JPH0976107A - Deburring device and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate the teaching operation to a robot, so as to reliably perform deburring work even if the deburring surface in a work is changed form the original direction in which it is to be pressed by a cutting tool caused by the shape of the work, by reliably removing large burrs to be formed in the cut surface by welding. SOLUTION: A housing 9 for housing and fixing a cutting tool driving motor 5 provided with a cutting tool 1 on the tip is supported centered around a hinge pin 17 in relation to a holder 11 so as to be oscillated. An elastic supporting mechanism 25 for receiving reaction to be generated when the blade tool 1 is pressed to a work is provided on the holder 11 in the direction perpendicular to the oscillating direction. A gear 57 of a holder rotating motor 53 fixed on a supporting body 47 on a robot hand side is engaged with a gear part 59 formed on the outer peripheral side of the holder 11, the holder 11 is rotated in relation to the supporting body 47 by the operation of the holder rotating motor 53, and the oscillating direction of the housing 9 in relation to the supporting body 47 is changed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a deburring device and a deburring method for deburring a work by using a rotatable blade.

[0002]

2. Description of the Related Art As a conventional deburring device, there is a deburring device in which a cutting blade on the outer peripheral surface of a rotatable cutting tool provided at the tip is pressed in a direction perpendicular to the deburring surface of a work. For example, in (1) Japanese Utility Model Laid-Open No. 5-20816, a guide roller that is concentric with the center of rotation of the cutting tool and has a diameter slightly larger than that of the cutting tool is provided on the tip side and the base end side of the cutting tool. By moving while contacting a smooth surface, burrs protruding from the work surface are ground and removed by a cutting tool. (2) JP-A-56-15
In Japanese Patent No. 7912, a driving motor for a tapered conical cutting tool is fixed to a piston provided in an air cylinder so as to be movable in the front-rear direction (axial direction), and a driving motor on the side opposite to the cutting tool. Is held so as to be swingable in the entire circumferential direction with respect to the piston, whereby burrs at the corners of the work are ground and removed by the conical surface of the cutting tool.

Further, in (3) Japanese Utility Model Laid-Open No. 62-92114, a drive motor is mounted on a swing arm which is elastically supported by a mount and swings in one direction. A cutting tool for deburring is rotatably attached to.
This cutting tool is covered with a guide whose surface facing the work is open, and in a state where the periphery of the opening is moved while being in contact with the work, the burr is ground and removed by the cutting tool exposed from the opening. . (4) In Japanese Utility Model Laid-Open No. 1-71013, a holder provided with a blade tool for deburring at the tip is elastically supported by a support so as to be swingable in the entire circumferential direction with a base end side opposite to the blade tool as a fulcrum. Supported, the outer peripheral portion of the cutting tool is pressed against the work to deburr.

In the deburring apparatus described in each of the above publications, the deburring blade is attached to the robot hand of the industrial robot, and the position of the deburring surface relative to the blade changes with the shape of the work. For the change, it relies on the teaching operation taught by the robot.

[0005]

However, in the above technique (1), since the surface of the work guided by the guide roller needs to be a smooth surface, fine burr can be removed. Excessive burrs, such as the cut surface by welding, cannot be removed, and the application is limited. Further, in this technique, since the blade is pressed by the linear actuator in the direction perpendicular to the work, the blade equipped with the guide roller described above is used as a general tool for deburring, Even if it is used in place of a rotary bar capable of removing excessive burrs such as a welded cross section, there is a problem in that vibration generated during deburring cannot be absorbed and deburring cannot be performed smoothly.

In the technique of (2), when the conical surface of the cutting tool is pressed against the burr of the work, the pressing reaction force becomes large against the excessive burr such as the above-mentioned cut surface by welding. There is a problem that the piston connected to the cutting tool in the air cylinder largely escapes, and sufficient deburring work cannot be performed. In addition, when the above-mentioned rotary river is used in this technology, the piston to which the blade is connected swings around the entire circumference of the air cylinder, so the direction of escape of the blade due to the deburring reaction force is not constant. There is a problem that reliable deburring work cannot be done.

