JPH06226624A - Pressure applying direction control method and device for deburring polishing machine and the like - Google Patents

Abstract

PURPOSE:To deburr a workpiece following its shape by switching a deburring head into the outer peripheral edge direction or inner peripheral edge direction of the workpiece while controlling the pressure in order to deburr the outer peripheral edge and inner peripheral edge of the upper and lower faces of the workpiece placed on a turning work table without inverting the workpiece. CONSTITUTION:In a deburring polishing machine 100 performing the pressure- copying of a deburring head 3 to a workpiece W and the control of the pressure by oil pressure control, the deburring of the workpiece outer peripheral edge W1 and that of the workpiece inner peripheral edge W2 are switched by the changeover control performed by an oil pressure direction switching valve VS for switching the direction of oil pressure fed to an oil pressure control part PC for the control of the pressure-copying direction of the deburring head 3 to the workpiece W and the control of the pressure applying direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pressurizing direction control of a deburring / polishing machine, etc. It is what

[0002]

2. Description of the Related Art Conventionally, in order to deburr the inner circumference, outer circumference, upper surface and lower surface of a work, a grindstone head is attached to the wrist of a robot and three-dimensionally controlled, or an NC controller is used to grind the stone head. Is controlled by three axes.
The deburring / polishing machine adopting the above control method is highly evaluated as being manufactured by a high degree of technical strength both mechanically and in a control system.

However, a deburring / polishing machine attached to the wrist of a robot and controlled three-dimensionally requires a mechanism of a multi-axis control system and has a low rigidity, and has a problem in supporting a deburring head. Even if a teaching method is used to create a program for driving and controlling a mechanism equipped with a multi-axis control system, it is difficult to perform shape follow-up control due to deviation of each work shape. Further, the method of controlling the grindstone head by three axes by the NC control device is extremely difficult to create a program for shape follow-up due to the deviation of the work shape, and is not suitable for deburring for shape follow-up due to the deviation of the work shape. And so on.

[0004]

SUMMARY OF THE INVENTION In order to solve all the above-mentioned problems of the prior art, the present invention controls a deburring head in a work direction to a work on a rotating work table to control the work shape. It is an object and an object to provide a technique for performing deburring processing by following the shape even if there is a deviation of.

[0005]

SUMMARY OF THE INVENTION According to the present invention, the outer peripheral edge deburring and inner peripheral edge deburring on the upper surface of a work, the outer peripheral deburring on the lower surface of the work, and the like, and the pressure receiving direction of the deburring head with respect to the work and this pressing direction. This is a method for controlling the pressing direction of a deburring / polishing machine or the like, which is performed by controlling the switching of the pressing direction to the work.

Further, according to the present invention, in the deburring / polishing machine for performing pressure control of the deburring head on a work and controlling the applied pressure by hydraulic pressure control, the outer peripheral deburring and the inner peripheral deburring of the work are switched. Is a pressure direction control device such as a deburring / polishing machine for performing the pressure receiving profile direction of the deburring head and the pressure direction control by switching control by a hydraulic pressure direction switching valve which supplies the hydraulic pressure control section.

[0007]

With the above-described structure, the deburring head can apply a predetermined pressing force to the deburring surface at the outer peripheral edge or the inner peripheral edge of the upper surface of the work while applying a predetermined pressing force. Perform processing. That is, the deburring head is pressure-controlled by the hydraulic control system that controls the pressure in the direction of the workpiece on the workpiece on which the workpiece is rotated, and the shape-following deburring processing is performed by the deviation of the workpiece shape. In addition, the deburring head can easily switch the processing of the inner and outer peripheral edges of the workpiece by controlling the switching of the pressing force direction.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A method for controlling a pressing force of a deburring and polishing machine and the like according to the present invention will be described below with reference to the embodiments shown in the drawings.
FIG. 1 is a front sectional view of a deburring and polishing machine of the present invention, and FIG. 2 is a hydraulic control circuit diagram showing details of a pressing force control method of the present invention.

