JPH07328906A - Burr cutting/removing method - Google Patents

Abstract

PURPOSE:To automatically cut a burr by moving a disk grinder at a constant speed with a robot for burr cutting, and stopping the disk grinder to cut the burr when it is detected to be pressed up in collision with the large burr. CONSTITUTION:A disk grinder is fitted to the moving body 2 of a robot, and it is moved along the surface of a work W to cut a burr 1. A limit switch 8 is fitted between the support plate 3 of the moving body 2 and a support plate 4 supporting the disk grinder 9. When the burr 1 is small, a grinding wheel 11 is kept at its state for cutting. When the burr 1 is large, the grinding wheel 11 is pressed and inclined by the burr 1, and the support plate 4 is brought into contact with the limit switch 8. The moving body 2 is stopped, and the large burr 1 is cut in the stopped state. When cutting proceeds and the grinding wheel 11 is returned to the original position, the support plate 4 is separated from the limit switch 8, and the movement of the moving body 2 is restarted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for cutting and removing burrs such as castings.

[0002]

2. Description of the Related Art As shown in FIG. 4, a work W such as a casting is used.
Causes burrs 1 due to casting. These burrs 1 are
The work W does not have a burr 1 of a certain size because it is large, small, or has a portion without burr. Therefore, in order to remove such burrs 1, the disk grinder is conventionally used by hand.
A general method is to remove it. There is also a method of automatically removing burrs by providing a movable body such as an industrial robot (hereinafter simply referred to as a robot) with a disk grinder, but the burrs do not have a uniform shape, so they are cut evenly. It is very difficult to proceed, and in general, these automations are limited to soft materials such as aluminum, and almost no automation such as iron castings has been performed.

[0003]

When automatically deburring with a robot or the like, there are the following problems. As shown in FIG. 5, when a robot (not shown) is provided with a disc grinder 20 to automatically perform deburring, the robot attaches the grindstone 21 of the rotating disc grinder to the surface without the burrs 1. If the burr 1 is large enough to be cut and removed by the disc grinder 20 at the cutting speed V that is moved by the robot even if the burr 1 is present, the burr 1 will be automatically moved by the robot. Can be cut. However, for example, as shown in FIG.
If there is a large burr 1, the burr 1 cannot be removed at the cutting speed V described above, and it is necessary to reduce the amount of cutting and cut it in multiple times. With W, the size of the burr is not constant, so if you set the number of times to cut according to the maximum size of burr 1, you will not cut at the part with few burr at all, just use the robot to remove the disc grinder 20. It is only realistic to move it, which causes great waste and is not realistic. As described above, in the deburring of a work in which the size of the burr is not constant, it is difficult to remove the burr efficiently, and thus automation is hardly performed. That is, it is very difficult with the conventional technology to automatically cut burrs of varying sizes with a cutting tool or the like provided to a robot or the like, and automation is difficult.

[0004]

In order to solve the above problems, the present invention provides a support base mounted on a movable body,
A supporting plate attached to the supporting base via an elastic body, a detector mounted on one of the supporting plate and the supporting base, and the supporting plate. It has a disc grinder equipped with a disc-shaped grindstone and is fixed to the grindstone when the grindstone of the disc grinder during cutting feed by the movement of the movable body hits a large burr of the work. When the above force is applied, the disc grinder is pushed up, the detector detects that pushing up is stopped by the cutting feed of the disc grinder at the movable body, and the elastic body pushes the grindstone against the burr. The disk grinder returns to the original state again after the cutting is removed, and the detector detects that the original state has been restored, and feeds the cutting again by the movable body. So as to start is a burr that as cutting and removing.