In the technique (3), since the peripheral edge of the opening in the guide for covering the cutting tool plays the same role as the guide roller in the technique (1), it is possible to remove minute burrs. Excessive burrs, such as the cut surface by welding, cannot be removed, limiting the application. Further, in the technique of the above (3), when the guide for covering the cutting tool is eliminated and the above-described rotary river is used as the cutting tool, the swinging direction of the swinging arm holding the cutting tool during the deburring operation is uniform. Direction, and the reaction force of the pressing force against the work is received by the spring provided between the mounting base and
With regard to deburring in this one defined direction, even an excessively large burr can absorb vibration and can be removed by grinding. However, in this technique, when the deburring surface of the work changes due to the shape of the work, which is different from the original pressing direction by the cutting tool, the teaching operation taught by the robot must be relied upon, and this operation is complicated. Therefore, there is a problem that the operation area becomes large and the workability is deteriorated.

In the technique (4), since the holder for holding the cutting tool can swing in the entire circumferential direction with respect to the support, the cutting tool is pressed against the work as in the technique (2). As a result, the escape direction of the cutting tool is not constant due to the deburring reaction force generated, which causes a problem that a reliable deburring operation cannot be performed.

In view of the above, the present invention can reliably remove excessive burrs on the cut surface due to welding, and
Depending on the shape of the work, even if the deburring surface of the work changes from the original pressing direction by the cutting tool, the teaching operation taught by the robot can be facilitated to ensure deburring work. Has an aim.

[0010]

In order to achieve the above-mentioned object, the present invention firstly provides a driving unit which is provided with a cutting tool having a cutting edge on the outer periphery at its tip and which drives the cutting tool to rotate. With respect to the holder provided on the outer peripheral side of the cutting tool, it is provided so as to be swingable along one plane including the rotation center line of the cutting tool with the end portion on the side opposite to the cutting tool as a fulcrum, and facing in the swinging direction of the driving section An elastic support mechanism that elastically supports the drive unit is provided in the holder at a portion to be mounted, and the holder is provided with the drive unit with respect to the support body fixed to the robot hand and provided on the outer peripheral side of the holder. It is arranged so as to be rotatable and displaceable around the rotation center line.

Secondly, in the first configuration, the drive unit is
The blade driving motor includes a blade driving motor that rotationally drives the blade, and a housing that houses and fixes the blade driving motor. The housing is swingably provided with respect to the holder.

Thirdly, in the first configuration, the holder is rotatably provided with respect to the support through the bearing, the gear portion is provided on the outer periphery of the holder, and the holder rotation motor is provided for rotating the holder on the support. Is fixed, the gear portion is meshed with a gear connected to the holder rotation motor, and the holder is rotationally displaced by driving the holder rotation motor.

Fourthly, in the first structure, the elastic support mechanism can adjust the elastic force.

Fifthly, in the first structure, a guide pin for guiding the swinging motion is provided on the holder at a portion facing in the direction orthogonal to the swinging direction of the drive unit, with the tip slidingly contacting the outer peripheral surface of the drive unit. It is provided.

Sixthly, a drive unit equipped with a cutting tool having a cutting blade on the outer periphery at its tip and rotationally driving the cutting tool is provided with an end opposite to the cutting tool with respect to a holder provided on the outer circumference side of the driving unit. In the deburring method of deburring by pressing the cutting tool against the burr of the work while swingably supporting it along one plane including the rotation center line of the cutting tool with the part as a fulcrum, the holder is fixed to the robot hand. For the supported support,
A deburring method in which deburring is performed by rotationally displacing the cutting tool together with the driving unit around the rotation center line, thereby changing the swing direction of the driving unit with respect to the support body in accordance with the deburring site of the work. There is.

According to the first configuration or the sixth method, since the drive portion having the blade at the tip thereof swings in one direction while being elastically supported by the holder, it is possible to perform deburring work. If the direction in which the cutting tool deburring reaction force is applied is constant, deburring work can be performed reliably even with excessive burrs, and if the deburring surface of the work changes from the initial pressing direction of the cutting tool, the holder To the position where the pressing direction of the cutting tool is at a right angle to the deburring surface of the workpiece.
This can be dealt with by rotating the support together with the drive unit and the cutting tool.

