JPH08118126A - C surface working tool and c surface working method - Google Patents

Abstract

PURPOSE: To provide a C surface working tool for a robot capable of performing accurate C surface working of a workpiece edge face by increasing a float amount of a tool on the other hand by controlling regardless of its stroke position to fixed pressure force, so as to correspond to also a large deviation of workpiece internal/external peripheral edge shape. CONSTITUTION: In a C surface working tool 10 mounted in a vertical θ shaft mounting part 1A of an arm point end A of a robot R, a slider 4, lightly further largely slid in a horizontal one direction, is supported on light guide members 2, 3 in a box unit 1 opened with only one surface or the like. In an external surface of the slider 4 roughly closing the opening one surface of the box unit 1, a tool rotary fixture 20 is arranged also to set up in the box unit a fluid pressure giving means 30 of giving fixed pressure force F in one direction against a tool 21 of the tool rotary fixture regardless of a position of its stroke L.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for a C-face processing tool for a workpiece which is mounted on a mounting shaft of a vertical articulated robot or the like, and which increases the float amount of its float mechanism while increasing its stroke position. Stable pressure from small force to large force can be obtained regardless of the condition, and it is possible to perform delicate small C surface machining from rough teaching of robot, rough setting and deburring of work.

[0002]

2. Description of the Related Art Conventionally, burrs are formed on the inner and outer peripheral edges of a cast or processed work. To remove this, a method is known in which a deburring tool is attached to a deburring robot or the like and deburring is performed. Then, in order to correct the deviation of the amount of burr and the position deviation of the work mounting, the deburring tool is equipped with a float mechanism, and the tool position is adjusted while following the burr shape so that the pressing force of the tool contacting the work is almost constant. , Those that can be deburred are provided.

[0003]

The above deburring tool has the following problems. In the conventional deburring tools equipped with a floating mechanism, the mainstream method is a spring type in which the float mechanism is displaced in the axial direction of the tool, or one that incorporates a spring or air cylinder in a swing mechanism or a complicated link mechanism. ing. However, with the spring type, the stroke amount is small and rough teaching of the robot is not possible, and rough setting of the work is also impossible. Further, since the spring pressure varies depending on the stroke position, rough deburring can be performed, but it is not a delicate and high quality C surface. In particular, it is not suitable for precise and small C surface processing. The demand for this small C-face processing is increasing with the increase in small precision parts, but it cannot be dealt with.

Further, in the swinging mechanism, although the applied pressure is constant, the contact angle with the work edge surface largely fluctuates, and there remains the problem that secondary burrs are generated. Therefore, delicate and high quality C Surface processing cannot be expected. In addition, the floating mechanism does not have a clamping function to restrain the floating action that moves freely, and when the deburring tool attached to the robot arm is swung three-dimensionally, its inertial mass (inertial energy)
In addition to the possibility of damaging the deburring tool, it is not applicable even when it is desired to partially deburr the tool by rigidly supporting it.

Further, when an excessive external force is applied to the conventional deburring tool due to an erroneous movement amount, the deburring tool is damaged due to a shocking collision with a work or the like, or the robot arm is damaged. On the other hand, the deburring work on the entire surface of the work cannot be completed by one-chucking the work to the robot hand or the swivel base. Therefore, it is necessary to replace the deburring tool with a dedicated one or convey the work to a different deburring robot, which reduces the work efficiency.

The present invention has been made in view of the above-mentioned problems and demands of the prior art. In order to cope with a large deviation in the inner and outer peripheral edge shapes of the work, the float amount of the tool is increased and the stroke position is related. It is a first object of the present invention to provide a C-face processing tool for a robot capable of performing precise C-face processing of a work edge surface by controlling the pressure force to a constant constant force.

Further, the present invention protects the C-face processing tool from a large swinging force by the robot and restrains the tool rotating tool to the origin position when the pressing force to the tool is released so that special processing can be performed. A second object is to provide a C-face processing tool for use in manufacturing.

A third object of the present invention is to provide a C-face processing tool having means for protecting the tool body by dropping the tool rotating tool at the lower end when an excessive external force acts on the tool or the like. To do.

A fourth object of the present invention is to provide a novel C surface processing method by a robot using a plurality of C surface processing tools. A fifth object is to have one robot perform work replacement work and C-plane processing work.

