JPH10249697A - Polishing method and device thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make an operation process by an operator reducible without entailing any teaching with a robot. SOLUTION: Three-dimensional data showing the traveling path of a metal mold set up in a computer aided design unit, an M code showing the extent of pressure and sensitivity in a grinding wheel of a polishing head, and attitude data showing a tilting angle of this polishing head are all inputted from a floppy disk (SB1). This polishing head is transferred to a position shown by the three-dimensional data (SB2), while it is kept in the tilting angle shown by the attitude data (SB3). In succession, the M code is outputted to a sequencer (SB4), sensitivity at a time when the wheel moved vertically is set to that of a sensitive code shown by the M code, while any pressure to be added to the wheel is set to a pressure code shown by the M code, and thus the metal mold is polished into a form based on the data of the computer aided design unit.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a polishing method and a polishing apparatus for polishing, for example, a surface of a die after cutting.

[0002]

2. Description of the Related Art Conventionally, as an apparatus for polishing the surface of a cut die, there is known an automatic die polishing apparatus 201 as shown in FIG. 14 (see Japanese Patent Application Laid-Open No. 7-100754).

[0003] This automatic mold polishing apparatus 201 comprises a mold 20
A tool head 204 rotatably provided with a grindstone 203 for polishing the workpiece 2, a vertical articulated robot 205 to which the tool head 204 is attached, and a robot 205
Operation control device 206 for controlling the operation of the, and an input device 207 connected to the operation control device 206, based on the polishing range and the shape of the polishing range input from the input device 207, The robot 205 is operated to polish the mold 202.

The whetstone 203 is urged toward the mold 202 at a constant pressure by a pressurizing cylinder (not shown) and is swingably held by the tool head 204. It is configured to move along a plane. Thus, even when the polishing surface is curved, the polishing can be performed to a uniform depth along the curved surface.

[0005]

However, the shape of the polishing range input to the input device 207 is an actual shape, that is, the shape of the polishing range in the mold 202, and is operated by operating the robot 205. , The mold 2
In this case, the user moved to a plurality of reference points on the polished surface of No. 02, and input the information by teaching which measures and stores the moving distance. For this reason, in this teaching process, it takes time and the robot 205
Had to be stopped, which was inefficient.

Since the automatic mold polishing apparatus 201 is configured to polish at a uniform depth along the polishing surface of the mold 202, for example, the automatic mold polishing apparatus 201 If an inadvertent projection is formed, polishing is performed at a uniform depth even in this projection. In this case, after the polishing by the automatic mold polishing apparatus 201, the protruding portion must be further polished by a manual operation of a skilled person according to the general portion.

SUMMARY OF THE INVENTION The present invention has been made in view of such conventional problems, and provides a polishing method and a polishing apparatus capable of reducing the number of work steps by an operator without performing teaching using a robot. It is intended to provide.

[0008]

According to the present invention, there is provided a polishing method for polishing a workpiece by rotating a polishing member provided on an industrial robot while rotating the polishing member. In, setting a movement path of the polishing member using the CAD data of the workpiece, from the CAD data, three-dimensional data indicating the movement path, and calculate attitude data along a normal line in the movement path, Based on the three-dimensional data and the posture data, the position of the polishing member and the posture at the position are controlled by the industrial robot.

That is, the movement path of the polishing member for polishing the work is set to CAD data including the drawing data and the shape data of the work, and the CAD data is formed by the CAD data.
Based on the data, three-dimensional data indicating the moving path and posture data along a normal line on the moving path are calculated. In the moving path, the position of the polishing member and the posture at the position are determined by CAD of the workpiece.
Control is performed based on the three-dimensional data and the posture data calculated based on the data.

In the polishing apparatus according to the present invention, the polishing member provided on the industrial robot is moved while rotating to polish the work, and the position of the polishing member of the industrial robot is determined. And control means for controlling a posture at the position based on three-dimensional data indicating a movement path of the polishing member set using CAD data of the work, and posture data along a normal line on the movement path. ing.

In other words, the industrial robot has three-dimensional data indicating a position of the polishing member for polishing the work and a posture at the position, the movement path of the polishing member set using CAD data of the work, and It is controlled by the control means based on the posture data along the normal line on the moving route.

