JPH10277911A - Automatic cutting device and automatic cutting and polishing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To distribute a cutting force and cut a work with a uniform force by rotating a cutting tool at high speed by a trace quantity by a high-speed rotation motor so as to cut the work and rotating the cutting tool by a low- speed rotation motor so as to displace the position of the cutting abutment part at low speed. SOLUTION: When a high-speed rotation motor 1 is rotated, a tool 19 integrally supported with a spindle 9 is rotated about a point O1 with a radius δ at high speed, while being tilted about a point O2 . When a low-speed rotation motor 16 is rotated in this state, the tool 19 rotates about the point O2 at low speed via a rotation member 11, a guide roller 18, and a projecting pin 17. When the tool 19 is a cutting tool, the tool 19 rotates with the radius δ at high speed by a trace quantity by the high rotation motor 1 so as to cut a work with the cutting force being distributed. The cutting abutment part of the tool 19 is displaced at low speed by the motor 16 so that the tool 19 can cut a work in the wide surface part.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic cutting apparatus for cutting projections such as weld beads and cast burrs generated at a joint portion of a melt-joined work, and an apparatus for cutting the projections, and thereafter cutting the projections. The present invention relates to an automatic cutting / polishing device for polishing the vicinity.

[0002]

2. Description of the Related Art Conventionally, in order to obtain a desired product, a cutting operation for cutting a projection such as a weld bead or a cast burr generated at a joint portion of a fusion-bonded work, or a cutting operation for cutting the projection, Thereafter, a cutting / polishing operation for polishing the vicinity of the cut portion is performed.

[0003] Among these, in order to explain the cutting and polishing work, a process of manufacturing a so-called motorcycle muffler used for a motorcycle, for example, will be described.

As shown in FIG. 21, first, in a first step, a cylindrical member W1 and two kinds of conical members W1 are formed.
2 and W3 are created as appropriate. In the second step, appropriate silencers for performing the function of the muffler of the motorcycle are mounted inside the cylindrical and conical members W1 to W3. In the third step, the abutting portions of the cylindrical and conical members incorporating the silencing device are welded from the outside to the entire circumference. In this case, as shown in FIG. 22, a projection, that is, a weld bead WB is formed at the fusion-bonded joint. Of course, the shape of the weld bead WB differs depending on the material of the work, the plate thickness of the work, etc., and cannot be unambiguously determined. For example, when the work is a stainless steel material and the plate thickness is about 0.8 mm, Normal height is 1.0 to 1.5
A weld bead WB having a width of about 2.5 mm to 3.5 mm is formed.

[0005] The fourth step is a step of cutting and polishing a portion corresponding to the muffler of the motorcycle so that the product has a sense of quality. As the fourth step, first, the weld bead WB is cut to a desired state. Cutting operation, and subsequently, a polishing operation for removing a portion corresponding to the joint that has been discolored by the influence of heat during welding.

In the cutting operation, as shown in FIG. 23, if the cut amount of the weld bead WB is smaller than a desired amount, the subsequent polishing operation becomes troublesome. In other words, since the polishing operation is essentially an operation for microscopically smoothing the work surface, the polishing allowance per unit time is much smaller than the cutting allowance of the above-mentioned cutting operation,
For this reason, in order to grind a desired state including the undercut welding bead as described above, not only a large amount of work time is required, but also it is uneconomical due to premature wear of the polishing tool.

On the other hand, as shown in FIG. 24, when the weld bead is excessively cut in a desired cutting state, the work including the corner portion of the work must be polished to make the work surface continuous. Therefore, a large amount of polishing time is required. Of course, in this case, in addition to the decrease in the joining strength of the joint portion of the work, the appearance quality also deteriorates. Therefore, in addition to the above, if the cutting is performed excessively, the product is rejected. For the above reason, in the cutting operation of the fourth step, FIG.
As shown in FIG. 5, generally, the remaining amount E of the weld bead is 10
It is necessary to perform cutting so as to have a predetermined value within a range of 100 μm. Thereafter, a polishing operation is performed to polish the remaining weld bead and the vicinity of the cut portion.

Generally, as shown in FIG. 26, for example, it is conceivable to attach a work W to a free end of a robot manipulator 39 and cut the work W with a cutting tool, for example, a grinder G. By the way, when the welding bead of the work W is cut by the rotating grinder G,
The reaction force at the time of cutting that acts on the cutting point of the grinder is large,
Moreover, the weld bead has a height of 1.0 to 1.5 mm and a width of 2.
Since there is a variation of 5 to 3.5 mm, the amount of cutting load differs due to the difference in cutting points to be cut one after another, and the reaction force to the grinder differs. The state in which the reaction force to the grinder is large is a state in which the grinder and the work are properly engaged, and when the reaction force to the grinder is excessive as described above, the overload detector operates. Then, the electric motor is stopped to prevent the electric motor for rotating the grinder from being damaged.
Thus, cutting cannot be performed after the grinder and the work have engaged.

To cope with this, a "force sensor" such as a strain gauge is used in order to keep the pressing state between the grinder and the work constant, and the "force sensor" detects the reaction force while detecting the reaction force. A so-called “feedback control by a force sensor” that controls the pressing force between the grinder and the work so as to obtain a constant pressing force can be considered. As described above, when the weld bead is cut by the “feedback control by the force sensor”, the weld bead is cut by a fixed amount.

[0010] By the way, the weld bead formed on the work has a variation of 1.0 to 1.5 mm in height and 2.5 to 3.5 mm in width in the circumferential direction of the work. When the weld bead is cut by “feedback control by force sensor”, as shown in FIG.
The cutting is performed in a state where a variation corresponding to the weld bead height remains. Of course, the work in the cutting state in which the variation of the weld bead height remains as described above is nothing but a state in which a so-called rough cutting operation has been performed, and is insufficient as a cutting operation. Further, if the grinding operation is performed after this cutting operation, as described above, the grinding operation is performed when the cutting amount of the weld bead is small, which is not preferable in terms of operation. For this reason,
After performing the rough cutting operation, it is necessary to perform a finish cutting operation by a so-called skilled worker.

By the way, when a muffler of a motorcycle is welded, for example, when a muffler of a motorcycle is welded, the work is distorted due to welding heat, and as a result, the work surface is not almost perfectly circular in the circumferential direction as a result. is there. For this reason, in the finish cutting operation, even for an expert, it is extremely difficult to perform finish cutting on the distorted work surface such that the remaining amount of the weld bead becomes uniform in the circumferential direction of the work. Therefore, even if a skilled finish-cutting operation is performed, the remaining amount of the weld bead after the finish-cutting operation is almost non-uniform at each part in the circumferential direction of the distorted work. .

Thereafter, a polishing operation is performed. As described above, even after a finish cutting operation by a skilled person, the remaining amount of the weld bead after the finish cutting operation is not uniform in each part of the distorted work in the circumferential direction. Most of them are, and most of the surface of the work is not round, but is distorted.
Even for a skilled worker, it is difficult to perform a polishing operation in a uniform state over the circumferential direction of a distorted work. Of course, in every field today, the number of skilled workers tends to decrease drastically, and automation of the apparatus is desired.

[0013]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and has as its object to cut off a projection such as a weld bead or a casting burr generated at a joint portion of a melt-joined work. An object of the present invention is to provide an automatic cutting device and an automatic cutting / polishing device for cutting the projection and thereafter polishing the vicinity of the cut portion.

