JPH11207613A - Grinder pressurizing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a reasonably priced grinder pressurizing device capable of compensating for the wear of a grinding wheel or the slight positional shifting of an article to be ground. SOLUTION: In a grinder pressurizing device provided with a suspended member 1 having a grinder attaching part 10 and a partition plate 11, upper and lower bellows cylinders 2 and 3 fixed and arranged on the upper and lower surfaces of the partition plate 11 and a holding member 4 for holding a surface distance between the upper surface of the upper bellows cylinder 2 and the lower surface of the lower bellows cylinder 3 constant, the holding member 4 is attached to a fixed part F or a robot output part, a grinder G is attached to the grinder attaching part 10, and air of specified pressure is supplied to the upper and lower bellows cylinders 2 and 3 for use.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grinder pressing device.

[0002]

2. Description of the Related Art Since the pressing force of a grinder against an object to be ground greatly affects the grinding ability, the grinding accuracy, the life of a grinding wheel, and the like, the grinding operation performed by a robot can be performed with a pressing force set in advance by various means. It is done to maintain the size.

There are two types of grinders: an electric grinder and an air grinder. In the former case, the pressing force of the grinder against the workpiece is determined by the current value of the grinder motor applied to the workpiece. The pressing force is controlled by a servomotor by judging the pressure, and in the latter case, a command is issued to the robot using, for example, a six-axis sensor to control the pressing force.

[0004] However, these control methods of the pressing force make the apparatus itself expensive, and the control becomes complicated particularly in the case of a system in which a command is issued to the robot using a six-axis sensor.

As a method for controlling the pressing force, there is a method using a spring or an air cylinder. However, the method cannot follow the reduction of the grindstone or the positional deviation of the workpiece.

Therefore, in the industry dealing with this type of grinder, there is a demand for the development of a grinder pressurizing device which is inexpensive and can compensate for wear of the grindstone and slight positional deviation of the workpiece regardless of the type of grinder. .

[0007]

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a grinder pressurizing apparatus which is inexpensive and can compensate for wear of a grindstone and slight displacement of a workpiece regardless of the type of grinder. And

[0008]

According to the first aspect of the present invention, there is provided a grinder pressurizing device comprising a hanging member having a grinder mounting portion and a partition plate, and upper and lower surfaces of the partition plate. Upper and lower bellows cylinders 2 and 3 fixedly arranged,
A holding member 4 for keeping a distance between an upper surface of the upper bellows cylinder 2 and a lower surface of the lower bellows cylinder 3 constant. The holding member 4 is attached to a fixed portion F or a robot output portion. The grinder mounting part 10
A grinder G is attached to the upper and lower bellows cylinders 2 and 3 to supply air at a predetermined pressure to the upper and lower bellows cylinders 2 and 3, respectively. (The invention according to claim 2) The invention relates to the grinder pressurizing device according to the invention described in claim 1, wherein the upper and lower bellows cylinders 2 and 3 are arranged so that a lifting force acts on the partition plate 11 of the hanging member 1. Each is supplied with air. According to a third aspect of the present invention, there is provided the grinder pressurizing apparatus according to the first or second aspect, wherein at least one of the pressures of the air supplied to the upper and lower bellows cylinders 2 and 3 varies. I can do it. (Invention of Claim 4) The present invention relates to the grinder pressurizing device of any of the above-mentioned claims 1 to 3, wherein the position of the grinder G in a state where the grindstone g is pressed against the workpiece W is determined. The upper and lower bellows based on the output information of the linear sensor 5 for detecting the position of the grinder G so as to cancel the elastic return force of the upper and lower bellows cylinders 2 and 3 generated when the position is different from the preset position. The pressure of air supplied to at least one of the cylinders 2 and 3 is changed. According to a fifth aspect of the present invention, there is provided the grinder pressurizing device according to the fourth aspect of the present invention, wherein the linear sensor 5 outputs a signal when the position of the grinder G is different from a preset position by a certain amount or more. In such a case, the warning means is set to the output state or the grinder G is stopped. According to a sixth aspect of the present invention, there is provided the grinder pressurizing device according to any one of the first to fifth aspects, wherein the upper and lower bellows cylinders 2 and 3 have the same diameter and the same vertical shaft. They are arranged on a line.

The operation and effect of the grinder pressurizing device of the present invention will be clarified in the following embodiments of the present invention.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a grinder pressing device according to an embodiment of the present invention will be described in detail with reference to the drawings.