Further, the industrial robot has an urging means for urging the polishing member toward the work, and the control device controls the urging means in accordance with a change in curvature in the moving path. The biasing force is variably controlled.

That is, the polishing member is urged toward the work by the urging means, and the urging force is variably controlled in accordance with a change in curvature in the moving path. For example, when polishing a portion having a large curve of a swollen curved surface, due to a decrease in the contact area between the polishing member and the work, when the urging force per unit is increased,
The urging force of the urging means is reduced.

Further, the industrial robot has an urging means for urging the polishing member toward the work, and the control device is configured to control the polishing member at a position indicated by the coordinate data set based on the CAD data. The biasing force of the biasing means is variably controlled.

That is, the polishing member is urged toward the work by the urging means, and the CAD
At the site indicated by the coordinate data set based on the data,
The biasing force is variably controlled. Therefore, when an inadvertent protruding portion is formed on the surface of the work before polishing, coordinate data indicating the position of the protruding portion is set based on the CAD data of the work, and the coordinate data is At the position shown, the urging force of the urging means is increased.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a polishing apparatus 1 according to the present embodiment, and shows an apparatus for polishing the surface of a mold 2 as a workpiece after cutting. The polishing apparatus 1 includes a polishing head 4 for polishing a mold 2 positioned on a mounting table 3, and a multi-axis robot 5 as an industrial robot to which the polishing head 4 is mounted.
And a robot controller 6 as a control means for controlling the multi-axis robot 5. Data generated by the CAD device 7 is input to the robot controller 6 via a floppy disk 8. Input device 9 is connected.

The polishing head 4 is, as shown in FIG.
A cylinder 11 fixed to the multi-axis robot 5, a piston 13 held in the cylinder 11 via slide bearings 12 and 12 so as to be vertically movable, and the piston 13 is rotatable via bearings 14 and 14. And a grinding wheel 16 as a polishing member is fixed to a lower end of the grinding wheel drive shaft 15. An air motor 18 provided with a silencer 17 is connected to the upper end of the grinding wheel drive shaft 15, and when the rotation of the air motor 18 is controlled, the grinding wheel 16 provided at the lower end rotates. I have. The piston 13 that rotatably holds the grinding wheel drive shaft 15 is supported by the cylinder 11 via first and second upper diaphragms 19 and 20 and first and second lower diaphragms 21 and 22. An upper chamber 24 for storing hydraulic oil is formed between the upper diaphragms 19 and 20 together with an upper recess 23 formed in the piston 13. Also,
Between the two lower diaphragms 21 and 22, a lower chamber 26 for storing hydraulic oil is formed together with a lower concave part 25 formed in the piston 13, and between the upper concave part 23 and the lower concave part 25 is formed. , The general part 27 of the piston 13,
A large diameter portion 28 having a diameter larger than 27 is formed. Thus, the piston 13 is configured to be urged downward by the oil pressure of the upper chamber 24 and to be urged upward by the oil pressure of the lower chamber 26. The polishing head 4 has an inclination angle detection sensor 29 at its upper end.
Is provided.

As shown in FIG. 1, the multi-axis robot 5 includes a robot body 31 and an arm 32 extending from the robot body 31 and having the polishing head 4 attached thereto. The arm 32 is formed by connecting a plurality of links 33,... With joints 34,. Thereby, the arm 32 can move the polishing head 4 attached to the distal end to an arbitrary position and maintain the polishing head 4 at an arbitrary angle by a combination of bending and turning operations at the joints 34,. It is configured as follows.

The robot controller 6 controls the operations of the joints 34,... In the arm 32 of the multi-axis robot 5 and all controls in the polishing head 4.
It is configured to be able to perform based on the data input to the input device 9. That is, the robot controller 6
A sequencer 42 that controls the polishing head 4 and includes an input device 41;
A control voltage controller 43 for controlling a control voltage corresponding to an output signal from the control voltage controller 43;
1 to 3 to amplify the pressure control signal, the sensitivity control signal, and the flow rate control signal from the first to third power amplifiers 44 to 44, respectively.
46 are connected in order. A pressure control circuit 47 for controlling the urging force of the grindstone 16 in the polishing head 4 is connected to a first power amplifier 44 for amplifying the pressure control signal, and a second power for amplifying the sensitivity control signal. The amplifier 45 is connected to a sensitivity control circuit 48 that controls the sensitivity of the grinding stone 16 when absorbing the reaction force received from the mold 2. In addition, a third amplifier for amplifying the flow control signal is provided.
The power amplifier 46 is connected to a rotation control circuit 49 that controls the rotation of the air motor 18 that rotates the grindstone 16.

