JPH0521317Y2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a floating tool that is attached to the working end of a robot and can be advantageously implemented for grinding, deburring, etc.

Prior Art A typical prior art is disclosed in Japanese Patent Application Laid-Open No. 62-140764. In this prior art, an actuating body that rotates the grindstone using air pressure is attached to the main body via a bearing, and the main body is equipped with a pressing mechanism disposed surrounding a part of the actuating body. , is configured to press the actuating body in the restoring direction when the axis of the actuating body is deflected, and the pressing force of the actuating body in the restoring direction by the pressing mechanism is constant regardless of the amount of displacement of the actuating body. It is biased by air pressure to

In order to remove burrs protruding from a workpiece such as a synthetic resin molded product using such prior art floating roots, a grinding wheel is used along the longitudinal direction of the burrs. move.

Problems to be Solved by the Invention In such prior art, even if the protruding length of the burr changes along the longitudinal direction of the burr, the pressing mechanism does not allow the grinding wheel to touch the burr. Since the pressing force is constant regardless of the protruding length of the burr and therefore the amount of angular displacement of the operating body, the burr cannot be completely removed.

The purpose of the present invention is to provide a floating tool that can change the amount of processing such as the amount of grinding so that large and small burrs can be removed during deburring. be.

Means for Solving the Problems The present invention comprises: a working body 2 that processes a workpiece 38; a main body 3 that supports the working body 2 in a movable manner; and a body 3 that surrounds the working body 2 and attaches it to the main body 3. and presses the actuating body 2 in the restoring direction, and the pressing force P1 is a substantially constant value when the amount of displacement of the actuating body 2 is within a predetermined value range δ from a predetermined posture of the actuating body 2, When the displacement amount of the actuating body 2 exceeds the range δ,
This is a floating type tool characterized by including a pressing means 18 whose value increases as the amount of displacement of the operating body 2 increases.

Further, in the present invention, the pressing means 18 is
has a presser 23 that presses the actuator 2, and urges the presser 23 toward the actuator 2 by fluid pressure when the actuator 2 is displaced within the range δ,
It is characterized in that when the actuating body 2 is displaced beyond the range δ, the presser 23 is urged toward the actuating body 2 by fluid pressure and the spring 31.

Effect According to the present invention, the actuating body 2 is movably supported by the main body 3 via the bearing 10, and the actuating body 2 is moved to a predetermined posture by the pressing means 18. The pressing force P1 of the actuating body 2 by this pressing means 18 is
is a predetermined value range δ from the predetermined attitude.
When the amount of displacement of the actuating body 2 exceeds the range δ, the pressing force P1 increases as the amount of displacement of the actuating body 2 increases.

Therefore, for example, the grinding wheel 6 is
When performing deburring work by rotating and driving the burr, when the protruding length of the burr 39 to be removed by grinding, that is, the height of the burr 39 changes along the longitudinal direction of the burr 39, the burr is removed. When the protruding length of 39 is small and therefore the amount of displacement of the actuating body 2 is small, the pressing force with which the actuating body 2 is pressed and the grindstone 6 contacts the burr 39 is constant, and the burr 39b with a small protruding height is almost It is possible to remove it completely.

When the protruding length of the burr 39 is 39a,
The pressing means 18 presses the operating body 2, and therefore the grindstone, with a large value that increases as the amount of displacement of the operating body 2 increases. Therefore, the whetstone
The burr 39 has a large protruding length and is pressed with a large force, thus making it possible for the burr 39 to be completely removed.

In this way, even when the protruding length of the burr 39 changes along the longitudinal direction, it is possible to completely remove the burr 39 by grinding.

In addition to grinding with the grindstone 6, the present invention can also be implemented for finishing with a file, as well as for cutting and other processing.

Further, according to the present invention, the presser 2 of the pressing means 18
3, when the actuating body 2 is displaced within the range δ,
Since it is biased by fluid pressure, the pressing force P1 with which the pusher 23 presses the actuating body 2 is a substantially constant value regardless of the amount of displacement of the actuating body 2. When the amount of displacement of the actuating body 2 exceeds the range δ, the pusher 23 is biased not only by the fluid pressure but also by the spring 31.
This spring is deformed by the displacement of the actuating body, and the greater the amount of deformation of the actuating body 2, the greater the spring force, and the pressing force P1 of the presser 23 against the actuating body 2 increases accordingly. Become.

