JPH06218669A - Floating mechanism for tool holder part of burr removing robot - Google Patents

Abstract

PURPOSE:To obtain the excellent finished state independently of the attitude of a tool by installing a burr removing tool on a tool holder which possesses a certain degree of freedom in revolution around both the axes having a cross point and allowing the position of the center of gravity of the whole part having the degree of freedom in revolution to coincide with the crossing point of both the axes. CONSTITUTION:As for a robot body 50, a floating mechanism 40 is installed at a final wrist part 1 through an installation base part 5, and a burr removing tool 3 installed on a burr removing cutter installation part 3C is held on a tool holder 7 which is supported through an around-two-axes rotary supporting mechanism 41. The tool holder 7 allows the top edge parts of the advance/ retreat members 9A and 9B projecting from four stop cylinders 6A and 6B to contact through rollers 9C and 9D. The around-two-axes rotary supporting mechanism 41 is constituted so as to support the tool holder 7 in a rotatable manner around two axes having a crossing point P, and installed so that the position of the center of gravity of the whole part having a certain degree of freedom substantially coincide with the cross point P of two axes.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a floating mechanism used in a tool holder part when a deburring tool is supported by a robot and deburring work of a machined or cast work is carried out. The present invention relates to a floating mechanism in which the pressing force of a tool against a work is not affected by the weight of the tool even when the attitude of the deburring tool changes.

[0002]

2. Description of the Related Art When a deburring tool is supported by a robot for deburring work, a so-called floating mechanism is often used between the tip of the wrist of the robot and the deburring tool. In general, the floating mechanism
This mechanism is used to reduce the excessive load on the tool and to improve the precision of the finished surface roughness by incorporating the floating principle into the machining phenomenon in which the tool and the workpiece interact with each other to proceed. , Has the effect of absorbing the positional deviation between the work and the tool and keeping the tool in contact with the work surface at all times.

In the conventional floating mechanism, the elastic force of a spring or the like is used to elastically support the tool to generate a force for pressing the tool against the work, and to release it when an excessive load is applied. However, in order to optimize the strength of elasticity in that case, prepare a floating unit for each tool or each work, and apply an appropriate tool pressing force according to the type of work etc. It was customary to replace and install the floating unit that the user has.

That is, the structure is such that the pressing force can be kept the same when the posture of the tool is different and the pressing force can be freely adjusted including its direction without replacing the floating mechanism. The floating mechanism has not been proposed yet.

[0005]

As described above, in the conventional method, (1) the problem of "the influence of the tool posture on the pressing force on the work" and (2) the pressing force including the directional characteristics are used. There is a problem that we cannot meet the need for flexible adjustment.

First, regarding the problem (1), FIG.
This will be described with reference to (a) and (b). FIG. 1 schematically shows the relationship between the posture of the tool and the pressing force on the work.

In (a), a tool 3 supported by a robot wrist 1 via a floating mechanism 2 is mounted on a surface of a work, that is, a processing surface (actually, an edge or a point extending linearly or curvedly). Although it is often a head-like portion, these are represented below by the "machining surface.") The state of being pressed downward (direction of gravitational action) with respect to 4 is shown, and in (b). On the contrary, the state in which the tool 3 is pressed upward (in the direction opposite to the gravity acting direction) against the surface of the work 4 is shown.

Assuming that the same tool self-weight W and floating reaction force T are applied in (a) and (b), the self-weight W is added to the floating reaction force T in FIG. Is W + T, whereas in (b), the weight W is the floating reaction force T.
Will be diminished. That is, even when the same tool is supported by the same floating mechanism, it can be understood that the pressing force may change about twice as much as the weight of the tool due to the change in the attitude of the tool.

In order to avoid this, it is necessary to adjust the floating reaction force itself depending on the posture of the tool, or to reattach a floating unit having a different floating reaction force. Generally, the posture of the tool changes variously. So, such a solution is not realistic.

An object of the present invention is to provide a floating mechanism which can fundamentally solve such inconvenience.

Next, the problem (2) that "the necessity of freely adjusting the pressing force including the directional characteristics cannot be met" will be described.