FIG. 3 is a block diagram of a control circuit for controlling the polishing head 4. The pressure control circuit 47, the sensitivity control circuit 48, and the rotation control circuit 49 are connected to an air circuit 51. It is shown. The rotation control circuit 49 adjusts the air pressure of the air circuit 51 by a pressure adjusting valve 52 and controls the air pressure by an electronic proportional pneumatic flow rate adjusting valve 53.
The electronic proportional pneumatic flow rate adjusting valve 53 is operated in response to a signal from the third power amplifier 46 shown in FIG. 1, and the number of revolutions of the air motor 18 is controlled. It is configured to:

The pressure control circuit 47 includes the air circuit 5
The pressure of the first air is adjusted by an electromagnetic valve 61 and controlled by an electronic proportional pneumatic pressure adjusting valve 62, and then converted to a hydraulic pressure of the working oil by a pneumatic hydraulic pressure converter 63. In response to a signal from the first power amplifier 44 shown in FIG.
Is operated, and the hydraulic pressure of the hydraulic oil can be set to a predetermined pressure. In the pneumatic-hydraulic converter 63,
An air chamber 64 that receives supply of air from the electronic proportional pneumatic pressure adjusting valve 62 and an oil chamber 66 that is partitioned by a diaphragm 65 and stores the hydraulic oil are formed. Is connected to the sensitivity control circuit 48.

The sensitivity control circuit 48 sends the hydraulic oil from the pneumatic hydraulic pressure converter 63 to the upper chamber 24 of the polishing head 4 shown in FIG. 2 and a check valve 71 shown in FIG. An electronic proportional hydraulic flow rate control valve 72 that operates in accordance with a signal from the second power amplifier 45 is provided in parallel with
While the grindstone 16 of the polishing head 4 is urged toward the mold 2 by the hydraulic pressure controlled by the pressure control circuit 47, the grindstone 16 comes into contact with a projecting portion formed carelessly on the mold 2. When a reaction force is received from the mold 2, the reaction force is released to the pneumatic-hydraulic converter 63 with a flow rate corresponding to the control state of the electronic proportional hydraulic flow rate regulating valve 72, The grindstone 16 is configured to be able to move up and down. Thus, by controlling the electronic proportional hydraulic flow rate adjusting valve 72, the sensitivity when the grinding wheel 16 moves up and down with respect to the unevenness of the mold 2 can be set.

The air circuit 51 is provided with a balancer circuit 81. The balancer circuit 81 adjusts the air pressure of the air circuit 51 by an electromagnetic valve 82 and controls the air pressure by an electronic proportional pneumatic pressure adjusting valve 83, and then performs pneumatic hydraulic pressure conversion having the same configuration as described above. The hydraulic oil from the pneumatic-hydraulic converter 84 is configured to convert the hydraulic oil into the hydraulic pressure of the hydraulic oil by the heat exchanger 84.
Is supplied to the lower chamber 26 of the polishing head 4 shown in FIG.
Accordingly, the grindstone 16 of the polishing head 4 is urged upward by the hydraulic pressure of the hydraulic oil, and by controlling the electronic proportional pneumatic pressure adjusting valve 83, the grindstone 1 is
6, the grinding wheel 16, the grinding wheel drive shaft 1
5, the weight of the piston 13, and the weight of the air motor 18 can be canceled. The electronic proportional pneumatic pressure regulating valve 83 has a controller amplifier 85.
Is connected to the polishing head 4 via the tilt angle detection sensor 2.
9 detects the inclination angle of the polishing head 4 and controls the electronic proportional pneumatic pressure regulating valve 83 in accordance with the inclination angle to reduce the load applied to the grinding stone 16 to the inclination angle of the polishing head 4. , So that it can always be kept at zero.

