JPH11239909A - Deburring method and device thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To remove a burr completely regardless of size formed on a profile edge of a work in processing. SOLUTION: A first deburring tool 16 of a deburring device 10, a cutter face of which a first deburring tool is maintained by supporting members 12 and 13 at a predetermined distance (d) separated from a non-burr-formation area is moved relatively from the first deburring tool to a bur formation area of a work by an industrial robot and cuts and removes the bur except the burr lower than the predetermined height in the burr formation area. A cutter face of a second deburring tool is moved relatively from the second deburring tool to the burr formation area for the work by the industrial robot while bringing the second cutter face into contact with the burr formation area, and cuts and removes the burr lower than the predetermined height which is left by the first deburring tool. If necessary, a cutter face of a third deburring tool is moved relatively from the third deburring tool to the burr formation area for the work, while bringing the third deburring tool into contact with the burr formation area.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
The present invention relates to a deburring method and a deburring apparatus for removing burrs formed on a contour edge of a workpiece processed by broaching, punching or the like.

[0002]

2. Description of the Related Art When removing burrs formed on a contour edge of a workpiece machined by milling, broaching, punching, or the like, a deburring device mounted on an industrial robot is sometimes used.

In the prior art, when deburring is performed by a deburring device mounted on an industrial robot, the deburring device is attached to the deburring device so as to rotate and drive the conical carbide rotary bar. The conical surface of the conical carbide rotary river abuts against the contour edge of a workpiece on which burrs are formed so as to teach the deburring trajectory sent along the edge in advance.

Then, while rotating the carbide rotary bar, the industrial robot is operated and operated by operating the industrial robot as taught, and the conical surface of the rotating carbide rotary bar is formed by burrs. The workpiece is fed along the edge while being in contact with the edge of the contour of the workpiece to remove burrs.

[0005]

The burrs formed on the contour edge of the workpiece by milling, broaching, punching, etc., differ every time due to the sharpness of the tool, and have various sizes. Therefore, as in the above prior art,
When the deburring device equipped with a carbide rotary bar is sent by the operation of an industrial robot and deburring is performed, if the size of the burr is larger than expected, the burr is removed. In some cases, the removal of burrs may be incomplete.

[0006] Therefore, when a defective product is generated, it is necessary to refinish for incomplete removal of burrs.
An object of the present invention is to provide a burr removal without such incomplete removal of a burr.

[0007]

A deburring method according to the present invention performs relative feeding between a deburring tool and a workpiece forming area while a blade surface is separated from a burr-free area surface by a predetermined amount,
A first deburring step of cutting and removing burrs while leaving burrs of a predetermined height or less in the burring forming area, and contacting a blade surface with the burring forming area to relatively move a deburring tool and the burring forming area of the workpiece. And a second deburring step of cutting and removing burrs of a predetermined height or less left in the first deburring step, and further, if necessary, a second deburring step. The third deburring tool is brought into contact with the finished surface that has been deburred in the deburring process, and the relative deburring is performed between the third deburring tool and the deburring area of the workpiece. A third deburring step for smoothing is also included.

The deburring apparatus for performing the above-described deburring method includes a first deburring tool and a support portion for maintaining a cut surface of the first deburring tool at a predetermined distance from a non-burr forming surface. A first finishing deburring device actuated by an industrial robot so that the first deburring tool passes through the burr-forming region leaving a burr below the predetermined height in the burr-forming region; and a remaining predetermined height or less. A second deburring device is operated by an industrial robot so that the second deburring tool is in contact with the burr forming area and cuts along the burr forming area in order to cut and remove the burr.

When the third deburring step is also performed,
A third deburring tool operated by an industrial robot along the deburring area with a third deburring tool in contact with the deburring area after the second deburring to smooth the surface after deburring. Equipment.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A deburring apparatus for performing a deburring method according to an embodiment of the present invention will be described with reference to the drawings. The deburring apparatus according to the present invention is used by being mounted on an industrial robot A as shown in FIGS.