[0010]

According to a first aspect of the present invention, there is provided a C-face processing tool which is used by being attached to a vertical θ-axis mounting portion of an arm tip of a robot or the like. Supports a slide body that slides lightly and largely in one horizontal direction in a box body with only one side open, and supports a tool rotation tool on the outer surface of the slide body that roughly blocks the one side opening of the box body. The C-face processing tool is characterized in that it is arranged and a fluid pressure applying means for applying a constant pressing force to the tool of the tool rotating tool in one direction regardless of its stroke position is installed in the box body.

According to a second aspect of the invention, which achieves the second object, there is provided a fixing means for restraining the slide body to an origin position when the unidirectional pressure applied to the slide body by the fluid pressure applying means is released. A C-face processing tool characterized by being installed in a box.

A third aspect of the present invention for attaining the third object is the method according to the first and second aspects, wherein a tool rotating tool is suspended by an overload protection member on the outer surface of the slide body that substantially closes the lower surface of the opening of the box body. The tool rotating tool is dropped from the slide body in order to protect the C-face processing tool when the external force applied to the tool or the like is excessive, and the like.

In order to achieve the above-mentioned fourth object, the present invention requires that different tools be attached to a plurality of C-face processing tools that apply a constant pressing force irrespective of the stroke position that greatly moves only in one horizontal direction. The number of tools is set upward on a fixed base, etc., and the C-face machining of the inner and outer peripheral edges of the workpiece gripped at the tip of the robot arm is performed by the robot's rough teaching so that it can be performed by the above-mentioned C-face processing tool selected selectively It is a C-face processing method characterized by:

In order to achieve the fifth object, the robot arm is provided with a C-face machining tool and a work chuck at the tip thereof, and a single robot is used to perform the work replacement work and the C-face machining work. This is a characteristic C-plane processing method.

[0015]

According to the first aspect of the present invention, a C-face processing tool used by being mounted on a robot or the like is used, in which the tool is brought into contact with the edge surface of the workpiece at a right angle and the vertical θ axis of the robot is maintained in this relationship. When the playback operation is performed after turning and teaching, the tool of the tool rotating tool applies a constant pressing force in a stable state in the work direction regardless of its stroke position by the fluid pressure applying means. Even if there is a large deviation between the inner and outer peripheral edges of the work, this tool can be used with a set force from a small force to a large force in the work direction regardless of the large stroke amount (and light movement) of the tool and its stroke position. Since it is added, deburring is performed, and the chamfering of the work is performed with precision from a small C surface to a large C surface.

In addition to performing the same action as in claim 1, claim 2 also performs the following action. That is, when the fluid pressurizing means stops functioning, the tool fixing means operates to move and constrain the tool to the origin position. Then, if the pressing force is stopped before or after the start of deburring of the work or the processing of the C surface, the tool does not separate from the work surface and damages the processing surface, and the tool rotating tool is controlled when the robot arm controls the three-dimensional posture control. Bind and protect free movement. It also enables cutting and deburring with a rigid tool with a float function restrained.

According to the third aspect, when an excessive external force is applied to the tool, the overload protection member for suspending the tool rotating tool is easily damaged and the tool rotating tool is dropped. Then
Protects the main body of the C-face processing tool and robot arm, which are important members, from extreme external pressure.

According to a fourth aspect of the present invention, different tools are attached to each other, and a required number of C-plane processing tools with the tools facing upward are installed on a fixed base or the like. The C surface processing etc. are performed by the above-mentioned C surface processing tool that is selectively selected. For example, work
When one of the unprocessed works in the magazine or the like is gripped by the gripper of the robot arm by one chucking, the work can be completed with a large number of C-face processing tools on the composite surface of the inner and outer peripheral edges of the work. Then, since the processed work can be returned to another work magazine or the like, work efficiency is dramatically improved. Further, since it is not necessary to grip (portable) the heavy-weight C-plane processing tool by the robot arm, it is possible to handle with a robot having a small portable weight.

According to a fifth aspect of the present invention, the work replacement and the work C-face machining work are all performed by one robot. Therefore, the facility cost can be reduced and the space can be saved.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the drawings including the technology described in each claim of the present invention will be described below. 1 to 10 show the configurations of two C-face processing tools 10 and 10 'of the present invention. A vertical θ-axis mounting portion A at the arm tip of the vertical articulated robot R shown in FIG.
Then, the upper surface 1A of the box body 1 which is the main body of the C-face processing tool 10 is mounted. The C-face processing tool 10 has a lower surface 1 as shown in FIG.
A slide body 4 that slides lightly in one horizontal direction is supported by alight guide members 2 and 3 in a hexahedron box body 1 in which only B and the like are opened, and the opening bottom surface of the box body is left with a gap X, respectively. Block. This gap X becomes a stroke L (15 mm or more) for sliding the slide body 4 with a large movement amount.
The gap X is protected by a rubber cover or the like during use.

