JPH11216670A - Grinding wheel forming system and grinding wheel forming device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To maintain work shape accuracy and work efficiency of a workpiece, by maintaining shape in a tool tip end point and sharpness of a grinding wheel. SOLUTION: A grinding wheel 16 held to a cylindrical coordinate force control robot 20 through 5 grinder 15 is rotated. A bottom surface and a circumferential surface of this rotating grinding wheel 16 are respectively formed by a truing device 2,3. Next the bottom surface and the circumferential surface of the rotating grinding wheel 16 are pressed to a dressing device 4, perform dressing, thereby shape in a tool tip end point and sharpness of the grinding wheel 16 are maintained.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grindstone forming system and a grindstone forming apparatus for a grinder work robot.

[0002]

2. Description of the Related Art Conventionally, in grinder work by a robot, a grinding wheel is worn or clogged with the progress of processing of a processing material, so that the processing shape accuracy of the processing material cannot be guaranteed. The processing efficiency was remarkably reduced. For this reason, the diameter of the grindstone is measured as the machining progresses, and the coordinate system of the tip of the tool attached to the robot (hereinafter referred to as the tool coordinate system) is corrected.

[0003]

However, if the shape of the tool tip point of the grindstone is lost due to wear, the processing efficiency is reduced while the precision of the processing shape of the processing material is reduced, and the work may not proceed. Was. As described above, it has been difficult to recover the collapse of the shape of the tool tip point of the grindstone and the decrease in sharpness by the conventional grindstone wear correction in the conventional grinder work.

An object of the present invention is to solve the above-mentioned problems and to provide a grindstone forming system and a grindstone forming apparatus for maintaining the shape of a tool tip point of a grindstone and the sharpness of a grindstone in grinder work by a robot. And

[0005]

According to a first aspect of the present invention, there is provided a whetstone forming system, comprising: a forming means for forming a whetstone; and a dressing means for setting the whetstone on the same base. , A robot body for grinder work, and a control device for controlling the robot body.

With this configuration, the grinding wheel forming apparatus, the robot main body for grinder work, and the control device can be integrated with each other, and the grinding wheel shaping and dressing work can be automated.

In order to achieve the above object, a grindstone forming apparatus according to the present invention comprises a forming means for forming a shape of a grindstone, and a method for shaping the grindstone after forming the grindstone by the forming means. On the same base.

[0008] With this configuration, it is possible to reshape and sharpen the grindstone, and to maintain the shape and sharpness of the grindstone.

It is preferable that the grindstone forming apparatus further includes a reference for measuring a tool coordinate system of a tool to be attached to the grinder working robot body. Further, it is preferable that the grinding wheel forming apparatus further includes a cleaning unit for cleaning the reference.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 shows an example of an embodiment of a grindstone forming system of the present invention. The grindstone forming apparatus 1 shown in FIG. 2 is attached as a peripheral device of a robot body for grinder work, and these are combined with a control controller 27 as a control device. FIG. 3 is a diagram showing the configuration of FIG. A six-axis control cylindrical coordinate type force control robot 20 includes a base plate 21
A swivel unit 22 that can rotate left and right is provided on the top, and a column 23 is provided on the swivel unit 22. A saddle 24 is vertically movably engaged with the column 23.
3. The saddle 24 rotates integrally. The arm 25 extends and contracts leftward from the saddle 24 in FIG.
It is provided rotatable about an R axis perpendicular to the axis. At the left end of the arm 25 in FIG. 1, a wrist 26 is vertically movable with respect to the center line of the arm 25.
6 itself is also provided to be rotatable left and right. This wrist 2
6 has a grindstone 16 gripped via a grinder 15.

The controller 27 controls the grinding wheel forming apparatus 1
The cleaning means 7 and the robot 20 are controlled via respective interfaces 30. The controller 27 includes a microcomputer (not shown). Under the control of the microcomputer, a grinding wheel forming operation and a tool coordinate system measuring operation for operating the robot 20 are performed by a robot program stored in the controller 27. A robot program for performing grinding wheel forming and tool coordinate system measurement is registered in advance as a macro program, and can be easily called from an operation program created by a user. The robot program also controls the opening and closing of the valve 9 (see FIG. 2) of the cleaning means in the grinding wheel forming apparatus 1.

FIG. 2 is a front view showing an embodiment of the grindstone forming apparatus according to the present invention. The whetstone forming apparatus 1 includes truing apparatuses 2 and 3 as forming means, a dressing apparatus 4 as sharpening means, reference surfaces 5 and 6, nozzles 71 and 72 as cleaning means, piping 8, a valve 9, It is constituted by. The block 1 is mounted on a column extending from the mounting portion 12 fixed to the mounting base 14 with bolts 13.
A truing device 2 for mainly shaping the bottom surface of the grindstone and a reference surface 5 serving as a measurement reference for the position of the bottom surface of the grindstone are provided on the upper surface of the truing device. On the right side of the block 10 in FIG. 2, a truing device 3 for forming the circumferential surface of the grindstone and a reference surface 6 serving as a measurement reference for the position of the grindstone circumferential surface are provided. I have. The reference surfaces 5 and 6 are provided with nozzles 71 and 72, respectively. The valve 9 is opened by an instruction from a robot program stored in the controller 27 (see FIG. 1), and the jetted air is supplied to the pipe 8 Are ejected from the nozzles 71 and 72 to clean the reference surfaces 5 and 6. Diamond grains are fixed to the tips of the truing devices 2 and 3, and the rotating grindstone 16 is operated so as to press the diamond grains against the diamond grains. Further, an L-shaped stay 11 fixed to the left side surface of the block 10 in FIG. 2 by a bolt extends upward in FIG.
At the tip, a dressing device 4 for performing dressing after grinding is formed.

