JPH11267945A - Deburring device, deburring method, chamfering device and chamfering method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate the teaching to a robot by providing a control board having a regeneration control circuit for regenerating the stored content of a memory to control an industrial robot, a servo motor and an air pressure regulating valve. SOLUTION: A control board 5 teaches the proper direction and contact pressure of a deburring cutter 2 on the rotary table 11 of a contact pressure generating base 1 to a workpiece 7 simultaneously with the teaching to a robot 4, and stores this in a memory 8. In an actual work, the teaching for both the contact pressure generating base 1 and the robot 4 stored in the memory 8 are read to perform the control of the position and speed of the workpiece 7 by the robot 4, the position control of the rotary table 11 of the contact pressure generating base 1, the contact pressure control of the deburring cutter 2 to the workpiece 7 by an air pressure regulating valve 25, and the rotating speed control by the air pressure regulating valve 24 of the deburring cutter 2 through a regeneration control circuit 1 provided in the control board 5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and a method for removing burrs from small die-cast products and the like, and more particularly to a position, posture and movement suitable for processing by gripping a product (hereinafter referred to as "work"). The present invention relates to a deburring device and a deburring method, and a chamfering device and a chamfering method using an industrial robot that is taught at a speed and works in accordance with the teaching in a processing step.

[0002]

2. Description of the Related Art Conventionally, in small-scale mass-produced products such as die-cast products, burrs generated at joints of dies have been manually removed by hand using a hand tool.
In recent years, deburring work has been performed using an industrial robot. In such a deburring operation using an industrial robot, a gripper for gripping a work or a tool is attached to a joint part (hereinafter, referred to as a wrist) of the robot, and the robot is taught a work process of cutting off the work, and the robot is taught. The teaching contents are stored in a memory provided in the control device, and thereafter, the teaching contents in the memory are reproduced, and the wrist of the robot is moved to perform the deburring operation.

However, if the shape of the work is simple, such as a circle or a rectangle, the teaching to such a robot becomes relatively simple. However, a tool is attached to the end surface of a work having a complicated shape including a curved line. When performing operations such as continuous machining at the same time, it is necessary to rotate or tilt the work with respect to the tool (cutter), and it is necessary to move it along the curved machining line. The content is quite complex.

During machining, the contact pressure of the cutter with the workpiece is changed in accordance with the relative speed between the workpiece and the cutter, and the machining amount is kept constant so as not to add extra machining.
It is necessary to prevent the work from being damaged, but it is difficult to maintain the contact pressure appropriately. here,
FIGS. 5 (I) to 5 (V) show that the cutter side is fixed, the work is attached to a gripper attached to the wrist of the robot, and the robot is taught a work process of shaving off the work, and is stored in the memory of the robot. FIG. 9 shows an example of a working process in the case of performing the deburring work on the same plane by reproducing the teaching contents and moving the wrist of the robot.

In FIGS. 5 (I) to 5 (V), reference numeral 2 denotes a cutter and reference numeral 7 denotes a work.
A plane including a corner for removing the work 7 is shown, and reference numerals I to V indicate the sides of the edge where the deburring is performed, respectively. Here, the arc or the straight line is simply referred to as a side without distinction. F indicates the direction in which the force of the deburring cutter 2 acts on the work 7, and in this case, the direction is constant.

As shown in FIG. 5 (I), when the corner of the side I of the concave semicircle is cut (ie, the burrs are removed), the work 7
Is rotated about half a turn from the position of the dashed line to the position of the broken line in the figure. When the side II of the linear portion is cut, the posture shown in FIG. 5 (II) is set, and the work 7 is linearly moved from the position indicated by the solid line to the position indicated by the broken line. Next, when the corner of the side III of the straight line portion is cut, the posture shown in FIG.
Is linearly moved from the position indicated by the solid line to the position indicated by the broken line.
When the corner of the side IV of the straight portion is cut, the work 7 is linearly moved from the position indicated by the solid line to the position indicated by the broken line in the posture shown in FIG. Then, when the corner of the side V of the convex semicircle is finally cut, the posture shown in FIG. 5 (V) is reached, and the work 7 is rotated from the position indicated by the solid line to the position indicated by the broken line in the figure.