[0014]

In order to achieve the above object, the first invention is applied to an automatic cutting device for cutting a circumferential projection of a work. Its features are as follows: (1) A rotating shaft rotated by a high-speed rotating motor and an eccentric member having an engaging hole whose shaft center is eccentric with respect to the shaft center of the rotating shaft are integrally mounted, Attach a protruding pin projecting in the radial direction to a spindle rotatably supported in the engagement hole, attach a cutting tool to the spindle,
An opposing guide roller is mounted on a rotatable member rotatably supported coaxially with the rotation shaft, and the guide roller restrains the protruding pin with a gap provided in a circumferential direction of the spindle, and also fixes the rotatable member. (2) a robot manipulator that grips a work, rotates the work at the time of cutting, and swings the work in a direction orthogonal to the rotation direction of the work; And that it comprises:

Further, the second invention is applied to an automatic cutting device for cutting a circumferential projection of a work. Its features are as follows: (1) A rotating shaft rotated by a high-speed rotating motor and an eccentric member having an engaging hole whose shaft center is eccentric with respect to the shaft center of the rotating shaft are integrally mounted, A radially projecting pin is mounted on a spindle rotatably supported in the engagement hole, a cutting tool is mounted on the spindle, and a guide opposing a rotating member rotatably supported coaxially with the rotating shaft. A driving device for rotating a cutting tool, wherein a roller is attached and the projecting pin is restrained by providing a gap in a circumferential direction of the spindle by the guide roller, and the rotating member is interlockedly connected to a low-speed rotating motor; (2) A manipulator that supports a rotation drive device of the cutting tool at a free end, and rotates the rotation drive device in a circumferential direction of a fixed work during cutting, and Is that formed by and a robotic manipulator for oscillating the rotary drive device in a direction orthogonal to the circumferential direction of the click.

Further, the third invention is applied to an automatic cutting device for cutting a circumferential projection of a work. Its features are as follows: (1) A rotating shaft rotated by a high-speed rotating motor and an eccentric member having an engaging hole whose shaft center is eccentric with respect to the shaft center of the rotating shaft are integrally mounted, A radially projecting pin is mounted on a spindle rotatably supported in the engagement hole, a cutting tool is mounted on the spindle, and a guide opposing a rotating member rotatably supported coaxially with the rotating shaft. A driving device for rotating a cutting tool, wherein a roller is attached and the projecting pin is restrained by providing a gap in a circumferential direction of the spindle by the guide roller, and the rotating member is interlockedly connected to a low-speed rotating motor; (2) The robot manipulator holding the work, and (3) the surface height of the work straddling the protrusion of the work and the height of the protrusion of the work are measured over a plurality of points on the circumferential portion of the work. A measuring device, (4) a basic cutting program for controlling a robot manipulator to cut a workpiece having an ideal shape, (5) a residual value of protrusions from the work surface after cutting, and once. When the set cutting allowance is set, the maximum value of the protrusion is calculated based on the plurality of sets of measurement data, and the number of cuts n is calculated from the maximum value and the set cutting allowance. The set cutting allowance and the remaining of the n-th protrusion are sequentially integrated and subtracted from the workpiece surface height of the measurement data and the maximum value of the first to (n-1) -th protrusions. A cutting work program automatically generated by changing the value of the basic cutting program corresponding to the amount value; and (6) relatively positioning the workpiece and the cutting tool in a direction orthogonal to the circumferential cutting direction during cutting. Oscillating pro for cutting for quantitative oscillating A ram, is that formed by and a cutting control device for actuating the (7) for rotation driving device of the cutting operation program and is connected to the cutting swinging program the robot manipulator and the cutting tool.

According to a fourth aspect of the present invention, in the third aspect,
The work is formed into a cylindrical portion and a tapered portion across the protrusion, and when the cylindrical portion is cut, a cutting work program for the cylindrical portion according to the above (5) is created, and after the cylindrical portion is cut, the taper is formed. For cutting a part, the virtual maximum protrusion is cut by cutting the cylindrical part when the remaining value of the protrusion from the tapered surface after cutting and one set cutting allowance are set. The maximum value of the remaining portion of the virtual projection is calculated, the number of cuts n is calculated from the virtual remaining maximum value and the set cutting allowance, and the workpiece surface height of the tapered portion of the plurality of measurement data is calculated. A basic program for cutting corresponding to a set cutting allowance and a remaining amount of the projection for the n-th time, which are sequentially integrated and subtracted from the virtual maximum value of the projection for the (n-1) th time. Change the value of Program is characterized in that is generated automatically.

In a fifth aspect of the present invention based on the third or fourth aspect, the measuring device is disposed at a predetermined position of a measuring station, and a plurality of works are mounted on the measuring station. Work handling that includes a turntable that is placed and rotated, a lifting mechanism that moves the work up and down with respect to the turntable at the measurement position, and a work rotation mechanism that rotates at predetermined measurement angles when the work is raised A device is provided.

The sixth invention is applied to an automatic cutting device for cutting a circumferential projection of a work. Its features are as follows: (1) A rotating shaft rotated by a high-speed rotating motor and an eccentric member having an engaging hole whose shaft center is eccentric with respect to the shaft center of the rotating shaft are integrally mounted, A guide pin opposed to a rotating member rotatably supported coaxially with the rotating shaft, and a projecting pin projecting in a radial direction is mounted on a spindle rotatably supported in the engagement hole, a tool is mounted on the spindle. A driving device for rotating a cutting tool, wherein the guide roller constrains the protruding pin by providing a gap in the circumferential direction of the spindle and interlockingly connects the rotating member to a low-speed rotation motor; 2)
A robot manipulator that grips the work, (3) a measuring device that measures the surface height of the work straddling the protrusion of the work and the height of the protrusion of the work over a plurality of points on the circumference of the work, 4) A basic cutting program for controlling a robot manipulator to cut a workpiece having an ideal shape, and (5A) a cutting method for cutting a projection of a cylindrical portion from a work surface of the cylindrical portion after cutting. When the remaining amount of the protrusions and one set cutting allowance are set, the maximum value of the protrusions is calculated based on the plurality of sets of measurement data, and cutting is performed based on the maximum value and the set cutting allowance. The number of times n is calculated, the set cutting allowance and the set cutting allowance are sequentially accumulated and subtracted from the workpiece surface height of a plurality of sets of measurement data and the maximum value of the first to (n-1) th protrusions. Remaining of the projection for the nth time And (5B) a projection from the tapered surface after cutting in order to perform cutting of the projection of the tapered portion by automatically changing the value of the basic program for cutting corresponding to the value. When the remaining value of the object and one set cutting allowance are set, the maximum value of the remaining portion of the virtual projection is calculated assuming that the virtual maximum projection has been cut by cutting the cylindrical portion, The number of cuts n is calculated based on the virtual remaining maximum value and the set cutting allowance, the workpiece surface height of the tapered portion of the plurality of measurement data, and the first to (n-1) -th protrusions. Cutting of a tapered portion automatically generated by changing the value of the basic cutting program corresponding to the set cutting allowance and the remaining amount of the protrusion for the n-th time which are sequentially integrated and subtracted from the virtual maximum value Work program and (6) circumferential cutting when cutting A swing program for cutting for relatively swinging the work and the cutting tool by a predetermined amount in a direction perpendicular to the direction, and (7) a work of an ideally shaped cylindrical portion and a tapered portion for each of a plurality of measurement points; To reverse the axis of the cylindrical part and the tapered line so that they are perpendicular,
A polishing basic program for controlling a robot manipulator; and (8) a cylindrical part and a tapered part based on the plurality of measurement data when the axis and the tapered line of the cylindrical part are reversed so as to be perpendicular to each other. And (9) the cutting work program, the cutting swing program, and the polishing work program which are automatically generated by changing the equivalent values of the respective basic work surface height polishing programs. And a cutting / polishing control device for sequentially operating the robot manipulator and the respective rotation driving devices of the cutting tool and the polishing tool.

