JPH0768458A - Method for automatic copying of surface to be ground - Google Patents

Abstract

PURPOSE:To dispense with the program for confirmation of the operation by executing the stable pre-operation to confirm the automatic grinding control operation to realize confirmation of the operation with the same program as that for the automatic grinding operation control. CONSTITUTION:The automatic grinding using an articulated robot is realized by using a grinding head 6, and the test operation (pre-operation) is executed only by the operation to confirm whether or not any erros are included in the program to teach the articulated robot. The shape data of the work surface are uploaded to a force sensor 4, and a copying jig 3 for the exclusive use for the pre-operation is set to smoothly execute the pre-operation in the advancing direction X. It is confirmed that the contents to be taught include no errors, and the automatic grinding is realized by the value to set the work surface and the teaching program and the operation is completed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method for stable control of a test operation for confirming an automatic grinding operation when automatically grinding by an articulated robot.

[0002]

2. Description of the Related Art In order to automatically grind conventional deburring and grinding operations, it is necessary to automatically control a pressing force and a moving direction of a tool against a surface to be ground. Therefore, it is well known that the control is performed by a force sensor. The control method is to detect the reaction force that the tool receives from the grinding surface via the force sensor, and press the tool against the grinding surface to reach a certain set target value. Japanese Patent Application Laid-Open No. 1-222311 discloses that two axes are controlled, and a total of three axes are controlled.

[0003]

In the prior art, during automatic grinding including deburring, the driving tool applies a component force to the ground surface in the advancing direction, the tangential direction, and the pressing direction, respectively. At this time, if the grinding specifications are stable, automatic grinding control becomes possible. On the other hand, in an actual work, it is necessary to perform a test operation (pre-operation) without driving a tool to be ground (a flat grindstone in this case) before grinding, and then perform grinding after confirming that there is no bug in the automatic grinding operation. However, according to this method, the control is the same as during automatic grinding, so when the flat grindstone is also used for pre-operation, the tip of the grindstone has a sharp shape, so the pressing force is not applied while rotating. Occurs, and the tip of the grindstone sticks into the surface to be ground, making it difficult to perform pre-operation. Therefore, in addition to automatic grinding control, a control program for pre-operation was created and dealt with.

An object of the present invention is to provide a method for copying a surface to be ground, which is a control program for automatic grinding control and is capable of performing pre-operation with one touch even on a curved surface, not limited to surface grinding.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a sharp-edged grindstone tip to be covered by a control similar to the automatic grinding operation during pre-operation. When a pressing force is generated on the grinding surface, a jig with a mechanism for copying the surface to be ground is attached to the grinder so that it can move smoothly even if it is moved in the traveling direction, and the jig is positioned at the tip of the grindstone. The mechanism uses a roller that can slide at the contact portion between the jig and the surface to be ground.

[0006]

According to the present invention, since the roller hits the surface to be ground during the pre-motion and follows the movement, the contact portion with the surface to be ground becomes smooth, and the same control as the automatic operation can be performed during the pre-motion. It will be possible. In addition, the jig has a structure that can be set on the grinder with one touch using the positioning guide bolt and setting bolt, so that the jig is also considered to improve workability.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS.

In FIG. 1, a force sensor 4 attached to the tip of an articulated robot arm 5 detects component forces in a pressing direction Z, a traveling direction X and a tangential direction Y received by a grindstone 2 attached to a grinder 1. It is a sensor with the ability to analyze. Then, these are collectively referred to as the grinding head 6. Here, in the automatic grinding using the articulated robot, the grinding head 6 is used for grinding, but a test operation (pre-operation) is performed in order to confirm only the operation if the program content that taught the articulated robot is correct. To do. At this time, the shape data of the work surface 9 is uploaded to the force sensor 4, and in order to smoothly perform the pre-movement in the traveling direction X, the copying jig 3 is set only for the pre-movement and pre-moved. Details of the copying jig will be described with reference to FIG. Copying jig 3
Is a frame 7, roller 10 and setting bolt 1
1 and a guide bolt 12 with a roller. The setting method is as follows: positioning with the guide bolt with roller 12 and setting with the setting bolt 11 on the grinder 1. Then, with the roller 10, the work surface 9
By receiving a reaction force in the pressing direction Z against, the shape of the work surface 9 is followed, pre-operation is performed with the same set input value and teaching program as in automatic grinding, and the program content of the grinding operation is confirmed.

Next, the work surface 9 of the work 8 according to the present invention.
An embodiment of the grinding method will be described with reference to FIGS. 1 and 2.

The preset work 8 is taught using the articulated robot 5 to create an automatic grinding program.
At this time, the component force setting values in the pressing direction Z and the traveling direction X are also input, and the force sensor 4 controls the values. Then, the copying jig 3 is set on the glider 1 and the pre-operation is performed to confirm whether the taught program content is correct. And
After confirming that there is no error, the work surface 9 of the work 8 is automatically ground by the set value and the teaching program, and the work is completed.

[0011]

According to the present invention, in an apparatus in which grinding work is automated by a grinder using a grindstone as a tool, the automatic grinding operation is performed by setting the jig 3 in the grinder 1 following the pre-operation control before automatic grinding. The operation can be confirmed with the same program as the control, and the following effects are obtained.

(1) The operation confirmation program is not required.

(2) Easy setup because it can be set with one touch.

From the above, work efficiency can be greatly improved.

[Brief description of drawings]

FIG. 1 is a perspective view of an arm tip portion of an articulated robot showing an embodiment of the present invention.

FIG. 2 is an explanatory view of a copying jig.

[Explanation of symbols]

1 ... Grinder, 2 ... Whetstone, 3 ... Copy jig, 4 ... Force sensor, 5 ... Robot arm, 6 ... Grinding head, 7 ... Frame, 8 ... Work piece.

Claims (1)

[Claims] 1. When confirming an automatic grinding control operation when automatically grinding a reaction force when a tool of an articulated robot contacts a surface to be ground by using a force sensor which detects a force of three or more axes. An automatic copying method for a surface to be ground, which is characterized by performing a pre-operation in a stable operation.