[0007] By performing such an operation, the burrs of the work 7 are removed. By the way, in addition to the above, for example, JP-A-4-300162 and JP-A-6-226624 disclose techniques relating to deburring work using a robot.

Among them, Japanese Patent Application Laid-Open No. 4-300162 discloses a method in which a deburring tool (belt sander) is held at a constant posture, and the posture of a workpiece is changed by a robot to form a required deburring posture. Also, there is disclosed a technique in which a pressing force of a tool is adjusted to be substantially constant by a mechanism provided on a tool side and which escapes in only one direction, thereby making a grinding amount of a flash substantially constant.

Japanese Unexamined Patent Publication No. 6-226624 discloses that a cutter is attached to a device which is slidable in one horizontal direction and has a float mechanism for generating a contact pressure by hydraulic pressure. There is disclosed a technique of pressing a cutter having a taper of a certain degree, rotating the work, and removing burrs while following the shape of the work.
Further, the cutter having the 45-degree tapered blade is rapidly worn out in terms of structure. As a solution to this problem, an apparatus having a similar configuration uses a cylindrical cutter to increase the effective area of the blade. An example of mounting diagonally to the mechanism of generation of
It is disclosed in JP-A-7-251360.

[0010]

However, in the conventional deburring apparatus, in order to apply a deburring tool to a corner of a side of a work having a complicated shape including a curved line at 45 degrees, it is necessary to use a cutter. On the other hand, it is necessary to rotate the work and tilt it, and move the processing line in a complicated wave shape on a curve, so with a conventional robot alone, specify the posture and position of the work,
There is a problem that teaching to control the cutting angle is very complicated and requires much labor and time.

Further, since the contact pressure of the cutter with respect to the workpiece is not changed in accordance with the relative speed between the workpiece and the cutter, the machining amount is kept constant so as not to add extra machining. However, it was insufficient to prevent the work from being damaged. Also, Japanese Patent Application Laid-Open No. 4-300
Even with the technique described in Japanese Patent Application Laid-Open No. 162, there is a problem that it cannot cope with a work having a complicated shape including a concave curve.

Further, in the techniques disclosed in JP-A-6-226624 and JP-A-7-251360, in processing a complicated curved surface or the like, the robot is taught or the posture of the robot wrist is switched during work. It takes time,
There is a problem that work efficiency is not good. The present invention has been made in view of such problems, and provides a deburring apparatus, a deburring method, and a chamfering apparatus and a chamfering method, which facilitate teaching to a robot and greatly improve work efficiency. The purpose is to do.

[0013]

According to the first aspect of the present invention, there is provided a deburring apparatus according to the present invention, wherein a deburring cutter is mounted and is rotatable in a horizontal plane. A deburring device having an industrial robot capable of changing the position and orientation of a contact pressure generator, comprising: a servomotor with an encoder that rotationally drives the contact pressure generating table; and a contact pressure generating air cylinder attached to the contact pressure generating table. A slider connected to the working end of the contact pressure generating air cylinder and sliding on the contact pressure generating table, a cutter table attached to the slider and supporting the deburring cutter, and the contact pressure generating air cylinder An air pressure adjusting valve for adjusting the back pressure of the work, a memory for teaching the industrial robot and storing the position, posture and moving speed of the work, and reproducing the stored contents of the memory to It is characterized in that is configured to include a control operation panel having a regeneration control circuit for controlling the work robot and the servo motor and the air pressure regulating valve.

According to a second aspect of the present invention, there is provided a deburring method according to the present invention, wherein a work is gripped by an industrial robot, and the industrial robot is remotely or directly taught to coarsely position, move, and contact pressure the work. The appropriate rotation angle position of the deburring cutter on the generating table is stored in the memory of the control device, and the operation of the industrial robot is controlled based on the teaching contents stored in the memory, so that the edge of the workpiece is Along with moving the work along, and rotating the contact pressure generating table by a predetermined amount, the deburring cutter is slid in the direction of the work, and the deburring cutter is moved with respect to a tangential direction of an edge of the work. The work is deburred by pressing the work against the deburring cutter while maintaining an appropriate contact pressure.

