JPH071228A - Deburring hand and deburring method - Google Patents

Abstract

PURPOSE:To simplify piping and wiring by preventing burrs from being generated on a work, preventing any burr from being left, and facilitating the adjustment of a contact position. CONSTITUTION:A tool 12 is mounted on a holder 10 attached to the arm of a robot, so as to place a tool in its posture slanted to the end surface 8b of a work 8, and a file blade on the tip 58 of the tool 12 is brought in contact with a deburring part 8c of the work only when the tool is drawn, so as to perform the deburring while moving and slanting the tool 12 in the direction to cross the longitudinal direction from the approximately center of the work 8 by distribution.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a deburring hand and a deburring method for a workpiece machined by a machine tool or the like, and is generally applicable to the removal of burrs generated during machining of engine parts.

[0002]

2. Description of the Related Art A work piece machined by a machine tool or the like has a burr-like residue on an edge formed by intersecting two surfaces, and deburring may be performed to remove the burr-like thing. is necessary. As a conventional deburring device of this type,
FIG. 7 described in Japanese Utility Model Publication No. 57-23954.
Some are shown in (A) and (B). In this deburring device, a pair of right and left abrasives 2 of rod-shaped grindstones are tiltably supported by shafts 3 and 3 of respective roots on a holder 1 which is rotatable around a vertical axis 1a. The holder 1 is rotated while being moved up and down, and the back surfaces of the inclined abrasives 2 and 2 are brought into contact with the deburring portions 4a on both sides of the work 4 to deburr. Further, instead of the abrasives 2 and 2 of the rod-shaped grindstone, a spherical grindstone having a spherical tip may be used.

[0003]

However, in the above-described conventional deburring apparatus, when the mounting pitch of each of the plurality of works 4 is not constant due to a slight error, the holder 1 relative to the work 4 at the time of deburring. Since the physical positional relationship is not constant and the size of deburring is not uniform, there is a drawback that burr is generated. Further, when using a spherical grindstone, since the tip is spherical, there is residual burr at the start and end points of deburring, and the deburring point makes it difficult for the contact position of the spherical grindstone to be constant.
It is difficult to adjust the hitting position, and there are many actuator pipings and wirings for causing the hand to perform a predetermined operation, which easily causes disconnection or the like during long-term use.

In view of the above-mentioned conventional drawbacks, the present invention does not cause burrs, does not leave burrs, easily adjusts the contact position, and facilitates piping and wiring. The purpose is to provide a taking method.

[0005]

In order to achieve the above object, a gist of the present invention as set forth in claim 1 is to provide a holder attached to a moving body of a mobile machine, and a base end and a tip of the holder. Is attached to the holder, and the tool is attached along the mounting member by projecting the tip from the tip of the mounting member, and urging the tip of the tool having the file blade toward the holder. Urging means, and a rotation coupling means for rotatably coupling the tip of the mounting member to the holder along a plane including the axis of the holder and a plane perpendicular to the axis. It is in the deburring hand. Further, the gist of the present invention according to claim 2 is that a tool is attached to a holder attached to a moving body of a mobile machine, and the tool is inclined with respect to an end surface of a work, and the tip portion of the tool is ripped. It is characterized in that the blade is brought into contact with the deburring target portion of the work only when the tool is pulled, and the deburring is carried out by moving the tool in a direction intersecting the longitudinal direction of the work by allocating the tool from substantially the center of the work. There is a deburring method, and the gist of the present invention according to claim 3 is to move the tool in a pushing direction while keeping the tool apart from the work while adjusting the tool to substantially the center position of the work, After moving it in the horizontal direction, the filer is brought into contact with the work piece and the tool is pulled to move the work piece to almost the center position of the work piece for deburring. Distant While holding the state, move the tool in the pushing direction, move the tool in the other lateral direction of the work, then move the tool to the center position of the work while pulling the tool by bringing the file blade into contact with the work. The deburring method according to claim 2, wherein the deburring is performed.

