JPH0710461B2 - Combined processing equipment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a composite machining apparatus, and more specifically, to perform electrolytic machining and grinding at the same time by using an electrode provided with grinding means made of an electric insulator. For example, the present invention relates to a combined machining apparatus capable of efficiently performing machining work while performing uniform finishing on a surface to be machined having a complicated shape and various narrow machining sites.

BACKGROUND OF THE INVENTION In general, various processing methods are employed in a factory to perform a work operation on a work. For example, for a work made of metal having a work site where mechanical work is difficult, Electrolytic processing methods are widely used.

Various proposals have been made for this type of electrolytic processing method, and the technical idea thereof is disclosed in, for example, Japanese Patent Publication No. 44-21962. That is, in the above-mentioned conventional technique, the machining electrode formed in the shape of the portion of the workpiece to be machined is opposed to the workpiece with a minute gap defined therebetween. Next, the electrode is connected to the negative electrode side, the work is connected to the positive electrode side, and an electrolytic solution such as a saline solution is jetted in the gap between the electrode and the work while the electrode is moved forward and backward in the vertical direction. Thus, the desired electrolytic processing is applied to the work.

Furthermore, an electrolytic processing method has been proposed in which abrasive particles or the like are used to simultaneously perform a mechanical grinding action.
-39163 discloses the technical idea. According to this conventional technique, abrasive grains made of diamond grains or the like are implanted in the electrode surface, and the electrode and the work are relatively rotated or reciprocally displaced. As a result, the abrasive grains have a function as an insulating spacer that prevents a short circuit between the electrode and the work, and a function of mechanically grinding the work, so that the work can be processed more efficiently. To be done.

However, in each of the above-mentioned conventional techniques, for example, when processing the inner wall surface that defines the slit groove, if the bottom wall surface of this slit groove has an uneven shape, the movement locus of the electrode is preset, so-called. , Teaching becomes quite complicated. That is, the robot arm, which has the electrodes displaceably mounted thereon, must be moved corresponding to the shape of the bottom wall surface of the slit groove, and the electrode must be taught at a number of sites along the uneven shape of the bottom wall surface. Must
The teaching work takes a considerable amount of time, and unprocessed parts often occur due to insufficient teaching.
It has been pointed out that this makes it impossible to improve the efficiency and quality of the entire processing operation.

Moreover, if the slit groove is a relatively deep groove, it is extremely difficult to uniformly engage the entire electrode surface in the depth direction of the inner wall surface. For this reason, there is a drawback that a uniform working operation cannot be performed over the entire depth of the working surface. Further, there is a problem that polishing debris or the like is likely to remain on the bottom wall surface of the slit groove, and as a result, it becomes impossible to machine the machined surface near the bottom wall surface smoothly.

[Object of the Invention] The present invention has been made in order to overcome the above inconvenience, and an electrode provided with a grinding means made of an electrical insulator such as abrasive grains is attached to a robot arm so as to be able to move forward and backward. While moving the robot arm in the width direction of the processing surface, the electrode is displaced in a direction orthogonal to the moving direction to detect that the end of the electrode has come into contact with the bottom wall surface of the processing surface, and then, a predetermined value is determined. After displacing the electrode in a direction away from the bottom wall surface for a time, the electrode is moved to the bottom wall surface side again, and by repeating this, even if the bottom wall surface has an uneven shape, the robot arm is It only needs to be displaced in a substantially straight line, and simplification and automation of the teaching work can be easily achieved, and the electrodes are oscillated in parallel in the direction intersecting the machining surface so that the entire machining surface is evened out. It is an object of the present invention to provide a combined machining device that can perform machining with high accuracy.

[Means for Achieving the Purpose] In order to achieve the above-mentioned object, the present invention applies current to an electrode provided with a grinding means made of an electric insulator and a workpiece to displace the electrode along a machining surface. While the apparatus is for electrolytically and grinding the machined surface, a support member that is mounted on a robot arm, intersects the movement direction of the robot arm under the action of an actuator, and is movable back and forth along the machined surface. A plurality of leaf springs, one end of which is engaged with both ends in a direction intersecting the processing surface, and a base member which is fixed to the other end of the leaf spring and is suspended by the support member. A guide bar that is fixed to the base member and extends in the same direction as the moving direction of the support member; and the electrode is attached and slidably mounted on the guide bar and elastic. To the workpiece side through the body A slide member which is pressed when, characterized in that it comprises a detecting means for detecting that the electrodes are attached to the slide member is displaced relative to a predetermined position relative to base member.