According to a third aspect of the present invention, there is provided a deburring method according to the present invention, wherein the contact pressure of the workpiece with the deburring cutter is controlled by the contact pressure between the workpiece and the deburring cutter. It is characterized in that the pressure is adjusted in accordance with the relative speed to make the deburring amount uniform. According to a fourth aspect of the present invention, a deburring device of the present invention is provided on the slider in place of the cutter table described in the first aspect and is orthogonal to the operating direction of the contact pressure generating air cylinder. A first horizontal axis disposed horizontally in the direction of movement, a first arm rotatably supported by the first horizontal axis, and a first arm provided on a free end side of the first arm. A cutter holder including a second horizontal axis disposed in parallel with the horizontal axis of the second arm and a second arm rotatably supported by the second horizontal axis;
The deburring cutter is attached to the free end side of the second arm, and the tilt angle and position of the deburring cutter can be changed by rotating and driving the first and second arms, respectively. It is characterized by being constituted.

According to a fifth aspect of the present invention, there is provided a chamfering apparatus, wherein a chamfering tool is provided instead of the deburring cutter according to the first or fourth aspect. A chamfering method according to a sixth aspect of the present invention is characterized in that a chamfering tool is provided in place of the deburring cutter according to the second or third aspect, and the workpiece is chamfered by the chamfering tool. And

[0017]

Embodiments of the present invention will be described below with reference to the drawings. (A) Description of First Embodiment First, a first embodiment of the present invention will be described with reference to FIG. 1. FIG. 1 is a schematic overall side view showing a deburring apparatus according to the first embodiment of the present invention. It is.

In FIG. 1, reference numeral 1 denotes a contact pressure generating table.
The contact pressure generating table 1 includes a rotary table 11, a servomotor 18 for driving the rotary table 11 mounted on a base 17 via a pinion 19 and a gear 21, and an end of an operating shaft 13 of an air cylinder 12. And a slider 14 that slides on a rail 16 provided on the contact pressure generating table 1.

An air cylinder 12 for generating a contact pressure F for generating a contact pressure F is attached to the turntable 11. The turntable 11 is provided with a shaft 11a, and is rotatably supported on a base 17 via bearings 22 and 23 in a horizontal plane. The cutter base 3 is attached to the slider 14, and the deburring cutter 2 is supported by the cutter base 3. Note that the two-dot chain line shown in the figure shows the state when the slider 14 moves on the turntable 11.

In the air cylinder 12, a piston return spring 12a is provided. Here, the spring constant of the piston return spring 12a is a spring constant that does not affect the contact pressure F. As shown in the figure, the servo motor 18 has an encoder 20 for detecting a rotation angle position.
Is attached. When the rotation angle position of the servo motor 18 is detected by the encoder 20, this information is sent to the control operation panel 5 via the signal wiring 27 ', and the control operation panel 5 rotates based on the detected information. The rotation angle position of the table 11 is detected. Then, in the control operation panel 5, the servo motor 1
8, a feedback signal is output to control the rotation angle position of the turntable 11.

On the other hand, an air pressure regulating valve (PCV) 25 and an air pipe 26 are connected to the air cylinder 12, and a control signal from the control operation panel 5 is connected to the air pressure regulating valve 25 via a wiring 28. Is entered.
The air pressure adjusting valve 25 is controlled based on the control signal, and the back pressure of the air cylinder 12 is adjusted. Accordingly, even when the cutter base 3 is sliding on the slider 14 during operation of the deburring device, the contact pressure of the deburring cutter 2 with respect to the workpiece 7 in the direction indicated by the arrow F in the drawing is optimal. The pressure is maintained. The slider 14 that slides on the rail 16 is provided with a linear bearing 15 in order to minimize frictional resistance on the rail 16.

The deburring cutter 2 is a cutter operated by air pressure. The deburring cutter 2 is connected to an air pressure adjusting valve (PCV) 24 and an air pipe 24a. Then, a control signal is input from the control panel 5 to the air pressure adjusting valve 24 via the wiring 39, and the rotation of the deburring cutter 2 is controlled based on the control signal. Note that the deburring cutter 2 is not limited to the above-described one, and an electric cutter that controls the rotating torque and the number of rotations with current may be applied.

Reference numeral 4 denotes an industrial articulated robot which is taught and controlled through the control operation panel 5. Reference numeral 29 denotes a plurality of motors (not shown) attached to each joint of the robot 4.
Is a signal wiring for transmitting a signal of an encoder (not shown) for detecting the rotation of the motor of each joint of the robot 4 to the control operation panel 5. In addition, a hand 6 is provided at the foremost portion of the robot 4, and a workpiece 7 is gripped by the hand 6.