[0005]

By the above means, even if the size of the burr is not constant, the disc grinder provided to the robot is moved at a constant speed to automatically stop the movement of the large burr and cut the burr. At small burrs, burrs can be cut while moving and fully automatic.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. 4 to 6 are side views showing the burr cutting and removing method of the present invention. In the figure, W is a work (casting),
Have burr 1. Reference numeral 2 is a movable body such as a robot, 3 is a support base attached to the movable body 2, 4 is a support plate attached to the support base 3 via an elastic body 5 such as a spring, and the support plate 4 has , A conical support 6 is provided, and the support 6 is a support base 3
The conical hole 7 of the same shape as the conical shape of the support 6 provided in the
It is pressed by the elastic body 5. 8 is a detector such as a limit switch mounted on the support base 3 between the support plate 4 and the support base 3, and 9
Is a disc grinder attached to the support plate 4 via a mounting frame 10, and is a disc-shaped grindstone 1
1 is attached, and the burr 1 is cut by rotating the grindstone 11. The detector 8 exerts a force on the grindstone 11 of the disc grinder 9, and when the disc grinder 9 tilts, it comes into contact with the support plate 4 to generate a signal. Hereinafter, a method for cutting and removing burrs will be described. Figure 1
In, the movable body 2 is moved at a speed V as indicated by an arrow A so that the tip of the grindstone 11 of the disk grinder 9 moves horizontally along the surface of the work W on which the burr 1 is not present. When the burr 1 is small and the burr 1 has a size that can be scraped by the pressing force of the elastic body 5 pressing the disc grinder 9, the grindstone 11 moves while scraping the burr 1 at a speed V. When the burr 1 is large, as shown in FIG. 2, when the grindstone 11 hits the large burr 1, the grindstone 11 cannot cut the burr 1 and the elastic body 5 is deflected so that the grindstone 11 becomes the burr 1. The disc grinder 9 tilts while riding up,
The support plate 4 contacts the detector 8 to generate a signal.
This signal causes the movable body 2 to stop moving. When the movable body 2 stops, the grindstone 11 of the disk grinder 9 is pressed by the elastic body 5 with the pressing force F to press the burr 1 in the direction of the pressing force. When the burr 1 is cut in this way, as shown in FIG. 3, the inclination of the disc grinder 9 disappears, the detector 8 stops working because the support plate 4 moves downward, and the movable body 2 stops again. The grindstone 11 of the disc grinder 9 is moved in the arrow direction at the previous speed V. Hereinafter, the above-described burr cutting method will be performed depending on the size of the burr. The detector 8 may be attached to the support plate 4 between the support plate 4 and the support base 3. In addition, the movable body is
A dedicated deburring device having a movable part may be used instead of a robot.

[0007]

As described above, according to the present invention, it is possible to automatically cut and remove a work having a constant burr size by using a robot or the like.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of the present invention during burr cutting removal, and a part thereof is shown in section.

FIG. 2 is a side view of the embodiment of the present invention during burr cutting removal, showing a state in which a grindstone of a disk grinder is riding on a large burr.

FIG. 3 is a side view showing the embodiment of the present invention during burr removal and removal, and shows a state in which the grindstone of the disc grinder has cut a large burr and the disc grinder has returned to its original posture.

FIG. 4 is a perspective view showing a situation of burrs of a work targeted by the present invention.

FIG. 5 is a side view showing a burr cutting situation on a work with small burr in a conventional example.

FIG. 6 is a side view showing a burr cutting situation on a work with large burrs in a conventional example.

[Explanation of symbols]

 1 Burr 2 Movable Body 3 Support Base 4 Support Plate 5 Elastic Body 6 Support 7 Conical Hole 8 Detector 9 Disc Grinder 10 Mounting Frame 11 Grindstone W Work

Claims (1)

[Claims] 1. A support base attached to a movable body,
A supporting plate attached to the supporting base via an elastic body, a detector mounted on one of the supporting plate and the supporting base, and the supporting plate. Attached, having a disc grinder with a disc-shaped grindstone, when the grindstone of the disc grinder during cutting feed by the movement of the movable body hits a large burr of the work, the grindstone is kept constant. When the above force is applied, the disc grinder
Is pushed up, and the fact that it has been pushed up is detected by the detector to stop the cutting feed of the disk grinder on the movable body, and the burr is cut by the pressing force of the grindstone by the elastic body, and when the cutting removal is completed. The burr cutting removal method, wherein the disc grinder returns to the original state again, and the detector detects that the disc grinder has returned to the original state, and the cutting feed is started again by the movable body.