JPH07132463A - Chip collecting method in deburring work - Google Patents

Abstract

PURPOSE:To reduce energy consumed for dust collection and perform deburring and chip collection efficiently by starting dust collection immediately before deburring, and stopping dust collection after the termination of deburring in the case of executing deburring by a robot. CONSTITUTION:Immediately before starting deburring work by a robot, control signals are outputted to a tool driving device 10, a dust collecting device body 16, a door driving device 17 and an air blow valve 21 from the input-output port 20a of a robot controller 20. A deburring tool 11 is then rotated to perform the deburring of a workpiece 12. Chips 23 generated in association with deburring are collected into a dust collecting duct 15 from an opening part 14. The air blow valve 21 is opened, and air is sprayed upward from an air supply pipe 22. After the termination of deburring, the respective devices 10, 16, 17, 21 are stopped, and a door 18 is opened to let accumulated chips 23a fall into a tray 19, thus collecting the chips 23b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to finishing of a work (workpiece) after machining or a work after casting, and more particularly to a method of collecting chips in deburring work for these works.

[0002]

2. Description of the Related Art As a finishing process after machining or casting, there is work for removing burrs. The chips generated by this deburring work worsen the working environment and cause a harmful effect on the human body. Recently, robots have been deburred so that humans do not have to perform work in this bad environment. However, even if the deburring process by the robot can avoid the direct impact of chips generated during processing on humans, it is unavoidable that humans enter the processing equipment for maintenance and setup, which is caused by the work environment. Efficient collection and removal of cutting chips is an important issue.

Conventionally, chips produced by this deburring work are collected by a dust collector. Figure 2
It is a block diagram of the dust collection system in the deburring work conventionally performed. Tool drive device 10 for work 12
The burrs on the surface of the work 12 are removed by contacting the deburring tool 11 driven by. The duct opening 14 for collecting chips is made to face under the deburring portion, and the duct 15
Directly connect the suction port of the dust collector main body 16 to the duct opening 1
The chips 23 taken in 4 are taken into the dust collector main body 16 through the dust collection duct 15, and the chips 23 are collected in the dust collector main body 16. Further, the dust collecting device 16 always operates to continue collecting dust regardless of whether it is being processed or not. After the deburring work, the work 1
The chips adhering to 2 are moved to a station other than this deburring processing station, placed downstream of the air blowing port, and an air blow process for removing the adhered chips 24 from the work 12 by air blow is executed. ing.

[0004]

In the conventional deburring and dust collecting system as described above, the work is deburred, and the chips 23 dropped in the duct opening 14 by this work are collected in the dust collecting duct 15. The dust is collected in the main body 16 of the dust collector, but in this collecting and conveying process, the chips (especially large size) are changed at a position where the air flow changes, for example, a position where the vertical flow changes to the horizontal flow in FIG. Chips) 2
3 is accumulated (reference numeral 23a in FIG. 2 indicates the accumulated chips), which causes the dust collecting capability of the dust collector to be reduced.

Further, in the conventional deburring and dust collecting system, the dust collector main body 16 is always operated, and the dust collecting work is executed even when the deburring process is not executed, which consumes energy unnecessarily. There is a drawback that.

Further, the deburring processing station and the air blowing station are separated, and the work 12 has to be transported during that time, the working time required for deburring becomes long, the takt time becomes long, and the chip collecting efficiency becomes long. It also included the problem of being bad. Therefore, an object of the present invention is to provide a chip collecting method capable of efficiently collecting and removing chips generated by deburring with less human intervention.

[0007]

According to the present invention, a robot performs deburring work, a robot controller controls a dust collector, and the dust collector is driven immediately before deburring to start dust collection. Deburring work is efficiently performed by stopping the driving of the dust collector after the deburring process is completed. Simultaneously with the deburring process, the robot controller opens a valve that supplies air blow to the deburring process part, and blows air blow to the work processing part so that chips generated by the deburring process do not adhere to the work. To do. Furthermore, a door that opens and closes is provided at the bottom of the bent portion of the duct where chips that are conveyed in the dust collecting duct are likely to accumulate, and the opening and closing of the door is controlled by a robot controller. The chips in the accumulated duct are removed into the duct. Then, a tray is arranged below the door, chips are accumulated on the tray, and the tray is taken out so that a person discharges the accumulated chips.