On the other hand, in the sequencer 42, as shown in FIG. 4, a data table 91 of a sensitivity pressure pattern corresponding to the M code sent from the robot controller 6 is stored together with a sequence program.
The sensitivity pressure pattern is constituted by a combination of a sensitivity code 92 and a pressure code 93. The sequence program is configured to control the electronic proportional hydraulic flow rate adjusting valve 72 in the sensitivity control circuit 48 based on the sensitivity code 92 shown in the data table 91, The electronic proportional pneumatic pressure regulating valve 62 in the pressure control circuit 47 is controlled based on the pressure code 93 thus obtained. FIG. 5 is a diagram showing the relationship between the pressure code 93 and the pressure applied to the grindstone 16, and PB to PB.
The pressure is set to increase as one goes to P3. FIG. 6 is a diagram showing the relationship between the sensitivity code 92 and the sensitivity when the grindstone 16 moves up and down with respect to the irregularities of the mold 2.
The sensitivity is set to be high, that is, the whetstone 16 is set to be easily moved up and down.

As shown in FIG. 1, the CAD device 7 includes a die drawing data 101 and a shape data 10 of the die 2.
This is a device for creating and processing CAD data 103 composed of a plurality of pieces of CAD data 103. A movement path of the grindstone 16 to be polished is specified by an input from input means such as a keyboard 104 and a mouse 105, and a specific location in the mold 2 , And setting of a pattern code at a specific location where the position is specified. In addition, the CAD
The device 7 has a conversion function of converting a designated moving path into three-dimensional data, a calculating function of calculating posture data along a normal line on the moving path from the three-dimensional data, and a conversion function of changing the three-dimensional data. An automatic designating function for automatically designating the above-mentioned M code, a search function for searching for the coordinate data from the input specific location, and the coordinate data searched for by the search function based on the input pattern code. It has a reflection function of reflecting sensitivity and pressure on the M code.

The specific operation of the present embodiment according to the above configuration will be described with reference to the flowcharts shown in FIGS.

FIG. 7 is a flowchart showing the operation of the CAD apparatus 7. The CAD apparatus 7 first executes step S
In A1, CAD data 103 including the mold drawing data 101 and the shape data 102 of the mold 2 is input. Then, as shown in FIG. 1, a polishing path, that is, a moving path of the polishing head 4 is input from input means such as a keyboard 104 and a mouse 105 connected to the CAD apparatus 7 (SA2). The three-dimensional data at
The calculation is performed from the AD data (SA3), a point group is set from the tolerance value of the three-dimensional data, and the curvature is calculated from the number of points (SA4). That is, FIG.
0, this point T is set every time the three-dimensional data 3D is displaced by a predetermined amount of tolerance t. When the curvature in the polishing path is large and the curvature is large, the unit length L If the number of points T per unit increases while the curvature is small, the number of points T per unit length L decreases.

At step SA5, a pressure code 93 corresponding to the three-dimensional data is set based on the number of points T per unit length L. Specifically, when the number of points T per unit length L is small and the curvature of the curved surface is small, the pressure code 93 of a high pressure is set, while the number of points T per unit length L is large and the curved surface If the curvature is large, the pressure code 93 of a low pressure is set, and then the perpendicular of the tangent in the polishing path is calculated based on the three-dimensional data, and the calculated normal is used as the normal (SA6). The inclination angle and the inclination direction of the line are set as posture data corresponding to the three-dimensional data (SA7).

As described above, the moving path of the polishing head 4 for polishing the mold 2 is set by the CAD apparatus 7 using the CAD data 103 including the mold drawing data 101 and the shape data 102 of the mold 2. In addition, a teaching step of operating the multi-axis robot 5 to store a plurality of reference points set on the polishing surface of the mold 2 becomes unnecessary. Thus, the polishing operation can be performed without stopping the multi-axis robot 5, so that the operation efficiency can be improved. Also, the three-dimensional data indicating the movement route and the posture data along the normal line in the movement route are CAD data 1
Therefore, even when the moving path is set to the curved portion of the mold 2, the three-dimensional data is used to calculate the position along the normal line corresponding to the position indicated by the three-dimensional data. Posture data can be easily obtained.