According to the second structure, since the housing in which the cutting tool driving motor is housed and fixed swings in one direction while being elastically supported by the holder, the cutting tool during deburring work The direction to receive the deburring reaction force is constant,
Deburring work can be performed reliably even with excessive burrs.In addition, if the deburring surface of the workpiece changes from the original pressing direction of the cutting tool, the pressing direction of the holder becomes the deburring surface of the workpiece. This can be dealt with by rotating the support together with the housing in which the cutting tool driving motor is housed and the cutting tool to a position at a right angle to the support.

According to the third structure, by driving the holder rotation motor, the gear connected to the holder rotation motor rotates, and this rotational force is transmitted to the gear portion provided on the outer periphery of the holder. The holder rotates, and the rotation operation of the holder is easily performed.

According to the fourth structure, the elastic supporting mechanism adjusts the elastic supporting force of the holder with respect to the driving portion, so that deburring work can be performed accurately even on works having different burr heights.

According to the fifth structure, since the swinging motion of the drive unit is guided by the guide pin provided on the holder, rattling is suppressed and the swinging motion is smoothly performed.

[0021]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a side sectional view of a deburring apparatus showing an embodiment of the present invention, FIG. 2 is a left side view of FIG. 1, and FIG. 3 is a right side view of FIG. In this deburring device, a cutting tool 1 for deburring is fixedly held on a chuck 3 at the tip side, and the chuck 3 is driven by a drive shaft 7 of a cutting tool driving motor 5.
And is rotated together with the blade 1, and the blade 1 grinds and removes burrs from the work. Cutting tool driving motor 5
Is housed and fixed in a cylindrical housing 9 to form a drive portion together with the housing 9, and a drive shaft 7 is rotatably supported with respect to an end surface 9a on the left side of the housing 9 in the drawing. The right end of the housing 9 in the drawing is open.

The housing 9 is housed in a cylindrical holder 11 whose both ends are open, with a gap 13 in between. Bushings 15 are fitted in upper and lower two places near the right end of the housing 9 in FIG. 1, and a hinge pin 17 is fixed to a holder 11 at a position corresponding to the bush 15. The hinge pin 17 is rotatably inserted into the bush 15, so that the housing 9 can swing with respect to the holder 11 about the hinge pin 17 in a direction orthogonal to the paper surface of FIG.

On the other hand, in the vicinity of the left end portion of the holder 11 in FIG. 1, a guide pin 19 provided with a screw portion is fixed by nuts 21 at two upper and lower positions, and a tip surface 19a of the guide pin 19 has a gap. 13 protrudes into the inside. A regulation pin 23 is fitted into the housing 9 at a position corresponding to the guide pin 19, and a tip end surface 19a of the guide pin 19 abuts on an end surface of the regulation pin 23 and slides when the housing 9 swings.

FIG. 4 is a sectional view taken along the line AA of FIG.
Only the halves symmetrical to each other with respect to the rotation center line of are shown. In FIG. 4 above, the swinging direction of the housing 9 is the vertical direction, but the elastic support mechanism 25 that elastically supports in order to generate the swinging action force in this swinging direction,
The holder 11 is provided near the end of the holder 11 on the side opposite to the hinge pin 17 which is the center of swing.

The elastic support mechanism 25 includes a mounting plate 27 fixed to the holder 11 and a hollow adjusting screw 2 mounted on the mounting plate 27.
9 is screwed in, and a pressing pin 31 is vertically movably inserted in the adjusting screw 29. The adjusting screw 29 is fixed and locked by a set screw 33 screwed from the side surface of the mounting plate 27. The adjusting screw 29 has a large hollow portion on the housing 9 side, while a head portion 31a is formed at the end portion of the pressing pin 31 on the housing 9 side, and the head portion 31a and the bottom portion of the large diameter portion are formed. A spring 35 for urging the pressing pin 31 toward the housing 9 is housed in the space.

The end of the pressing pin 31 on the side opposite to the head portion 31a projects outward from the adjusting screw 29, and a nut 37 is screwed into this protruding portion to prevent the pressing pin 31 from coming off from the adjusting screw 29. ing. A regulation pin 39 is fitted into the housing 9 at a position corresponding to the elastic support mechanism 25, and the head 31a of the pressing pin 31 is in contact with the end surface of the regulation pin 39.