[0008]

[Operation] The robot controller starts the operation of the dust collector immediately before deburring and stops the operation when the deburring is finished, so the chips generated during deburring are efficiently collected, resulting in wasted energy. There is no loss. Further, by blowing an air blow to the deburring portion during the deburring processing, it is possible to prevent the chips generated by the deburring processing from adhering to the work again. In addition, a door whose opening and closing is controlled by a robot controller is provided at the bottom of the bent portion where chips conveyed in the dust collecting duct are accumulated and accumulated, and the door is opened to open the cut accumulated on the bent portion. Remove the powder outside the dust collection duct. Further, the rejected chips are received by the tray to facilitate discharge of the chips.

[0009]

FIG. 1 is a block diagram of an embodiment of the present invention. 2 is different from the conventional example shown in FIG. 2 in that the robot controller controls a dust collector, a valve for blowing an air blow to the processing portion, and a door provided with a bent portion of the dust collecting duct. The same members as those in FIG. 2 are designated by the same reference numerals.

A tool driving device 10 for rotating a deburring tool 11 is connected to an input / output port 20a of a robot controller 20 of a robot for deburring.
The drive unit 16a of the dust collector main body 16 is also connected to the input / output port 20a of the robot controller 20, and the tool drive unit 10 and the dust collector main body 16 are connected to the robot controller 2
It is controlled by 0. Further, an air blow valve 21 is connected to the input / output port 20a of the robot controller 20, and the robot controller 20 controls opening / closing of the valve 21. or,
An air blow outlet 13 is provided above the deburring section, and air supplied through an air supply pipe 22 is blown from above the deburring tool 11 and the work 12.

A duct opening 14 of a dust collecting duct 15 for conveying chips is disposed below the deburring portion, and the chips 23 removed from the work 12 by the deburring process are received by the opening 14. It is like this. Further, a door 18 that opens and closes is provided at the bottom of the bent portion where the dust collection duct 15 bends from the vertical direction to the horizontal direction, and the door 18 is opened and closed by a door drive device 17 such as an electric or air type rotary actuator. It has become. The door driving device 17 is connected to the input / output port of the robot controller 20 and is controlled to be turned on / off by the robot controller 20. Further, a drawer type tray 18 is disposed below the door 18, and the tray 18 is configured to receive the chips 23a accumulated in the bent portion when the door is opened.

The operation of this embodiment will be outlined. The robot controller 2 is set just before the robot starts deburring.
0 first sends a signal to the tool driving device 10, the dust collecting device main body 16, the door driving device 17, and the air blow valve 21 via the input / output port 20a so that the tool driving device 10 and the dust collecting device main body 16 are connected to each other. The door 18 is closed while being driven. Further, the air blow valve 21 is opened to start blowing the air blow to the deburring portion. After that, deburring is started. After deburring,
The robot controller 20 stops the driving of the tool driving device 10 to stop the deburring tool 11, closes the air blow valve 21 to stop the air blow, and then stops the drive of the dust collector 16 and then the door 18. The chips 23a accumulated on the open and bent portion are taken out onto the tray 19 (see FIG. 1).
In the figure, reference numeral 23b represents the chips taken out on the tray 19).

The outline of the operation of this embodiment has been described above.
An example of a robot program that executes such an operation is shown below.

Program example Meaning 1: Linear position [1] Velocity mm / sec ... Robot operation before machining (positioning) 2: Linear position [2] Velocity mm / sec ... Robot operation before machining (positioning) 3: Linear position [3] Speed mm / sec… Robot operation before machining (positioning) 4: SD0 [1] on… Deburring tool drive 5: SD0 [2] on… Dust collector drive 6: SD0 [3] off… Door closed 7: Linear position [3] Speed mm / sec… Move to machining start point 8: SD0 [4] ON… Air blow start 9: Linear position [1] Velocity mm / sec… Operation during machining 10: Linear position [2] Velocity mm / sec… Operation during machining 11: Linear position [3] Velocity mm / sec… Operation during machining 12: SD0 [1] OFF… Deburring tool stop 13: SD0 [4] OFF… Air blow stop 14: Straight line Position [3] Speed mm / sec ... Robot operation after machining 15: SD0 [2] S ... dust collector stops 16: SD0 [3] On ... Tobira閉 17: in the example the end the robot program, the sequence number 1-3 denotes a positioning operation with the robot operation before processing. The tool driving device 1 is instructed by the sequence numbers 4 to 6.
0 is driven, the deburring tool 11 is rotated, the dust collector main body 16 is driven to start dust collection, and the door drive device 17 is driven to close the door 18. Thereafter, in sequence number 7, the robot is moved to the processing start point of deburring processing, and in sequence number 8, the air blow valve 21 is opened to blow air blow to the processing portion. Then, the robot deburrs with sequence numbers 9 to 11. When the deburring process is completed, first, the driving of the tool driving device 10 is stopped in sequence number 12, the rotation of the deburring tool 11 is stopped, and then in sequence number 13, the air blow valve 2 is operated.
1 is closed, the air blow blown to the processing section is stopped, and the robot is driven in sequence number 14 to take out the work at a predetermined position. Dust collector 1 with sequence number 15
The operation of No. 6 is stopped, and the door drive device 1 is operated with the sequence number 16.
7 is driven to open the door 18, and the chips 23a accumulated and accumulated in the bent portion of the dust collection duct 15 are dropped onto the pull-out tray 19.