According to a seventh aspect of the present invention, in the sixth aspect,
The measuring device is disposed at a predetermined position of a measuring station, and the measuring station has a turntable on which a plurality of works are mounted and rotated, and moves the work up and down with respect to the turntable at the measuring position. A work handling device comprising a lifting mechanism for moving the workpiece and a work rotating mechanism for rotating the workpiece at predetermined measurement angles when the workpiece is moved upward is provided.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the illustrated embodiments. First, a cutting tool suitable for an automatic cutting device and an automatic cutting / polishing device according to the present invention and a driving device for rotating the polishing tool will be described. 1 and 2
, 1 is a high-speed rotation motor mounted on the frame 2, 3 is a rotation shaft rotatably mounted on the frame 2 via rotation bearings 4, 4, and 5 and 6 are the motor 1 and the rotation shaft First and second rotation transmission members, such as pulleys 5, 6, respectively, integrally attached to the rotation transmission member 3, and these rotation transmission members 5, 6 are connected by a first connecting member, for example, a belt 7, and rotate. Power is transmitted. 8 is Y2 of the rotating shaft 3
An eccentric member supported integrally with the end portion of the direction, engaging holes 801 are formed to the axial core O ₂ is decentered by δ with respect to the axis O ₁ of the rotary shaft to the eccentric member 8.

Reference numeral 9 denotes a spindle rotatably supported coaxially with the engagement hole 801 via the rotary bearings 10 and 10.
Reference numeral 1 denotes a rotating bearing 12, 1 at an end of the rotating shaft 3 in the Y2 direction.
A rotation member 11 is rotatably supported coaxially with the rotation shaft 3 through a rotation member 2. A third transmission member, for example, a pulley 13 is integrally formed on the rotation member 11.

Reference numeral 14 denotes a fourth rotation transmitting member, for example, a pulley, which is integrally attached to the low-speed rotation motor 16.
The fourth and third rotation transmitting members 14 and 13 are connected by a second connecting member, for example, a belt 15, to transmit the rotational force. Reference numeral 17 denotes a protruding pin fixed to the spindle 9 and protruding outward in the radial direction of the spindle 9. Reference numeral 18 denotes a protruding portion of the rotating member 11 which is spaced in a direction orthogonal to the plane of FIG. With a guide roller supported by 111, a projecting pin 17 is disposed between the opposed guide rollers 18 with a slight gap in the X direction.

Reference numeral 19 denotes an appropriate tool attached to the spindle 9, for example, a cutting tool or a polishing tool. 1 above
A drive device 20 for rotating a tool is constituted by the components 19 to 19. In the above configuration, it is assumed that the motor 16 is now stopped. In this case, since the motor 16 is stopped, the belt 1 wound around the pulleys 13 and 14
5, the rotating member 11 is kept stationary. When the motor 1 is rotated in this state, the rotating shaft 3 is rotated by the belt 7 wound between the pulleys 5 and 6.

When the rotating shaft 3 is rotated about the axis O ₁ as described above, the spindle 9 whose axis O ₂ is eccentric with the axis O ₁ of the rotating shaft 3 by the amount of eccentricity δ becomes the axis O It is rotated around a radius of eccentricity δ around ₁ .

As described above, the rotating member 11
Are stationary, the guide rollers 18, 18 supported by the rotating member 11 are also stationary. Therefore, as shown in FIG. 2, the axis O ₂ of the spindle 9, the point O
_When rotated by a radius δ about ₁ , the spindle 9
Projecting pins 17 attached to, because they are disposed with a slight gap to the guide roller 18, 18 and X-direction which is stationary, for example, in FIG. 2, the axis O ₂ of the spindle 9, the point O _When the protruding pin 17 is rotated counterclockwise about the center ₁ , the protruding pin 17 comes into contact with the guide rollers 18, 18. The spindle 9 is rotated while tilting about O ₂ .

That is, the axis O ₂ of the spindle 9 is
₁ when rotated at radius δ around the spindle 9 while tilting about a point O _2, it is rotated about the point O _1. Therefore, when the high-speed rotation motor 1 is rotated, the tool 19 supported integrally with the spindle 9
It is rotated at a high speed with a radius δ about the point O ₁ while tilting about the point O ₂ .

In this state, when the low-speed rotation motor 16 is rotated, the rotating member 11 is rotated by the belt 15 wound between the pulleys 13 and 14, and the guide rollers 18 and 18 are moved to the point O together with the rotating member 11. _Rotated around ₁ The rotation of the guide rollers 18 and 18, the projecting pin 17 is rotated around the point O _2. As a result, when the low-speed rotation motor 16 is rotated, the tool 19 is rotated via the rotating member 11, the guide rollers 18, 18 and the projecting pin 17.
There is rotated at a low speed about a point O _2.

For example, when the tool 19 is a cutting tool,
Since the tool 19 is cut by the high-speed rotation motor 1 and the tool 19 is cut by a very small amount of high-speed rotation with a radius δ, the cutting force is dispersed by the very small amount of high-speed rotation and the cutting is performed with high performance, and the tool itself rotates at high speed around the rotation axis. The state in which the cutting layer scatters around is greatly reduced as compared with the case of the cutting tool.

Further, when the tool 19 is rotated by the low-speed rotation motor 16, the cutting contact portion of the tool 19 for cutting the work is displaced at a low speed, so that the cutting is performed on a wide surface portion of the tool 19. In addition, the heat generation and wear of the tool 19 are dispersed, so that the tool life can be prolonged.

FIG. 3 is a schematic configuration diagram of the automatic cutting / polishing apparatus according to the present invention, and the description will be made on the assumption that the workpiece is a welded article having a weld bead.

Although a detailed description will be given later, the schematic structure will be described. In FIG. 3, reference numeral 35 denotes a work measuring device 34 for measuring the state of the work surface and the weld bead.
A work measuring station provided with a work handling device 25 and a cutting tool 19 attached to the rotation drive device 20 described above.
1 is a cutting station, 37 is a polishing station in which a polishing tool 192 is mounted on the rotation drive device 20 described above, 38 is a work unloading station, 39 is a robot manipulator which is displaced between the stations, and 40 is a cutting. In the polishing control device, the cutting / polishing control device 40 includes a basic program 41, a function of receiving the measurement data of the work measuring device 34 operated by the basic program 41, and automatically generating the basic program 41 and the measurement data. Work program 42, a cutting swing program 43 for relatively swinging the workpiece and the cutting tool by a predetermined amount in a direction orthogonal to the circumferential cutting direction at the time of cutting, and a robot manipulator 39 electrically. Connected motion controller 44 and husband of cutting and polishing station A rotary drive device 20, 20 are electrically connected.

Now, as shown in FIGS. 4 and 5,
In the work measuring station 35, for example, a turntable 21 for setting a plurality of works in a predetermined state, that is, a reference point, and a rotating mechanism 22 for rotating the turntable 21 to move the work to a measurement position.
A lifting mechanism 23 for raising and lowering the work at the measurement position;
A work handling device 25 is configured by a work rotating mechanism 24 mounted on the elevating mechanism 23 and rotating the work.

