JPH0866863A - Grinder - Google Patents

Abstract

PURPOSE: To grind unnecessary parts such as burrs projecting from the surface of a product main body, while following the unevenness of the surface, to prevent grinding the product surface in excess and to prevent grinding the surface any further after grinding to a predetermined height by permitting the rotary drive shaft of a grinding wheel to be curved, and providing a vertically movable wheel cover with a support roller. CONSTITUTION: In a grinder mounted on the end of the arm of either a robot or a manipulator, a universal joint 8, by which the direction of the axis of a wheel spindle 7 located at the side of a grinding wheel 2 is varied with respect to the axis of an intermediate shaft 6 located at the side of an electric motor 1, is provided between the intermediate shaft 6 which transmits the rotation of the electric motor 1 to the grinding wheel 2 and the wheel spindle 7, and a rotary drive shaft 19 that transmits the rotation of the electric motor 1 to the grinding wheel is permitted to be curved. Also, a wheel cover 23 is made vertically movable, and a spherical support roller 28 is mounted on the lower surface of the cover 23 and brought into contact with the surface of a workpiece so that the distance between the grinding wheel 2 and the surface of the workpiece (b) can be held constant.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a casting product or the like having projections such as casting burrs, or unexpected projections such as cutting marks of a riser on the surface, which are out of the specified dimensions on the surface. It often has irregularities, but it relates to the grinding grinder used to grind and remove the protrusions formed on this surface, especially,
The universal joint is used to bend the rotary drive shaft of the grindstone so that unnecessary parts such as cast burrs protruding from the surface of the product body are not ground too much when grinding and removed. The present invention relates to a grinding grinder capable of preventing further grinding after grinding.

[0002]

2. Description of the Related Art Generally, casting burrs and riser traces are removed to the same height as the surface of the product body, but when a grinder is attached to a robot or manipulator to perform automatic grinding,
If the feed rate of the grindstone is too fast, the burrs cannot be completely removed due to insufficient cutting. On the other hand, if the feed speed of the grindstone is too slow or if the feed is stopped, the product may be cut too much and the product body may be cut, resulting in a defective product.

For the purpose of mechanizing the surface grinding of cast parts,
There is a structure in which an electric motor shaft and a grindstone shaft are directly connected as shown in FIG. 13 in which a grinder is attached to the arm tip of a robot or a manipulator to perform automatic grinding. In the structure shown in FIG. 13, since the grindstone is of an oscillating type, it is possible to follow irregularities on the surface to some extent, and a particularly abnormal force acts on the grindstone regardless of the movement of the robot or manipulator. The whetstone can overcome unevenness without any trouble.

[0004]

However, the above-mentioned FIG.
In the grinder of the mechanism shown in (1), the contact angle of the grindstone with respect to the work changes due to the rocking motion of the grindstone over the unevenness, and the state of the finished surface deteriorates. Further, since the grindstone is constantly pressed by the fluid pressure cylinder, if the moving speed of the grindstone becomes slow or stagnates, the grindstone is excessively scraped, which causes a defective product.

Furthermore, a swing grinder (see, for example, FIG.
In the case of performing a grinding operation by directly connecting the electric motor shaft and the grindstone shaft as in a grinder such as No. 3, if the electric motor shaft is in an inclined position with respect to the work grinding surface, the outer peripheral surface of the grindstone Does not match the work surface, the corners of the grindstone come into contact, and when the grinder is swung back and forth, the contact angle of the grindstone with respect to the work becomes irregular,
Since the contact angle of the grindstone is not constant, the outer peripheral surface of the grindstone is rounded, the contact area between the grindstone and the work becomes small, and the grinding efficiency deteriorates.

The present invention has been made in view of the above problems and was devised to solve the problems. The object of the present invention is to eliminate unnecessary portions such as casting burrs protruding from the surface of the product body. When removing by grinding, always keep a constant contact angle with the work grinding surface of the grindstone, make sure not to grind too much from the product surface, and do not grind further after grinding to the prescribed height. It is to provide a grinding grinder capable of performing.