The detailed construction is as follows: The inside of the box 1 has two guide members 2 and 3 penetrating through the holes 1C, 1C on the right side wall in a horizontal posture and in parallel with each other, and is opened on the left side wall. Hole 1
It penetrates D and 1D, and is assembled with the stop pin 5 so that it cannot be disassembled. The guide members 2 and 3 support a slide body 4 that slides lightly by a predetermined amount L in one horizontal direction via ball sliders 6 and 6 that move lightly under low frictional resistance.

On the outer surface 4A which is the lower surface of the slide body 4, the tool rotator 20 is appropriately tilted, and the tool direction is specified and hung by the overload protection member 40. Then, a fluid pressure applying means 30 such as air for applying a pressing force F to the tool 21 in one direction (right direction in the figure) is installed in the box body 1, and the pushing piece portion 4B of the slide body 4 is installed.
Is pressed by the pressing rod 31 with a predetermined pressing force F. As shown in FIGS. 12 and 13, the C-face processing tool 10 has a tool 2 with a vertical θ axis of an arm tip A of a robot R or the like.
The sliding direction of No. 1 is swung 360 degrees in the horizontal plane, and the tool 21 is always in contact with the peripheral portions W1 and W2 of the work W at right angles to apply the pressing force F. The position (b) of the tool 21 is aligned with the pivot axis (a) of the arm A.
With this, the pressure fluid E is discharged from the side wall of the box body 1 of the C-face processing tool 10.
Is sent through a through hole 1E opened inside, and a tool 21 to which a pressing force F is applied by the fluid pressure applying means 30
Is capable of processing the inner and outer peripheral edges W1 and W2 of the work W into a precise C surface.

Next, the fluid pressure applying means 30 and the overload protection member 40 will be described. The fluid pressurizing means 30 for applying a pressing force to the slide body 4 which moves lightly via the pressing rod 31 is fitted in a horizontal position in a blind hole 1F opened in the left side wall in the upper space of the box body 1. The worn cylinder 32
The pressure rod 31 is slidably inserted into the sleeve 34 fitted to the tip end support portion 33, and the through hole 1E for feeding the pressure fluid E into the left space 32A of the cylindrical body 32. Then, in the left space 32A of the cylindrical body 32, a predetermined pressure fluid E
Then, the pressing piece portion 4B of the slide body 4 is pressed by a predetermined pressing force F determined by the diameter of the pressing rod 31. with this,
It is possible to move the slide body 4 which is moved to the right and the tool rotating tool 20 attached thereto by the stroke L. Normally, the tool 21 is set in contact with the inner and outer peripheral edges W1 and W2 of the work W near an intermediate position slightly leftward of the stroke L (about 15 mm and 25 mm is also possible).

In the fluid pressure applying means 30, the pressure bar 3 is fed by feeding the pressurized air ( ^{2 to} 7 kg / cm ² ).
1 is, for example, 40 to 170 gf (very small C
Surface), 150 to 500 gf (C surface of 0.2 to 2.0 C), and 2000 to 3000 gf (large C surface or deburring), approximately three types of pressing force F are obtained. Of course, the predetermined pressing force F is also selected by selecting the diameter of the pressing rod 31, and it is also possible to change it by the feed speed of the robot. Further, the air motor EM of the tool rotating tool 20 is supplied with pressurized air (5 to 10 kg / cm ² ).
Rotate 1 at high speed. Of course, it may be an electric motor.

Next, as shown in FIGS. 1 and 3, the overload protection member 40 comprises a suspension bolt (shear pin) 43 made of a light alloy such as aluminum and a small-diameter wheel body (spacer) 41. . The connecting structure is such that a holder body 42 having a U-shaped cross section is suspended through a small-diameter ring body (spacer) 41 into a screw hole 4C screwed in the center of an outer surface 4A which is the lower surface of the slide body 4. Suspend at 43. Therefore, the tool rotating tool 20 is appropriately fixed to the inclined posture θ by the pivot bolts 44 of the holder body 42, and is hung while specifying the tool direction. Of course, it is also possible to suspend the tool rotating tool 20 and this tool 21 vertically downward as an embodiment as shown in FIG.