Further, a first measuring device 31 for measuring the height H of the weld bead WB of the work placed in the measurement state by the work handling device 25, and a surface height of the first work W1 having a cylindrical portion. Second measuring device 3 for measuring the height L
2 and the surface height M of the second workpiece W2 having a tapered portion.
A work measuring device 34 is constituted by the third measuring device 33 for measuring the workpiece.

The measuring devices 31 and 32 measure the value in the Y direction, while the third measuring device 33 measures the value in the direction perpendicular to the inclined surface of the workpiece W2. Also, the second
And the third measuring devices 32 and 33 are based on the case where the ideal work is placed in the measuring state, that is, the measured value is set to zero. The second measuring device 32 is configured so that the surface of the work W1 is ideal. If the position is located in the Y2 direction from the position, the positive measurement value is measured. Further, the third measuring device 33 measures a positive measurement value when the surface of the work W2 is located on the Y2 direction side perpendicular to the inclined surface of the ideal work.

The work measuring device 34 is provided at a predetermined angle, for example, every one degree, over the entire circumference of the work.
Is measured. In this case, after the above-described value at the first measurement point is measured, the work is rotated by a predetermined angle by the work rotating mechanism 24 of the work handling device 25, and the above-described value is measured for the second time. Subsequently, the rotation of the work → the measurement is repeated, a plurality of measurements are performed over the entire circumference of the work, and the measurement results shown in Table 1 are transmitted to the cutting / polishing control device 40, for example.

[0037]

[Table 1]

The basic program 41 basically describes the operation contents of the robot manipulator 39. For example, a G-code, which is an NC language often used in NC machine tools, assumes a workpiece having an ideal shape. , Y and Z of the workpiece when the desired cutting and polishing are performed
The direction setting value and the like are described. As shown in FIGS. 6, 11 and 14, basic programs 411 to 413 for the cylindrical portion, the tapered portion, and the polishing are prepared as the basic program 41. For example, when the workpiece is in the ideal shape surface state and is a perfect circle, when the workpiece is positioned according to the cylindrical part cutting basic program 411, as shown in FIG.
It is assumed that the surface of the workpiece and the cutting tool surface match.

When the measurement results shown in Table 1 are received by the cutting / polishing control device 40, the trueness of the weld bead H and the surface height L of the workpiece W1 are determined for each measurement position. Is calculated, and the maximum value of the true weld bead height h is calculated and specified. For example,
In the entire circumferential direction of the measured value of the workpiece W1, for example weld bead height H _j at the measuring point P _j, the surface height of the workpiece W1 L
_{Assume that} the difference between _j is the largest. That is, the maximum value h _MAX of the true weld bead height is expressed by the following equation. h _MAX = H _j −L _j (1)

In this case, assuming that one set cutting allowance A by the cutting tool 191 and the set remaining amount E of the weld bead after a plurality of cutting operations, the number of cuts n is calculated by the following equation. n = (h _MAX −E) / A (2)

The cutting operation on the work W1 is performed with reference to the surface position of the work W1 in the coordinate system shown in FIG. Of course, as shown in Table 1, since the surface position of the work W1 is displaced in the Y direction with respect to the ideal surface position of the work, cutting of the cylindrical portion between the measurement data and the set cutting allowance shown in Table 1 is performed. The equivalent value of the basic program is changed, and the cutting program 421 for the cylindrical portion is automatically generated.

That is, since the measured state and the cut state of the work are inverted by 180 degrees as shown in FIGS. 5 and 8, a positive value of the surface height of the work W1 is used for the first cutting work. And the sum of (h _MAX -A)
Work W1 in the cylindrical part cutting reference program 411
The basic program 411 for cutting a cylindrical portion is subtracted so that the Y coordinate values of a plurality of measurement equivalent points over the entire circumference of the cylinder are subtracted, that is, the values in the Y2 direction in FIG.
Is changed. Further, for the second cutting operation, the Y coordinate value of the measurement equivalent point in the first time is further added, that is, integrated in the Y1 direction for the set cutting allowance A. Hereinafter, for the (n-1) th cutting operation, the Y coordinate values are sequentially integrated by an amount corresponding to the set cutting allowance A, and the equivalent Y coordinate value of the basic cutting program 411 is changed. During the last n-th cutting operation, the Y coordinate value of the cutting program 411 corresponding to the sum of the surface height L of the workpiece W1 and the set remaining amount E of the welding bead is changed. As described above, a cutting operation program 421 (see FIG. 9) for the cylindrical portion for cutting the weld bead of the work W1 n times is automatically generated.

Thereafter, the welding bead on the side of the work W2 having the tapered portion is cut with the tapered line of the work W2 parallel to the XZ plane as shown in FIG. The welding bead at the tapered portion is obtained by, for example, the basic program 412 for cutting the tapered portion shown in FIG.
The cutting work program 422 for the tapered portion is automatically generated based on the measurement data shown in FIG.

In this case, the weld bead height of the tapered portion is
It can be obtained in the same manner as in the case of the cylindrical portion. However, as described above, after the welding bead of the cylindrical portion is cut, the welding bead of the tapered portion is cut so that the remaining amount of the welding bead from the surface of the work W1 becomes a desired value. Therefore, when cutting the weld bead at the tapered portion, FIG.
As shown in FIG. 2, most of the weld beads are cut. Therefore, it can be handled as a simplified value that is geometrically required rather than performing the above-mentioned complicated calculation.

For example, a weld bead having a thickness of 0.8 mm has a height of 1.0 to 1.5 mm and a width of 2.5 to 3.5.
In the case where the inclination angle of the work is 30 degrees, the maximum shape of the weld bead is 3.mm in width as shown in FIG.
Assuming that the height is 5 mm and the height is 1.5 mm, the height h _MAX of the weld bead to be geometrically tapered is about 0.7 mm at the maximum.

Therefore, if one set cutting allowance A and the set remaining amount E of the weld bead after the cutting operation are set, the number of cuts n can be obtained by the above equation (2). For example, A =
If 0.5 mm and E = 0.1, n = 1.2 and cutting is performed twice.

[0047] In this case, the first time is changed Y coordinate value of the cutting basic program 412 of the tapered portion corresponding to the sum of the set cutting allowance A between the surface height L _j of the workpiece W2, the second time, that is, when the last round of cutting, be modified Y-coordinate value of the cutting basic program 412 of the tapered portion corresponding to the sum of the surface height L _j and the weld bead setting remaining E of workpiece W2, taper portion Cutting work program 422
Is automatically generated.

Next, the cutting swing program 43 causes the workpiece and the cutting tool to swing relatively by a predetermined amount in a direction orthogonal to the circumferential cutting direction when cutting the weld bead of the cylindrical portion and the tapered portion. For example, when the workpiece is moved up and down by 50 mm in the Z direction, FIG.
The swinging program 43 for cutting as shown in FIG.

In the above, at the time of cutting the weld bead of the cylindrical portion, the cutting operation program 42 for the cylindrical portion shown in FIG.
1 and the cutting swinging program 43 shown in FIG. 16 are executed via the motion controller 44 to operate the robot manipulator 39 and the cutting rotary drive device 20 so that the welding bead of the cylindrical portion is formed. It is cut n times. FIG. 17 shows a flow at the time of welding bead cutting of the cylindrical portion.

In the above, in the cutting operation of the cylindrical portion, since the plurality of measurement positions over the entire circumference of the work are cut in a state where the ideal surface position of the work is obtained, the maximum height is set at the first cutting. Is cut by the set cutting allowance A, for example, 0.5 mm. Of course, less than 0.5 mm is cut off at a height lower than the maximum height weld bead. At the time of the second to (n-1) th cutting, the workpiece is cut by 0.5 mm over the entire circumference.

