold. Therefore, a camera is photographed from above the relay table to capture the positional relationship of the outer edge of the burr with respect to the reference line, and an operation command is output to the connected robot controller. The robot controller advances each tip of the gripping claws by a required distance based on the command, and grips the burr outer edge at a plurality of points. If the arm of the robot is moved up and down or rotated as it is and transferred to the upper part of the deburring mold and the grip of the burr is released, the molded body falls and fits into the mold. Since the grip is not a molded body but a burr, the lower part fits accurately from the burr of the molded body without any trouble in fitting.

On the other hand, a forged molded product with burrs often has a complicated shape, has a non-uniform center of gravity, is shallow dish-like, and has a curved side surface, so that the side surface of the molded product cannot be grasped in many cases. Therefore, when an operator or other mechanical device grips the burr of the molded body and transfers it to the relay table, the molded body cannot be placed at an accurate position with respect to the reference line. However, if it is placed near the reference line, the position of the molded product can be corrected by detecting and correcting the deviation from the reference line. For this reason, a camera is used to capture the outer edge of the burr and the outer edge of the molded product in relation to the reference line, and image processing is performed. The outer edge is calculated, and an operation command for reaching the outer edge is output to the robot controller. Based on a command from the robot controller, the gripping claw pushes the outer edge of the burr with the opposing pressing surfaces to move the position of the molded body so as to match the accurate reference line, then grips the burr and lifts it to the deburring mold.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is an overall perspective view of the present invention, and FIG. 2 shows the relationship between a gripping tool and a molded product with burrs in an embodiment.
In the figure, a robot 1 is installed at a fixed position with respect to a forging machine, and a rotary unit 3 fitted on a vertical shaft 2 and an arm 4 extending transversely to the rotary unit 3 are respectively driven by a drive mechanism to move up and down the arm tip. be able to. A camera 5 is suspended above the robot 1 as a visual sensor and a relay table 11 at a fixed position is provided.
An image of the dimension and shape of the molded body with a burr 20 placed on the top is captured. The molded body with burrs includes a molded body 21 and burrs 22. A gripper 6 having a U-shaped cross section is provided at the tip of the arm 4 of the robot 1, and the two opposing faces (pushing faces 81) are moved to a symmetrical position with the reference line 12 of the relay table 11 as the center. .. A plurality of gripping claws 8 horizontally project toward the center on the inner sides of the two facing surfaces of the gripping tool 6, and electric cylinders 7 that move the gripping claws horizontally toward the center are mounted on the outer sides. .. As an information transmission circuit that connects the camera 5 and the electric cylinder 7, an image processing device 9 that binarizes an image of a molded product with a burr captured by the camera and replaces it with electronic information, and a robot of the robot based on the information from this device. It forms a control system that connects a part of detection and operation through a robot controller that commands the operation direction and its movement amount.

[0011]

INDUSTRIAL APPLICABILITY As described above, the present invention irrespective of the shape and size of a forged product to be formed, the burr that is always associated with the forged product is gripped and transferred in accordance with the reference position, It can be accurately fitted into the cutting die for reliable deburring. Therefore, there is an effect that the automation of the forging work of the general-purpose forging machine is promoted and the productivity and the safety are greatly improved.

[Brief description of drawings]

FIG. 1 is a diagram in which information paths are added to a perspective view showing an embodiment of the present invention.

FIG. 2 is a front view of a main part of the embodiment.

FIG. 3 is a front view of a main part in a conventional technique.

[Explanation of symbols]

 1 Robot 4 Arm 5 Camera 6 Gripping Tool 7 Electric Cylinder 8 Gripping Claw 9 Image Processing Device 10 Robot Controller 11 Relay Table 20 Molded Body with Burr 21 Molded Body 22 Burr

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁵ Identification code Office reference number FI technical display location B25J 15/08 U 9147-3F

Claims (3)

[Claims] 1. An image of a molded body with burrs that has just been forged and is accurately placed on a reference line on a relay table is imaged by a visual sensor suspended above the relay table, and the shape of the outer edge of the burr is processed by image processing. A deburring method for a forged product with burrs, characterized in that, based on the data, the outer edge of the burr is held at a plurality of positions at the same position, the holding table is moved while leaving the relay table, and the burr forging product is accurately fitted. 2. An image of a molded body with burrs immediately after forging, which is placed near the reference line on the relay table, is imaged by a visual sensor suspended on the relay table, and the outer edge of the burr and the shape of the molded body input in advance are taken. Is calculated and collated to calculate the positional relationship of the burr outer edge with respect to the reference line, correction based on the relationship is made, the burr outer edge is moved to the correct reference line on the relay table, and the burr outer edge is gripped at a plurality of points. A deburring method for a forged product with burrs, characterized in that it is transferred from the relay table as it is and fitted accurately into the deburring die. 3. A gripper having a U-shaped cross section at the tip of an arm of a robot that can freely move in a predetermined direction, and a plurality of gripping claws that independently advance and retreat toward the center on two opposing surfaces of the gripper. A camera is suspended on a relay table on which a forged product with burrs is carried, and an image processing device for binarizing the image picked up by the camera and a robot controller that operates based on the processed data are connected to form a robot. A deburring device for a forged product with burrs, wherein a controller and an electric cylinder that advances and retracts the plurality of gripping claws are connected.