[0006]

According to the present invention, the base end and the tip are joined to the holder attached to the moving body of the moving machine to provide the attaching member, and the tip portion having the file blade is projected from the tip of the attaching member. By attaching the tool along with the attachment member, the structure is simplified, troubles around the hand are eliminated, and the tip end of the tool having the file blade is attached in the direction of approaching the holder by the biasing means. A deburring section for a work is provided by providing a rotation coupling means that urges the holder to rotatably rotate along a plane including the axis of the holder and a plane perpendicular to the axis. Since an excessive force is not applied to the work piece, burr burrs are not generated, and the present invention according to claim 2 mounts a tool on a movable holder attached to a moving body of a moving machine, and Posture with tilted tool Then, the file blade of the tip of the tool, which is biased by the biasing means toward the holder, is brought into contact with the deburring target portion of the work only when the tool is pulled, and deburring is performed only when the tool is pulled. Therefore, burr does not occur, and deburring is performed by moving the tool in a direction intersecting with the longitudinal direction of the work by allocating it from substantially the center of the work, thereby leaving no burrs left. In the present invention according to claim 3, as a movement path of the tool, the tool is moved in a pushing direction while keeping a state of being separated from the work while being aligned with a substantially central position of the work, and the tool is moved to one side of the work. After moving in the horizontal direction, the filer is brought into contact with the work and the tool is pulled to move it to almost the center position of the work for deburring.
The tool is moved in the direction in which the tool is pushed while keeping the state of being separated from the work while being aligned with the substantially center position of the work, and the tool is moved in the other lateral direction of the work, and then the file blade is brought into contact with the work to make the tool. While pulling, move to almost the center position of the work, and remove all burrs of the target part without leaving any residue.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the drawings by taking as an example a case where a work of a bearing cap used in a cylinder block of an automobile engine is subjected to deburring. The deburring hand according to this embodiment targets a workpiece 8 of a bearing cap used in a cylinder block 7 as shown in FIG. 1 of an automobile engine, and is an arm (not shown) which is a moving body of a robot as a moving machine. 2 and 3 and a mounting member 11 having a base end and a distal end joined to the holder 10, and a tool 12 is mounted on the mounting member 11.
And a plane including the axis of the holder 10 at a position corresponding to the tip of the mounting member 11, and a biasing means 13 for biasing the tip of the tool 12 toward the holder 10. The holder 10 is provided with a rotation coupling means 14 for rotatably coupling the tip of the mounting member 11 along a plane perpendicular to the axis.

As shown in FIG. 1, the work 8 is assembled at a predetermined position of the cylinder block 7, and the semicylindrical inner surface is formed at both end edges where the semicylindrical inner surface 8a and the end surface 8b intersect. It has an arc-shaped deburring portion 8c corresponding to 8a and is fixed on the cylinder block 7 on the base of a machine (not shown).

The holder 10 is formed by cutting out a part of the side surface of a rod-shaped body 16 having a circular cross section to form a mounting plane 17 along the longitudinal direction of the rod-shaped body 16, and a flange 18 at the base end of the rod-shaped body 16. The fixing bolt 2 that is fixed and is erected at a position near the base end of the mounting plane 17, and the fixing link 2 that is fixed at a position near the tip of the mounting plane 17 with a small bolt 22.
3 and the fixed link 23 are integrally spaced apart from each other by 2
Two mutually parallel connecting projections 24 (see FIG. 5) are formed, the flange 18 is brought into contact with a flange (not shown) fixed to the arm side of the robot, and the plurality of bolts 26 are attached to the tip of the arm. . The mounting bolt 19 is
A male nut 20 that is screwed into the screw hole 10a of the holder 10 is screwed with a lock nut 27 so that the protruding length can be adjusted.