Of course, at the time of the last n-th cutting, the work is cut by, for example, 0.195 mm over the entire circumference of the work so that the set remaining amount E is reached.

Next, at the time of welding bead cutting of the tapered portion,
A cutting operation program 422 for the tapered portion shown in FIG.
16 and the cutting swing program 43 shown in FIG. 16 are executed via the motion controller 44 to operate the robot manipulator 39 and the cutting rotary drive device 20 so that the welding bead at the tapered portion becomes n. It is cut many times. FIG. 18 shows a flow at the time of welding bead cutting of the cylindrical portion.

In the cutting operation of the tapered portion, the cutting is performed in a state where a plurality of measurement positions over the entire circumference of the work are the ideal surface positions of the work. For example, 0.5 mm is based on the assumption that the assumed maximum bead is cut by 0.5 mm, so the actual cut amount may be less than 0.5 mm. But,
At the time of the second to (n-1) th cutting, the workpiece is cut by 0.5 mm over the entire circumference. Of course, at the time of the last n-th cutting, for example, 0.1
It is cut over the entire circumference of the workpiece by mm. FIG.
In the work shown in (1), the second cutting is the last cutting operation.

[0054] Note that during the last round of the cutting, the relative position _E S ₁ between the work and the cutting tool by the _E S ₁ = (ideal work position) -L (OR M) -E, setting remaining E is cut. However, calculations but is troublesome, may be the following equation (3) using the position _n-1 S ₁ of (n-1) th. _{n S 1 = n-1 S} 1 + (h MAX - (n-1) A-E) ......... (3) Of course, if expand equation _{(3), n S 1 = n-1} S 1 + ( _HMAX- (n-1) AE) = (ideal work position) -L- ( _hMAX- (n-1) A) + ( _hMAX- (n-1) AE) = (ideal work position) -L (OR M) -E next, it can be seen that is the same value as the _E S ₁ and _n S _1.

FIG. 14 shows a basic polishing program 413.
The cylindrical part and the tapered part of the ideal shape are inverted so that the axis and the tapered line of the cylindrical part are perpendicular to each other at a plurality of measurement points. For example, when the taper angle of the work is 30 degrees, Is inverted by 30 degrees. When the axis and the taper line of the cylindrical portion are reversed so as to be perpendicular to each other at a plurality of measurement points, based on a plurality of measurement data, as shown in FIG. The polishing operation program 423 is automatically generated by changing the height equivalent value of the polishing basic program.

During the polishing operation, the polishing operation program 423 shown in FIG. 15 is executed via the motion controller 44 to operate the robot manipulator 39 and the polishing rotary drive device 20. The polishing operation is performed over the entire circumference of the work while the work is inverted by 30 degrees. FIG. 19 shows the flow of this polishing operation.

For example, a so-called No. 80 sander is used as the cutting tool 191, whereas a No. 180 sander is used as the polishing tool 192, for example. In this case, as shown in FIG. 20, the workpiece is, for example, 30
The vicinity of the weld bead is polished while being inverted, but if a cushion material 51 such as urethane resin or asbestos is inserted between the sander 52 for polishing and the face plate 50, the sander for polishing can be polished. Because the parts are compatible, a good polished surface can be obtained.

After the cutting and the cutting / polishing operation are completed, the work is transferred to the unloading station 38.

In the above, the height of the weld bead is qualitatively grasped, the surface position of the work is measured, and the cutting operation is performed while controlling the actual surface of the work to be the ideal work surface position. Therefore, the work is cut over the entire circumference of the work so that the remaining amount E of the weld bead with respect to the actual surface of the work becomes a desired value.

Of course, since the weld bead is cut with reference to the actual surface of the work, even if the work is distorted in the circumferential direction, the work is cut uniformly over the entire circumference of the work. . Therefore, a desired high quality cutting result can be obtained.

Of course, as described above, the work in which the remaining amount of the weld bead has been cut to a desired value is polished while the rotating surface of the rotating polishing tool and the work are relatively inverted, and thus the quality is high. Can be obtained.

Further, if a robot manipulator for gripping a work is used, the work itself can be handled freely, in combination with the fact that the work itself is relatively lightweight, so that cutting and cutting can be performed efficiently as a small robot manipulator. -Polishing work can be performed.

Notwithstanding the above, the work can be fixed, and the cutting and polishing operation can be appropriately performed by attaching a rotary drive device for cutting and polishing to a relatively large robot manipulator. In this case, when cutting or polishing, the cutting tool or the polishing tool can be replaced with a rotation drive device to perform the operation.

In the above description, at the time of cutting, the workpiece is cut by the high-speed rotation of the cutting tool 19 by the high-speed rotation motor 1, so that the cutting force is dispersed by the high-speed rotation and the cutting is performed with high performance. The state in which the cutting layer scatters around is greatly reduced as compared with a tool in which the tool itself rotates at high speed around the rotation axis.

Further, when the tool 19 is rotated by the low-speed rotation motor 16, the cutting contact portion of the tool 19 for cutting the workpiece is displaced at a low speed, so that the tool 19 is effectively used. Heat generation and wear can be distributed, resulting in longer tool life.

In addition, in addition to the above, the cutting point of the rotating cutting tool is set at a predetermined value because the workpiece and the cutting tool are rocked relatively by a predetermined amount in a direction orthogonal to the circumferential cutting direction. The cutting tool moves one after another in the radial direction, and as a result, the cutting is performed in the cold cutting tool part, so that the cutting performance is good, and the cutting tool generates heat and wears to ensure effective use of the entire cutting tool. Is dispersed as much as possible, and the tool life can be significantly increased.

Of course, if a plurality of works are measured in advance at the measuring station, the work can be measured in parallel with the cutting and cutting / polishing work of the work, so that the workability is good.

In spite of this, the work for measuring the work can be appropriately performed just before performing the cutting or the cutting / polishing work.

A driving device for rotating a cutting tool, which is interlocked with a high-speed and low-speed motor, grips the work, rotates the work at the time of cutting, and is orthogonal to the rotation direction of the work. If the automatic cutting device is equipped with a robot manipulator that oscillates the work in the direction of rotation, the cutting tool is cut by a small amount of high-speed rotation by the motor for high-speed rotation, and the cutting tool is rotated by the motor for low-speed rotation. Because the cutting contact portion of the cutting tool is displaced at a low speed, the entire surface of the cutting tool can be effectively used as the cutting contact portion, so that the cutting force is dispersed and uniform cutting is performed. Cutting is performed by force.

That is, since the reaction force at the time of cutting is small, the cutting is performed with a uniform cutting force without the cutting tool meshing with the work as in the related art.

Further, according to the present invention, there is provided a driving device for rotating a cutting tool, which is interlocked with a motor for high speed and low speed, and a manipulator supporting the driving device for rotating the cutting tool at a free end. And a robot manipulator that rotates the rotation drive device in the circumferential direction of the fixed work at the time of cutting and swings the rotation drive device in a direction orthogonal to the work circumferential direction. With a cutting device, the same effect as that of the device according to the first aspect can be obtained. However, in this case, the robot manipulator is somewhat larger in size to support a relatively heavy rotating drive.