As shown in FIG. 1, the grinding system according to this embodiment includes a grinder G, a grinder pressurizing device GK supporting the grinder G, a rotary drive of the grinder G, and a grinder pressurizing device GK. A compressor C for sending air and the grinder pressurizing device GK shown in FIG.
And a frame 9 (corresponding to the fixing portion F) that supports
Switching valves K1 and K2, electropneumatic proportional valves K3 and K4, and pressure sensors P1 and P2 are provided in an air pipe line connecting the compressor C and the grinder G or the grinder pressurizing device GK.

The main components of the grinding system will be described below. [Regarding the Grinder G] As shown in FIG. 1, the grinder G is of an air type in which the grindstone g is driven to rotate by the compressed air from the compressor C. The compressed air is supplied through the above-mentioned switching valve K2. Is sent. [About grinder pressurizing device GK] Grinder pressurizing device
As shown in FIGS. 2 and 3, GK includes a hanging member 1 for suspending the grinder G, and upper and lower bellows cylinders 2 and 3 fixedly arranged on upper and lower surfaces of a partition plate 11 of the hanging member 1 described later.
A holding member 4 for maintaining a constant distance between the upper surface of the upper bellows cylinder 2 and the lower surface of the lower bellows cylinder 3;
A linear sensor 5 for detecting the position of the grinder G and a guide mechanism 6 for vertically moving the grinder G while maintaining the same posture are provided.

The hanging member 1 is, as shown in FIGS.
The grinder mounting portion 10 and the partition plate 11 are connected by four connecting rods 12.

The holding member 4 is, as shown in FIGS.
A thick upper plate 40, a thick lower plate 41, and the upper and lower plates 40 and 41;
And four connecting rods 42 for connecting.

The upper and lower bellows cylinders 2 and 3 are formed by closing both end surfaces of a bellows pipe with a plate material. As shown in FIGS. 2 and 3, the upper bellows cylinder 2 is formed by an upper plate 40 and a partition plate 11. The lower bellows cylinder 3 is fixedly disposed between the partition plate 11 and the lower plate 41. Here, as shown in FIGS. 2 and 3, the upper bellows cylinder 2 is provided with an air passage 40a formed in the upper plate 40, and the lower bellows cylinder 3 is provided with a lower plate.
From the air passage 41a formed in the compressor 41, the compressor C
From the air. Note that the upper bellows cylinder 2 is configured by closing both end surfaces of the bellows pipe with an upper plate 40 and a partition plate 11, and the lower bellows cylinder 3 is configured by closing both end surfaces of the bellows tube with a partition plate 11 and a lower plate 41. May be. [Regarding the Linear Sensor 5] As shown in FIG. 3, the linear sensor 5 has a main body 50 mounted on a plate 52 spanned between the connecting rods 42, 42 and an end of the input shaft 51 mounted on a grinder. It is attached to the upper surface of the unit 10 so that the position of the grinder G can be detected by the reciprocation of the input shaft 51 as the grinder G moves up and down. Then, in order to cancel the elastic return force of the upper and lower bellows cylinders 2 and 3 generated when the position of the grinder G is different from the preset position in a state where the grindstone g is pressed against the workpiece W. The pressure of the air supplied to one of the upper and lower bellows cylinders 2 and 3 is changed by an electropneumatic proportional valve based on the output information of the linear sensor 5 that has detected the position of the grinder G. Also, a slight displacement of the workpiece W can be compensated. [Regarding Guide Mechanism 6] The guide mechanism 6 is similar to the guide mechanism shown in FIGS.
As shown in FIG. 3, a bearing portion 60 provided on the partition plate 11 and an upper plate 40 are provided.
And a shaft portion 61 hanging down from the shaft portion. The shaft portion 61 is slidably and densely inserted into a hole of the bearing portion 60. Therefore, a moment is generated in the partition plate 11 by the weight of the grinder G,
The partition plate 11 moves up and down while maintaining the horizontal state, and the posture of the grinder G does not change due to the moment. [The vertical movement of the grinder G and the grinding wheel g
Pressurization etc.] . When raising the grinder G, the voltage value or the current value to the electropneumatic proportional valves K3 and K4 is changed so that the internal pressure of the lower bellows cylinder 3 becomes higher than the internal pressure of the upper bellows cylinder 2. . When the grindstone g of the grinder G is brought into contact with the workpiece W, the voltage or current value to the electropneumatic proportional valve K3 is gradually reduced in order to gradually lower the internal pressure of the lower bellows cylinder 3. . When processing the workpiece W with the grindstone g of the grinder G, the relationship between the internal pressure of the upper bellows cylinder 2 and the internal pressure of the lower bellows cylinder 3 is kept constant, and the pressing force of the grindstone g against the workpiece W is made constant. . In addition, even when the grinding wheel g is worn or the position of the grinding object W is slightly shifted, the pressing force of the grinding wheel g against the grinding object W is compensated by the linear sensor 5 or the like. . Others The position of the grinder G can be known by the linear sensor 5 or the like, and the replacement time of the grinding wheel g can be detected.