The industrial robot A has a swivel 2 on a base 1.
The first arm 3 has a second arm 4 at the tip of the first arm 3 so that the first arm 3 can rotate around the horizontal axis so that the first arm 3 can rotate around the horizontal axis. A wrist 5 is pivotally attached to the distal end of the second arm 4 so as to be rotatable around a horizontal axis so as to be rotatable around. As shown in FIG. 2, a tool mounting flange 6 is mounted on the distal end of the wrist 5 so as to be rotatable around its central axis L1. These rotations and rotations are driven by a well-known drive control mechanism of the robot. And the tool mounting flange 6
Is equipped with a deburring device.

In the first embodiment, three types of burrs, a deburring device 10 for rough finishing, a deburring device 20 for intermediate finishing, and a deburring device 30 for finishing, which are replaced and mounted on the tool mounting flange 6 as necessary. A take-off device is provided.

A deburring apparatus 10 for rough finishing (see FIG. 2)
Are fixed to the tool mounting flange 6 and extend in the radial direction of the tool mounting flange 6, and protrude from the substrate portion 11 fixed to the tool mounting flange 6 with the center axis L1 of the tool mounting flange 6 as the center axis. A support portion 12; a contact portion 13 rotatably mounted on a tip end portion of the support portion 12 around a central axis L1 via a bearing portion 13a; and a contact portion 13 having a contact surface 13b perpendicular to the central axis L1; The axis L2 of the output shaft is attached to the mounting member 14 whose position in the radial direction from the center axis L1 is adjustable at the tip end of the output shaft.
1 and a motor 15 mounted so as to be position-adjustable in the direction of the axis L2, and a rough-finish deburring tool 16 which is a cylindrical carbide rotary bar having a shank attached to the output shaft end of the motor 15. It is composed of

The floating mechanism 17 (see FIG. 3) is provided on the surface of the substrate 11 opposite to the column 12 instead of being directly fixed to the tool mounting flange 6 as described above. There is also a type in which the floating mechanism 17 is fixed to the tool mounting flange 6, that is, a type in which the substrate 11 is attached to the substrate 11 via the floating mechanism 17.

Deburring apparatus 20 for intermediate finishing (see FIG. 4)
Is a motor attached to the tip of the support arm 22 such that the axis L2 of the output shaft is perpendicular to the center axis L1. 23, and a semi-finishing deburring tool 24 which is a conical carbide rotary bar having a shank attached to the output shaft end of the motor 23.

The finishing deburring device 30 (see FIG. 5)
Similar to the deburring device 20 for medium finishing, the tool mounting flange 6
Arm 32 having a flange 31 fixed to the base at the base
And a motor 33 attached to the tip of the support arm 32 such that the axis L2 of the output shaft is perpendicular to the center axis L1.
And a brush-finished deburring tool 34 for radial flocking with a shank attached to the tip of the output shaft of the motor 33.

The deburring operation of the deburring apparatus of the first embodiment is performed as follows. Burrs are projected from the contour edge of the workpiece by milling, broaching, punching, or the like. As the workpiece, a gear formed by broaching is exemplified. (See Workpiece W in FIG. 7)

A burr is formed on a surface in one direction of pull-out at an edge portion where a contour surface such as a cut tooth surface of a gear, which is a workpiece W formed by broaching, and an end surface intersect. A reference surface S parallel to the surface of the workpiece W on which the burrs are not formed is formed in a central region of the surface on which the burrs are formed. The reference surface may be formed as a concave surface as shown in FIGS. 2 and 3, or may be a central surface where no burr is formed as shown in FIG.

In the deburring operation, the workpiece W is
The burrs are positioned and fixed on the table with the surface on which the burrs are not formed protruding downward, for example, with a three-jaw chuck. First,
At the time of rough finishing, the deburring device 10 for rough finishing is mounted on the tool mounting flange 6 of the wrist 5 of the industrial robot A. Rough deburring tool 1 of deburring device 10 for rough finishing
6 is selected so that its diameter covers the radial length of the burr forming area, and in the case of a workpiece W such as a gear, the diameter covers the tooth height.

At this time, the center axis L of the tool mounting flange 6
1 coincides with the center of the workpiece W, and the contact surface 13 of the contact portion 13
When b contacts the reference surface S, the rough finish deburring tool 1
6 is adjusted in advance in the radial direction of the motor 15 from the center axis L1 so that the tip end surface of the workpiece W coincides with the burr formation area of the workpiece W, and the tip end surface of the rough finish deburring tool 16 is The position of the motor 15 in the direction of the axis L2 is adjusted in advance so as to have a predetermined rough finish burr height d from the burr protrusion forming surface.