FIG. 2 is a schematic drawing showing how the deburring tool 3 attached to the robot hand removes the burrs left on the processed surface 4. Generally, when performing deburring, the blade 3A at the tip of the deburring tool 3 is used.
Is pressed against the machining surface 4 in a posture that intersects the extending direction of the burr portion of the machining surface 4 (X direction).
Direction (arrow C) along the extending direction (X direction) of the burr part of
Direction) is performed. In the figure, 4A represents a deburring processing completed portion, and 4B represents a deburring processing incomplete portion.

When the deburring tool 3 is supported by the floating mechanism, the floating reaction force (including the weight contribution, if any) that regulates the movement of the tool 3 is
Consider the force component in the direction of pressing the tool blade 3A against the processing surface (β direction in the drawing) and the force component in the direction (α direction) that restricts the tool blade 3A from escaping back and forth along the traveling direction. You can

In order to smoothly carry out the deburring work, the strength of each of the force components in each of the α and β directions must be an appropriate value, and the properties of the machined surface (material, shape, burrs Depending on the size of the deburring tool blade, etc.,
It is not uncommon for one to be strong and the other to be weak.

For example, if the work is made of steel, good deburring can be performed with a relatively high floating reaction force in both the α direction (feed direction) and β direction (pressing direction). However, when deburring aluminum workpieces, a good finished surface can be obtained unless the reaction force in the β direction (pressing direction) is made relatively weak with respect to the reaction force in the α direction (feed direction). Often you can't get it.

That is, in order to smoothly carry out smooth deburring for various cases, simply adopting the floating mechanism is not sufficient, and the floating reaction force can be freely divided into the feeding direction and the pressing direction. It is important to be able to make adjustments and settings. Also, from the perspective of adapting to various work materials, shapes, required finishing accuracy, etc. without changing tools, it is very important to adjust the floating reaction force including direction characteristics. It makes sense. Another object of the present invention is to realize such adjustment and setting of the floating reaction force by a simple mechanism.

[0017]

SUMMARY OF THE INVENTION The present invention is directed to a tool holder portion of a deburring robot, the tool holder having rotational degrees of freedom around two axes having intersections, and a deburring tool mounted on the tool holder. Has a means for elastically restricting the posture of the deburring tool so that the deburring tool is pressed against the work, and the position of the center of gravity of the entire portion having a rotational degree of freedom when the deburring tool is attached to the tool holder is The above problem is solved by adopting a floating mechanism that substantially coincides with the intersection of the two axes (the structure described in claim 1), and further as an elastic posture regulating means of the deburring tool. , Has four advancing / retreating members to which individually controllable return reaction forces are applied, and each advancing / retreating member is attached to the tool holder through a rolling member provided at each tip. By using those that can be contacted, in particular, in the floating mechanism of the tool holder part of the deburring robot, a specific configuration for enabling the floating reaction force to be independently adjusted and set for each direction is specified. (The configuration according to claim 2).

[0018]

According to the present invention, the deburring tool is mounted on the tool holder having the rotational degree of freedom about the two axes having the intersections, and the posture of the deburring tool is elastically restricted. As shown in FIG. 1 (a), the position of the center of gravity of the entire portion having the rotational degree of freedom when the deburring tool is attached to the tool holder is substantially the same as the intersection of the two shafts. In both of the case where the tool is pressed against the machining surface from above and the case where the tool is pressed against the machining surface from below as shown in FIG. All are applied to the center of rotation that coincides with the center of gravity, and the load is the part that supports the tool holder with the tool attached (bearing part)
Therefore, it does not contribute to the direction of increasing or reducing the effective value of the floating reaction force.

That is, since the force exerted by the tool blade on the machined surface includes the weight of the tool and the tool holder, the problem of the conventional technique is fundamentally solved. The force exerted by the tool blade on the machined surface is only the center of gravity = the external force acting on the intersection of the two rotation axes and the rotation force around it. Therefore, if the postures of the tool and the tool holder are elastically regulated in an adjustable manner in two or more directions in a state where the center of gravity and the intersection of the two rotation axes of the tool holder portion are matched, each of the inevitably results. Means will be configured to individually control the reaction forces for rotation about the axis of rotation.