[0007]

In order to achieve the above object, the invention of claim 1 is, in a grinding grinder attached to the arm tip of a robot or a manipulator, a rotary drive shaft for transmitting the rotation of an electric motor to a grindstone. On the way, a universal joint that changes the direction of the axis of the rotary drive shaft on the grindstone side with respect to the axis of the rotary drive shaft on the electric motor side is provided.
The rotary drive shaft for transmitting the rotation of the electric motor to the grindstone is bendable.

According to a second aspect of the present invention, in a grinding grinder mounted on the tip of an arm of a robot or a manipulator, a rotary drive shaft for transmitting rotation of an electric motor to a grindstone is provided with a shaft center of the rotary drive shaft on the electric motor side. On the other hand, a universal joint that changes the direction of the axis of the rotary drive shaft on the grindstone side is provided, and the rotary drive shaft that transmits the rotation of the electric motor to the grindstone is bendable, and the rotary drive shaft is a front casing and a rear casing. The front casing and the rear casing are connected so as to be bendable, the universal joint is provided at the bendable connection point between the front casing and the rear casing, and a grindstone is provided in front of the front casing to provide the rear casing. Attach the electric motor to the rear end, and position the rear casing at the center of gravity of the total weight from the electric motor to the grindstone. A fluid pressure cylinder, which is rotatably supported by a support plate connected to the tip of the robot or manipulator arm, is rotatably supported by the support plate and the rear end side of the rear casing, and is linked in parallel with the rear casing. A structure is provided in which a link is provided, one end side of the link is rotatably connected to the front casing side and the other end side is rotatably connected to a support plate, and a constant pressing force is applied to the grindstone by a fluid pressure cylinder. It consists of

According to a third aspect of the present invention, in a grinding grinder attached to the tip of an arm of a robot or a manipulator, the rotary drive shaft for transmitting the rotation of the electric motor to the grindstone is provided with a shaft center of the rotary drive shaft on the electric motor side. On the other hand, a universal joint that changes the direction of the axis of the rotary drive shaft on the grindstone side is provided, and the rotary drive shaft that transmits the rotation of the electric motor to the grindstone is bendable, and the rotary drive shaft is a front casing and a rear casing. The front casing and the rear casing are connected so as to be bendable, the universal joint is provided at the bendable connection point between the front casing and the rear casing, and a grindstone is provided in front of the front casing to provide the rear casing. Attach the electric motor to the rear end, and position the rear casing at the center of gravity of the total weight from the electric motor to the grindstone. A robot or manipulator rotatably supports a support plate connected to the arm tip, and a rear casing rotatably supports a lever at a position where a rear casing is rotatably supported by the support plate. A worm gear mechanism and an electric motor that rotate at a position are provided, fluid pressure cylinders that are rotatably supported are respectively provided on the support board and the rear end side of the rear casing, and links that form a parallel link mechanism with the rear casing are provided. One end side of the link is rotatably connected to the front casing side and the other end side is rotatably connected to the tip end side of the lever, so that the contact angle of the grindstone to the work can be varied. .

Here, it is preferable that a grindstone cover for covering the grindstone in the non-contact portion with respect to the work surface is provided so as to be vertically movable,
In addition, a plurality of spherical support rollers that come into contact with the surface of the work are provided in the lower part of the grindstone cover so that the vertical height can be adjusted freely, and the protrusion height of the grindstone that comes into contact with the work can be adjusted to prevent overcutting of the work. Further, it is preferable that the grindstone cover is rotatably provided around the outer periphery of the front casing so that each spherical support roller can always contact the work.

[0011]

The present invention having the above-described structure operates as follows. In the grinding grinder as described above, the grindstone 2 moves up and down along the irregularities of the surface without moving the robot arm or the arm a of the manipulator faithfully along the shape of the processing surface, and moreover, with respect to the work b of the grindstone 2. It is possible to keep the contact angle constant and change the contact angle.

The ground surface is not limited to the top surface of the product,
The grinder can be placed in any posture such as downward, sideways, or upward during grinding, but the grinder portion is almost weight-balanced with respect to the fulcrum B of the support board 11, and the grindstone pressure ( The change in the pressing force) is extremely small, and grinding is performed while the contact pressure of the grindstone is kept substantially constant by the fluid pressure cylinder.

The grindstone cover 23 can be moved up and down by an electric motor 24, and the clearance can be adjusted by remote control according to the wear amount of the grindstone 2.