[0072]

As is apparent from the above description, the automatic cutting device according to the first aspect of the present invention is an automatic cutting device for cutting a circumferential projection of a work. A rotating shaft rotated by a motor and an eccentric member having an engaging hole whose axis is eccentric with respect to the axis of the rotating shaft are integrally attached to a spindle rotatably supported by the engaging hole. A protruding pin that protrudes in the radial direction is mounted, a cutting tool is mounted on the spindle, and a facing guide roller is mounted on a rotating member that is rotatably supported coaxially with the rotation axis. A driving device for rotating a cutting tool, in which a gap is provided in the circumferential direction of the spindle and constrained, and the rotating member is connected to a low-speed rotating motor, and (2) the workpiece is gripped and the workpiece is rotated during cutting. Let me The robot is equipped with a robot manipulator that oscillates the work in a direction perpendicular to the direction of rotation of the work, so that the cutting tool is cut by a small amount of high-speed rotation by the motor for high-speed rotation and the cutting tool by the motor for low-speed rotation. Is rotated and the cutting contact part of the cutting tool is displaced at a low speed, so that the entire surface of the cutting tool can be effectively used as the cutting contact part, so the cutting force is dispersed and uniform Cutting is performed with a cutting force of. That is, since the reaction force at the time of cutting is small, the cutting is performed with a uniform cutting force without the cutting tool and the work being engaged with each other as in the related art.

The third aspect of the present invention is directed to an automatic cutting apparatus for cutting a circumferential projection of a work, wherein (1) a rotating shaft rotated by a high-speed rotating motor and a shaft center of the rotating shaft. An eccentric member having an engaging hole with an eccentric shaft center is integrally attached, a projecting pin projecting in a radial direction is attached to a spindle rotatably supported in the engaging hole, and a cutting tool is attached to the spindle; An opposing guide roller is mounted on a rotatable member rotatably supported coaxially with the rotation shaft, and the guide roller restrains the protruding pin with a gap provided in a circumferential direction of the spindle, and also fixes the rotatable member. A cutting tool rotation drive device interlockingly connected to a low-speed rotation motor, (2) a robot manipulator holding a work, and (3) a surface height and a work height of a work straddling a protrusion of the work. A measuring device for measuring the height of a workpiece of a workpiece over a plurality of points on the circumference of a workpiece; and (4) a basic program for cutting for controlling a robot manipulator to cut a workpiece having an ideal shape. And (5) calculating the maximum value of the projection based on the plurality of sets of measurement data when the remaining amount of the projection from the work surface after cutting and one set cutting allowance are set. Then, the number of cuts n is calculated from the maximum value and the set cutting allowance, and the work surface height of a plurality of sets of measurement data and the first to (n-1) th
Automatically generate values by changing the value of the basic program for cutting corresponding to the set cutting allowance and the remaining value of the n-th projection, which are sequentially integrated and subtracted from the maximum value of the projection for the second time. (6) a cutting swing program for relatively swinging the work and the cutting tool by a predetermined amount in a direction perpendicular to the circumferential cutting direction during cutting;
(7) A cutting control device that is connected to the cutting work program and the cutting swing program to operate the robot manipulator and the cutting tool rotation drive device, so that the effects of the first invention are provided. In addition to this, cutting work is performed while qualitatively grasping the height of the weld bead, measuring the surface position of the work, and controlling the actual work surface to be the ideal work surface position. Therefore, the remaining amount E of the weld bead with respect to the actual workpiece surface
Is cut over the entire circumference of the work so that the desired value is obtained. Of course, since the weld bead is cut based on the actual surface of the work, even if the work is distorted in the circumferential direction, the work is cut in a uniform state over the entire circumference of the work. Therefore, a desired high quality cutting result can be obtained.

According to the fourth invention, in the third invention,
The work is formed into a cylindrical portion and a tapered portion across the protrusion, and when the cylindrical portion is cut, a cutting work program for the cylindrical portion according to the above (5) is created, and after the cylindrical portion is cut, the taper is formed. For cutting a part, the virtual maximum protrusion is cut by cutting the cylindrical part when the remaining value of the protrusion from the tapered surface after cutting and one set cutting allowance are set. The maximum value of the remaining portion of the virtual projection is calculated, the number of cuts n is calculated from the virtual remaining maximum value and the set cutting allowance, and the workpiece surface height of the tapered portion of the plurality of measurement data is calculated. A basic program for cutting corresponding to a set cutting allowance and a remaining amount of the projection for the n-th time, which are sequentially integrated and subtracted from the virtual maximum value of the projection for the (n-1) th time. Change the value of Since the program is automatically generated, in addition to the effect of the third aspect of the present invention, the protrusion formed at the joint between the cylindrical portion and the tapered portion of the work is replaced with the remaining amount of the protrusion relative to the cylindrical surface and the tapered surface. Can be cut in a uniform state over the entire circumference of the work so that the desired value is obtained.

According to a fifth aspect of the present invention, in the third or fourth aspect, the measuring device is disposed at a predetermined position of a measuring station, and a plurality of works are mounted on the measuring station. Work handling that includes a turntable that is placed and rotated, a lifting mechanism that moves the work up and down with respect to the turntable at the measurement position, and a work rotation mechanism that rotates at predetermined measurement angles when the work is raised Since the device is provided, in addition to the effect of the third invention,
Since the work of measuring the work can be performed in parallel with the work of cutting the work, the work can be performed efficiently.

Further, the sixth aspect of the present invention relates to an automatic cutting / polishing apparatus for cutting a projection at a joint portion between a cylindrical portion and a tapered portion of a work, and thereafter polishing the vicinity of the cut portion.
A rotation shaft rotated by a high-speed rotation motor and an eccentric member having an engagement hole whose axis is eccentric with respect to the axis of the rotation shaft are integrally mounted, and are rotatably supported by the engagement hole. A protruding pin that protrudes in the radial direction is mounted on the spindle, a tool is mounted on the spindle, and an opposing guide roller is mounted on a rotating member that is rotatably supported coaxially with the rotation axis. Two sets of rotation driving devices for a cutting tool and a polishing tool, wherein the pins are restrained by providing a gap in the circumferential direction of the spindle, and the rotating member is connected to a low-speed rotation motor;
(2) a robot manipulator holding a workpiece;
(3) a measuring device that measures the surface height of the work and the height of the work protrusion over the work protrusion over a plurality of points on the circumferential portion of the work; and (4) cuts a work having an ideal shape. A basic program for cutting to control the robot manipulator, and (5A) a residual value of the protrusion from the work surface of the cylindrical portion after cutting to cut the protrusion of the cylindrical portion; When one set cutting allowance is set, the maximum value of the protrusion is calculated based on the plurality of sets of measurement data, and the number of cuts n is calculated based on the maximum value and the set cutting allowance.
And the set cutting allowance and the n-th cut-off value, which are successively integrated and subtracted from the workpiece surface height of a plurality of sets of measurement data and the maximum value of the first to (n-1) -th protrusions. To change the value of the basic program for cutting corresponding to the remaining value of the projection for the second time, and to automatically generate the cutting program for the cylindrical portion and (5B) to cut the projection on the tapered portion When the residual value of the protrusion from the tapered surface after cutting and one set cutting allowance are set, the virtual maximum protrusion is assumed to have been cut by cutting the cylindrical portion. The maximum value of the remaining portion is calculated, the number of cuts n is calculated from the virtual maximum value of the remaining portion and the set cutting allowance, and the workpiece surface height of the tapered portion of the plurality of measurement data, and the first to (n− 1) sequentially integrating from the virtual maximum value of the projection for the first time (6) cutting operation program for the tapered portion automatically generated by changing the value of the basic cutting program corresponding to the set cutting allowance to be subtracted and the remaining amount of the projection for the n-th time; Sometimes, a cutting swing program for relatively swinging a work and a cutting tool by a predetermined amount in a direction orthogonal to the circumferential cutting direction, and (7) a plurality of works of an ideally shaped cylindrical portion and a tapered portion. For each measurement point,
A basic polishing program for controlling the robot manipulator so that the axis of the cylindrical portion and the tapered line are inverted so as to be perpendicular; and (8) the basic program for polishing is such that the axis of the cylindrical portion is perpendicular to the tapered line. A polishing operation program automatically generated by changing the equivalent value of the basic program for polishing of the workpiece surface height of each of the cylindrical portion and the tapered portion based on the plurality of measurement data when inverting; A cutting / polishing control device that is connected to the cutting operation program and the swinging program for cutting, and a polishing operation program, and sequentially operates the robot manipulator and the respective rotation driving devices of the cutting tool and the polishing tool. Therefore, in addition to the effect of the third aspect of the present invention, in polishing, the remaining amount of protrusions in the cutting operation, which is the preceding operation, is set to a value suitable for the polishing operation. The grinding tool and the workpiece are polished while being relatively rotated in the circumferential direction of the workpiece while the rotating surface of the grinding tool that has been cut and rotated is relatively inverted, for example, by 30 degrees. It is possible to obtain a very good quality polishing part.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional front view for explaining a cutting tool and a driving device for rotating a polishing tool suitable for an automatic cutting device and an automatic cutting / polishing device according to the present invention.