Embodiment FIG. 1 is a sectional view of an embodiment of the present invention.
This floating tool 1 basically has an operating body 2 and a main body 3 that supports the operating body 2. The main body 3 is fixed to a working end 4 of a robot, and is made of, for example, a synthetic resin molded product. Grind and remove burrs from the workpiece. A grindstone 6 with a shaft is removably fixed to the chuck 5 of the operating body 2, and the chuck 5 and the grindstone 6 are rotationally driven by the pneumatic motor of the operating body 2 to perform grinding. The axis of the actuating body 2 is indicated by reference numeral 7. Compressed air is supplied to this actuating body 2 via a flexible tube 8, and the aforementioned pneumatic motor is driven.
Air is exhausted from an exhaust hole 9 provided at the top of the.
An intermediate portion of the actuating body 2 in the axial direction is supported by a spherical slide bearing 10 so as to be freely oscillating angularly displaceable.
The center of the spherical seat of the spherical plain bearing 10 is located at the operating body 2
This coincides with the center of gravity G on the axis 7 of the actuating body 2, thereby preventing the attitude of the actuating body 2 from changing due to the influence of gravity.

The actuating body 2 is surrounded by a flexible bellows 12 below the body 3, the lower end 13 of this bellows 12 is fixed to the actuating body 2, and the upper end 14 is attached to the body 3.
Fixed. By this bellows 12, the actuating body 2
This allows the angular displacement of , and prevents the actuator 2 from rotating due to the reaction force of the actuator 2 that acts when the grindstone 6 is rotated for grinding.

The main body 3 includes a cylindrical portion 16 having a storage hole 15 for storing a portion of the operating body 2 above the bearing 10;
It has a cover 17 fixed to the upper part of this cylindrical part 16. On the cover 17 of the main body 3, pressing means 18 having the same structure are arranged at equal intervals in the circumferential direction.
They are arranged symmetrically around the axis 19 of the main body 3.

FIG. 2 is a sectional view taken along the section line - in FIG. 1. The pressing means 18 has a pressing element 23 , and this pressing element 23 has a protrusion 21 that projects into the storage hole 15 from an insertion hole 20 formed in the cylindrical portion 16 of the main body 3 . This presser 23 is made of a material such as iron. A right cylindrical guide tube 25 is fitted and fixed into the mounting hole 24 formed in the cylindrical portion 16, and the presser 23 is inserted into the guide tube 25.
The pusher 23 is fitted tightly so that the pusher 23 can be displaced in the radial direction of the main body 3. The pusher 23 has a recess 26 at the radially outer end of the cylindrical portion 16.
is formed. The amount of displacement of the presser 23 inward in the radial direction of the main body 3 is limited by the portion 42 in which the insertion hole 20 through which the protrusion 21 of the presser 23 is inserted is formed.

The cover 17 forms an annular space 27 facing the recess 26 of the presser 23. Compressed air is supplied to the space 27 via a flexible tube 28. cover 1
A blind plug 29 is screwed onto 7, and one end of a coil spring 31 is fitted and fixed into a recess 30 of the blind plug 29 facing the space 27.

When no force is applied to the grindstone 6 in a direction intersecting the axis 7 of the actuating body 2, the protrusion 21 of the presser 23 of the pressing means 18 is pressed against the right cylindrical shape of the actuating body 2 by the air pressure in the space 27. It is in contact with the support part 33,
This allows the axis 7 of the actuating body 2 and the axis 1 of the main body 3 to
9 coincides with the predetermined posture. In this state, the spring 31 in the pressing means 18 is
a tip 34 of the spring 31 having a natural length l1;
The bottom 35 of the recess 26 of the presser 23 has a distance δ in the axial direction of the main body 3. The spacing δ can be finely adjusted by means of blind plugs 29. Presser 2
The radially outer end 45 of the main body 3 of No. 3 and the end 36 facing the space 27 of the blind plug 29 with which the end 45 can abut are separated by a distance l2 in the radial direction of the main body 3. (δ<l2).

When grinding a workpiece such as a synthetic resin molded product by bringing the grindstone 6 into contact with the burrs, the grindstone 6 is equipped with an operating body 2.
A force acts in a direction intersecting the axis 7 of the actuating body 2, and the axis 7 of the actuating body 2 is inclined with respect to the axis 19 of the main body 3. This angle of inclination is indicated by the reference θ1 in FIG. Therefore, the protrusion 21 of the presser 23 is displaced to the left in FIG. 3 by the support portion 33 of the actuating body 2. Within the range of displacement δ until the bottom 35 of the recess 26 of the presser 23 comes into contact with the tip 34 of the spring 31, the presser 23 is affected by air pressure, as shown by line a in FIG. As a result, a pressing force P1 of the actuating body 2 in the restoring direction toward the radial inward of the main body 3 acts with a constant force.

The axis 7 of the actuating body 2 is further inclined, and the angle θ1 shown in FIG. 3 becomes larger. Recess 2 of presser 23
The bottom 35 of 6 is in contact with the tip 34 of the spring 31,
The pusher 23 is displaced to the left in FIG. 3 against the air pressure and the spring force of the spring 31. The amount of compression displacement of the spring 31 is proportional to the spring force. Therefore, as shown by line b in FIG.
In the range where the displacement exceeds the value δ, the displacement of the presser 2
The displacement amount of 3 and the pressing force of the actuating body 2 in the restoration direction acting on the presser 23 change as shown by a linear function. The slope of this line b depends on the spring constant of the spring 31. By abutting the end 45 of the pusher 23 against the end 36 of the blind plug 29, radially outward displacement of the main body 3 of the pusher 23 is restricted. This limits the angle of inclination of the work body 2.