The work operation in the deburring process according to this embodiment has been described above. However, even if the dust collecting device 16 is driven, for example, when the dust collecting duct 15 has a long conveying path, the dust collecting operation actually works. If it takes a long time to drive the dust collector with the sequence number 5 and the processing time of the sequence numbers 6 to 8 before the start of the deburring process with the sequence number 9 is short, the collection with the sequence number 5 is performed. After the dust device 16 is driven, the timer is activated, and after the processing of sequence numbers 6 to 8 is completed, when the timer is in the time-up state,
Alternatively, the deburring process of sequence number 9 is executed only when the timer times out. Further, even when the deburring process of the sequence number 11 is completed, the timer is operated to turn on the sequence numbers 12 to 14
After the processing of (1) is finished, the operation of the dust collector 16 of sequence number 15 may be stopped when the timer is in the time-up state or when the timer is up.

Further, in the above program example, the door 18 is opened when one deburring operation is completed. However, when the deburring process takes a long time, the door 18 is opened every predetermined time. May be opened.

[0017]

According to the present invention, the dust collector is controlled by the controller of the robot for performing the deburring operation, the dust collector operates immediately before the deburring processing, and stops the operation after the deburring processing is completed. Therefore, as compared with the conventional method in which the dust collector is operated even during non-processing, energy consumption can be reduced and efficient deburring work can be performed. In addition, since air chips are blown to the processing part to prevent chips from adhering to the work, it is possible to omit the step of blowing air blow to the work at another station as in the past, and the work time can be reduced. Can be shortened.

Further, the chips accumulated and accumulated in the bent portion of the dust collecting duct from the vertical direction to the horizontal direction fall out of the dust collecting duct by opening the door provided at the bottom of the bent portion. Since the chips can be taken out on the tray, the chips are not accumulated and accumulated in the dust collecting duct, and the dust collecting ability of the dust collecting device is not deteriorated. Further, the operation of collecting chips by a person at the time of maintenance is only to remove the above-mentioned tray and remove the chips, and the maintenance management is easy. By not only deburring the robot, but also controlling the dust collector by the robot controller, it reduces the chances of humans entering the processing equipment and efficiently collects dust. The adverse effect can be minimized.

[Brief description of drawings]

FIG. 1 is a block diagram of an embodiment of the present invention.

FIG. 2 is a block diagram of a conventional deburring and dust collecting system.

[Explanation of symbols]

 10 Tool Drive Device 11 Deburring Tool 12 Work 13 Air Blow Outlet 14 Duct Opening 15 Dust Collection Duct 17 Door Drive 18 Door 19 Tray

Claims (4)

[Claims] 1. A chip collecting method in a deburring operation in which deburring is performed by a robot, wherein a dust controller is controlled by a robot controller, and the dust collector is driven immediately before deburring to start dust collection. A method for collecting chips in a deburring operation in which the driving of the dust collector is stopped after the completion of the cutting process. 2. The robot controller opens a valve for supplying air to the work processing part at the same time as the deburring process and blows an air blow to the work processing part to prevent the chips generated by the deburring process from adhering to the work. And closing the valve after the deburring process is completed.
A method for collecting chips in the deburring work described. 3. A door that opens and closes is provided at the bottom of the bent portion of the duct where chips conveyed in the dust collecting duct are likely to accumulate.
The chip collecting method in the deburring operation according to claim 1 or 2, wherein the opening and closing of the door is controlled by a robot controller, and the accumulated chips are taken out to the duct by opening the door. 4. The chip collecting method in the deburring operation according to claim 3, wherein a tray is arranged below the door, and the chips accumulated on the tray are discharged by removing the tray.