By bringing the spherical support roller 28 attached to the grindstone cover 23 into contact with the work b, the outer circumference of the grindstone 2 can be maintained at a constant height above the surface of the work b, and unnecessary shaving can be prevented. .

The bracket 21, which serves as a guide for the vertical movement of the grindstone cover 23, is rotatable within a certain range with respect to the axis of the front casing 4, and the four spherical support rollers 28 always have the front portion of the work b. It is also possible to keep the distance (interval) between the grindstone 2 and the surface of the work b constant from this point as well.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described more specifically below with reference to the first and second embodiments shown in the drawings.

[First Embodiment] The structure and operation of the grindstone rotation driving portion will be described with reference to FIGS. 1 and 2.

FIG. 1 shows the basic structure of the present invention. In the power transmission mechanism for rotating the grindstone 2 by the electric motor 1, the grindstone shaft 7 to which the grindstone 2 is attached and the intermediate shaft 6 driven by the electric motor 1. , The universal joint 8 such as a constant velocity ball joint is used to rotate the electric motor 1 with the grindstone 2
The rotary drive shaft 19 that transmits to the shaft is bendable. The rotary drive shaft 19 includes an intermediate shaft 6, a universal joint 8 and a grindstone shaft 7.

The intermediate shaft 6 is housed in the rear casing 3, and the bearings 6a are provided at two front and rear positions in the rear casing 3.
And 6b are rotatably supported. The intermediate shaft 6 is provided between the electric motor 1 and the universal joint 8 and transmits rotation to the universal joint 8.

The rear side of the grindstone shaft 7 is housed in the front casing 4, and is rotatably supported by bearings 7a and 7b at two front and rear positions in the front casing 4. The grindstone 2 is attached to the front side of the grindstone shaft 7. The front side of the grindstone shaft 7 penetrates a mounting hole formed in the center of rotation of the grindstone 2, and a nut is attached to the tip end side of the grindstone shaft 7 that penetrates the grindstone 2 by the nut. It is fixed to the front side of the grindstone shaft 7.

The front end of the rear casing 3 and the rear end of the front casing 4 are connected by a pin 5 so as to be rotatable in the vertical direction, that is, bendable, and are connected to each other.

The rear end of the intermediate shaft 6 has a motor shaft 1a and a shaft coupling 9
Are connected via The shaft coupling 9 is the rear casing 3
It is installed on the rear end side. The front end side of the electric motor 1 is connected to a flange at the rear end of the rear casing 3.

A universal joint 8 is provided between the intermediate shaft 6 and the grindstone shaft 7, and the intermediate shaft 6 and the grindstone shaft 7 are provided.
And are connected via this universal joint 8. That is, the rear end of the universal joint 8 is connected to the front end of the intermediate shaft 6, and the front end of the universal joint 8 is connected to the rear end of the grindstone shaft 7.

The universal joint 8 is a constant velocity ball joint including a joint rotating shaft 8a, an inner piece 8b, a ring piece 8c, a ball 8d, and the like.
An inner piece 8b having a peripheral surface formed by a part of a spherical surface on both end sides of a
Are formed, and the ring pieces 8c inscribed therein are fitted on the outer peripheral surface of each inner piece 8b. A groove having an arcuate section in the axial direction is formed on one side (upper side in the figure) of each of the inner top 8b and the ring top 8c, and a ball 8d is inserted in the groove. Inner piece 8b and ring piece 8c
Is interlocked with the circumferential direction and is rotatable in the direction perpendicular to the circumferential direction.

The universal joint 8 using a constant velocity ball joint makes it possible to bend the rotary drive shaft 19 for transmitting the rotation of the electric motor 1 to the grindstone 2, that is, the intermediate shaft 6 and the grindstone shaft 7, and to rotate the electric motor 1. Is always transmitted to the grindstone 2 at a constant angular velocity.

Inner piece 8 on the rear end side of the joint rotating shaft 8a
The ring piece 8c fitted to b is connected to the front end of the intermediate shaft 6, and the ring piece 8c fitted to the inner piece 8b on the front end side of the joint rotation shaft 8a is connected to the rear end of the grindstone shaft 7. ing.