When teaching the robot 4, the position and the moving speed of the work 7 are stored in the memory 8 of the control operation panel 5, and in the step of deburring the work 7, the data of the memory 8 are stored. The operation of the robot 4 is controlled based on this. Note that, instead of the articulated robot 4, an orthogonal axis traveling type robot 40 as shown in FIG.
(This will be described later), and teaching and control can be performed in the same manner. However, in this case, the work 7 needs to have a structure that can be inclined with respect to the horizontal plane.

The control panel 5 has a deburring cutter 2 on the rotary table 11 of the contact pressure generating table 1 at the same time as the teaching of the robot 4.
Is taught an appropriate direction of contact with the work 7 and a contact pressure, and this is stored in the memory 8. Also, during actual work, the teaching contents of both the contact pressure generating table 1 and the robot 4 stored in the memory 8 are read out, and the position and speed of the work 7 by the robot 4 are determined via a reproduction control circuit (not shown). Control, rotating table 11 of contact pressure generating table 1
And the control of the contact pressure and the rotation speed of the deburring cutter 2 are performed.

Since the deburring apparatus according to the first embodiment of the present invention is constructed as described above, the contact pressure generating table 1 on which the deburring cutter 2 is mounted, the robot 4 and the control operation panel 5 are connected. The deburring method using the combined deburring device will be described below. First,
The work 7 is gripped by the hand 6 of the robot 4 in advance,
The remote teaching or direct teaching of the robot 4 is performed, and the rough position and the moving speed of the work 7 and the appropriate rotation angle position of the deburring cutter 2 on the contact pressure generating table 1 are stored in the memory 8 of the control operation panel 5.

In the machining process, the operation of the robot 4 is controlled based on the data in the memory 8 to move the work 7 along the side (edge) of the joint of the mold of the work 7 and to make contact with the work 7. The rotating table 11 of the pressure generating table 1 is rotated, and the deburring cutter 2 on the rotating table 11 is slid in the direction of the work 7 so that the deburring cutter 2 contacts the direction perpendicular to the tangential direction of the edge of the work 7. Contact

At this time, the contact pressure generating air cylinder 12
The contact pressure F is adjusted to an appropriate value in accordance with the relative speed between the deburring cutter 2 and the work 7 by controlling the air pressure of the deburring cutter 2, and the operation is controlled so as to make the deburring amount uniform. Further, since the deburring cutter 2 is slid in the direction of the work 7 while maintaining the appropriate contact pressure F as described above, the deburring cutter 2 can be moved to the work 7 even if the teaching position of the work 7 is slightly shifted. The workpiece 7 can be deburred with the required contact pressure F. The rotation speed of the blade of the deburring cutter 2 is also taught as needed, and is controlled to an appropriate value.

FIG. 4 is a diagram showing an example of the relative positions of the workpiece 7 and the deburring cutter 2 during the deburring operation process. FIG. 4 (I) shows a step of shaving the corner of the edge of the concave semicircular arc of the work 7. In this step, the work 7 goes straight in the direction shown by the arrow (downward in the figure), and deburrs one-sidedly. The turntable 11 on which the cutter 2 is mounted rotates in the direction of the arrow (counterclockwise in the figure), and the contact pressure F acts in the direction indicated by the large arrow.

FIGS. 4 (II) to 4 (IV) show a process of shaving the corners of a straight side. In this case, the work 7 moves on the straight line and the burrs of the work 7 are removed. Further, the turntable 11 of the deburring cutter 2 rotates in a direction perpendicular to each side in a direction in which the contact pressure F acts. FIG. 4 (V) shows a process of shaving the corners of the convex semi-circular arc of the work 7. The work 7 moves straight in the direction indicated by the arrow (upward in the figure), and the turntable 11 on which the deburring cutter 2 is placed. Rotates in the direction of the arrow (clockwise in the figure)
The contact pressure F acts in the direction indicated by the large arrow.

As described above, the contact pressure F is given by the air pressure in the air cylinder 12. The air pressure is determined by the optimum contact pressure with respect to the relative speed of the deburring cutter 2 for shaving the corner of the work 7. In addition, the memory 8 of the control operation panel 5 is taught so that the cutting rotation speed of the deburring cutter 2 is the optimum rotation speed, and these are also taught during the working process.