The mounting member 11 has an elongated hole 31 at a thick base end portion 30 along the longitudinal direction with a width slightly larger than the diameter of the mounting bolt 19, and a blind surface 32 in the vicinity of the elongated hole 31. A tool receiving groove 33 is formed, and as shown in FIG. 4, two protrusions are formed at an intermediate position in the longitudinal direction of the tool receiving groove 33 with a gap 34 having the same width as the tool receiving groove 33 through which the base of the tool 12 passes. Is provided. Further, the mounting member 11 has washers arranged on both sides of the thick base end portion 30, the thick base end portion 30 is mounted on the holder 10 by the mounting bolts 19 inserted into the elongated holes 31, and the clamper 40 is mounted on the clamp seat 35. I'm seated. The clamper 40 includes a bottom plate portion 41 that is integrally formed and both edge plate portions 4 that are perpendicular to the bottom plate portion 41.
The U-shaped groove 43 is formed by 2 and
The mounting member 11 and the mounting member 1 leaving a margin between the inner surfaces of the two.
1 and the base end portion of the tool 12 inserted into the tool receiving groove 33, and at the substantially central position of the outer edge plate portion 42, the tip is protruded into the U-shaped groove 43 and screwed and the presser bolt 45. A lock nut 46 that is screwed onto the tool 12 and presses the surface of the tool 12 with the tip of the holding bolt 45.
Clamp.

The mounting member 11 has a tool receiving groove 33.
Has a plate surface 11a that is flush with the groove bottom and is integrally provided at the tip with a tool engaging portion 47 that engages with the intermediate portion of the tool 12.
As shown in FIG. 5, the tool engaging portion 47 forms a receiving groove 48 having a rectangular cross section facing the holder 10 at a substantially central position in the width and thickness directions, and with respect to the width and the thickness of the tool 12. Adjusting bolts 51, 51 screwed into the receiving groove 48 with a front end facing inward, with a long hole 49 having a margin and extending in the width direction, and a lock nut 52 screwed therewith.
52, two sided holding bolts 53, 53 having their tips directed to the side surface and the outer surface of the tool 12 inserted in the elongated hole 49, and another holding bolt 54, and respective lock nuts 55, 55 screwed to these. And 56.

The tool 12 has a tapered tapered tip portion 58.
A commercially available file having a rectangular cross section is adopted, which has a file blade 59 (see FIG. 6) on the entire outer periphery of the mounting member 11. The part 58 is projected and is inserted into the tool receiving groove 33, and is fitted to the groove bottom and the plate surface 11a flush with this, and the clamper 4
It is fixed to the mounting member 11 by means of 0 and the tool engaging portion 47. Here, the file blade 59 is formed so as to be cut well when pressed, and in order to avoid the occurrence of burr due to excessive cutting with light deburring, dare to use it with a pulling hand To prevent the occurrence of. The tool 12 uses a rotary brush device (not shown) installed in the vicinity of the deburring work position to periodically sharpen the rasp blade 59.

The biasing means 13 includes a washer 61 that abuts against a lock nut 27 that is screwed into the mounting bolt 19, and the mounting member 11.
A compression spring 63 is wound around the outer circumference of the mounting bolt 19 between the washer 36 and the inner washer 36 of the both washers 36 and 37 that come into contact with the inner and outer surfaces of the tool 12, and the tip portion 58 of the tool 12 having the file blade 59 is provided. Is urged toward the extension line of the holder 10.

The pivotal coupling means 14 joins the base end of the pivotal link 66 with the horizontal pin 65 to the connecting projection 24 of the fixed link 23 located at the position corresponding to the tip of the mounting member 11,
The tip portion 68, which is integrally formed perpendicularly to the base end portion, is fitted into the receiving groove 48 of the mounting member 11, and the tool engaging portion 47 is joined to the tip portion 68 with the vertical pin 69, whereby the rotation is performed. The link 66 is rotatable along a plane including the axis of the holder 10, and the tool engaging portion 47 is rotatable with respect to the rotating link 66 along a plane perpendicular to the axis of the holder 10. And the tip 6 of the rotary link 66
By adjusting the gap with the side surface of 8, the rotatable angle of the tool engaging portion 47 with respect to the rotating link 66 is regulated.