[Operation] In the combined machining apparatus according to the present invention, when the support member crosses the movement direction of the robot arm under the action of the actuator and moves in one direction along the machining surface, the platform suspended by the support member is provided. The slide member is displaced through the member, and the work surface is ground and electropolished by the electrodes attached to the slide member. Then, when the lower end of the electrode comes into contact with the bottom wall surface, the slide member is displaced with respect to the base member against the elastic force of the elastic body, and the detection means is driven so that the electrode reaches the bottom wall surface. Is automatically detected. Then, the actuator is driven in the opposite direction to the above, the supporting member moves in the other direction along the machining surface, and after a lapse of a predetermined time, the supporting member moves in one direction via the actuator. As a result, the electrode moves along the serrated path, and the electrolytic polishing and the grinding are smoothly performed on the entire surface to be machined with the simple movement operation of the robot arm.

Further, since the base member is suspended from the supporting member via the leaf spring, the electrode can be always held parallel to the supporting member. Therefore, in particular, even if the machined surface is long in the depth direction, it is possible to secure the same machined state on the upper side and the lower side of the machined surface.

[Examples] Next, preferred examples of the combined machining apparatus according to the present invention will be given and described in detail below with reference to the accompanying drawings.

In FIGS. 1 and 2, reference numeral 10 indicates a combined machining apparatus according to the present invention. The combined machining device 10 includes a mounting plate 14 attached to a robot arm 12 which is displaceable in a predetermined direction. The mounting plate 14 extends in the vertical direction in the figure and a rotary drive source 16 is provided at its upper end. Attach. A pinion 20 is rotatably mounted on the rotary drive shaft 18 of the rotary drive source 16.
20 meshes with a rack member 22 extending in the vertical direction, and the back surface side of the rack member 22 has guide rollers 23a, 23b.
Supported by. A plate-shaped support member 24 is attached to the lower end portion of the rack member 22, and both end portions of the support member 24, that is, both end portions orthogonal to the processing direction for moving an electrode described below under the action of the robot arm 12. Leaf springs 26a, 26b and 26
One end of each of c and 26d is engaged, and the leaf springs 26a, 26b and 26 are
The other ends of c and 26d extend vertically downward and are attached to both ends of the base member 28. Therefore, the base member 28 can move forward and backward by a predetermined amount while maintaining the parallel state with respect to the support member 24 in the direction orthogonal to the processing direction.

A vibrator 30 is attached to the upper portion of the base member 28 so as to vibrate in the advancing and retreating direction of the base member 28, and a pair of parallel guide bars 32a, 32b are arranged on the base member 28 in the vertical direction. Set up. A slide member 34 is slidably mounted on the guide bars 32a and 32b, and coil springs 36a and 36b, which are externally mounted on the guide bars 32a and 32b, engage with the upper portion of the slide member 34 and keep it vertically downward. Press in the direction. At the lower end of the slide member 34, an electrode 40 having a plate shape and having abrasive grains 38 made up of a large number of diamond grains planted on the surface thereof is attached by extending vertically downward.

Therefore, the detection means 42 for detecting whether or not the electrode 40 has come into contact with the bottom wall surface of the workpiece described later is a slide member.
34 and the base member 28. That is, the detection means 42 is, for example, a proximity switch 44 attached to the base member 28.
The dog member 46 fixed to the slide member 34 drives the proximity switch 44 to detect the relative position between the electrode 40 and the base member 28. The signal is sent to a timer (not shown) and a control unit. The detection means 42
As a matter of course, instead of the proximity switch 44, a limit switch or the like can be used.

On the other hand, nozzles 48a and 48b are provided near the electrode 40, respectively.
It is arranged via a support member 50 attached to the. One ends of the conduits 52a, 52b are connected to the nozzles 48a, 48b, the respective conduits 52a, 52b are inserted and supported through the base member 28, and the other end is connected to an electrolytic solution supply source (not shown).

Further, the mounting plate 14 has a main body of the processing apparatus 10, that is,
A plate-shaped cover member 54 is attached so as to cover the support member 24 and the base member 28 (see FIG. 1).

The processing apparatus according to the present embodiment is basically constructed as described above, and its operation and effect will be described based on the method of the present invention.

Here, the work W which is the workpiece has a relatively long slit groove 60, and the inner wall surfaces 62, 62 and the bottom wall surface 64 that define the slit groove 60 are processed. As shown in FIG. 3, the bottom wall surface 64 has a complicated shape substantially having a step.