As described in detail above, in the deburring apparatus and the deburring method according to the first embodiment, the work 7 moves only in parallel, and its posture direction does not change. Compared to the complicated work process of the deburring device using the robot device, less manpower is required for teaching, and because the posture control is simple, the time for posture conversion is also short, and the work process, work time and Is greatly reduced.

Further, since the contact pressure can also be varied as required by the control operation panel 5, it is possible to adjust the cutting amount and change the cutting speed, thereby improving the working efficiency. There is. Furthermore, by adjusting the contact pressure F to an appropriate value corresponding to the relative speed between the deburring cutter 2 and the workpiece 7, the deburring amount can be made uniform and the finishing quality of the workpiece 7 is improved. There is an advantage of doing so. (B) Description of Second Embodiment Next, a second embodiment of the present invention will be described with reference to FIG. 2. FIG. 2 is a schematic overall side view showing a deburring apparatus according to a second embodiment of the present invention. FIG.

In FIG. 2, reference numeral 1 denotes a contact pressure generating stage similar to that described in the first embodiment, and its structure is substantially the same as that of the first embodiment, and a detailed description thereof will be omitted. A cutter holder 30 is mounted on the slider 14 of the contact pressure generating table 1. The cutter holder 30 includes the slider 1
4, a first horizontal shaft 36 fixed to the mounting base 31 and arranged in a direction perpendicular to the moving direction of the slider 14, and the first horizontal shaft 36. A first arm 32 rotatably supported and rotationally driven by a rotary actuator 34, a second horizontal shaft 37 fixed to the free end side of the first arm 32 in parallel with the first horizontal shaft 36. , A second arm 33 rotatably supported by a second horizontal shaft 37 and rotationally driven by a rotary actuator 35. The deburring cutter 2 is provided on the free end side of the second arm 33. Is attached.

Then, the first arm 32 is rotated about the first horizontal axis 36 by the first rotary actuator 34, and the second arm 33 is rotated about the second horizontal axis 37 by the second rotary actuator 35. By rotating,
The inclination angle of the deburring cutter 2 can be freely changed with respect to a vertical plane and a horizontal plane perpendicular to the sliding direction of the deburring cutter 2.

In FIG. 2, the solid line indicates the deburring cutter 2.
An example of a state in which the position of the cutting edge is aligned with the rotation center line of the contact pressure generating table 1, the angle of the deburring cutter 2 is inclined upward and leftward by 45 degrees in the figure, and the lower corner of the horizontally gripped work 7 is scraped off. The two-dot chain line indicates the position of the cutting edge of the deburring cutter 2 at the center of rotation of the contact pressure generating table 1, and the angle of the deburring cutter 2 is inclined rightward and upward by 45 degrees in the drawing to indicate that the workpiece 7 is held horizontally. An example of a state in which the upper corner is scraped off is shown. Incidentally, 52 and 53 are control operation panels 50, respectively.
And electric wiring for sending a drive current from the actuator to the rotary actuators 35 and 34.

The deburring cutter 2 shown in FIG. 2 is a deburring cutter operated by air pressure.
The air pressure adjusting valve 24 is controlled based on a control signal inputted from the line 0 through the wiring 39.
Although the speed of the deburring cutter 2 is controlled by the air pressure adjusted by the pressure changer 4, the deburring cutter 2 is not limited to the above-described one. An electric cutter for controlling the number and the current by a current may be applied.

On the other hand, reference numeral 40 denotes an orthogonal axis traveling type robot;
Reference numeral 58 denotes a control operation panel for teaching and controlling the contact pressure generating table 1 and the robot 40;
Is a memory for storing the data of the contents taught in (1). 51
Is a current wiring connected to a motor (not shown) attached to a traveling arm of the robot 40, and 51 'is a rotation angle (that is, a position of the traveling arm) of a driving motor (not shown) of the traveling arm of the robot 40. This is a signal wiring for transmitting a signal of an encoder (not shown) to be detected to the control operation panel 50.

At the forefront of the movement of the robot 40, the hand 4
The workpiece 41 is held by the hand 41. When teaching the robot 40, the position and the moving speed of the work 7 are controlled by the control operation panel 5.
In the process of deburring the work 7 by storing it in the memory 58 of the “0”, the robot 40 is controlled based on the data of the memory 58.