Next, the operation of the deburring hand according to the above embodiment and the deburring method performed by using the hand will be described with reference to FIGS. 2 and 6. A deburring hand is attached to the arm of the robot and is tilted with respect to the end surface 8b of the work 8 at an angle α of 10 degrees (see FIG. 2) so that the rasp blade 59 of the tip 58 of the tool 12 comes into contact only when the pulling hand is used. To make it work. The purpose of inclining the end face 8b of the work 8 at an angle α of 10 degrees is to prevent the burr even if burr is likely to occur, so that it will not be left on the work 8 and is torn off. is there. Inclination angle β on one side when sorted from the center of the work 8
(See FIG. 6) is set to 25 degrees, and the holder 10 is rocked,
Chamfering is performed only when the tool 12 is pulled. The movement path of the tool 12 is, as shown in FIG.
2 will be described from the state of being aligned with the substantially central position of the work 8, the tool 12 is moved in the pushing direction indicated by the arrow a while maintaining the state of being separated from the work 8, and then the tool 12 is moved.
Is moved in one lateral direction of the work 8 indicated by the arrow b, and at the same time, the work 8 is tilted by an inclination angle β, and then the file blade 59 is brought into contact with the work 8 and then the tool 12 is pulled in the direction indicated by the arrow c. Deburring is performed while moving to almost the center position and returning to the same posture. Next, the work 8 is aligned with the center of the work 8.
The tool 12 is moved in the pushing direction shown by the arrow d while keeping the state away from the
After being moved in the other lateral direction indicated by, and at the same time tilted by the inclination angle β, the file blade 59 is brought into contact with the work 8 and then the tool 12 is pulled to move in the direction indicated by the arrow f to almost the center position of the work 8. At the same time, deburring is performed while returning the posture.

In the case of the above-mentioned embodiment, the tool 12 is provided with a clearance in the elongated hole 31 of the mounting member 11 and the mounting bolt 19, and the elongated hole 31 for the mounting bolt 19.
By the allowance in the vertical direction, the rotation of the rotary link 66, and the elasticity of the compression spring 63, the tip portion 58 can escape in the vertical direction and in the direction in which it recedes from the work 8. Further, in the tool 12, the tool engaging portion 47 of the mounting member 11 is rotatable about the vertical pin 69 due to the gap between the tip of the adjusting bolt 51 and the side surface of the tip portion 67 of the rotating link 66. Moreover, the work pin 8 is rotatable about the horizontal pin 65, and when the file blade 59 of the tip part 58 is brought into contact with the arc-shaped deburring part 8c of the work 8 by the urging force of the compression spring 63, Fluctuations in relative position and angular relationship with the deburring portion 8c are absorbed. As a result, an excessive force is not applied to the deburring portion 8c, there is no remaining deburring, and deburring can be performed accurately.

The present invention is not limited to the above embodiments, and various modifications can be made without departing from the spirit of the invention. For example, the tip 58 of the tool 12
The cross-sectional shape of may be circular or semi-circular, and the biasing means 1
An appropriate elastic material may be used in place of the compression spring 63 in 3, and the biasing means 13 may be provided at a position other than the position of the mounting bolt 19.