Next, as shown in FIG. 8, it is determined whether or not there is an input of a correction portion from input means such as a keyboard 104 and a mouse 105 connected to the CAD device 7 (SA).
8) If there is a correction portion, the correction position is input (SA9), and the correction coordinate data of the correction position is obtained based on the CAD data 103 (SA1).
0), input of the pattern code of the correction position (SA11),
The sensitivity code 92 and the pressure code 93 indicated by the pattern code are determined with reference to the number of tolerances T per unit length L (SA12). That is, as shown in FIG. 11, an inadvertent protruding portion 111 generated during the cutting process may be formed on the surface of the die 2 after the cutting process. It needs to be polished and removed in the process. Therefore, the presence or absence of the protruding portion 111 is determined in advance by applying the Komitsutan 112 to the mold 2, and when the protruding portion 111 is found in the mold 2, the correction position of the protruding portion 111 is determined. CAD
It is input to the device 7. At this time, the projecting portion 1
Referring to the height, range, and the like of 11, a suitable pattern code is selected from a predetermined pattern code table and input. The pattern code is a code for setting a pattern of sensitivity when suppressing the vertical movement of the grindstone 16 for polishing the mold 2 at the correction position, and a pattern of increasing the urging force of the grindstone 16. It is determined by the correction amount based on the height of the portion 111 and the range.

Then, in step SA13, the sensitivity code 92 corresponding to the three-dimensional data is added to the pressure code 93 corresponding to the three-dimensional data to correspond to the three-dimensional data. The M code is formed, and the CAD data including the three-dimensional data, the M code corresponding to the three-dimensional data, and the posture data corresponding to the three-dimensional data is recorded on the floppy disk 8 (SA14). ).

FIG. 9 is a flowchart showing the operation of the robot controller 6. The robot controller 6 first reads the three-dimensional data, the M code, and the M code from the floppy disk 8 in step SB1. The CAD data 103 including the attitude data is read. Then, by controlling the arm 32 of the multi-axis robot 5, the central axis of the polishing head 4 provided at the tip of the arm 32 is moved to the position indicated by the read three-dimensional data (SB2), and the polishing is performed. The head 4 is maintained at the inclination angle and the inclination direction indicated by the posture data corresponding to the three-dimensional data (SB3). In this way, the polishing head 4 can always be maintained perpendicular to the movement path, and can be maintained at the position indicated by the three-dimensional data, so that the grindstone is provided swingably, Compared with the conventional method in which the surface of the mold is polished at a uniform depth along the surface shape, a careless protruding portion 111 is formed on the surface of the mold 2 after cutting. Also, the protruding portion 111 can be polished into a shape based on the CAD data 103.

Then, an M code corresponding to the three-dimensional data is output to the sequencer 42 (SB4), and the sensitivity when the grinding wheel 16 moves up and down is set to the sensitivity of the sensitivity code 92 indicated by the M code. In addition, while setting the pressure applied to the grindstone 16 of the polishing head 4 to the pressure code 93 indicated by the M code, the steps SB1 to SB4 are performed until the polishing in the polishing path indicated by the three-dimensional data is completed. Execute At this time, if the moving path indicated by the three-dimensional data is set from the flat surface to the curved surface as shown in FIG. 12, the curvature in the moving path gradually increases, so that the tolerance per unit length L The T number increases. As a result, the pressure code 93 on the curved surface is set to a pressure code 93 lower than P0, which is the pressure code 93 on the flat surface portion. Therefore, the whetstone 16 is urged toward the curved surface with a weak pressure. . The sensitivity code 92 in the M code is used.
Is set to G0 as in the other parts.

Specifically, when the M code of M1 is output, the pressure control circuit 47 is controlled to urge the grindstone 16 of the polishing head 4 with the pressure indicated by the pressure code 93 of P0. The sequencer 42 refers to the data table 91 shown in FIG. 4 and, when reaching the curved surface, urges the sequencer 42 with the pressure code 93 of the PA weaker than the P0, and moves to a further curved portion, It is urged by a pressure code 93 of PB which is weaker than PA. In addition, when the three-dimensional data is set from the curved surface to the plane portion, and the M code of M2 is output, the sequencer 42
Referring to the data table, the grindstone 16 is urged at a pressure indicated by the pressure code 93 of PB to PA from the curved surface toward the flat surface. As described above, the urging force of the grindstone 16 is weakened in accordance with the magnitude of the curve on the bulged curved surface, thereby increasing the urging force per unit area due to a reduction in the contact area between the grindstone 16 and the mold 2. Can be prevented, so that excessive cutting of the curved surface can be prevented.