At a position adjacent to the elastic support mechanism 25,
Shock absorbers 41 serving as damper mechanisms are provided at two upper and lower positions in FIG. 5, which face each other in the same direction as the elastic support direction of the elastic support mechanism 25. The shock absorber 41 is fixed to a mounting bracket 43 having a case 41a fixed to the holder 11, and a movable rod 41b protruding from the case 41a toward the housing 9 is pressed against the end surface of the regulation pin 45 fitted into the housing 9. Abutting.

The holder 11 is rotatably supported by a cylindrical support body 47 arranged outside the holder 11 via a pair of bearings 49. The support 47 is fixed to a bracket 51 (shown in FIG. 3) to which an arm controlled by a robot hand (not shown) or NC control is attached.

In the motor mounting portion 47a formed at one location in the circumferential direction of the support 47, a holder rotation motor composed of a pulse motor or a servo motor for rotating the holder 11 together with the housing 9 with respect to the support housing 47. 53 is attached. A gear 57 is fixed to the drive shaft 55 of the holder rotation motor 53, and the pair of bearings 4
A gear 59 is formed on the outer circumference of the holder 11 between the nine gears, and the gear 59 and the gear 57 mesh with each other.

According to the deburring apparatus as described above, according to the predetermined operation of the robot hand or the arm controlled by the NC control or the like, the side surface of the blade 1, as shown in FIG. W is moved to a position facing the burr B, and in this state, the cutting tool 1 is burr B by the operation of the robot hand or the like.
Then, the burr B is ground and deburred. When the cutting tool 1 is pressed against the burr B during this deburring operation, the housing 9 together with the cutting tool driving motor 5 and the cutting tool 1
It swings up and down in FIG. 4 around the hinge pin 7.

The reaction force of the pressing force of the cutting tool 1 against the work W during this swinging action is always received in a fixed direction by the elastic support mechanism 25 provided in the direction opposite to the pressing direction, and the pressing reaction force is absorbed. Therefore, the rotary bar used as a general tool for deburring can be used.
However, even if the cut surface after welding is excessively large, deburring can be surely performed. Further, in the direction orthogonal to the swinging direction of the housing 9 (vertical direction in FIG. 1), since the tip end surface 19a of the guide pin 19 is in contact with the regulation pin 23, rattling in this direction is prevented. As a result, the swinging motion is smoothly performed.

In the elastic support mechanism 25, the spring 35 bends when absorbing the pressing force.
Since No. 1 is provided, the deburring force can be uniformly secured even with respect to the waviness of the work W itself and excessive burrs, and the deburring accuracy is improved.

The work W of the cutting tool 1 depending on the size of the burr B, etc.
When it is desired to change the reaction force of the pressing force against the adjustment screw 29 with the set screw 33 loosened.
Is moved toward or away from the housing 9 together with the nut 37 to change the amount of bending of the spring 35 to adjust the elastic force. As a result, deburring work can be performed accurately even for works with different burr heights.

When the deburring surface for the work W changes 90 degrees from the lower side with respect to the cutting tool 1 as shown in FIG. 4 to the lateral side as shown in FIG. The holder rotating motor 53 is driven to drive the holder 1
1 to the support housing 47 together with the housing 9,
Rotate 90 degrees in the direction of arrow C. In this state, the hinge pin 17, which is the center of swing, is also rotated and displaced by 90 degrees, so that the housing 9 is in a direction perpendicular to the deburring surface of the workpiece W that has changed in this state (left and right in FIG. 2). Direction), and the pressing force acts on the cutting tool 1 in a direction perpendicular to the deburring surface. The rotation operation of the holder 11 is facilitated because the power is transmitted from the gear 57 connected to the holder rotation motor 53 to the gear portion 59 on the outer circumference of the holder 11.

In this way, when the deburring surface changes with respect to the swinging direction of the cutting tool 1, the holder rotating motor 53 is rotated.
By rotating the holder 11, the pressing direction of the cutting tool 1 with respect to the deburring surface can be set at a constant right angle to the deburring surface, so that the teaching operation for teaching the robot is simplified and the operation area is increased. Is reduced and the workability is improved. Further, since the teaching operation of the robot is simplified, replacement with a machine tool having an arm controlled by NC control or the like becomes easy, and cost can be reduced.