Then, the rough finishing deburring tool 16 is driven to rotate by the motor 15, and the center axis L1 of the tool mounting flange 6 is made to coincide with the center of the workpiece W by the operation of the industrial robot A. The contact surface 13b of the contact portion 13 is brought into contact with the reference surface S in the central area of the workpiece W. Next, the tool mounting flange 6 is moved to its center axis L1.
It is driven to rotate around.

Thus, the rough finish deburring tool 16 passes through the tooth portion of the gear, which is the burr formation area of the workpiece W, and the projected burr having a height D equal to or more than a predetermined height is rotated. The deburring tool 16 scrapes off to a predetermined rough finishing height d. (See Fig. 8 (1))

When the rough finish deburring is completed, the wrist 5 of the industrial robot A returns to its original position. As shown in FIG. 3, when the deburring apparatus 10 for rough finishing is provided with the floating mechanism 17, even if the fixed posture of the workpiece is inclined, the contact surface 13b of the contact portion 13 is not used. Since it is in a state of completely contacting the reference surface S of the object W, there is no problem in the rough finish deburring operation.

Next, at the time of semi-finishing, a semi-finish deburring device 20 is mounted on the tool mounting flange 6 of the wrist 5 of the industrial robot A instead of the rough finishing deburring device 10. The industrial robot A has a semi-finished deburring tool 24 at an edge where a contour surface such as a tooth surface of a gear, which is a workpiece W formed by broaching, intersects with an end surface.
The intermediate finishing trajectory (i.e., the trajectory following the contour of the tooth profile of the workpiece W, which is a gear), which is conveyed along the edge while the conical surface of the abutment is abutted, is previously taught by the operator.

Therefore, the intermediate finishing deburring tool 24 is rotationally driven by the motor 23, and the industrial robot A operates as taught by the operating operation of the industrial robot A, and the rotating intermediate finishing deburring tool 24 rotates. Is conveyed along the edge while being in contact with the edge formed by the burr, and the burr having the rough finish height d is completely removed by the intermediate finish deburring tool 24 A chamfer is performed together. (Refer to FIG. 8 (2).) When the semi-finished deburring is completed, the wrist 5 of the industrial robot A returns to the original position.

At the time of final finishing, a finishing deburring device 30 is mounted on the tool mounting flange 6 of the wrist 5 of the industrial robot A in place of the intermediate finishing deburring device 20. In the industrial robot A, the finishing trajectory to which the finishing deburring tool 34 is sent so that the outer peripheral surface of the finishing deburring tool 34 abuts and passes through the burr formation area on the side on which the burr protrudes is formed. Is taught by

Then, the finishing deburring tool 34 is rotationally driven by the motor 33, and the industrial robot A is operated as taught by operating the industrial robot A, and the outer periphery of the rotating finishing deburring tool 34 is rotated. The surface passes through the surface of the burr formation area in contact with the surface of the burr formation area, and the surface of the burr formation area after the intermediate finish is smoothed by the finish deburring tool 34. (Refer to FIG. 8 (3).) After finishing the deburring, the wrist 5 of the industrial robot A returns to the original position.

Deburring device 40 according to the second embodiment
As shown in FIG. 6, the turret head 41 is mounted on the tool mounting flange 6 of the wrist 5 of the industrial robot A. The turret head 41 has an axis L1 symmetrically with the center axis L1 of the tool mounting flange 6. L2, L3 orthogonal to
First motor 42 and second motor 43 driven to rotate around
A cylindrical rough finish deburring tool 44 similar to that of the first embodiment is mounted on the outward output shaft of the first motor 42, and the external output shaft of the second motor 43 is mounted on the outward output shaft of the second motor 43. First
The same semi-finished deburring tools 45 as in the case of the embodiment are mounted.