FIG. 1 shows an entire cross section of a deburring and polishing machine 100, and this embodiment does not disclose the entire apparatus of the present invention, but is merely one embodiment of the invention. An air grinder 2 having a grindstone (tool) 1 at its tip is attached to a deburring head 3. The deburring head 3 includes upper and lower pressure-adjusting springs 4a and 4b, a pressure-receiving copying member (touch servo valve) SV, and a pressurizing cylinder PC (hydraulic pressure control section) that generates a pressing force corresponding to the pressure-receiving copying displacement.
It is equipped in the pressure control unit CU1 of 1-axis control. In the pressurization control unit CU1, an L-shaped bracket 12 is attached to a slider 11 provided on the top of the machine body 10, and a pressurizing cylinder PC is mounted on a moving base 12 'on which the L-shaped bracket 12 is mounted. The pressure cylinder PC
The distal end 14 of the piston rod 13 is penetrated through the vertical surface of the L-shaped bracket 12 and is loosely connected to the L-shaped bracket 12 to drive the L-shaped bracket to the right or left. Further, the deburring head 3 is L
The support shaft 12 and the bearing 16 on the forked support plate 12a of the mold bracket.
A pressure adjusting spring 4a located on the upper side of the deburring head 3 and symmetrical to the contactor 14 loosely connected thereto and a pressure adjusting spring 4b on the upper side of the contactor 14 are arranged to apply pressure. Deburring head 3 of the pressure adjusting spring 4a or 4b
The pressurizing force for the pressure is adjusted by the pressure screws 17a and 17b. That is, if the spring force of the pressure adjusting spring 4a on the lower side is increased by the pressure screw 17a, the tip grindstone 1
The repulsive force generated by pressing against the outer peripheral edge W1 of the work W is enhanced. On the other hand, if the spring force of the pressure adjusting spring 4b on the upper side is increased by the pressure screw 17b, the repulsive force generated by pressing the tip grindstone 1 against the inner peripheral edge W2 of the work W is strengthened. In the above operation, when pressing the outer peripheral edge W1 of the work W,
The rotational displacement of the deburring head 3 in the counterclockwise direction causes the contactor 14 of the pressure receiving copying member (contact pressure servo valve) SV to protrude leftward (in the figure). This displacement drives the piston rod 13 to the anti-deburring head 3 side so that the piston rod 13 of the pressurizing cylinder PC is restored to move to the anti-deburring head 3 side to move the bracket 12 to the right side of the drawing. To move the counterclockwise rotational displacement of the head 3 to restore it, and maintain the grindstone 1 in the initial pressing state to move the outer peripheral edge W1 of the work W to a predetermined pressing force (elastic force of the pressure adjusting spring 4a). Press).

On the other hand, when the inner peripheral edge W2 of the work W is pressed, the rotational displacement of the deburring head 3 in the clockwise direction causes the tentacle 14 of the pressure receiving copying member (contact pressure servo valve) SV to move to the right (FIG. At). This displacement drives the piston rod 13 to the deburring head 3 side to move the bracket 12 to the left side of the drawing by the slider 11 so as to restore the piston rod 13 of the pressure cylinder PC as the movement to the deburring head 3 side. Then, the rotational displacement of the head 3 in the clockwise direction is restored, and the grindstone 1 is maintained in the initial pressing state to press the inner peripheral edge W2 of the work W to a predetermined pressing force (elastic force of the pressure adjusting spring 4b). Press with.

Therefore, when the work W gripped by the turning chuck 20 is slowly turned, the outer peripheral edge W1 of the work W is rotated.
Alternatively, in order to apply the inner peripheral edge W2 with a constant pressing force F of the pressure adjusting spring 4a or 4b, the contact 14 of the contact pressure servo valve SV detects the rotational displacement of the head 3 and is applied so as to reach a predetermined rotational position. The pressure cylinder PC controls the head 3 by moving it back and forth. Therefore, when the work W is rotated at its center position O, the radius up to the grindstone 1 changes, but the grindstone 1 comes into contact with the outer peripheral edge W1 or the inner peripheral edge W2 of the work W with a predetermined pressing force, so that the dimension of the work is changed. The structure is such that high-precision deburring is performed by copying.

The hydraulic pressure to the contact pressure servo valve SV and the pressurizing cylinder PC is supplied from a hydraulic pressure source OP by a pump P through a hydraulic pressure direction switching control valve VS. By switching the switching control valve VS in the hydraulic direction, the pressing direction of the pressing cylinder PC with respect to the displacement of the contact pressure servo valve SV is changed to correspond to the outer peripheral edge W1 and the inner peripheral edge W2 of the work W (details are shown in FIG. 2). Shown in). The turning chuck 20 is placed on a turntable 21 driven via a motor M and gear trains 22 and 23, and the amount of rotation thereof is detected by a sensor S1. On the other hand, the slide of the bracket 12 to the right or left is also detected by the sensor S2 (the sensor on the left is not shown), and this sensor S2 is for deceleration when the grindstone 1 contacts the work. The operation of the deburring and polishing machine 100 is controlled by an electric control device (not shown) that takes in information from the sensors S1 and S2 and the switching control valve VS described above.