As described above, according to the technical idea peculiar to the present invention in which the intersection of the two rotation axes of the tool holder and the center of gravity are made to coincide with each other, the fluctuation of the floating reaction force due to the weight of the tool and the tool holder is avoided, and the directional characteristics are Free adjustment of the floating reaction force including it will be achieved at the same time.

According to the principle of the present invention, the structure of the means for elastically restricting the attitude of the tool or the tool holder in an adjustable manner in two or more directions is not particularly limited, but the reaction force can be adjusted. It is considered to be the simplest and rational to adopt a structure in which four advancing / retreating members are brought into contact with the tool holder. That is, four advancing / retreating members are supported through a pneumatic cylinder, a spring mechanism, a magnetic force mechanism, etc., whose reaction force can be controlled,
If the strength of the reaction force about the rotation around the two rotation axes is adjusted, the strength of the floating reaction force including the directional characteristic is adjusted accordingly.

The reaction force is adjusted by, for example, the pressure in the pneumatic stop cylinder that gives the reaction force of each advancing / retreating member when the advancing / retreating member corresponds to the reference posture of the tool (see FIGS. 3 and 4 described later). Is selectively set via an electropneumatic valve connected to the cylinder. The force applied to the tool from the machining surface during the deburring work acts as a force for rotating the tool holder around each of the XY axes, and this rotational force corresponds to the direction of the rotation, and the reaction in the reference state of the advancing / retreating member. As long as the force setting value is not exceeded, the advancing / retreating member holds the reference position, and the tool does not retract from the machining surface.

However, when the deburring blade is firm and encounters a large burring portion, a large rotational force exceeding the above reaction force setting value acts on the tool or tool holder, and the corresponding advancing / retreating member moves in the stop cylinder. Move in the direction of retreating to. The force acting on the tool from the machined surface is rapidly relieved in accordance with the amount of retreat at that time, and the advancing / retreating member retracts to a position balanced with the floating reaction force given to the advancing / retreating member. (See FIG. 7, which will be described later.) In this case, from the viewpoint of preventing a deburring defect caused by the tool easily escaping from the machining surface, the retraction amount of the advancing / retreating member from the reference position (outward end state) is reversed. It is preferable to control the air pressure in the stop cylinder to increase the force. For example, after setting the air pressure in the reference state, use the pressure change (Boyle-Charles' law) created by completely closing the air escape port in the cylinder, depending on the retracted amount of the advancing / retreating member. It is possible to execute control in which the reaction force increases.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An example of a floating mechanism constructed according to the present invention will be described below with reference to FIGS.

First, FIG. 3 is a diagram showing an outline of the entire system including a tool holder part of a robot provided with a floating mechanism of the present invention and a floating reaction force control means. In the figure, 50 is a robot main body, The floating mechanism 40 is attached to the final wrist 1 via the attachment base 5. Deburring blade 3A with deburring blade mounting part 3
The deburring tool 3 mounted on C is held by a tool holder 7 supported via a biaxial rotation support mechanism 41 described later.

The tool holder 7 has four laterally extending portions 7A,
7B (only two are shown), and four advancing / retreating members 9A and 9B (only two are shown) are arranged, one for each lateral extension. Rollers 9C and 9D (only two are shown) are provided at the tips of the advancing and retracting members 9A and 9B,
When all four advancing / retreating members are in the illustrated extended end state,
The advancing / retreating members 9A, 9B come into contact with the laterally extending portions 7A, 7B via the rollers 9C, 9D.

The bases of the advancing / retreating members 9A, 9B are inserted into the stop cylinders 6A, 6B (only two are shown), and the air pressure in the stop cylinders 6A, 6B depends on the stop cylinders and the hose 32, respectively. It is regulated by an electropneumatic valve device 30 connected via 33. The electropneumatic valve device 30 is attached to an appropriate arm portion of the robot body 50.