When the protruding portion 111 is carelessly formed on the movement path indicated by the three-dimensional data as shown in FIG. 13, the M corresponding to the three-dimensional data indicating the protruding portion 111 The cord includes the protruding portion 111
A code based on a pattern code corresponding to the sensitivity and the pressure determined with reference to the correction amount of is set. Accordingly, the pressure code 93 indicating the pressure higher than the pressure code 93 of P0 in the other portion is set as the pressure code 93 in the protruding portion 111, and the sensitivity code 92 is set to the value of G0 in the other portion. Since the sensitivity code 92 is set lower than the sensitivity code 92, the whetstone 16 is strongly urged toward the protruding portion 111 and receives a reaction force from the protruding portion 111 to apply an upward force. Even in this case, upward escape is prevented.

Specifically, M which moves leftward in FIG.
When the M code of No. 3 is output, the pressure code 93 becomes P0 in front of the protruding portion 111 and the sensitivity code 92 becomes
When the grindstone 16 has been set to G0, it is set to the pressure code 93 of P1 higher than P0 and set to the sensitivity of the G1 sensitivity code 92 lower than G0 at the time of reaching the projecting portion 111. . Then, the pressure cords 9 are sequentially arranged until reaching the apex of the projecting portion 111.
3 is P2 and P3, and the sensitivity code 92 is G
2, the sensitivity is set to G3. On the other hand, as the distance from the top increases, the pressure code 93 is set to P2 and P1, and the sensitivity code 92 is set to G2 and G1. In addition, when the M code of M4 that moves to the right in FIG. 13 is output, the pressure code 93 becomes P1 in the order from when it reaches the protruding portion 111 to when it reaches the vertex of the protruding portion 111. , P2, and P3, and the sensitivity code 92 is set to the sensitivities of G1, G2, and G3.
On the other hand, as the distance from the apex increases, the pressure code 9
3 is P2 and P1, and the sensitivity code 92 is G
2. The sensitivity is set to G1.

As described above, even when the careless projecting portion 111 is formed on the surface of the mold 2 during the cutting process, the urging force of the grindstone 16 is increased and the grindstone 16 is moved up and down. By setting low sensitivity when
Since the polishing rate at the protruding portion 111 can be increased, the careless protruding portion 111 can be cut off on the surface of the mold 2 during the cutting process, and can be polished into a shape based on the CAD data 103. This eliminates the need for a repair operation after polishing, so that the number of work steps by the operator can be reduced.

[0038]

As described above, in the polishing method of the present invention, the movement path of the polishing member for polishing the work is determined by the CAD comprising the drawing data and the shape data of the work.
Since the setting is performed using the data, the teaching step of operating the industrial robot and storing a plurality of reference points set on the polished surface of the work is not required. Thus, the polishing operation can be performed without stopping the industrial robot, so that the operation efficiency can be improved. Also,
Since the three-dimensional data indicating the moving path and the posture data along the normal line in the moving path are calculated based on the CAD data, even when the moving path is set to a curved portion of the work, From the three-dimensional data, the posture data along the normal line at the position indicated by the three-dimensional data can be easily obtained.

Further, the polishing member can be always maintained perpendicular to the moving path based on the three-dimensional data and the posture data. Compared to the conventional method, where the workpiece is polished at a uniform depth along the surface shape, even if an inadvertent projection is formed on the surface of the work before polishing, the projection is calculated using CAD data. Can be polished. This eliminates the need for a repair operation after polishing, so that the number of work steps by the operator can be reduced.

Further, in the polishing apparatus according to the present invention, the industrial robot controlled by the control means includes a CA for the workpiece.
Based on three-dimensional data indicating the moving path of the polishing member set using the D data and posture data along the normal line on the moving path, the position of the polishing member for polishing the work and the posture at the position are controlled. Therefore, the teaching operation using the industrial robot becomes unnecessary. Thus, the polishing operation can be performed without stopping the industrial robot, so that the operation efficiency can be improved. Further, since the three-dimensional data indicating the moving path and the posture data along the normal line in the moving path are calculated based on the CAD data, the case where the moving path is set to a curved portion of the work is Also, the posture data along the normal line at the position indicated by the three-dimensional data can be easily obtained from the three-dimensional data.