Finally, in FIG. 2, the pressure receiving direction of the deburring head 3 with respect to the work W (the moving direction of the contact pressure servo valve) and this pressure direction control (movement direction of the pressure cylinder PC / giving of a pressure adjusting spring). Direction) hydraulic pressure control unit 200
The switching control valve VS in the hydraulic direction will be described.
From the hydraulic pressure source OP, a switching control valve VS (manually operated) and a double check valve CV on the discharge side,
It is connected to the left and right cylinder chambers 30 and 31 of the pressure cylinder PC. First, while the hydraulic pressure is being supplied from the pipes P and A to the contact pressure servo valve SV, when the contactor 14 moves to the left side in the drawing, the piston rod 13 of the pressurizing cylinder PC moves to the right side. In addition, by switching the switching control valve VS, the hydraulic pressure is changed to D,
When hydraulic pressure is being supplied from B to the contact pressure servo valve SV, the pressurizing cylinder P moves when the contactor 14 moves to the right side in the drawing.
It is a hydraulic circuit that follows the relationship of moving the C piston rod 13 to the left.

Next, the deburring action of the upper peripheral edge W1 and the inner peripheral edge W2 of the work W will be described with reference to FIGS. First, in the deburring of the outer peripheral edge W1 on the upper surface side of the work W shown in FIG. 3, the grindstone 1 of the deburring head 3 is brought into contact with the height position and the left and right position of the outer peripheral edge W1. After that, a predetermined pressing force control: F and a pressurizing direction control: S are performed, and the deburring work of the work outer periphery W1 is performed by the grindstone rotation and the turning of the work table 21 under the control of the work without using the work program. . A flowchart of the above operation control will be described with reference to FIG. First, the operation of "aligning the grindstone with the outer peripheral edge of the work" (a) is performed, and then "designating deburring of the outer peripheral edge of the work" (b) is performed. This designation means the pressing force and the pressing direction of the grindstone 1. With this, "movement of the grindstone in the workpiece direction and contact pressure detection" (C) is performed, and "specified contact pressure application control" is performed.
(D) begins. Here, "rotation of the grindstone and rotation of the work table" (e) is activated to execute "copy control deburring of the outer periphery of the work" (f) and "stop at one work rotation or designated rotation" ( ), And "stop the rotation of the grindstone" (h) to finish deburring.

Next, the deburring process of the inner peripheral edge W2 on the upper surface side of the work W will be described with reference to FIG. The grindstone 1 of the deburring head 3 is aligned and brought into contact with the height position of the inner peripheral edge W2 and the left and right positions. After this, a predetermined pressing force control: F and pressurizing direction control:
S is performed, and the deburring work of the work outer periphery W1 is performed by the grindstone rotation and the turning of the work table 21 under the control of the work.
It is done without a program. A flowchart of this operation control will be described with reference to FIG. First, the operation of "aligning the grindstone with the inner peripheral edge of the work" (a) is performed, and then "designating deburring of the inner peripheral edge of the work" (b) is performed. This designation means the pressing force and the pressing direction of the grindstone 1. In this way, "movement of the grindstone in the work direction and contact pressure detection" (C) is performed, and "designated contact pressure application control" (D) begins. Here, "rotation of the grindstone and rotation of the work table" (e) is activated to execute "copy control deburring of the inner peripheral edge of the work" (f) and "stop at one work rotation or designated rotation" ( ), And "stop the rotation of the grindstone" (h) to finish deburring.

Finally, the deburring process of the outer peripheral edge W3 on the lower surface side of the work W will be described with reference to FIG. Deburring head 3
The grindstone 1 ′ is a spherical grindstone (a conical grindstone with a thick tip may be used), and the grindstone is brought into contact with the height position and the left and right position of the outer peripheral edge W 3. After that, a predetermined pressing force control: F and a pressurizing direction control: S are performed, and the deburring work of the work outer periphery W3 is performed by the grindstone rotation and the turning of the work table 21 under the control of the work without using the work program. . A flowchart of this operation control will be described with reference to FIG. First, the operation of "aligning the grindstone with the inner peripheral edge of the work" (a ') is performed, and then "designating the lower surface deburring of the outer peripheral edge of the work"(b').
This designation means the pressing force and the pressing direction of the grindstone 1 '.
With this, "movement of the grindstone in the workpiece direction and detection of contact pressure" (C ')
Then, the "specified contact pressure application control" (d ') starts.
Here, "rotation of the grindstone and rotation of the work table" (e ') is activated to execute "copy control deburring of the outer peripheral edge of the lower surface of the work"(f') to execute "one rotation of the work or designated rotation". "Stop" (to '), and also "Stop the rotation of the grindstone"
(Chi) is performed and the deburring is completed.

FIG. 5 shows the relationship between the deburring grindstones 1 and 1'on each surface and the outer and inner peripheral edges W1, W2 and W3 of the work W, and the inner and outer surfaces of the upper and lower surfaces can be selected by adopting a conical or spherical grindstone. Supports peripheral deburring.