The robot controller indicated by reference numeral 20 controls the operation of the robot body 50 and the deburring tool 3 supported by the floating mechanism according to a normal method. In this embodiment, in addition to these, the robot body is controlled. It also controls the electropneumatic valve device 30 attached to the. The connection with the electropneumatic valve device 30 is performed by a cable 31 pulled out from an analog voltage extracting portion 21 provided in the robot controller 20,
The robot controller 50 is connected to the robot body 50.
0 for the robot control signal output unit 22 and the robot main body 50 for the input terminal unit 51 connected to the cable 34.
It is done by tying in.

In addition to the teaching operation panel 23, the robot controller 20 includes a central processing unit (CPU) and a memory (R).
OM and RAM), an interface for exchanging signals with an external device, etc., except that the set electropneumatic valve device 30 is controlled according to a manual command from the teaching operation panel 23 or a command by reproducing the teaching program. For example, since it has a conventional configuration and function, detailed description will be omitted (however, as for the outline of the electric system related to the analog voltage extracting portion 21 connected to the electropneumatic valve device 30, see FIG. See below for reference.).

The floating mechanism 40 will be described in more detail with reference to FIGS. 4 and 5, and a supporting column 5B is provided on the mounting surface side of the mounting base 5 via a mounting pedestal 5A. Four stop cylinders 6A, 6 are provided on the mounting seat 5C fixed to the tip of the support column 5B.
B (only two are shown) are fixed, and the rod-shaped advancing / retreating member 9 described above is attached to each of the stop cylinders 6A and 6B.
A and 9B are inserted.

The advancing / retreating members 9A, 9B are urged in the direction in which they project from the respective cylinders by the air pressure inside the respective stop cylinders 6A, 6B, while the projection limit is limited by a stopper member not shown in FIG. The state shown in FIG. 4 and the state shown in FIG. 4 represent the maximum extended end state. In this state, the laterally extending portions 7A, 7B of the tool holder 7 and the advancing / retreating members 9A, 9B move the rollers 9C, 9D. This corresponds to a standard state in which a total of four points are in contact with each other. That is, a force that pushes back the advancing / retreating members by overcoming the air pressure sent from the electropneumatic valve device 30 into each of the advancing / retreating members 9A, 9B from the electropneumatic valve device 30 via the hoses 31, 32 (only two are shown). It is not working.

A support cylinder 5D for supporting the tool holder 7 through a biaxial rotation support mechanism 41 extends from the mounting seat 5C, and four openings 5E are formed in a part of the support cylinder 5D.
(Only two are shown) are provided, and the laterally extending portions 7A and 7B of the tool holder extend laterally through the respective openings 5E. The size and shape of each opening 5E are set with a slight margin so that the tilted state of the tool holder 7 described later can be allowed.

The rotation support mechanism 41 about the two axes is parallel to the paper surface passing through the position shown by P in the figure and perpendicular to the paper surface of FIG. 3 (Y axis), and also passing through the point P, and of the tool base 3B. This is a mechanism for rotatably supporting the tool holder 7 around each of the axes (X axis) perpendicular to the axis (Z axis). This will be described with particular reference to FIG. 5. The support cylinder 5D is provided with screw holes 5F and 5G along the Y axis.
Rounded screws 13A and 13B are respectively fixed to the G through holes, and the rounded portions 13C and 13D at the tips thereof are the ring members 1
They are housed in the recesses 11A and 11B provided in the No. 1, respectively. In order for the ring member 11 to rotate smoothly around the Y axis, a known bearing structure (for example, a ball bearing type) is provided in each recess 11A, 11B as necessary.

In this way, the ring member 11 itself, which is rotatably supported around the Y axis with respect to the support cylinder 5B,
Screw holes 11C and 11D are formed along the X-axis, and these screw holes 11C and 11D respectively have rounded head screws 12A and 1D.
2B is fixed through, and the tip rounded portion 12C,
12D is the concave portions 7C and 7D provided in the tool holder 7.
Are housed in each. In order to ensure a smooth rotation of the tool holder 7 around the Y axis, a known bearing structure (for example, a ball bearing type) is provided in each recess 7C, 7D as necessary. It is similar to the case of 11.