It should be noted that the articulated robot 4 (see FIG. 1) described in the first embodiment may be used instead of the orthogonal axis traveling type robot 40, and teaching and control may be performed in the same manner. In this case, the hand only needs to be able to grip the work 7 horizontally downward, and does not need to be inclined with respect to the rotation axis 11 a of the turntable 11. At the same time as teaching to the robot 40, the control operation panel 50 controls the deburring cutter 2 gripped by the cutter holder 30 on the rotary table 11 of the contact pressure generating table 1 in an appropriate direction when it comes into contact with the workpiece 7. The tilt angle and contact pressure are taught and stored in memory 58. Then, at the time of actual work, the memory 58
Are read out, and the robot 40 controls the position and speed of the work 7, the position control of the turntable 11, the control of the contact pressure F, and the deburring cutter 2 via a reproduction control circuit (not shown). Is performed.

Since the deburring apparatus according to the second embodiment of the present invention is configured as described above, the contact pressure generating table 1, the cutter holder 30, the robot 40, and the control operation panel 50 are combined. A deburring method using a deburring device will be described below. First, the work 7 is gripped by the hand 41 of the robot 40 in advance, and the robot 40
Teaching or remote teaching of the cutter holder 3 on the rough position and moving speed of the workpiece 7 and the contact pressure generating table 1
The appropriate rotation angle position of the deburring cutter 2 held at 0 is stored in the memory 58 of the control operation panel 50.

Then, in the processing step, the deburring cutter 2 is tilted at 45 degrees, and the workpiece 7 held by the hand 41 is tilted.
While maintaining the horizontal position, the robot 40 is controlled based on the data in the memory 58 to move the work 7 so that the deburring cutter 2 contacts the edge of the joint of the mold of the work 7. , The rotary table 11 is rotated, and the deburring cutter 2 is slid in the
The deburring cutter 2 is abutted from a direction perpendicular to the tangential direction of the edge of the edge. At this time, by adjusting the air pressure of the contact pressure generating air cylinder 12, the contact pressure F is adjusted to an appropriate contact pressure corresponding to the relative speed with the deburring cutter 2, and the deburring amount is made uniform.

Further, since the deburring cutter 2 is slid in the direction of the work 7 while maintaining the contact pressure F as described above, even if the teaching position of the work 7 is slightly shifted, the deburring cutter 2 is required. The work 7 can be deburred with the contact pressure. The number of rotations of the blade of the deburring cutter 2 is also taught and controlled as needed. Note that the relative positional relationship between the workpiece 7 and the deburring cutter 2 during the deburring operation process of the second embodiment is the same as the example of FIG. 4 described in the first embodiment, and will be described in order to avoid duplication. Is omitted.

As described above, the contact pressure F is given by the air pressure in the air cylinder 12, and the air pressure is applied with the optimum contact pressure with respect to the relative speed of the deburring cutter 2 for shaving the corner of the work 7. As described above, the memory 58 of the control console 50 is taught. Similarly, the cutting rotational speed of the deburring cutter 2 is also taught in the memory 58 of the control operation panel 50, and these are adjusted during the working process. As described above in detail, even with the combination of the contact pressure generating table 1, the cutter holder 30, and the robot 40 according to the second embodiment, the posture of the work 7 is changed only by moving in parallel in the horizontal direction and the vertical direction. In comparison with the complicated work process of the conventional deburring device shown in FIG. 5, less manpower is required for teaching, and since the posture control is simple, the time required for the posture conversion is short. Work time can be greatly reduced.

Also, the contact pressure F can be varied as needed by the control operation panel 50, so that the cutting amount can be adjusted and the cutting speed can be optimally selected, thereby improving the working efficiency. There is an advantage. Further, since the inclination angle of the deburring cutter 2 attached to the cutter holder 30 on the contact pressure generating table 1 can be arbitrarily changed,
The deburring operation can be performed only by moving the work 7 in parallel with the hand 41 of the robot 40 facing downward. In this case, the position teaching of the work 7 may be coarse, and in particular, remote teaching in which the position is indicated by numerical values on rectangular coordinates is suitable. (C) Description of Third Embodiment Next, a third embodiment of the present invention will be described with reference to FIG. 3. FIG. 3 is a schematic overall side view showing a chamfering device according to a third embodiment of the present invention. It is.