A semi-cylindrical stopper 46 cut in a plane parallel to the central axis L1 is attached to the first motor 42 so as to concentrically surround the rough finish deburring tool 44 as shown in FIG. The tip surface of the stopper 46 protrudes from the tip surface of the rough finishing deburring tool 44 by a predetermined amount d corresponding to a predetermined rough finishing burr height from the burr forming surface of the workpiece W.

The inner diameter of the semi-cylindrical stopper 46 is
It is sufficient that the tip surface of the semi-cylindrical stopper 46 does not touch the burr formation area when the tip surface of the rough finish deburring tool 44 passes through the burr formation area. As the finishing deburring tool, the same one as the finishing deburring device 30 in the first embodiment is used.

The deburring operation by the deburring apparatus of the second embodiment is performed as follows. Workpiece W is
It is positioned and fixed on the table as in the case of the first embodiment. First, in the case of rough finishing, the industrial robot A
The deburring device 40 is mounted on the tool mounting flange 6 of the wrist portion 5.

Then, the horizontal operation of the wrist 5 and the tool mounting flange 6,
That is, a predetermined indexing rotation of the turret head 41 is performed,
The rough-finished deburring tool 44 is positioned so that the front end surface thereof is opposed to and parallel to the burr formation area of the workpiece W.

The industrial robot A has a stopper 4 which faces the burr formation area on the surface of the work W on which the burr protrudes.
6 is in contact with the burr-free area of the surface of the workpiece W on which the burr protrudes, that is, the reference surface S, and the tip end surface of the rough finish deburring tool 16 has a semi-cylindrical stopper 46 opened. The rough finishing trajectory to which the rough finishing deburring tool 24 is fed so as to pass through the burr forming area in the direction (the arrow direction in FIG. 7) is previously taught by the operator. In addition,
When the stopper 46 does not contact the reference surface S but does contact the burr, the rough finish locus is taught so that the stopper 46 contacts the burr and performs the deburring again in the deburred area. .

Then, the rough finishing deburring tool 44 is rotationally driven by the motor 42, and the industrial robot A operates as taught by the operating operation of the industrial robot A, and the stopper 46 The burrs abut on the surface on the side where the burrs protrude and contact the non-burr forming area and the rough finish deburring area. , The burrs having a height D equal to or greater than a predetermined height are formed by the rotating rough finish deburring tool 44 to a predetermined rough finish height d. (See FIG. 8 (1).) When the rough finish deburring is completed, the wrist 5 of the industrial robot A returns to the original position.

Next, at the time of semi-finishing, the horizontal positioning of the wrist 5 and the predetermined indexing rotation of the tool mounting flange 6, ie, the turret head 41, are performed by the operation operation of the industrial robot A, and the intermediate finishing burr is formed. The picking tool 45 is the workpiece W
Is positioned so as to face the burr formation area. The semi-finished trajectory similar to the first embodiment is previously taught by the operator to the industrial robot A.

Then, the intermediate finishing deburring tool 45 is rotated by the motor 43, and the industrial robot A is operated as taught by the operating operation of the industrial robot A, and the rotating intermediate finishing deburring tool 45 is rotated. Is sent along the edge while being in contact with the edge formed by the burr, and the burr having the rough finish height d is completely removed by the intermediate finish deburring tool 45 . (Refer to FIG. 8 (2).) When the intermediate finish deburring is completed, the wrist 5 of the industrial robot A returns to the original position.

Finally, when finishing, the industrial robot A
The tool mounting flange 6 of the wrist part 5 has a deburring device 4
Instead of 0, the same deburring device 30 for finishing as in the first embodiment is mounted. The finishing trajectory similar to the first embodiment is previously taught by the operator to the industrial robot.

Then, the finishing deburring tool 34 is rotationally driven by the motor 33, and the industrial robot A is operated as taught by the operating operation of the industrial robot A, and the outer periphery of the rotating finishing deburring tool 34 is rotated. The surface passes through the surface of the burr formation area in contact with the surface of the burr formation area, and the surface of the burr formation area after the intermediate finish is smoothed by the finish deburring tool 34. (Refer to FIG. 8 (3).) After finishing the deburring, the wrist 5 of the industrial robot A returns to the original position.