At the tip of the tool holder 7, there is provided a cover member 16 having an opening having a diameter slightly larger than that of the tool holder base 3B at the center, and four locking screws 15 (only two are shown).
Is attached using. To mount and fix the tool 3 on the tool holder 7, the tool base 3B is inserted through the opening of the cover member 16, and each of the three screw holes provided at a portion slightly away from the tip of the tool holder 7 is inserted. The tool holder base portion 3B is fastened and fixed from three directions by the fixing screw 14 (only one is shown) inserted in the.

The fixed position of the tool 3 is a rotatable portion around two axes, that is, the center of gravity G of the tool 3 and the tool holder 7 combined is the intersection point P of the two rotation axes (X axis and Y axis). Chosen to match. The position is a state in which the reaction force of the advancing / retreating members 9A and 9B is 0 (or a state in which the electropneumatic valve device is operated to make the inside of the stop cylinders 6A and 6B a negative pressure state and the advancing / retreating members are retracted). Tool 3
When the tool holder 7 is tilted at an arbitrary angle by applying an external force to the tool holder and then the external force application is stopped, the fixed position is set so that the tilted posture can be maintained when designing and manufacturing the floating mechanism including the tool and the tool holder. It can be decided in advance.

In this case, a mark for indicating a fixed position is attached to the tool base 3B or the tool holder 7, or a ring which cannot pass through the central opening of the cover member 16 is fitted and fixed near the tip of the tool base 3B. If a measure is taken such that the center of gravity G is a fixed position where the center of gravity G coincides with the intersection P at the position where the ring abuts the cover member 16, the operator does not need to search for the fixed position.

When it is necessary to fix the tool 3 to the tool holder 7 more firmly, a known strong chuck mechanism or the like is used instead of the locking by the set screw 14. It is also conceivable that the position where the tool 3 is fixed by the chuck mechanism gives a position where the center of gravity G coincides with the point P.

As described above, the tool 3 is fixed to the tool holder 7 with the center of gravity G of the tool 3 and the tool holder 7 aligned with the point P, and the stop cylinders 6A and 6B are fitted with a predetermined positive force. When pressure is applied, the retractable member 9
A and 9B are in the extended state (reference state) as shown in FIGS. 3 and 4. That is, the tip rollers 9C and 9D are in contact with the laterally extending portions 7A and 7B of the tool holder 7, and the axis of the tool base 3B (Z axis) and the axis of the support column 5B are in alignment with each other.

FIG. 6 is a block diagram showing an outline of an electric system for operating the electropneumatic valve device 30 for adjusting the air pressure in the stop cylinders 6A and 6B.
CP of the robot controller 20 responding to a command from
D / A converter 21A and operational amplifier 2 connected to U24
1B, 24V DC power supply 21D, DC voltage converter (24
V / 15V) 21C and analog voltage output terminal 21E are shown.

When an instruction to operate the electropneumatic valve device 30 is issued from the teaching operation panel 23 in order to set the air pressure in each stop cylinder in the reference state, a digital signal corresponding to the instruction is issued from the CPU 24, and D / It is input to the A converter 21A. The analog output signal of the D / A converter 21A is
After being arithmetically amplified by the operational amplifier 21B having appropriate characteristics, it is taken out from the analog voltage output terminal 21E and sent to the electropneumatic valve device 30 via the cable 31.

As a bias power source for the operational amplifier 21B,
Here, the voltage of the 24V DC power supply 21D is reduced to 15V by the DC voltage converter 21C. Although only one system is shown in the figure, four such analog voltage output systems (for example, 21A and 21B in FIG.
The system is prepared and the bias power source shares 21C and 21D. ) By providing each stop cylinder 6A,
It is possible to control the air pressure every 6B.

Now, in response to a command from the teaching operation panel 23, the electropneumatic valve device 30 is operated so that the air pressure in each of the stop cylinders 6A and 6B becomes a predetermined value determined in consideration of the material of the machined surface and the like. It is assumed that the burr removal work is started with the cylinder outlet set to be closed. If the reaction force from the processing surface does not overcome the air pressure in any of the stop cylinders, the floating mechanism remains in the state shown in FIGS. 3 and 4, and the tool holder 7 and the tool 3
Does not change its relative attitude to the robot. The attitude of the tool 3 with respect to the outside world (the attitude viewed in the world coordinate system) changes according to the attitude of the robot wrist 1 (see FIG. 3). Therefore, when the deburring process is performed on the downward processing surface, the posture shown in FIG. 1B is taken, but even in that case, as described in the section for explaining the operation,
Due to the unique configuration of the present invention in which the center of gravity G and the center of rotation P of the two axes are made to coincide with each other, the weight W does not diminish the tool pressing force against the machined surface unlike the conventional case.