The rotation of the electric motor 1 is transmitted to the intermediate shaft 6 via the shaft coupling 9, and is transmitted from the intermediate shaft 6 to the grindstone 2 via the universal joint 8 and the grindstone shaft 7.

A fulcrum (point B) is provided at the center of gravity of the total weight from the electric motor 1 to the grindstone 2.

Robot or manipulator arm a
The grindstone 2, the front casing 4, the rear casing 3, and the electric motor 1 are provided on the lower end (tip) side of the support board 11 mounted on the tip of the wheel.
Are rotatably supported in the vertical direction by a pin 12 and connected at the position of the center of gravity (point B).

At a position above the fulcrum (point B) of the support board 11, a fulcrum (point C) rotatably supporting one end of the link 10 by a pin 10a is provided. Also,
A support piece 4a is formed on the upper surface of the front casing 4 so as to project therefrom, and a fulcrum (point D) at which the other end of the link 10 is rotatably supported by a pin 10b on the projection piece 4a.
Is provided. Link 10 between these points C and D
The links 10 are rotatably supported by pins 10a and 10b at fulcrums C and D, respectively.

A line AB connecting the fulcrum (point A) and the fulcrum (point B) and a line C connecting the fulcrum (point C) and the fulcrum (point D)
The line A-D connecting the fulcrum (point A) and the fulcrum (point D), and the fulcrum (point B) and the fulcrum (C
1) at a position where the line B-C connecting the
A fulcrum (point C) on 1 and a fulcrum (point D) on the support piece 4a are provided, and these four points A, B, C, and D form an intersection of parallelograms.

When the grindstone 2 is pushed up from below, the rear casing 3 rotates (swings) upward about the fulcrum B. At this time, the front casing 4 includes the links 10 and A,
By the action of the parallel link mechanism by the four points of B, C and D,
Move vertically while maintaining the horizontal state.

That is, when the robot or the manipulator presses the main grinding grinder (grinding stone 2) against the workpiece (workpiece b), the grindstone 2 moves upward while keeping its axis horizontal as shown by the chain double-dashed line in FIG. Escape to.

At this time, the moment when the grindstone side attempts to rotate downward (counterclockwise) about the fulcrum (point B) and the moment when the electric motor side attempts to rotate downward (clockwise) are substantially equal. Has almost zero contact force with the workpiece (workpiece b). That is, almost no grinding force is generated.

The head side fulcrum of the fluid pressure cylinder 13 is rotatably supported by a pin 13a at a point E on the upper side of the above fulcrum (point C) of the support board 11, and the piston rod of the fluid pressure cylinder 13 is supported. The tip of the pin 13 is a fulcrum (point F) of the support piece 3a formed to project from the rear casing 3.
It is rotatably supported by b.

By constantly applying a constant pressure to the fluid pressure cylinder 13 in the direction of pulling the piston, the entire grinder rotates counterclockwise, the grindstone 2 is pressed downward, and a constant grindstone pressing force is applied. Will be obtained.

Next, a mechanism for adjusting the position of the grindstone cover (see FIG. 1,
3, 4 and 5) and the operation thereof.

A grindstone cover 23 for covering the grindstone 2 is provided in front of the front casing 4. The grindstone cover 23 is attached so as to cover the front, rear, left and right, and the upper side of the rotating grindstone 2. The lower surface side of the grindstone 2 is the grindstone cover 2
It protrudes from 3. The grindstone cover 23 is attached to the bracket 21 so as to sandwich the bracket 21 from the left and right so that the position can be adjusted in the vertical direction. The bracket 21 is rotatably attached to a constricted portion 4b formed on the outer circumference of the front casing 4 as shown in FIGS. 1 and 3 (see FIGS. 1 and 3).

As shown in FIGS. 1 and 4, the front casing 4 is provided with a protrusion 4c on its upper surface side, and
As shown in FIG. 1, each of the protrusions 21b is formed rearward in the bracket 21 so as to sandwich the protrusion 4c from the left and right in a portion overlapping the above-described protrusion 4c when viewed from the side.

A spring 22 is inserted in a compressed state between both side surfaces of the protrusion 4c and the left and right protrusions 21b, and the bracket 21 is normally held vertically by the spring 22. Therefore, it does not rotate around the front casing 4 (state of FIG. 4).