Next, the operation of the present invention will be described with reference to FIGS. FIG. 3 is a view showing an example of the grinding wheel forming in the grinding wheel forming apparatus 1 of the present invention. 17 is a tool tip point of the grindstone 16, 18 is a bottom surface of the grindstone 16, and 19 is a circumferential surface of the grindstone 16. The grinder 1 is attached to the robot 20 (see FIG. 1).
5, the grindstone 16 is gripped and rotated. The bottom surface 18 and the circumferential surface 19 of the rotating grinding stone 16 are pressed against the diamond grains at the tips of the truing devices 2 and 3 to form the bottom surface 18 and the circumferential surface 19. The above operation is performed by operating the robot in the direction of the arrow in the figure. By doing so, the shape of the tool tip point 17 of the grindstone 16 can be correctly formed.

FIG. 4 is a view showing an example in which the grindstone 16 in the grindstone forming apparatus 1 of the present invention is dressed in order to recover the sharpness of the grindstone 16 formed in FIG. The grindstone 16 held by the robot 20 (see FIG. 1) via the grinder 15 is rotated, and the dressing device 4 is rotated.
Then, the bottom surface 18 and the circumferential surface 19 are pressed against each other to perform dressing. When sharpening the circumferential surface 19, the rotating grindstone 16 is pressed against the dressing device 4 in an inclined state, whereby the dressing device 4 rotates to perform sharpening. Also, when sharpening the bottom surface 18, the grindstone 16 is pressed so that the dressing device 4 rotates.
By doing so, the sharpness of the grindstone 16 can be restored.

FIG. 5 is a view showing an example of measuring the tool coordinate system 28 of the grindstone 16 in the grindstone forming apparatus 1 of the present invention after the grindstone is formed. FIG. 6 shows the whetstone 1 viewed from the mechanical interface 29 of the robot 20 shown in FIG.
6 is a diagram illustrating the position and orientation of a tool tip point 17 of No. 6, that is, a tool coordinate system. The positions of the reference surfaces 5 and 6 of the robot 20 with respect to the reference coordinate system are measured by a reference tool (not shown) whose tool coordinate system is known in advance. The bottom surface 18 is brought into contact with the known reference surface 5 and the circumferential surface 19 is brought into contact with the reference surface 6, and the positions of the reference surfaces 5, 6 with respect to the reference coordinate system of the robot 20 are determined by the coordinate measuring function of the robot 20. measure. Before the measurement, the reference surfaces 5 and 6 have been cleaned by air jetted from the nozzles 71 and 72. By doing so, the grindstone 16 viewed from the mechanical interface 29 shown in FIG.
, That is, the accurate tool coordinate system 28 of the grindstone 16 can be measured.

In the above-described embodiment, an example is shown in which a grinding wheel is formed by using a six-axis control cylindrical coordinate type force control robot. However, the present invention is not limited to this, and the present invention is not limited to this. The present invention can be applied to a robot, and its arrangement and configuration can be changed as appropriate. Further, in the above-described embodiment, an example in which a cleaning unit using air is used is described.However, the present invention is not limited to this, and is applicable to a mechanical cleaning unit such as a wiper. The arrangement and configuration can be appropriately changed.

As described above, the grindstone forming system and the grindstone forming device of the present invention can maintain the shape and sharpness of the tool tip point of the grindstone by the truing device and the dressing device. The machining shape precision and machining efficiency of the tool can be maintained. Further, since the grinding wheel forming apparatus is provided with the reference plane for measuring the tool coordinate system, the tool coordinate system can be measured immediately after the grinding wheel is formed. In addition, by blowing air to the reference surface, the reference surface can be cleaned, and more accurate measurement of the tool coordinate system can be performed.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing an embodiment of a grindstone forming system of the present invention.

FIG. 2 is a partially cutaway front view showing an embodiment of the grindstone forming apparatus of the present invention.

FIG. 3 is a partial schematic view showing an example of forming a grindstone in the grindstone forming system of the present invention.

FIG. 4 is a partial schematic view showing an example of dressing of a grindstone in the grindstone forming system of the present invention.

FIG. 5 is a partial schematic diagram illustrating an example of measurement of a tool coordinate system after grinding in the grinding wheel forming system of the present invention.

FIG. 6 is a partial schematic view showing a tool tip point of a grindstone as viewed from a mechanical interface of the robot.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Whetstone forming device 2 Truing device 3 Truing device 4 Dressing device 5 Reference surface 6 Reference surface 71 Nozzle 72 Nozzle 8 Piping 9 Valve 10 Block 11 Stay 15 Grinder 16 Grinding stone 17 Tool tip point 18 Bottom surface 19 Circumferential surface 20 Robot 21 Base plate 22 Swivel unit 23 Column 24 Saddle 25 Arm 26 Wrist 27 Control controller 28 Tool coordinate system 29 Mechanical interface 30 Interface

Claims (4)

[Claims] 1. A grindstone forming apparatus having, on the same base, forming means for forming a grindstone, and sharpening means for sharpening the grindstone, a robot body for grinder work, and A grindstone forming system, comprising: a control device for controlling; 2. A grindstone forming apparatus for processing a grindstone attached to a periphery of a robot body for grinder work, comprising: forming means for forming a shape of the grindstone; and forming the grindstone by the forming means. And a dressing means for dressing the grindstone; and a grindstone forming apparatus on the same base. 3. The grindstone forming apparatus according to claim 2, further comprising a reference for measuring a tool coordinate system of a tool attached to the robot body for grinder work. 4. The grinding wheel forming apparatus according to claim 3, further comprising a cleaning unit for cleaning the reference.