Therefore, to explain with reference to the time chart shown in FIG. 5 and the flowchart shown in FIG. 6, first, the robot arm 12 is driven to convey the processing device 10 to a predetermined position of the work W, and the lower end portion of the electrode 40 is moved. , And is positioned at the machining start position shown in A in FIG. 3 (STP1). At that time, as shown in FIGS. 4A and 4B, the positive electrode side and the negative electrode side are connected to the work W and the electrode 40 in advance, and when the electrode 40 reaches the machining start position A, the vibrator 30 The electrode 40 is vibrated in the short direction of the slit groove 60 (the direction orthogonal to the arrow X in FIG. 3) through. Further, the electrode 40 is supplied from an electrolytic solution supply source (not shown) through the conduits 52a and 52b and the nozzles 48a and 48b.
Electrolyte solution such as saline is supplied to (STP2). And the electrode
40 is displaced to the bottom wall surface 64 side, and the robot arm 12
Is linearly moved in the longitudinal direction of the slit groove 60 (the arrow X direction in FIG. 3) (STP3).

That is, the pinion 20 is rotated via the rotary drive shaft 18 under the driving action of the rotary drive source 16, and the support member 24 is lowered via the rack member 22 meshing with the pinion 20. Therefore, the base member 28 and the slide member 34, which are held by the support member 24 via the leaf springs 26a to 26d, are lowered, and the electrode 40 attached to the slide member 34 has the electrode 40 attached in the short direction of the slit groove 60. While vibrating, it engages with the inner wall surface 62 and is displaced downward.
Therefore, the inner wall surface 62 is ground by the large number of abrasive grains 38 implanted in the electrode 40, and the inner wall surface 62 is electropolished through the electrolytic solution supplied from the nozzles 48a and 48b.

When the lower end of the electrode 40 comes into contact with the bottom wall surface 64, the slide member 34 to which the electrode 40 is attached causes the coil springs 36a, 3
The proximity switch 44, which is displaced upward relative to the guide bars 32a and 32b against the resilience of 6b and constitutes the detection means 42, is driven by the dog member 46 (STP4). Here, as shown in FIG. 5, when the proximity switch 44 is driven, timer counting is started based on its ON signal (STP5), and the rotary drive source 16 is driven to rotate the rotary drive shaft 18 as described above. Rotates in the opposite direction. Therefore, as shown in FIG.
The rack member 22 is displaced in the arrow direction (vertically upward direction) via the 20, and the base member 28 is raised via the support member 24 attached to the rack member 22. Therefore, the slide member 34 is
After being displaced downward relative to 28, the electrode 40 ascends integrally with the base member 28 and the electrode 40 is displaced upward while processing the inner wall surface 62 (STP6).

When a predetermined set time elapses (STP7), the electrode 40 reaches a predetermined high position (H in FIG. 3), the rotary drive source 16 is driven through a control unit (not shown), and the rotary drive shaft 18 and the pinion 20.
Rotate in the direction of the arrow in FIG. 4a. As a result, the inner wall surface 62 is processed while the slide member 34 and the electrode 40 are integrally lowered via the base member 28, and the end portion of the electrode 40 is brought into contact with the bottom wall surface 64 to drive the detection means 42. Then, as described above, the electrode 40 is displaced upward.

Thus, as the robot arm 12 moves in the direction of arrow X, the electrode 40 moves up and down, so that the end of the electrode 40 moves along the substantially saw-tooth locus S and the end of the electrode 40 moves. By reaching the machining end position B (STP8), the inner wall surface 62
Further, electrolytic polishing and grinding are performed on the entire surface of the bottom wall surface 64.

In this case, in this embodiment, the end portion of the electrode 40 is temporarily fixed to the bottom wall surface 64
And the electrode 40 is raised by rotating the rotary drive source 16 for a predetermined set time through the detection means 42, and then the rotary drive source 16 is rotated in the opposite direction to the electrode 40. It is descending. Therefore, in particular, even when the bottom wall surface 64 has a complicated shape having a stepped portion as shown in FIG. 3, the electrode 40 can be moved up and down with reference to the bottom wall surface 64, which is substantially effective. Further, the teaching of the robot arm 12 may be performed only at two points, that is, the processing start position A and the processing end position B. As a result, the robot arm 12 may be moved linearly (in the direction of arrow X) from the machining start position A to the machining end position B.
It is not necessary to provide a large number of teaching points in the space corresponding to the shape of the bottom wall surface 64 to teach the robot arm 12 along a complicated trajectory. As a result, there is an effect that the efficiency of the entire teaching work can be improved and the workability can be easily improved.