[0018]

Other Embodiments It is needless to say that the present invention is not limited to the above-mentioned one embodiment, and design changes can be made within the scope of the invention. For example, the inner peripheral edge W2 and the outer peripheral edge W of the work W
If W1 and W3 have a three-dimensional shape that is displaced in the vertical height direction, the deburring head 3 is equipped with a slider that moves up and down, an elevation copying member, and a pressing force applying means, and deburring of a three-dimensional shaped work piece. Corresponds to processing. In this embodiment as well, the pressurizing direction control is switched upward or downward by switching the hydraulic pressure switching valve. Further, the configuration of the pressurizing force control unit and the configuration of the scanning pressure receiving unit are not limited to those in the above embodiment, and appropriate design changes can be made.

[0019]

According to the present invention, the outer peripheral edge deburring and the inner peripheral edge deburring on the upper surface of the work and the outer peripheral edge deburring on the lower surface of the work are performed by controlling the pressure receiving direction of the deburring head with respect to the work and the pressurizing direction. Since the deburring / polishing machine is used to control the pressing direction, deburring on the upper and lower surfaces of the work and deburring on the lower surface of the work can be performed without turning the work upside down. Can be improved. Further, the pressurizing direction of the deburring head can be switched simply by controlling the switching of the switching valve in the hydraulic direction, and a new deburring method capable of deburring without a program that follows the shape of a workpiece is provided.

Further, according to the present invention, in the deburring / polishing machine for performing depressurization control of the deburring head on the work and hydraulic pressure control of this pressing force control, the outer peripheral deburring and the inner peripheral deburring of the work are switched. , The pressure follow-up direction of the deburring head with respect to the work and this pressurizing direction control are performed by the switching control by the hydraulic direction switching valve that supplies the hydraulic pressure control section, so the pressurizing direction of the grindstone with respect to the inner and outer peripheral edges of the work upper surface can be switched. It is possible to provide a deburring device that enables high-dimensional deburring without changing the entire structure of the deburring device or the hydraulic control system, which can be performed by switching control of only the hydraulic direction switching valve. And, workability and productivity are significantly improved.

[Brief description of drawings]

FIG. 1 is a partially cutaway sectional view of a deburring and polishing machine of the present invention.

FIG. 2 is a circuit diagram showing a hydraulic control circuit of the deburring and polishing machine of the present invention.

FIG. 3 is a perspective view for explaining inner and outer peripheral deburring processing on the upper surface of the work.

FIG. 4 is a perspective view illustrating an outer peripheral deburring process on the lower surface of the work.

FIG. 5 is an enlarged cross-sectional view illustrating deburring processing on the upper and lower surfaces of the work.

FIG. 6 is a flowchart showing the outer peripheral edge deburring process on the upper surface of the work.

FIG. 7 is a flowchart showing an inner peripheral edge deburring process on the upper surface of the work.

FIG. 8 is a flowchart showing the outer peripheral edge deburring process on the lower surface of the work.

[Explanation of symbols]

 1,1 'Whetstone 2 Air grinder 3 Deburring head 4a, 4b Pressure adjusting spring 13 Piston rod 14 Toucher PC Pressurizing cylinder (hydraulic pressure control part) SV Touch pressure servo valve (pressure receiving copy member) VS switching control valve (hydraulic pressure) Direction switching valve) CU1 Pressurization control unit W Workpiece W1, W3 Outer peripheral edge W2 Inner peripheral edge OP Hydraulic pressure source 21 Worktable 100 Deburring / polishing machine 200 Oil pressure control unit

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[Procedure amendment]

[Submission date] November 1, 1993

[Procedure Amendment 1]

[Document name to be corrected] Drawing

[Correction target item name] All drawings

[Correction method] Change

[Correction content]

[Figure 1]

[Fig. 2]

[Figure 3]

[Figure 4]

[Figure 5]

[Figure 6]

[Figure 7]

[Figure 8]

Claims (2)

[Claims] 1. Deburring of the outer peripheral edge and the inner peripheral edge of the upper surface of the workpiece, the outer peripheral edge deburring of the lower surface of the workpiece, and the like are performed on the workpiece by controlling the pressure receiving direction of the deburring head on the workpiece and controlling the pressing direction. A method for controlling the pressing direction of a deburring and polishing machine, etc., characterized by performing switching control of the pressing direction. 2. A deburring / polishing machine for performing depressurization of a deburring head on a work and hydraulic pressure control for controlling the pressure applied to the deburring head. A pressurizing direction control device for a deburring and polishing machine or the like, characterized in that the head pressure follow-up direction and the pressurizing direction control are performed by switching control by a hydraulic direction switching valve which supplies the hydraulic pressure control section.