[0018]

According to the present invention as set forth in claim 1, a holder mounted on a moving body of a moving machine is provided with a mounting member by coupling a base end and a distal end, and a tip portion having a file blade from the tip of the mounting member. Direction in which the tip of the tool having the file blade is brought closer to the holder by the urging means by simplifying the structure by mounting the tool along with the mounting member by protruding the tool. Since the holder is provided with a rotation coupling means that rotatably couples the tip of the attachment member to the holder along a plane including the axis of the holder and a plane perpendicular to the axis, This has the effect of facilitating the adjustment and gradually reducing the amount of remaining burr at the deburring start and end points. Further, according to the present invention as set forth in claim 2, a tool is attached to a movable holder attached to a moving body of a mobile machine, the tool is inclined with respect to an end surface of a work, and the holder is biased by a biasing means. Since the rasp blade of the tip of the tool biased in the approaching direction is brought into contact with the deburring target portion of the work only when the tool is pulled and deburring is performed only when the tool is pulled, a burr burr is generated. There is no burrs left by performing deburring while moving the tool in a direction intersecting with the longitudinal direction of the work by allocating it from substantially the center of the work. According to the present invention as set forth in claim 3, as a movement path of the tool, the tool is moved in a pushing direction while keeping a state of being separated from the work while being aligned with a substantially central position of the work, and the tool is moved in one of After moving in the horizontal direction, the filer is brought into contact with the work and the tool is pulled to move it to almost the center position of the work for deburring, and then it is moved to the center position of the work and separated from the work. While holding the tool, move the tool in the pushing direction, move the tool in the other lateral direction of the work, and then bring the filer into contact with the work and move the tool to the approximate center position while pulling the tool Be sure to remove all burrs on the target part so that there is no.

[Brief description of drawings]

FIG. 1 is a perspective view showing a work to be deburred according to an embodiment of the present invention.

FIG. 2 is a side view showing a main part of the deburring hand according to the embodiment of the present invention.

FIG. 3 is an enlarged view of a main part of FIG.

FIG. 4 is a view on arrow XX in FIG.

5 is a view taken along the line YY of FIG.

FIG. 6 is a front view for explaining a deburring method according to an embodiment of the present invention.

FIG. 7 is a partially cutaway front view showing a conventional deburring device.

[Explanation of symbols]

 8 Work 8a Inner surface 8b End surface 8c Deburring part 10 Holder 11 Mounting member 12 Tool 13 Biasing means 14 Rotational coupling means 17 Mounting plane 19 Mounting bolt 23 Fixing link 24 Connecting protrusion 31 Long slot 33 Tool receiving groove 35 Clamp seat 40 Clamper 45 Presser bolt 47 Tool engagement part 48 Receiving groove 49 Slotted hole 51 Adjustment bolt 53, 54 Presser bolt 58 Tip part 59 Rasp blade 63 Compression spring 65 Horizontal pin 66 Rotating link 69 Vertical pin

Claims (3)

[Claims] 1. A holder to be mounted on a moving body of a mobile machine, and a mounting member having a base end and a distal end coupled to the holder, the tip of the mounting member protruding from the tip of the mounting member, and a tool attached to the mounting member. Attached together, and biasing means for biasing the tip end of the tool having the file blade in the direction of approaching the holder, and freely rotatable along a plane including the axis of the holder and a plane perpendicular to the axis. A deburring hand, comprising: a rotation connecting means for connecting the tip of the mounting member to the holder. 2. A tool attached to a holder attached to a movable body of a mobile machine, the tool is tilted with respect to an end surface of a work, and a file blade at a tip end of the tool is subjected to deburring of the work. The deburring method is characterized in that the tool is contacted only when the tool is pulled, and the deburring is carried out by moving the tool in a direction intersecting the longitudinal direction of the work by allocating the tool substantially from the center. 3. The tool is moved in a pushing direction while keeping a state of being separated from the work while being aligned with a substantially central position of the work, and after moving the tool in one lateral direction of the work,
Deburring is performed by bringing a file blade into contact with the work and pulling the tool to approximately the center position of the work, and then deburring while aligning with the substantially center position of the work while maintaining a state away from the work. Is moved in the pushing direction, the tool is moved in the other lateral direction of the work, and then the rasp blade is brought into contact with the work to pull the tool to move the work to almost the center position for deburring. The deburring method according to Item 2.