When the tool rotating tool 20 is suspended, as shown in FIG. 4, a strong external pressure Fo is applied to the tool 21 or the like in the direction shown in the drawing.
When a shock is applied, the suspension bolt (shear pin) 4
The narrowed portion 41 </ b> A provided in the middle portion 3 “almost coincident with the lower edge of the ring body (spacer) 41” receives a large shear bending stress and easily breaks. Due to this breaking action, it is possible to protect the inside of the main body 1 of the C-face processing tool 10 which is a highly precise and expensive mechanical part. Due to the breaking action, the tool rotating tool 20 falls off from the lower surface 4A of the slide body 4, and the broken middle portion 43A of the hanging bolt 43 projects as shown in FIG. The abdominal constricted portion 43A of this suspension bolt 43 can be loosened by grasping it with a finger, and the tool rotation tool 20 can be easily fixed to the lower surface 4A of the slide body 4 by replacing it with a new suspension bolt 43. It

Next, the construction of the second embodiment of the C-face processing tool 10 'of the present invention will be described with reference to FIGS. It has substantially the same configuration as the C-face processing tool 10 of the first embodiment, and the portions of the same configuration are assigned the same reference numerals and explanations thereof are omitted. In this embodiment, when the unidirectional pressure F applied to the slide body 4 by the fluid pressure application means 30 is released, the slide body 4 is moved to the origin position (O) toward the fluid pressure application means 30 side and the spring force Fb. The fixing means 50 which is moved by the above direction to restrain sliding is installed and added in the box body 1. Further, as shown in FIG. 8, the guide members 2 and 3 are equipped with an air slider (static pressure bearing) ES or the like that moves lightly under low frictional resistance, and lightly slides by a large predetermined amount L in one horizontal direction. The moving slide body 4 is supported.
The air slider ES pierces through holes 2A and 3A for feeding the pressure fluid E to the guide members 2 and 3, while forming a large number of air holes (a) on the outer periphery thereof to support the slide body 4 with air. Of course, similarly to the first embodiment, the ball sliders 6 and 6 that move lightly under low frictional resistance and the metal bearings may be used.

As shown in FIG. 6, the detailed structure of the fixing means 50 is such that the fixing means 50 is located in the right side space in the box body 1 so as to face the fluid pressure applying means 30. The cylindrical body 51 is horizontally fitted in the blind hole 1G on the right side wall. A spring 52 and a large-diameter portion 53A of the clamp piston 53 are built in the cylindrical body 51, a clamp rod 53B is projected, and a through hole 1H for feeding the pressure fluid E into the left space 51A of the cylindrical body 51. Have been contacted. Then, when the predetermined pressure fluid E is also sent into the left space 51A of the cylindrical body 51, the clamp piston 53 compresses the spring 52 with a predetermined pressing force F ', as shown in FIGS.
The clamp rod 53B of No. 3 is immersed in the cylindrical body 51. At this time, the pressing rod 31 of the fluid pressure applying means 30 has a predetermined pressing force F.
The pressing piece 4B of the slide body 4 is pressed with. With this, the slide body 4 and the tool rotator 20 attached to the slide body 4 which are lightly moved to the right together with the light bearing of the air slider ES are moved by a large stroke L, and a constant pressing force F is guaranteed regardless of the stroke position. To be done.

At this time, the pressure fluid E sent to the respective means 30, 50 is the gap between the pressing rod 31 and the sleeve 34,
A part of the gap between the clamp rod 53B and the cylindrical body 51 is passed through to enter the space inside the box body 1 and is discharged to the outside from the gap between the bottom surface 4A of the slide body 4 and the bottom surface 1B of the box body. Thus, dust and the like are prevented from entering the box body 1. This feature
The same applies to the first embodiment.

Further, the pressure fluid E to the left and right cylindrical bodies 32, 51
, The pressing rod 31 and the clamp rod 53B lose the pressurizing force F, and the clamp rod 53B, on the other hand, loses the spring 52.
Of the slide body 4 by the repulsive force Fb of the slide body 4
Press. Then, the fixing means 50 restrains the free sliding by moving the slide body 4 to the origin position (O) on the fluid pressure applying means 30 side by the stroke L by the spring force Fb.