The chamfering apparatus according to the third embodiment differs from the deburring apparatus according to the second embodiment in that a chamfering tool 46 is mounted in place of the deburring cutter 2 to perform chamfering of a workpiece 47. Things. As shown in FIG. 3, the configuration and operation of the apparatus are all the same as those of the deburring apparatus of the second embodiment except for the above-described chamfering tool 46, and therefore, detailed description other than the parts different in configuration is omitted. . In this case, the cutter holder 30 functions as a chamfering tool attaching member (or a chamfering tool holder) for attaching the chamfering tool 46.

In FIG. 3, the solid line indicates the position of the cutting edge of the chamfering tool 46 at the rotation center line of the contact pressure generating table 1 and the angle of the chamfering tool 46 is inclined leftward and upward by 45 degrees in FIG. Shows a state in which the lower corner of the work 47 gripped horizontally is chamfered, and the two-dot chain line
The position of the edge of the chamfering tool 46 is aligned with the center of rotation of the contact pressure generating table 1, and the angle of the chamfering tool 46 is set to 45
A state is shown in which the upper corner of the horizontally held work 47 'is chamfered at an angle.

At the time of chamfering work 47,
Teach the robot 40 remotely or directly,
The rough position and the moving speed of the work 47 and the appropriate rotation angle position of the chamfering tool 46 held by the cutter holder 30 on the contact pressure generating table 1 are stored in the memory 58 of the control operation panel 50. In the machining process, first, the deburring chamfering tool 46 is set to the position shown by the solid line, and the robot 40 is controlled based on the data in the memory 58 while the work 47 held by the hand 41 of the robot 40 is kept horizontal. Then, the work 47 is moved so that the chamfering tool 46 contacts along the chamfer angle of the work 47,
Is rotated, and the chamfering tool 46 is slid in the direction of the workpiece 47 so as to abut on the edge of the workpiece 47 at right angles to the tangential direction.

Then, by adjusting the air pressure of the contact pressure generating air cylinder 12, the contact pressure F is adjusted to an appropriate contact pressure corresponding to the relative speed with the chamfering tool 46, so that the chamfering amounts are equalized. Control. Next, the chamfering tool 46
Is changed to the position indicated by the two-dot chain line, the robot 40 is operated to lower the work 47 to the position indicated by the two-dot chain line (the work at this time is indicated by reference numeral 47 '), and the memory 58 of the same teaching is used. By performing the same control as above,
The corners of the upper and lower edges of the work 47 can be chamfered at 45 degrees.

While maintaining the appropriate contact pressure as described above,
Since the chamfering tool 46 is slid in the direction of the work 47, even if the teaching position of the work 47 is slightly shifted, the chamfering tool 46 can be brought into contact with the work 47 with an appropriate contact pressure, The work 47 can be chamfered. The number of rotations of the blade of the chamfering tool 46 is also taught as necessary, and is controlled by the teaching contents.

Since the chamfering device according to the third embodiment of the present invention is configured as described above, a chamfering method using the chamfering device is substantially the same as the deburring method of the second embodiment. It will be. The relative position between the workpiece 47 and the chamfering tool 46 is completely the same as that described above by replacing the deburring cutter 2 with the chamfering tool 46 and the workpiece 7 with the workpiece 47 in FIG. 4 used in the first embodiment. Since this is the same, the description will be omitted for avoiding duplication.

As described above, the robot 40 has the advantage that the upper and lower surfaces of the workpiece 7 can be the same or the same, because the robot 40 can perform the upper and lower chamfering work of the machined workpiece 47 without changing the attitude of gripping the workpiece 47. If symmetric,
The taught data memory can be shared, and there is an advantage that work efficiency is improved. In the third embodiment, the second
In the deburring apparatus and the deburring method described in the embodiment, the example in which the chamfering tool 46 is provided instead of the deburring cutter 2 has been described, but in addition to this, in the deburring apparatus and the deburring method of the first embodiment, A chamfering tool 46 may be provided in place of the deburring cutter 2 for implementation. In this case, the cutter table 3 functions as a chamfering tool mounting table.