Further, based on the three-dimensional data and the attitude data, the polishing member can be always maintained perpendicular to the moving path. Compared to the conventional method, where the workpiece is polished at a uniform depth along the surface shape, even if an inadvertent projection is formed on the surface of the work before polishing, the projection is calculated using CAD data. Can be polished. This eliminates the need for a repair operation after polishing, so that the number of work steps by the operator can be reduced.

Further, in a polishing apparatus which urges the polishing member toward the workpiece by the urging means and variably controls the urging force in accordance with a change in the curvature of the moving path, the curved surface of the swollen curved surface is required. When polishing a large portion, even if the urging force per unit is increased due to a decrease in the contact area between the polishing member and the work,
Since the urging force by the urging means can be weakened,
Excessive shaving of the curved surface can be prevented.

Further, in a polishing apparatus which urges the polishing member toward the workpiece by the urging means and variably controls the urging force at a portion indicated by the coordinate data set based on the CAD data, In the case where an inadvertent protruding portion is formed on the surface of the work, the coordinate data indicating the position of the protruding portion is converted to the CAD data of the work.
In addition to the setting based on the data, the urging force of the urging means can be increased at the portion indicated by the coordinate data. As a result, the polishing rate at the protruding portion can be increased, so that even if an inadvertent protruding portion is formed on the surface of the work before polishing, the protruding portion is polished into a shape based on CAD data. can do.

[0044]

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is a cross-sectional view showing the polishing head of the embodiment.

FIG. 3 is a block diagram showing a control circuit in the embodiment.

FIG. 4 is a diagram showing a data table in the embodiment.

FIG. 5 is a diagram showing a relationship between a pressure code and a pressure in the embodiment.

FIG. 6 is a diagram showing a relationship between a sensitivity code and sensitivity in the embodiment.

FIG. 7 is a flowchart showing an operation of the CAD apparatus according to the embodiment.

FIG. 8 is a flowchart following FIG. 7;

FIG. 9 is a flowchart showing an operation of the robot control device of the embodiment.

FIG. 10 is an explanatory diagram showing a tolerance setting procedure according to the embodiment.

FIG. 11 is an enlarged view of a main part showing a protruding portion in the mold of the embodiment.

FIG. 12 is an explanatory diagram showing a state of polishing the curved surface according to the embodiment.

FIG. 13 is an explanatory diagram showing a state of polishing the protruding portion according to the embodiment.

FIG. 14 is a schematic view showing a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Polishing apparatus 2 Die (work) 4 Polishing head 5 Multi-axis robot (Industrial robot) 6 Robot controller (Control means) 7 CAD apparatus 16 Grinding stone (polishing member) 103 CAD data

Claims (4)

[Claims] 1. A polishing method for polishing a work by moving a polishing member provided on an industrial robot while rotating the polishing member, wherein a moving path of the polishing member is set using CAD data of the work. From the CAD data, three-dimensional data indicating the moving path and posture data along a normal line on the moving path are calculated, and based on the three-dimensional data and the posture data, the position of the polishing member and the posture at the position. Is controlled by the industrial robot. 2. A polishing apparatus for polishing a work by rotating and moving a polishing member provided on an industrial robot, wherein a position of the polishing member of the industrial robot and a posture at the position are determined. A polishing apparatus, comprising: control means for controlling based on three-dimensional data indicating a movement path of the polishing member set using CAD data, and attitude data along a normal line in the movement path. 3. The industrial robot has an urging means for urging the polishing member toward the work, and the control device controls the urging means in accordance with a change in curvature in the moving path. The polishing apparatus according to claim 2, wherein the biasing force is variably controlled. 4. The industrial robot has urging means for urging the polishing member toward the work, and the control device is configured to control the polishing member at a position indicated by coordinate data set based on the CAD data. 3. The polishing apparatus according to claim 2, wherein the urging force of said urging means is variably controlled.