In the second embodiment of the C-face processing tool 10 ', the fixing means 50 for restraining the slide body 4 may be replaced with a spring 52 and an electromagnetic solenoid SOL may be redesigned, as shown in FIG. . In this case, as shown in FIG. 11, the clamp rod 5 is moved by the attraction force Fb of the electromagnetic solenoid SOL.
3B is projected to restrain the slide body 4, and as shown in FIG. 10, the repulsive force Fo of the spring 55 retracts the clamp rod 53B into the cylindrical body 51 when the electromagnetic solenoid SOL is deenergized.

Each of the C-face processing tools 10 and 10 'of the present invention is constructed as described above and operates as follows. As shown in FIG. 12, in order to carry out C chamfering of the inner and outer peripheral edges W1 and W2 for the works W and W ′ having a circular shape or long grooves, first, FIG.
As shown in FIG. 3, a spacer having a thickness of about 3 mm (changed depending on the burr condition of each work) is inserted between the slide body 4 and the left side clearance X between the box body lower surface 1B, and the pressure fluid E is used.
Squeeze or shut off. Thus, in the first embodiment, the slide body 4 is moved to the left side by the spring 52 in the second embodiment to sandwich the spacer so that the gap is 3 mm. with this,
Capable of handling uneven thickness of workpiece and rough set of workpiece by 3 mm. In this state, as shown in FIG. 13, the robot R can perform rough teaching with the stroke L '(15-3 = 12 mm) in accordance with the inner and outer peripheral edges W1 and W2 of the work W. Therefore, rough setting of the work is also possible. As shown in FIG. 12, the teaching operation is performed by the works W, W ′.
Align the tool 21 orthogonally to the inner and outer peripheral edges W1 and W2 of
In order to teach the movement locus of the robot R, the tool 21 is moved along the movement loci K1 and K2.

After that, when a predetermined pressurizing force F is supplied to the fluid pressure applying means 30, the pressurizing force F is generated on the pressing rod 31, the slide body 4 is projected to the work W side, and the tool 21 is pressed. Presses against the inner peripheral edges W1 and W2. At this time, the tool 2 that rotates at high speed in accordance with the directions of the peripheral edges W1 and W2
1 is always orthogonal to each other, so that the robot R controls the turning while keeping the horizontal posture by the wrist control of the vertical θ axis. As for the appearance, for example, by the robot R of FIG. 13, a constant pressing force F is applied to the work W from beginning to end by the float function of the present invention, and the C-face processing tools 10 and 10 ′ perform precise C-face machining.

Next, in the work Wo shown in FIGS. 14 and 15, three types of tools 21, 21 ′, 2 are used for the C surface processing for the outer peripheral edge W3, the inner peripheral side surface W4 and the small hole inner peripheral edge W5.
C-plane processing by 1〃 is required. Therefore, in this work Wo, as shown in FIG. 16, three kinds of tools 21, 21 ′ and 21 ′ are also upwardly placed on the workbench 60 so as to face the C-face machining tool 1
0, 10 'are arranged, the work Wo sandwiched by the chuck C of the robot arm A is approached to each deburring tool 10, 10', and the dedicated tools 21, W4, W5 are provided on the peripheral edges W3, W4, W5 thereof.
21 'and 21' are used to process the C surface.

That is, different tools 21, 21 ', 2
1 〃 is attached, and the required number of tools is installed on the fixed base 60 or the like with the upward facing C-face processing tool 10 or 10 ', and the inner and outer peripheral edges W3 to W of the work Wo gripped at the tip of the robot arm A
Multiple C chamfering of 5 composite faces is performed by the C face working tool selected selectively. Then, for example, in the state where the gripper of the robot arm holds one of the unprocessed works in the work magazine etc. by one chucking,
The work can be completed with a large number of C-face processing tools 10 or 10 'for the composite surfaces of the inner and outer peripheral edges of the work. Then, since the processed work can be returned to another work magazine or the like, work efficiency is dramatically improved. Further, it is not necessary to grip (portable) the heavy-weight C-plane processing tool by the robot arm, and it is expected that the robot having a small transportable weight can handle such an effect.