Furthermore, when processing the inner wall surface 62, the electrode 40 is rotated by the rotary drive source 16
Is moved up and down to be displaced along a substantially saw-tooth-shaped locus S, and the vibrator 30 is driven to drive the electrode 40.
Is vibrated in a direction orthogonal to the inner wall surface 62. Therefore, the new electrolytic solution led out from the nozzles 48a and 48b is smoothly supplied to the processed portion, and the electrolytic solution containing the anode melt and the like can be quickly removed to the outside. Also, at that time,
Since the electrode 40 vibrates in the direction orthogonal to the arrow X direction,
In particular, the anode melt or the like, which tends to remain near the bottom wall surface 64, can be suitably led out, and the effect that the entire inner wall surface 62 can be processed uniformly and smoothly is obtained.

Moreover, a slide member 34 having an electrode 40 is attached to a base member 28 suspended from the support member 24 via leaf springs 26a to 26d, and the electrode 40 has four leaf springs 26a to 26d. It is possible to displace in the horizontal direction in the figure in the state of being directed vertically downward through the. Therefore, when the electrode 40 is vibrated through the vibrator 30, the gap between the electrode 40 and the inner wall surface 62 is uniformly maintained throughout. As a result, even if the inner wall surface 62 is relatively long in the depth direction, the processing state does not differ between the upper side and the lower side of the inner wall surface 62, and a smooth and uniform processing operation is performed. The advantage of being able to do is obtained. Further, as shown in FIG. 2, even if the electrode 40 is in sliding contact with the inner wall surface 62 defining the slit groove 60, as shown by the solid line in the drawing, the leaf springs 26a to 26d are formed.
The electrode 40 is directed vertically downward through the
It evenly contacts the inner wall surface 62.

[Effects of the Invention] As described above, according to the present invention, it is detected that the electrode in which the abrasive grains are planted is in contact with the processing site and the bottom wall surface, and the electrode is moved forward and backward with reference to this bottom wall surface. Therefore, even if the shape of the bottom wall surface is complicated, it is not necessary to teach at a large number of points as in the conventional case, and it is substantially desired to teach only two points of a machining start position and a machining end position. It is possible to perform processing work. As a result, the teaching work can be simplified and made more efficient all at once, and the automation and speedup of the entire processing work can be easily achieved. Further, the electrode is vibrated in a direction intersecting with the processing direction via a vibrator, which is advantageous in that the supply and discharge of the electrolytic solution can be smoothly performed and a uniform and smooth processed surface can be obtained. . Moreover, the electrodes can be moved back and forth while maintaining a parallel state substantially via an elastic body such as a leaf spring. Therefore, it is possible to hold the electrode and the processing surface at a uniform interval, and it is possible to obtain the effect that the entire processing surface can be processed with high accuracy.

Although the present invention has been described with reference to the preferred embodiments, the present invention is not limited to these embodiments, and various improvements and design changes can be made without departing from the scope of the present invention. Of course.

[Brief description of drawings]

FIG. 1 is a partially omitted perspective explanatory view of a combined machining apparatus for carrying out the combined machining method according to the present invention, FIG. 2 is a partial sectional front view of the combined machining apparatus, and FIG. 3 is the combined machining apparatus. 4A and 4B are side views showing the operation explanation of the combined machining apparatus, FIG. 5 is a time chart of the combined machining method, and FIG. 6 is the combined operation. It is a flowchart of a processing method. 10 …… Composite processing device, 12 …… Robot arm 16 …… Rotation drive source, 20 …… Pinion 22 …… Rack member, 24 …… Supporting member 26a-26d …… Plate spring, 28 …… Stand member 30 …… Vibrator, 34 …… Slide member 40 …… Electrode, 42 …… Detecting means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Fujio Watanabe 1-10-1 Shin-Sayama, Sayama City, Saitama Prefecture Honda Engineering Co., Ltd. (56) References JP-A-63-216628 (JP, A) JP-A-SHO 59-166422 (JP, A) JP-A-56-126532 (JP, A) JP-B 41-4911 (JP, B2) JP-B 35-10579 (JP, Y2)

Claims (1)

[Claims] 1. A device for electrolyzing and grinding the machined surface while displacing the electrode along the machined surface by energizing an electrode provided with a grinding means made of an electrical insulator and the machined object, the robot comprising: A support member that is attached to the arm and that intersects with the movement direction of the robot arm under the action of an actuator and that is movable back and forth along the machining surface; and the support member corresponding to both ends in the direction intersecting the machining surface. A plurality of leaf springs, one end of which is attached; a base member that is fixed to the other end of the leaf spring and is suspended by the support member; A guide bar extending in a fixed direction and fixed to the electrode, the slide member being slidably mounted on the guide bar and being constantly pressed to the workpiece side through an elastic body. Attached to the slide member A combined machining apparatus electrode is characterized in that it comprises a detection means for detecting that it has relatively displaced in position relative to base member.