Referring to FIG. 5, there is a burr 39 on the workpiece 38 to be removed by grinding, and the length of the burr 39 protruding to the right in FIG. ), if they differ along
The working end 4 of the robot moves in a straight line so that the axis 7 of the operating body 2 becomes an axis trace indicated by reference numeral 40, assuming that no external force acts on the grindstone 6. In FIG. 5, when the presser 23 is displaced by a distance δ, the axis of the grinding wheel 6 that is in contact with the burr is displaced as indicated by the reference mark δa, and the grinding wheel 6
The maximum displacement l2a of the axis corresponds to the maximum displacement l2 of the presser 23. When the grindstone 6 is in contact with the portion 39a of the burr 39 that has a large protrusion length,
The support portion 33 of the actuating body 2 causes the pusher 23 to be displaced radially outward of the main body 3 by an amount of displacement δ. Therefore, the grindstone 6 is applied to the portion 39a of the burr 39 with a force greater than the force corresponding to the pressing force P1.
come into contact with. Therefore, the portion 39a of the burr 39 having a large protruding length is sufficiently ground.

In the portion 39b where the protruding length of the burr 39 is small,
The amount of displacement of the presser 23 is within δ, and the support portion 33 of the actuating body 2 is pressed inward in the radial direction of the main body 3 by the presser P1 by the presser 23. In this way, the burr 3 has portions 39a and 39b with different protruding lengths.
9 is sufficiently ground substantially flat along the locus 40.

Since the exhaust hole 9 of the working body 2 is provided in the upper part of the working body 2, the exhaust from the exhaust hole 9 prevents chips from scattering during grinding.

In the embodiment described above, the recess 26 is formed in the presser 23, so that the outer circumferential surface of the presser 23 is lengthened in the axial direction, thereby improving the airtightness between it and the inner circumferential surface of the guide tube 25. can do.

The invention can be implemented not only for grinding, but also for cutting and finishing, such as by filing, and also for other processes.

Although the actuating body 2 is supported on the main body 3 by a spherical plain bearing 10 in the embodiment described above, in another embodiment of the present invention, the actuating body 2 is displaceable in a direction perpendicular to and parallel to its axis 7. The main body 3 may be supported by the main body 3, or may be supported by the main body 3 in other ways so as to be displaceable.

Effects of the Invention As described above, according to the present invention, when the actuator 2 is displaced during processing by the actuator 2, within the predetermined range δ where the amount of displacement is small, it is pressed by the pressing means 18 in the restoring direction. The force P1 is constant,
When the amount of displacement of the actuating body 2 increases and exceeds the range δ, the pressing force P1 acting in the restoration direction increases as the amount of displacement increases. This makes it possible to reliably remove the burr 39 even if the protruding length of the burr 39 changes when deburring, for example by grinding.

[Brief explanation of the drawing]

Fig. 1 is a cross-sectional view of an embodiment of the present invention, Fig. 2 is a cross-sectional view taken from the cutting plane line - of Fig. 1, and Fig. 3 is a cross-sectional view of an embodiment of the present invention when the actuating body 2 is angularly displaced and the presser 23 is displaced. FIG. 4 is a graph showing the pressing force exerted on the actuating body 2 by the pressing means 18, and FIG. 5 is a sectional view for explaining the deburring operation. DESCRIPTION OF SYMBOLS 1... Floating tool, 2... Operating body, 3... Main body, 4... Working end, 6... Grindstone with shaft, 10... Spherical slide bearing, 18... Pressing means, 23... Presser , 31...spring.

Claims (1)

[Claims for Utility Model Registration] (1) A working body 2 that processes a workpiece 38, a main body 3 that supports the working body 2 in a freely displaceable manner, and a body 3 that surrounds the working body 2 and is attached to the main body 3. and presses the actuating body 2 in the restoring direction, and the pressing force P1 is
The amount of displacement of the actuator 2 is approximately constant within a predetermined value range δ from the predetermined posture of the actuator 2, and when the amount of displacement of the actuator 2 exceeds the range δ, the amount of displacement of the actuator 2 is approximately constant. A floating tool characterized in that it includes a pressing means 18 whose value increases as the amount of displacement increases. (2) The pressing means 18 has a pusher 23 that presses the actuator 2, and when the actuator 2 is displaced within the range δ, the presser 23 is pushed toward the actuator 2 by fluid pressure. and when the actuating body 2 is displaced beyond the range δ, the pusher 23 is urged toward the actuating body 2 by fluid pressure and a spring 31. The floating tool described in item 1.