On both outer side surfaces of the bracket 21, guide grooves 21a (see FIG. 5) which are recessed in a concave shape are formed in the vertical direction, respectively, and at the rear portion of the grindstone cover 23, the above-mentioned bracket is provided. 21 left and right guide grooves 21a
Rear projecting side surface 23 projecting so as to sandwich a portion facing to
a is formed on the left and right sides, and projections 23b that fit into the guide grooves 21a and slide are formed on opposite sides of the left and right rear protruding side surfaces 23a, respectively, and the grindstone cover 23 is formed on the guide grooves 21a. It can be moved up and down along.

An electric motor 24 and a screw jack 25 are provided on the upper portion of the bracket 21. Although the inside of the screw jack 25 is not shown, a worm gear and a worm gear whose inner circumference is a female screw are internally provided inside, and a feed screw 26 screwed to the female screw is vertically mounted on the screw jack 2.
5 is fitted through, and the worm gear is driven by the electric motor 24 to push and pull the feed screw 26 up and down.

The lower end of the feed screw 26 mounted in the vertical direction is connected by a bolt 27 to a rear projection piece 23c which is provided on the rear portion of the grindstone cover 23 so as to project rearward. By moving the feed screw 26 up and down by the electric motor 24, that is, by the electric motor 24, the grindstone cover 23 can be moved up and down.

In accordance with the abrasion of the grindstone, the grindstone cover 23 can be moved upward by remote control, so that the proper cover position can be always maintained.

The drive mechanism for the grindstone cover 23 described above can also drive the grindstone cover 23 up and down by changing the feed screw 26 to a rack, engaging a pinion with the rack, and driving the pinion with an electric motor.

Next, the structure and function of the overcutting prevention mechanism (see FIGS. 3 and 4) will be described.

Four spherical support rollers 28 are attached to the lower portion of the grindstone cover 23. That is, the two spherical support rollers 28 are attached to the lower front surface of the grindstone cover 23, and the remaining two spherical support rollers 28 are attached to the lower rear surface of the grindstone cover 23. Each spherical surface support roller 28 has a structure in which the grindstone 2 is viewed from below.
Of the spherical support roller 28 are arranged in front, back, left and right around the contact point between the grindstone 2 and the work b, and the spherical support roller 28 moves with its lower end in contact with the surface of the work b. The grindstone 2 is held at a constant distance (height) from the surface of the work b.

A mounting screw 28a and a nut 28b for adjusting the height of the spherical support roller 28 are attached to each spherical support roller 28, and each spherical support roller 28 has four spherical rollers by the mounting screw 28a and the nut 28b. The lower surface tip of 28 is adjusted to form an imaginary plane.

Now, when the virtual plane formed by the tips of the lower surfaces of these four spherical rollers 28 and the outer peripheral surface (lower edge) of the grindstone 2 are made to coincide with each other, the grinding surface of the work b is a flat surface as shown in FIG. In this case, the outer periphery of the grindstone does not go down further from the surface of the work b, and it is possible to prevent excessive cutting by the grindstone.

When the surface of the workpiece b is a curved surface like the outer peripheral surface of the pipe, the grindstone cover 23 is lowered so that the outer peripheral lower end of the grindstone 2 is retracted as shown in FIG. By providing a gap between the lower end of the support roller 28 and the outer peripheral lower surface of the grindstone 2, excessive cutting can be prevented.

The bracket 21 is rotatably attached to a constricted portion 4b formed on the outer periphery of the front portion of the front casing 4 as shown in FIG. Therefore, even if the direction of the arm a of the robot or the manipulator hits the workpiece b with a slanting inclination instead of being perpendicular to the machining surface as shown in FIG. 23 rotates around the outer peripheral portion 4b of the front casing 4, and the four spherical support rollers 28 are always in contact with the ground surface of the work b, so that the outer peripheral surface of the grindstone 2 always keeps the ground surface in a constant state. It will be ground.

[Second Embodiment] The second embodiment shown in FIGS.
0, 11, and 12 are shown. In the first embodiment, the fulcrum C of the link 10 is structured so as not to move, and the contact angle of the grindstone 2 with the work b is constant. On the other hand, in the second embodiment, the link 10
The fulcrum C is provided at the tip of a lever 14 rotatably supported by a pin 12 at the fulcrum B (the distance between B and C is A to
(The distance between D is made equal), the link 10 and the lever 14 are rotatably supported by the pin 15, and the fulcrum C of the link 10 is moved, and the contact angle of the grindstone 2 to the work b is ground. It can be changed freely during work.