When the robot moves and encounters a deburring blade 3A or a large and strong deburring portion, the tool holder 7A and the tool 3 supported by the biaxial rotation supporting mechanism 41 receive a strong reaction force from the machining surface. Incline. FIG. 7 schematically shows this state. Referring to FIG. 7, the force F applied from the processing surface 4 to the deburring blade 3A is converted into a rotational force (torque) around the point P, and a direction in which the lateral extension 7B of the tool holder 7 is pushed up. Urge to. This power
When the air pressure (reference state) in the stop cylinder 6B corresponding to the advancing / retreating member 9A is overcome, the entire tool holder 7 holding the tool 3 rotates around the point P, and the advancing / retreating member 9B retracts toward the stop cylinder 6B. Move in the direction. This movement is performed smoothly because a roller (rolling member) 9D is provided at the tip of the advancing / retreating member 9B.

When the tool holder 7 is tilted, the reaction force from the machining surface 4 is alleviated, while the pressure of the air trapped in the stop cylinder 6B rises, and the return reaction force T of the advancing / retreating member 9B increases. Therefore, the two are in equilibrium at the position of F = T, and the equilibrium posture at that time is obtained. The figure shows a state where the advancing / retreating member 9B is retracted by a distance d and the tool holder 7 is tilted by an angle θ and balanced.

As described in the section of description of the operation (see FIG. 2), the reaction force from the processing surface 4 also acts in the feeding direction perpendicular to the paper surface in FIG. 7, so the reaction force is not shown in the figure. It is converted into a rotational force (around the X axis) that raises the tool holder lateral extension. If the strength is large enough to push up the corresponding advancing / retreating member, the tool holder 7 also rotates around the X axis and tries to take an equilibrium posture in balance with the return reaction force by the stop piston. .

As can be seen from the above description, the material of the machined surface, the shape, the size of the burr, the type of the deburring blade, and the finish can be obtained by changing various combinations of the set values of the air pressures in the four stop cylinders. It is possible to provide the floating mechanism with the optimum return reaction force for each direction according to the accuracy and so on.

As mentioned in the section of the description of the operation, for example, when the work is made of a hard material such as steel, both the floating reaction force corresponding to the feed direction and the floating reaction force corresponding to the pressing direction. Deburring is performed with the pressure relatively high, and if it is a relatively soft material such as an aluminum workpiece, the reaction force in the pressing direction is made relatively weak with respect to the floating reaction force in the feeding direction, and You can choose freely according to the situation, such as obtaining a good finished surface.

Further, instead of the method of setting the air pressure in the exit end state of each stop cylinder prior to the operation of the robot, the teaching program may include a control command for the electropneumatic valve device 30 so that the regenerative operation is performed. It is also possible to perform floating reaction force control that matches the properties of the machined surface corresponding to the robot position.

[0050]

According to the present invention, the deburring tool is mounted on the tool holder having the rotational degree of freedom about the two axes having the intersections, and the posture of the deburring tool is elastically regulated. Moreover, since the position of the center of gravity of the entire portion having the rotational degree of freedom in the state where the deburring tool is mounted on the tool holder is made to substantially coincide with the intersection of the two axes, In both the case where the tool is pressed from above and the case where the tool is pressed against the machined surface,
The pressing force of the deburring tool is not affected by the weight of the tool and the tool holder. Therefore, it is possible to prevent the finish state from changing due to the change of the tool posture corresponding to the three-dimensional orientation of the machined surface.

The force exerted by the tool blade on the machined surface is
Center of gravity = Since only the external force that acts on the intersection of two rotating shafts and the rotating force around it, the floating force in the direction orthogonal to the direction of each rotating shaft is controlled by controlling the rotating force around each rotating shaft individually. The reaction force can be adjusted individually.