FIG. 2 is a sectional view taken along the line II-II in FIG.

FIG. 3 is a schematic configuration diagram showing a main part of an embodiment of the present invention.

FIG. 4 is a schematic configuration diagram showing a main part of a measuring station which is a main part of the embodiment of the present invention.

FIG. 5 is an enlarged explanatory view of a main part in FIG. 4;

FIG. 6 is a diagram showing a basic program for cutting a cylindrical portion for controlling a robot manipulator to cut a workpiece having an ideal shape, which is a part of the basic program for cutting used in the present invention.

FIG. 7 is an example of a calculation performed using measurement data to change a basic program for cutting a cylindrical portion.

FIG. 8 is an explanatory view of an arrangement state in the cutting operation in FIG. 3;

FIG. 9 is an explanatory diagram of a generation state of a cutting work program for a cylindrical portion.

FIG. 10 is an explanatory diagram of a cutting state of a tapered portion of a work in FIG. 3;

11 is a diagram showing a basic program for cutting used in the cutting operation of FIG. 10, which is a basic program for cutting a tapered portion for controlling a robot manipulator to cut a workpiece having an ideal shape.

FIG. 12 shows the cutting of the tapered portion of the work.
Geometric explanatory view of a weld bead assuming that a maximum weld bead is formed on an ideal workpiece in a state where a cylindrical portion is cut.

FIG. 13 is an explanatory diagram of a state of generation of a cutting work program for a tapered portion.

FIG. 14 is a diagram showing a basic polishing program used in the present invention.

FIG. 15 is a diagram illustrating the generation of a polishing program.

FIG. 16 is a diagram showing a swinging program for cutting used in the present invention.

FIG. 17 is a diagram showing a flow of a cutting operation of the cylindrical portion.

FIG. 18 is a diagram showing a flow of a cutting operation of the tapered portion.

FIG. 19 is a diagram showing a flow of a polishing operation.

FIG. 20 is an explanatory diagram of a situation of a polishing operation.

FIG. 21 is an explanatory diagram of a manufacturing process of a work to be subjected to the present invention.

FIG. 22 is an explanatory view of a weld bead formed in the manufacturing process of the work shown in FIG. 21;

FIG. 23 is an enlarged view for explaining a situation in which the amount of cut of the weld bead is small in the process of manufacturing the work shown in FIG. 21;

24 is an enlarged view for explaining a situation in which a weld bead is cut more than necessary in a process of manufacturing the work shown in FIG. 21;

FIG. 25 is an enlarged view for explaining a situation in which the cut amount of the weld bead is suitable in the process of manufacturing the work shown in FIG. 21;

FIG. 26 is a perspective view showing a main part of a conventional example.

FIG. 27 is an enlarged view for explaining a defective cutting state due to a conventional cutting operation.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 High-speed rotation motor 3 Rotation shaft 8 Eccentric member 801 integrally supported at the end of rotation shaft 3 Engagement hole 801 formed on eccentric member and having its axis eccentric with respect to the axis of the rotation shaft 9 A spindle 11 rotatably supported coaxially with the joint hole 801 11 a rotating member rotatably supported by the rotating shaft 3 coaxially with the rotating shaft 3 16 a motor for low-speed rotation 17 a radial direction of the spindle 9 fixed to the spindle 9 Projecting pin 18 projecting outwardly 18 guide roller 19 a tool fixed coaxially with the spindle 20 a tool rotation driving device 25 a work handling device 34 a work measurement device 35 a work measurement station 36 a cutting tool 191 to the rotation drive device 20 A mounted cutting station 37 A polishing station in which a polishing tool 192 is mounted on the rotation drive device 20 39 A robot manipulator Reference Signs List 40 Cutting / polishing control device 41 Basic program for cutting and polishing an ideally shaped work 411 Basic cutting program for a cylindrical portion for cutting a cylindrical portion of an ideally shaped work 412 Cutting a tapered portion of an ideally shaped work Basic program for cutting taper portion to be performed 413 Basic program for polishing for polishing workpiece of ideally shaped cylindrical portion and taper portion 42 Automatically generated by changing equivalent values of basic program based on measured data and set values Cutting and polishing work program 421 A cutting work program for a cylindrical portion automatically generated by changing the equivalent value of the basic program based on the measured data and the set value 422 Equivalent of the basic program based on the measured data and the set value Cutting work program 423 for taper part automatically generated by changing the value A grinding work program automatically generated by changing the equivalent value of the basic program based on the measurement data and the set value. 43 When cutting the weld bead of the cylindrical portion and the tapered portion, the work is performed in a direction orthogonal to the circumferential cutting direction. Oscillating program for oscillating the cutting tool relative to the cutting tool by a predetermined amount

Continued on the front page (72) Inventor Yoichi Hoshina 2-1-11, Tagawa, Yodogawa-ku, Osaka-shi Inside Daihen Corporation (72) Inventor Fumio Kasagami 2-1-1-11, Tagawa, Yodogawa-ku, Osaka Dai-en Corporation (72) Inventor Etsuji Imoto 2-1-1-11 Tagawa, Yodogawa-ku, Osaka Dainai Co., Ltd.