A lever 14 is attached to the inside of the support board 11. The base end side of the lever 14 is supported by a pin 12 pivotally supported by the support board 11 so as to be rotatable in the front-rear direction (around the front-rear direction). One end of the link 10 is connected to the tip of the lever 14 by a pin 15 so as to be rotatable in the front-rear direction (front-back rotation).

A worm gear 16 that rotates about the pin 12 as a central axis is rotatably provided on the side surface of the lever 14 on the proximal end side. The lever 14 rotates integrally with the worm gear 16 about the pin 12. It has become. Also,
A worm 17 that meshes with the worm gear 16 and an electric motor 18 that rotates the worm 17 are provided inside the support board 11.

When the worm gear 16 is rotated by the electric motor 18 and the worm 17, the lever 14 is simultaneously rotated and the link 10 is moved back and forth. That is, the positions of the fulcrums C and D are relatively displaced with respect to the positions of the fulcrums B and A, and the tip of the grindstone shaft 7 is inclined downward or upward as shown in FIG.

The electric motor 18 can be started and stopped by remote control. This worm gear mechanism uses a grindstone 2
The contact angle with respect to the work b can be freely changed during the grinding operation.

As is clear from the above description, the first
The embodiment and the second embodiment have the following configurations and characteristics.

A universal joint 8 such as a constant velocity ball joint is inserted between a grindstone rotating shaft 7 on which the grindstone 2 is mounted and an intermediate shaft 6 for driving the grindstone rotating shaft 7 so that the grindstone drive shaft can be bent.

By providing the parallel link 10, it becomes possible for the grindstone 2 to always maintain a constant angle (for example, horizontal state) when the drive shaft of the grindstone is bent.

The center of gravity of the total weight from the electric motor 1 to the grindstone 2 is rotatably supported by the pin 12 (fulcrum point B) of the support board 11 so that the contact force (pressing force) of the grindstone 2 to the work b is increased. Make it almost zero. This means that the pressing force of the grindstone 2 against the work b is substantially constant (zero) regardless of whether the grindstone 2 contacts the work b downward, upward or laterally.

A fulcrum C of the link 10 is provided at the tip of a lever 14 rotatable around the fulcrum B, and a structure is provided in which the lever 14 is rotated by a worm gear 16, a worm 17, and an electric motor 18, and the grindstone shaft 7 can be tilted. It has a different structure. That is, the contact angle of the grindstone 2 with respect to the work b can be changed.

Further, by pulling the electric motor side of the fulcrum point B by the fluid pressure cylinder 13 with a constant force, a force for pressing the grindstone downward is generated, and the necessary pressing force is almost constant regardless of the change of the contact attitude. The contact pressure can be obtained. Further, even if the robot arm a is moved in a straight line with respect to the complicated unevenness on the surface of the work b, the grinding grinder (grinding stone) moves by tracing the unevenness so that the grindstone 2 can always contact the work b.

Although the outer periphery of the grindstone 2 is gradually worn, the grindstone cover 23 can be moved up and down electrically with respect to the grindstone shaft 7 so that the clearance between the grindstone 2 and the cover 23 can always be properly maintained. To do.

A spherical support roller 28 is provided below the grindstone cover 23, and the roller 28 is brought into contact with the surface of the work b to form a mechanism for maintaining the outer peripheral surface of the grindstone 2 at a constant height from the surface of the work b. In the following, the grindstone 2 is prevented from approaching the surface of the work b so as not to cut too much.

The bracket 21 for guiding the vertical movement of the grindstone cover 23 is rotatably attached to the outer periphery of the front casing 4 so that even if the main grinding grinder is inclined with respect to the surface of the work b. The four spherical support rollers 28 contact the surface of the work b, and keep the distance between the surface of the work b and the outer peripheral surface of the grindstone 2 constant. However, the rotation range of the bracket 21 is rotatable within a certain range with respect to the front casing 4, and is normally held in the neutral position by the spring 22.