As a means for elastically controlling the attitude of the tool, a structure in which four advancing / retreating members capable of adjusting the reaction force are brought into contact with the tool holder is used to control the reaction force of each of the four advancing / retreating members. By supporting it through a possible pneumatic cylinder, a spring mechanism, a magnetic force mechanism, etc., and adjusting the rotational force around the two rotation axes, the directional characteristics of the floating reaction force can be adjusted accordingly. Therefore, it is possible to individually select and set the floating reaction force in the tool pressing direction and tool feeding direction according to the material of the machined surface, the size of the burr, the type of deburring blade used, etc. It becomes easy to perform deburring work smoothly with finishing accuracy.

Further, since it is not necessary to replace the floating unit itself in order to change the floating reaction force according to the material etc., the working efficiency can be improved, and many kinds of floating units can be used as the work material. There is an advantage that it is not necessary to prepare them in preparation for changes such as.

[Brief description of drawings]

FIG. 1 is a schematic diagram for explaining that a pressing force on a work changes depending on a posture of a tool.

FIG. 2 is a diagram schematically showing how burrs left on a machined surface are removed by using a deburring tool attached to a robot hand in order to explain directional characteristic control of a floating reaction force.

FIG. 3 is a diagram schematically showing an overview of an entire system including a tool holder unit of a robot provided with a floating mechanism according to the present invention and a robot controller.

4 is an enlarged cross-sectional side view of an example of a floating mechanism according to the present invention employed in the system shown in FIG.

5 is a line I- of the floating mechanism depicted in FIG.
Sectional drawing which followed the surface shown by I.

FIG. 6 is a block diagram showing an example of a schematic electric system of a floating reaction force control system in the floating mechanism depicted in FIGS. 3 to 5.

FIG. 7 is a view schematically showing a state in which the deburring tool supported by the floating mechanism depicted in FIGS. 3 to 5 is inclined by receiving a force from the processing surface.

[Explanation of symbols]

1 Robot wrist 2, 40 Floating mechanism 3 Tool 3A Deburring tool blade 3B Tool base 3C Deburring blade mounting part 4 Processing surface 4A Deburring processing completed part 4B Deburring processing incomplete part 5 Mounting base 5A Mounting base 5B Support column 5C mounting seat 5D support cylinder 5E opening 6A, 6B stop cylinder 7 tool holder 7A, 7B lateral extension 7C, 7D recess 9A, 9B advancing / retracting member 9C, 9D roller (rolling member) 11 ring member 11A, 11B recess 12A, 12B, 13A, 13B Tip Round Screw 12C, 12D, 13C, 13D Tip Round Part 14 Fixing Screw 15 Locking Screw 16 Cover Member 20 Robot Controller 21 Analog Voltage Extracting Section 21A D / A Converter 21B Operational Amplifier 21C DC Voltage Converter 21D DC power supply 22 Robot control signal output Part 23 Teaching operation panel 24 CPU (central processing unit) 30 Electropneumatic valve device 31, 34 Cables 32, 33 Hose 41 Rotating support mechanism around 2 axes 50 Robot main body 51 Input terminal part G 2 Rotating part around axis (tool and Tool holder)
Center of gravity P 2 axis (X axis, Y axis) intersection

Claims (2)

[Claims] 1. A tool holder having a rotational degree of freedom around two axes having intersections, and a deburring tool which is mounted on the tool holder and is elastic in a posture so that the deburring tool is pressed against a work. And the position of the center of gravity of the entire portion having the rotational degree of freedom in the state where the deburring tool is mounted on the tool holder substantially coincides with the intersection of the two shafts. The floating mechanism of the tool holder part of the deburring robot, which is characterized by that. 2. The elastic posture regulation means of the deburring tool has four advancing / retreating members to which individually controllable return reaction forces are applied, and each advancing / retreating member is provided at each tip. The floating mechanism of the tool holder part of the deburring robot according to claim 1, wherein the floating mechanism is capable of contacting the tool holder via a rolling member.