Claims (7)

[Claims] 1. An automatic cutting device for cutting a circumferential projection of a workpiece, wherein (1) a rotating shaft rotated by a high-speed rotating motor and an axis centered eccentric with respect to an axis of the rotating shaft. An eccentric member having an engaging hole is integrally attached, a projecting pin projecting in a radial direction is attached to a spindle rotatably supported in the engaging hole, a cutting tool is attached to the spindle, and the spindle is coaxial with the rotating shaft. An opposing guide roller is attached to a rotatable member rotatably supported on the motor. The guide roller restrains the protruding pin by providing a gap in the circumferential direction of the spindle, and also connects the rotary member to a low-speed rotation motor. A drive device for rotating a cutting tool connected in an interlocking manner, and (2) a robot tool for gripping the work, rotating the work at the time of cutting, and swinging the work in a direction orthogonal to the rotation direction of the work. An automatic cutting device comprising a manipulator. 2. An automatic cutting apparatus for cutting a circumferential projection of a work, wherein (1) a rotating shaft rotated by a high-speed rotating motor and an axis centered off the axis of the rotating axis. An eccentric member having an engaging hole is integrally attached, a projecting pin projecting in a radial direction is attached to a spindle rotatably supported in the engaging hole, a cutting tool is attached to the spindle, and the spindle is coaxial with the rotating shaft. An opposing guide roller is attached to a rotatable member rotatably supported on the motor. The guide roller restrains the protruding pin by providing a gap in the circumferential direction of the spindle, and also connects the rotary member to a low-speed rotation motor. (2) a manipulator supporting the cutting tool rotation drive device at a free end thereof, wherein the manipulator supports the rotation drive device of the cutting tool at a free end portion in a circumferential direction of a fixed workpiece during cutting. An automatic cutting device comprising: a robot manipulator for rotating the rotation driving device in a direction perpendicular to the circumferential direction of the workpiece while rotating the rotation driving device. 3. An automatic cutting device for cutting a circumferential projection of a work, wherein (1) a rotation axis rotated by a high-speed rotation motor and an axis eccentric with respect to an axis of the rotation axis. An eccentric member having an engaging hole is integrally attached, a projecting pin projecting in a radial direction is attached to a spindle rotatably supported in the engaging hole, a cutting tool is attached to the spindle, and the spindle is coaxial with the rotating shaft. An opposing guide roller is attached to a rotatable member rotatably supported on the motor. The guide roller restrains the protruding pin by providing a gap in the circumferential direction of the spindle, and also connects the rotary member to a low-speed rotation motor. A driving device for rotating a cutting tool connected in an interlocking manner, (2) a robot manipulator holding a workpiece, and (3) a surface height of the workpiece straddling the projection of the workpiece and a height of the projection of the workpiece. A measuring device for measuring the height over a plurality of points on the circumference of the workpiece, (4) a basic cutting program for controlling a robot manipulator to cut a workpiece having an ideal shape, and (5) a cutting program. When the remaining amount of the protrusion from the work surface later and the set cutting allowance are set, the maximum value of the protrusion is calculated based on the plurality of sets of measurement data, and the maximum value and The number of cuts n is calculated from the set cutting allowance and the work surface height of a plurality of sets of measurement data and the maximum value of the protrusions for the first to (n-1) th times are sequentially integrated and subtracted. A cutting work program automatically generated by changing the value of the basic cutting program corresponding to the set cutting allowance and the remaining value of the n-th projection, and (6) circumferential cutting at the time of cutting. The workpiece and the cutting tool in a direction perpendicular to the (7) a cutting control program connected to the cutting work program and the cutting swing program to operate the robot manipulator and the cutting tool rotation drive device. An automatic cutting device comprising a device. 4. The work is formed in a cylindrical portion and a tapered portion over a projection, and when the cylindrical portion is cut, the work (5) is formed.
A cutting operation program for a cylindrical portion is created by the term, and for cutting the tapered portion after cutting the cylindrical portion,
The residual value of the protrusion from the tapered surface after cutting, and 1
When the set cutting allowance is set, the maximum value of the remaining portion of the virtual projection is calculated assuming that the virtual maximum projection has been cut by cutting the cylindrical portion, and the virtual remaining maximum value and the set cutting are calculated. The number of cuts n is calculated from the margin and the work surface height of the tapered portion of the plurality of measurement data and the virtual maximum value of the first to (n-1) th projections are sequentially integrated. 4. A cutting operation program for a tapered portion is automatically generated by changing a value of a basic cutting program corresponding to a set cutting allowance and a remaining value of the n-th protrusion for subtraction. 3. The automatic cutting device according to claim 1. 5. The measuring device is disposed at a predetermined position of a measuring station, and the measuring station has a turntable on which a plurality of works are mounted and rotated, and a turntable for turning the works at the measuring position. 5. A work handling device comprising a lifting mechanism for raising and lowering the workpiece and a work rotating mechanism for rotating the workpiece at predetermined measurement angles when the workpiece is raised. Automatic cutting device as described. 6. An automatic cutting / polishing apparatus for cutting a projection at a joining portion between a cylindrical portion and a tapered portion of a work and thereafter polishing the vicinity of the cut portion (1) is rotated by a high-speed rotation motor. A rotation shaft and an eccentric member having an engagement hole whose axis is eccentric with respect to the axis of the rotation shaft are integrally mounted, and protrude radially from a spindle rotatably supported by the engagement hole. A protruding pin is mounted, a tool is mounted on the spindle, and a guide roller opposed to a rotatable member rotatably supported coaxially with the rotating shaft is mounted, and the protruding pin is moved in a circumferential direction of the spindle by the guide roller. Two sets of rotation driving devices for a cutting tool and a polishing tool, wherein the rotation member is interlocked and connected to a low-speed rotation motor, while being constrained by providing a gap, and (2) a robot manipulator holding a workpiece (3) a measuring device for measuring the surface height of the work and the height of the work over the protrusion of the work over a plurality of points on the circumference of the work;
(4) A basic cutting program for controlling a robot manipulator to cut a workpiece having an ideal shape, and (5A) a cutting surface of a cylindrical workpiece after cutting to cut a projection on the cylindrical portion. When the residual value of the protrusion and the set cutting allowance are set, the maximum value of the protrusion is calculated based on the plurality of sets of measurement data, and the maximum value and the set cutting allowance are calculated. While calculating the number of cuts n,
The set cutting allowance and the n-th projection, which are sequentially integrated and subtracted from the workpiece surface height of a plurality of sets of measurement data and the maximum value of the first to (n-1) -th projections. A cutting operation program for a cylindrical portion automatically generated by changing a value of a basic program for cutting corresponding to a residual value of an object,
(5B) In order to perform the cutting of the projection of the tapered portion, when the remaining amount of the projection from the tapered surface after cutting and one set cutting allowance are set, the virtual maximum projection is set to the above-mentioned value. Calculate the maximum value of the remaining portion of the virtual projection assuming that it has been cut by cutting the cylindrical portion, calculate the number of cuts n from the virtual remaining maximum value and the set cutting allowance, and taper the plurality of measurement data. Work surface height and the first to (n-
1) Change the value of the basic cutting program corresponding to the set cutting allowance and the remaining value of the n-th projection which are sequentially integrated and subtracted from the virtual maximum value of the projection for the first time. Cutting work program automatically generated by
(6) a cutting swing program for relatively swinging the work and the cutting tool by a predetermined amount in a direction orthogonal to the circumferential cutting direction during cutting; and (7) an ideal shape of a cylindrical portion and a tapered portion. A polishing basic program for controlling the robot manipulator so that the workpiece is inverted at each of a plurality of measurement points so that the axis of the cylindrical portion and the tapered line are perpendicular to each other,
(8) When reversing the axis of the cylindrical portion and the taper line so as to be perpendicular to each other, the basic program for polishing the surface height of the work of each of the cylindrical portion and the tapered portion based on the plurality of measurement data. A polishing operation program automatically generated by changing an equivalent value, (9) the cutting operation program, the swinging program for cutting, and the polishing operation program which are connected to the robot manipulator, the cutting tool, and the polishing tool, respectively. An automatic cutting / polishing device comprising: a cutting / polishing control device for sequentially operating the rotation driving devices. 7. The measuring device is disposed at a predetermined position of a measuring station. The measuring station has a turntable on which a plurality of works are mounted and rotated, and a turntable for turning the work at the measuring position. 7. A work handling device comprising a lifting mechanism for raising and lowering the workpiece and a work rotating mechanism for rotating the workpiece at predetermined measurement angles when the workpiece is raised is provided. Automatic cutting and polishing equipment.