The present invention is not limited to the above embodiments, and it goes without saying that various modifications can be made without departing from the spirit of the present invention.

[0067]

As is apparent from the above description, according to the grinding grinder according to the invention of claim 1, when the grinding work is performed by the grinder attached to the tip of the robot arm or the manipulator, the rotation of the electric motor is changed to a grindstone. By making the rotary drive shaft for transmission bendable, the grindstone can be adjusted to an arbitrary inclination with respect to the rotary shaft of the electric motor, and by holding the tilt of the grindstone by a separate mechanism, even if the processing surface is a curved surface It is possible to easily follow the curved surface and grind.

According to the grinding grinder of the second aspect of the present invention, the same effects as those of the first aspect of the invention are provided, and when the grinding work is performed by the grinder attached to the tip of the robot arm or the manipulator, the grinding grinder is used. The whetstone part is swing type, and the whetstone moves in parallel to prevent excessive pressing of the whetstone. Even if the position control of the robot and manipulator is rough (there is no need to teach delicate robot trajectory). It is possible that the grindstone follows the irregular irregularities of the machined surface and does not always come into contact with and separate from each other, thereby enabling the trace grinding. Since the center of gravity of the entire grinder device is used as the swing center, the posture of the grindstone with respect to the workpiece (downward,
Since the fluid pressure cylinder is pressed, the pressing force of the grindstone can be maintained substantially constant regardless of the change in the direction of the sideways or upward. Moreover, the contact angle of the grindstone can always be kept constant against the wobbling of the grindstone due to the unevenness of the work surface, and the grinding efficiency is not reduced.

Further, according to the grinding grinder of the third aspect of the present invention, the grinding grinder has the same effects as the first aspect of the invention, and the center of gravity of the entire grinder device is used as the swing center. Since the fluid pressure cylinder is pressed, the pressing force of the grindstone can be kept substantially constant regardless of changes in the direction (downward, lateral, upward). Moreover, the contact angle of the grindstone with the work surface can be freely changed during the grinding operation.

In the case of the structure of claim 4, since the whetstone cover can be moved up and down, it can be adjusted according to the wear of the whetstone.

In the case of the structure of claim 5, the spherical support roller provided on the grindstone cover is brought into contact with the surface of the work to grind it, so that whether the work surface is a flat surface or a curved surface Since the outer peripheral surface (grinding surface) can be always held at a constant height with respect to the surface of the work body, it is possible to prevent cutting in more than necessary.

In the case of the structure of claim 6, each spherical support roller is always in contact with the ground surface of the work surface.
The grinding surface can be ground with the outer peripheral surface of the grindstone always constant.

[Brief description of drawings]

FIG. 1 is a basic structural diagram of a grinding grinder of a first embodiment of the present invention.

FIG. 2 is a diagram showing by a chain double-dashed line a state in which a grindstone is pressed against a work in the grinding grinder of the first embodiment of the present invention.

FIG. 3 is a view showing a grindstone cover moving device and an overcutting prevention device in a schematic view taken along the line XX in FIG. However, the front casing is not shown.

FIG. 4 is a view showing a moving device of a grindstone cover and an overcutting prevention device in a schematic Y-Y arrow view of FIG. 1.

FIG. 5 is a diagram showing a state in which the moving device for the grindstone cover according to the first embodiment of the present invention is viewed from below.

FIG. 6 is a diagram showing a state in which the robot arm according to the first embodiment of the present invention obliquely hits a work.

FIG. 7 is an external side view of the grinding grinder of the first embodiment of the present invention.

FIG. 8 is an external front view of the grinding grinder of the first embodiment of the present invention.

FIG. 9 is a basic structural diagram of a grinding grinder of a second embodiment of the present invention.

10 is a sectional view taken along the line AA of FIG. 9 showing a mechanism for adjusting the contact angle of the grindstone.

11 is a cross-sectional view taken along the line BB of FIG. 9 showing a mechanism for adjusting the contact angle of the grindstone.

FIG. 12 is a view showing a state in which the contact angle of the grindstone is adjusted in the grinding grinder of the second embodiment of the present invention.

FIG. 13 is a side view of a conventional grinding grinder.