During processing of the workpiece W, a pressure sensor
The overload can be detected by looking at P1 and P2. . In the case of this embodiment, it is not necessary to use expensive equipment and the control is very simple, so that it is inexpensive. [Other Embodiments] In the above embodiment, in a state where the grindstone g is pressed against the workpiece W, the elastic return force of the upper and lower bellows cylinders 2 and 3 generated when the position of the grinder G is different from the preset position is determined. In order to cancel, the pressure of air supplied to one of the upper and lower bellows cylinders 2 and 3 is changed by an electropneumatic proportional valve based on output information of the linear sensor 5 which has detected the position of the grinder G. When the elastic coefficients of the upper and lower bellows cylinders 2 and 3 are set small, it is not necessary to adopt the form as in the above embodiment. Because in this case the grinder G
Is different from the preset position, the elastic return force of the upper and lower bellows cylinders 2 and 3 is extremely small as compared with the pressing force of the grindstone g against the workpiece W. . . In the above embodiment, the two electropneumatic proportional valves K3 and K4 are used to change the internal pressures of the upper and lower bellows cylinders 2 and 3 so that the grinder G moves up and down and the grindstone g is applied to the workpiece W. Although the pressure is set, one may fix the air pressure sent to the upper and lower bellows cylinders 2 and 3 and the other may change the air pressure. . The object to be ground W is moved up and down so that the object to be ground W
, The air pressure sent to the upper and lower bellows cylinders 2 and 3 may be fixed. . Although the grinder G used in the system of the above embodiment is of an air type, this system can also be used for an electric grinder. . In the system of the above embodiment, the fixed part F which is the frame 9 is used.
The grinder G is attached via a grinder pressurizing device GK, but the invention is not limited to this. For example,
The grinder G may be attached to the output part of the robot via the grinder pressurizing device GK.

[0017]

From the contents described in the description of the embodiments of the invention, it is possible to provide a grinder pressurizing apparatus which is inexpensive and can compensate for abrasion of a grindstone and slight displacement of a workpiece regardless of the type of grinder. Was.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an air circuit of a grinding system using a grinder pressurizing device according to an embodiment of the present invention.

FIG. 2 is a front view of a grinder, a grinder pressing device, and the like that constitute the grinding system.

FIG. 3 is a side view of a grinder, a grinder pressing device, and the like that constitute the grinding system.

[Explanation of symbols]

 G Grinder g Grindstone F Fixed part W Workpiece 1 Hanging member 2 Upper bellows cylinder 3 Lower bellows cylinder 4 Holding member 5 Linear sensor 10 Grinder mounting part 11 Partition plate

Claims (6)

[Claims] 1. A grinder mounting portion (10) and a partition plate (11).
And a lower and lower bellows cylinder (2) fixedly arranged on the upper and lower surfaces of the partition plate (11).
(3) and a holding member (4) for maintaining a constant distance between the upper surface of the upper bellows cylinder (2) and the lower surface of the lower bellows cylinder (3), wherein the holding member ( 4) is attached to the fixed part (F) or the output part of the robot, and a grinder (G) is attached to the grinder attaching part (10), and the upper and lower bellows cylinders (2) are attached.
(3) A grinder pressurizing device used to supply air at a predetermined pressure. 2. An upper / lower bellows cylinder (2) so that a lifting force acts on a partition plate (11) of a hanging member (1).
The grinder pressurizing device according to claim 1, wherein air is supplied to each of (3) and (3). 3. A grinder pressurizer according to claim 1, wherein at least one of the pressures of air supplied to the upper and lower bellows cylinders (2) and (3) can be changed. apparatus. 4. An upper / lower bellows cylinder (2) generated when the position of the grinder (G) in a state where the grindstone (g) is pressed against the workpiece (W) is different from a preset position. In order to cancel the elastic return force of (3),
Linear sensor (5) for detecting the position of the grinder (G)
Upper and lower bellows cylinders based on output information of (2)
The grinder pressurizing device according to any one of claims 1 to 3, wherein the pressure of air supplied to at least one of (3) is changed. 5. When the position of the grinder (G) is different from a preset position by a certain amount or more, when the linear sensor (5) outputs, the alarm means is in an output state or the grinder (G) is turned off. The grinder pressurizing device according to claim 4, wherein the grinder pressurizing device is stopped. 6. Upper and lower bellows cylinders (2) and (3).
The grinder pressurizing device according to any one of claims 1 to 5, wherein the grinders have the same diameter and are arranged on the same vertical axis.