Further, the present invention C mainly provided with the fixing means 50.
Another C surface processing method using the surface processing tool 10 'for the robot R will be described with reference to FIGS. At the tip of the arm A of the robot R, the tool 10 'of the present invention and the chuck C for gripping the work W are attached at right angles. Thus, when the work W is transferred from the work magazine WM to the jig G on the workbench 60, the work W is carried in and out with the chuck C facing downward.
Then, when the work W is fixed to the jig G on the workbench 60, it is possible to perform the C-plane processing work with the tool 10 'facing downward. After C-side processing, chuck C again
The robot R is caused to perform a series of operations in which the workpiece W on the jig G is grasped and the workpiece W is returned to the workpiece magazine WM as a C-side processed workpiece. Hereinafter, similarly, the C surface processing of the next work W is advanced.

The robot R is provided with the C-face processing 10 'of the present invention at the tip of the arm A and the chuck C for gripping the workpiece W, and the characteristic of the C-face processing method is that one robot R performs two different operations. Since only one robot is required, it is possible to save space and contribute to lower equipment costs. In addition, it simplifies robot teaching and contributes to simplification of maintenance and inspection.

The above is an introduction of limited uses of the present invention, and there are other uses. For example, although not shown, when removing a large flash such as a sprue, the compressed air is shut off and the tool 21 is clamped at the origin position (O) by the restraining member 50. In this rigid state, end milling is performed with a tool to remove large burrs at the sprue part. After that, pressurized air is supplied to make the tool 21 in a floating state, and ordinary C surface processing is performed to obtain a highly precise C surface.
Surface processing is possible.

Although the C-face processing tool of the present invention has been described mainly for performing precise C-face processing of a workpiece, of course, the state in which the pressing force F is increased and the float function of the tool 21 are controlled. It is also used for deburring various types of workpieces in a restrained state. Further, the tool 21 is not limited to the one shown in the figure, and may be replaced with various tools such as a file, a brush, and a diamond bar used for processing the C surface. Further, the pressure fluid can be changed to another suitable fluid, and it is desirable to change the design to the side surface of the box body 1 so that the gap X does not become the upper surface when the tool 21 is directed upward as shown in FIG.

[0040]

According to the first aspect of the present invention, a C-face processing tool used by being attached to a vertical θ axis of an arm tip of a robot or the like is used, for example, in an inner peripheral edge shape or an outer peripheral edge shape of a cast work. Even if there is a deviation, the tool can be stroked lightly and can be pressed with a constant pressure regardless of the stroke position, and this tool exerts a predetermined stable pressure in the work direction from a small force to a large force. Since it can be applied from beginning to end, there is an effect that high-precision C-face machining can be performed according to the setting from a small C face to a large C face. Further, there is an effect that the C-face processing tool can be used as a conventional deburring tool by setting a large pressing force.

According to the second aspect of the present invention, the fixing means for restraining the sliding of the slide body when the unidirectional pressure applied to the slide body by the air pressure applying means is released is installed in the box body. When the pressure applying means stops functioning, the tool fixing means works to move the tool to the origin position and restrain it, and by stopping the pressurization before or after the machining of the C surface of the workpiece, the tool stops working. The surface C is not damaged, and the free movement of the tool rotating tool is restrained and protected during control by the robot arm that three-dimensionally controls the posture. In addition, there is an effect that it is possible to perform cutting with a rigid tool while restraining the float function.

According to claim 3 of the present invention, when an excessive external force is applied to the tool, the overload protection member for suspending the tool rotating tool is easily damaged and the tool rotating tool is dropped. The effect is to protect the body of the C-face processing tool and the robot arm from extreme external pressure.

According to a fourth aspect of the present invention, different tools are attached to each other, and a required number of C-face processing tools with the tools facing upward are installed on a fixed base or the like, and a composite of the inner and outer peripheral edges of the workpiece gripped at the tip of the robot arm. Since a large number of C-plane machining of a surface is executed by the above-mentioned C-plane machining tool that is selectively selected, for example, one of the unmachined workpieces in the workpiece magazine or the like can be chucked with one robot arm. With the gripped state, it is possible to complete a large number of C-plane machining of the composite surfaces of the inner and outer peripheral edges of the work, and the finished work can be returned to another work magazine or the like, so that the work efficiency is dramatically improved. Further, since it is not necessary to grip (portable) the C-face processing tool for heavy objects with the robot arm, there is an effect that a robot having a small portable weight can handle it.