[Explanation of symbols]

1: Electric motor 15: Pin 2: Grindstone 16: Worm gear 3: Rear casing 17: Worm 4: Front casing 18: Electric motor 5: Pin 19: Rotary drive shaft 6: Intermediate shaft 21: Bracket 7: Grindstone shaft 22: Spring 8: Universal joint 23: Whetstone cover 9: Shaft coupling 24: Electric motor 10: Parallel link 25: Screw jack 11: Support board 26: Ball screw 12: Pin 27: Bolt 13: Fluid pressure cylinder 28: Spherical support roller 14: Lever

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tosuke Fujimoto 1-2-2 Fukahori-cho, Nagasaki-shi, Nagasaki Mitsubishi Nagasaki Kiko Co., Ltd.

Claims (6)

[Claims] 1. A grinding grinder mounted on the tip of an arm of a robot or a manipulator, in the middle of a rotary drive shaft for transmitting the rotation of an electric motor to a grindstone, a rotary drive on the grindstone side with respect to the axis of the rotary drive shaft on the electric motor side. A grinding grinder characterized in that a universal joint that changes the direction of the axis of the shaft is provided, and the rotary drive shaft that transmits the rotation of the electric motor to the grindstone is bendable. 2. A grinding grinder mounted on the tip of an arm of a robot or a manipulator, in the middle of a rotary drive shaft for transmitting the rotation of an electric motor to a grindstone, a grindstone side rotational drive with respect to an axis of the electric motor side rotary drive shaft. A universal joint that changes the direction of the axis of the shaft is provided, and the rotary drive shaft that transmits the rotation of the electric motor to the grindstone is bendable, and the rotary drive shaft is installed in the front casing and the rear casing, and the front casing. And the rear casing are connected so that they can be bent, the universal joint is installed at the bendable connection point between the front casing and the rear casing, a grindstone is provided in front of the front casing, and an electric motor is attached to the rear end of the rear casing. , The rear casing at the position of the center of gravity of the total weight from the motor to the grindstone. A fluid pressure cylinder, which is rotatably supported on a support plate connected to the arm tip of the rotor, and is rotatably supported on the support plate and the rear end side of the rear casing, is provided. Is provided, the one end side of the link is rotatably connected to the front casing side and the other end side is rotatably connected to the support plate, and a constant pressing force is applied to the grindstone by the fluid pressure cylinder. Characteristic grinding grinder. 3. A grinding grinder mounted on the tip of an arm of a robot or a manipulator, in the middle of a rotary drive shaft for transmitting the rotation of an electric motor to a grindstone, a rotary drive on the grindstone side with respect to the axis of the rotary drive shaft on the electric motor side. A universal joint that changes the direction of the axis of the shaft is provided, and the rotary drive shaft that transmits the rotation of the electric motor to the grindstone is bendable, and the rotary drive shaft is installed in the front casing and the rear casing, and the front casing. And the rear casing are connected so that they can be bent, the universal joint is installed at the bendable connection point between the front casing and the rear casing, a grindstone is provided in front of the front casing, and an electric motor is attached to the rear end of the rear casing. , The rear casing at the position of the center of gravity of the total weight from the motor to the grindstone. Rotatably supported on a support plate connected to the arm tip of the motor, and the base end side of the lever is rotatably supported on a position where the rear casing is rotatably supported by the support plate. A worm gear mechanism and an electric motor that are rotated by, a support plate and a fluid pressure cylinder that is rotatably supported on the rear end side of the rear casing, and a link that constitutes a parallel link mechanism with the rear casing are provided.
One end side of the link is rotatably connected to the front casing side and the other end side is rotatably connected to the tip side of the lever so that the contact angle of the grindstone to the work can be varied. Grinder. 4. The grinding grinder according to claim 1, wherein a grindstone cover for covering a grindstone in a non-contact portion with respect to the work surface is provided so as to be vertically movable. 5. A plurality of spherical support rollers that come into contact with the surface of the work are provided in the lower part of the grindstone cover in a vertically adjustable manner, and the protrusion height of the grindstone that comes into contact with the work is adjusted to prevent overcutting of the work. The grinding grinder according to claim 4. 6. The grinding grinder according to claim 5, wherein a grindstone cover is provided rotatably around the outer periphery of the front casing, and each spherical support roller is always in contact with the work.