[0039]

In the deburring method according to the present invention, even if the burrs generated at the time of forming the workpiece are not uniform, including those having an excessively large size due to the sharpness of the tool, the size of the burrs can be reduced. Since the conventional deburring is performed after setting the size to an appropriate size that enables complete deburring, complete deburring can be performed. The apparatus of the present invention makes it possible to easily adjust the size of burrs in such a deburring method.

[Brief description of the drawings]

FIG. 1 is a perspective view of an industrial robot equipped with a deburring device according to an embodiment of the present invention.

FIG. 2 is a front view of the rough finishing deburring apparatus according to the first embodiment of the present invention.

FIG. 3 is a front view of another type of rough finishing deburring device according to the first embodiment of the present invention.

FIG. 4 is a front view of the semifinishing deburring apparatus according to the first embodiment of the present invention.

FIG. 5 is a front view of the finishing deburring device according to the first embodiment of the present invention.

FIG. 6 is a front view of a deburring apparatus according to a second embodiment of the present invention.

FIG. 7 is an explanatory view of rough finish deburring of a deburring apparatus according to a second embodiment of the present invention.

FIG. 8 is an explanatory diagram of deburring in the embodiment of the present invention.

[Explanation of symbols]

Reference Signs List A Industrial Robot 1 Base 2 Swivel 3 First Arm 4 Second Arm 5 Wrist 6 Tool Mounting Flange 10 Deburring Device for Rough Finish 11 Board 12 Supporting Part 13 Contact Part 13a Bearing Part 13b Contact Surface 14 Mounting tool 15 Motor 16 Rough deburring tool 17 Floating mechanism part 20 Medium finishing deburring device 21 Flange part 22 Support arm part 23 Motor 24 Medium finishing deburring tool 30 Finishing deburring device 31 Flange part 32 Support arm part 33 Motor 34 Finishing deburring tool 40 Deburring device 41 Turret head 42 First motor 43 Second motor 44 Rough finishing deburring tool 45 Medium finishing deburring tool 46 Stopper

Claims (4)

[Claims] A relative feed is performed between a deburring tool and a burr forming area of a workpiece while a blade surface is separated from a burr forming area surface by a predetermined amount, and a burr having a predetermined height or less is formed in the burr forming area. A first deburring step of cutting and removing the remaining burrs, and performing relative feeding between the deburring tool and the burring area of the workpiece by bringing the blade surface into contact with the burring forming area; A deburring method comprising a second deburring step of cutting and removing a burr having a predetermined height or less. 2. A relative feed is performed between a first deburring tool and a burr forming area of a workpiece in a state in which a blade surface is separated by a predetermined amount from a burr non-forming area surface, and the burr forming area has a predetermined height or less. A first deburring step of cutting and removing the burrs while leaving the burrs, and performing a relative feed between the second deburring tool and the burrs forming area of the workpiece by bringing the blade surface into contact with the burrs forming area; The second to cut and remove burrs below a predetermined height left in the process
The third deburring tool is brought into contact with the finished surface deburred in the deburring step and the second deburring step, and the third deburring tool and the deburring area of the workpiece are relatively fed, (2) A deburring method including a third deburring step for smoothing the surface after the deburring step. 3. A deburring tool comprising: a first deburring tool; and a supporting portion for maintaining a blade surface of the first deburring tool at a predetermined distance from a non-burring area surface, wherein the first deburring tool has a predetermined height in a deburring area. A first deburring device operated by an industrial robot to pass through a burr forming area while leaving a burr below the height, and a second deburring tool for cutting and removing the remaining burr below a predetermined height. A deburring device comprising a second deburring device which is operated by an industrial robot so as to be along the burr formation region while being in contact with the region. 4. A deburring tool comprising: a first deburring tool; and a supporting portion for maintaining a blade surface of the first deburring tool at a predetermined distance from a deburring area, wherein the first deburring tool has a predetermined height in a deburring area. A first deburring device operated by an industrial robot so as to pass through the deburring area while leaving a burr below, and a second deburring tool for cutting and removing the remaining burr below a predetermined height. A second deburring device operated by an industrial robot along the burr formation area in a state where the second deburring is performed, and a third deburring tool for smoothing the surface after the deburring. A deburring device comprising a third deburring device which is operated by an industrial robot along the burr forming region in contact with the burr forming region.