According to the fifth aspect of the present invention, since one robot is provided with the workpiece chuck and the C-face processing tool, the combination of the work unloading / loading work and the C-face processing work is performed by one robot. In addition to being able to perform work, it is possible to reduce the equipment cost of the robot and save space, and it is sufficient to teach the robot by one robot, which simplifies the operation in this aspect. The effect is demonstrated.

[Brief description of drawings]

FIG. 1 is a sectional view showing a C-face processing tool of a first embodiment of the present invention.

FIG. 2 is a right sectional view showing a C-face processing tool according to the first embodiment of the present invention.

FIG. 3 is a perspective view showing an overload protection member of the present invention.

FIG. 4 is a sectional view showing the operation of the overload protection member of the present invention.

FIG. 5 is a sectional view showing the operation of the overload protection member of the present invention.

FIG. 6 is a sectional view showing a C-face processing tool of a second embodiment of the present invention.

FIG. 7 is a sectional view showing a C-face processing tool of a second embodiment of the present invention.

FIG. 8 is a sectional view showing a main part of a C-face processing tool of a second embodiment of the present invention.

FIG. 9 is a cross-sectional view showing an action of a main part of the C-face processing tool of the second embodiment of the present invention.

FIG. 10 is a sectional view showing a C-face processing tool of a third embodiment of the present invention.

FIG. 11 is a cross-sectional view showing the action of the C-face processing tool of the third embodiment of the present invention.

FIG. 12 is a plan cross-sectional view showing machining of a work C surface by the C surface processing tool of the present invention.

FIG. 13 is an external perspective view of a robot provided with the C-face processing tool of the present invention.

FIG. 14 is a cross-sectional view showing a C surface processing state of a work surface of composite C surface processing.

FIG. 15 is a low-side view of the work surface of the composite C surface processing.

FIG. 16 is a perspective view showing a combined C-plane machining of a workpiece gripped by a robot by selectively utilizing a plurality of C-plane machining tools.

FIG. 17 is a front view showing a work transfer of a robot including a C-face processing tool and a chuck.

FIG. 18 is a front view showing C-plane processing of a robot including a C-plane processing tool and a chuck.

[Explanation of symbols]

 1 Box Body 1A Upper Surface 1B Lower Surface (Outer Surface) 1E, 1H Through Holes 2, 3 Guide Member 4 Slide Body 4B Push Piece 6 Ball Slider ES Air Slider 10, 10 'C-Surface Processing Tool 20 Tool Rotating Tool 21 Tool 30 Fluid Adding Pressure applying means 31 Press rod 40 Overload protection member 41 Ring body (spacer) 43 Suspension bolt 50 Fixing means 52 Spring 53 Clamp piston SOL Electromagnetic solenoid 60 Work table A Mounting portion E Pressure fluid (pressure air) L, L ' Stroke X Gap W, W ', Wo Work W1, W2 Inner / outer peripheral edge F Applied pressure R Robot

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location B25J 17/02 G

Claims (5)

[Claims] 1. A C-plane processing tool which is used by being attached to a vertical θ-axis mounting portion at the tip of an arm of a robot or the like, wherein the C-plane processing tool is light in one horizontal direction in a box body having only one surface open and the like. A slide body that slides largely is supported by a light guide member, and a tool rotating tool is arranged on the outer surface of the slide body that closes one side of the opening of the box body, and the stroke of the tool rotating tool in one direction with respect to the tool. A C-face processing tool characterized in that a fluid pressure applying means for applying a constant pressure regardless of the position is installed in the box body. 2. The fixing means for restricting the slide body to the original position when the one-way pressure applied to the slide body by the fluid pressure applying means is released in the box body according to claim 1. C-face processing tool. 3. A tool rotating tool is hung by an overload protection member on an outer surface of a slide body that substantially closes an opening lower surface of a box body according to claim 1, and an external force applied to the tool or the like is excessive. A C-face processing tool characterized in that the tool rotating tool is removed from the slide body in order to protect the C-face processing tool at times. 4. A plurality of C-face processing tools that apply a constant pressing force regardless of a stroke position that largely moves only in one horizontal direction are respectively attached with different tools, and a required number of the tools are installed upward on a fixed base or the like. The C-face machining method for the C-face machining of the inner and outer peripheral edges of the work gripped by the tip of the robot arm is performed by rough teaching of the robot so that the C-face machining tool is selectively selected. 5. A C-face machining method characterized in that a C-face machining tool and a workpiece chuck are provided at the tip of a robot arm, and one robot is used to perform the work replacement work and the C-face machining work. .