[0037]

As described above, according to the first invention or the sixth invention, the drive part having the cutting tool at its tip is oscillated in one direction while being elastically supported by the holder. Since it moves, the direction of receiving the deburring reaction force of the cutting tool during deburring work is constant, deburring work can be reliably performed even with excessive burrs, and the deburring surface of the work is
If there is a change from the initial pressing direction of the cutting tool, the holder can be rotated together with the drive unit and cutting tool relative to the support until the pressing direction of the cutting tool is perpendicular to the deburring surface of the workpiece. , Will be available.

According to the second aspect of the invention, since the housing in which the cutting tool driving motor is housed and fixed swings in one direction while being elastically supported by the holder, the cutting tool during deburring work is The direction to receive the deburring reaction force is constant,
Deburring work can be performed reliably even with excessive burrs.In addition, if the deburring surface of the workpiece changes from the original pressing direction of the cutting tool, the pressing direction of the holder becomes the deburring surface of the workpiece. This can be dealt with by rotating the support together with the housing in which the cutting tool driving motor is housed and the cutting tool to a position at a right angle to the support.

According to the third invention, by driving the holder rotating motor, the gear connected to the holder rotating motor rotates, and this rotational force is transmitted to the gear portion provided on the outer periphery of the holder. The holder rotates, and the rotation operation of the holder is easily performed.

According to the fourth aspect of the invention, the elastic supporting mechanism adjusts the elastic supporting force of the holder with respect to the driving portion, so that deburring work can be performed accurately even on works having different burr heights.

According to the fifth aspect of the invention, since the swinging movement of the drive portion is guided by the guide pin provided on the holder, rattling is suppressed and the swinging movement is smoothly performed.

[Brief description of drawings]

FIG. 1 is a side sectional view of a deburring device showing an embodiment of the present invention.

FIG. 2 is a left side view of FIG.

FIG. 3 is a right side view of FIG. 1;

FIG. 4 is a cross-sectional view taken along the line AA of FIG.

[Explanation of symbols]

 W Work B Burr 1 Cutting tool 5 Cutting tool driving motor (driving section) 9 Housing (driving section) 11 Holder 19 Guide pin 25 Elastic support mechanism 47 Support body 53 Holder rotation motor 57 Gear 59 Gear section

Claims (6)

[Claims] 1. A drive unit equipped with a cutting tool having a cutting edge on the outer periphery at its tip and rotationally driving the cutting tool, and an end portion opposite to the cutting tool with respect to a holder provided on the outer circumferential side of the driving unit. An elastic support mechanism is provided so as to be swingable along one plane including the center line of rotation of the cutting tool as a fulcrum, and an elastic support mechanism that elastically supports the drive unit is provided in the holder at a portion facing the swing direction of the drive unit. Deburring, wherein the holder is provided so as to be rotationally displaceable around the rotation center line of the cutting tool together with the drive unit with respect to a support body fixed to the robot hand and provided on the outer peripheral side of the holder. apparatus. 2. The drive unit includes a blade driving motor that rotationally drives the blade, and a housing that houses and fixes the blade driving motor. The housing is swingably provided with respect to the holder. The deburring device according to claim 1. 3. A holder is provided rotatably with respect to a support through a bearing, and a gear portion is provided on the outer periphery of the holder,
A holder rotation motor for rotating the holder is fixed to the support, and the gear portion is meshed with a gear connected to the holder rotation motor, so that the holder rotation motor is driven to rotationally displace the holder. The deburring device according to claim 1, wherein the deburring device is formed. 4. The deburring device according to claim 1, wherein the elastic support mechanism is capable of adjusting elastic force. 5. A guide pin is provided at a portion of the holder facing a direction orthogonal to the swing direction of the drive unit, the guide pin having a tip slidingly contacting an outer peripheral surface of the drive unit to guide the swing operation. The deburring device according to claim 1. 6. A drive unit, comprising a cutting tool having a cutting blade on the outer periphery at its tip, for rotationally driving the cutting tool, and an end portion opposite to the cutting tool with respect to a holder provided on the outer circumferential side of the driving unit. In a deburring method of deburring by pressing the cutting tool against the burr of the work while supporting the cutting tool as a fulcrum along one plane including the rotation center line of the cutting tool, the holder is fixed to the robot hand. With respect to the support, by rotationally displacing the drive unit together with the rotation center line of the cutting tool, the swing direction of the drive unit with respect to the support,
A deburring method characterized by performing deburring by changing it according to the deburring portion of the work.