Further, the present chamfering apparatus and the chamfering method are not limited to the above-described configuration, but include a combination of the cutter table 3 of the first embodiment and the robot 40 of the second embodiment, and a second embodiment. Needless to say, the present invention can be applied to a combination of the cutter holder 30 of the embodiment and the robot 4 of the first embodiment. (D) Others The deburring device and chamfering device of the present invention are not limited to the configurations of the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention. For example, the means for linearly moving the deburring cutter 2 or the chamfering tool 46 on the contact pressure generating table 1 is not limited to the contact pressure generating air cylinder 12 described above.
Driving means for an electric motor or a hydraulic cylinder may be applied. In addition, besides this, the deburring cutter 2 or the chamfering tool 46 may be controlled based on control signals from the control operation panels 5 and 50.
Can be sufficiently substituted as long as it is moved.

Further, the servo motor 18 does not necessarily need to be provided with the encoder 20.
A sensor for detecting the rotational position of the contact pressure generating table 1 may be separately provided. Further, the function of the slider 14 may be added to the cutter base 3 and the cutter holder 30, and the independent slider 14 may not be provided.

[0055]

As described above in detail, in the deburring apparatus according to the first aspect of the present invention, the industrial operation robot is taught to store the position, posture and moving speed of the work in the memory, and the control operation panel is operated. The contents stored in the memory are reproduced using the reproduction control circuit described above, and the industrial robot holding the work, the servomotor, and the air pressure adjusting valve are controlled. As a result, the position and orientation of the work are changed, the contact pressure generating table is driven to rotate by a predetermined angle, and the back pressure of the contact pressure generating air cylinder is controlled so that the contact pressure between the deburring cutter and the work is reduced. Is controlled. As described above, according to the present apparatus, the direction of the contact pressure can be changed by rotating the contact pressure generating table, so that the work only needs to move on a straight line in a certain direction. Teaching and controlling the robot in synchronization with the timing makes it easy to teach the robot whether it is remote teaching or direct teaching, and has the advantage of greatly reducing the labor and time required for teaching. .

In addition, since the operation of the industrial robot and the contact pressure generating table is cooperated to create a posture suitable for machining, the teaching and work in machining a complicated curved surface or the like can be performed.
There is almost no need to change the posture of the industrial robot in a complicated manner, which reduces the working time and also has the advantages of greatly improving the working efficiency. In addition, the contact pressure between the deburring cutter and the workpiece can be made variable as needed by the control operation panel, so that the adjustment of the cutting amount and the selection range of the cutting speed are widened, and the working efficiency is improved. There is.

Further, in the deburring method of the present invention, the work is gripped by the industrial robot, and the industrial robot is remotely or directly taught, so that the rough position, the moving speed, and the contact pressure generating stage of the work are obtained. The appropriate rotation angle position of the upper deburring cutter is stored in the memory of the control device, and the operation of the industrial robot is controlled based on the teaching content stored in the memory to move the work along the edge of the work. Also, rotate the contact pressure generator to slide the deburring cutter in the direction of the workpiece, and then contact the deburring cutter at right angles to the tangential direction of the edge of the workpiece to remove the deburring while maintaining the appropriate contact pressure. The work is pressed against the cutter to remove the work. Therefore, there is an advantage that it is only necessary to move the work on a straight line, and the teaching to the industrial robot can be easily performed by the remote teaching or the direct teaching. There is also an advantage that time can be greatly reduced and work efficiency is greatly improved.

In the deburring method according to the present invention, the contact pressure of the workpiece with the deburring cutter is adjusted according to the relative speed between the workpiece and the deburring cutter. It can be adjusted to a certain amount, and the finish quality of the work is improved. Further, in the deburring method of the present invention described in claim 4, by providing a cutter holder for changing the inclination angle and the position of the deburring cutter in place of the cutter base described in claim 1, teaching and control for the work are further improved. It has the advantage of being easier. In particular, since the operation of the industrial robot is only parallel movement in the horizontal direction and the vertical direction, the posture control is relatively easy. Further, the time required for the posture change becomes short, and the work process and the work time can be greatly reduced.

Further, in the chamfering device according to the present invention, the work is chamfered by a chamfering tool provided in place of the deburring cutter.
In addition to the advantage that the deburring device described in the fourth or fourth aspect can be applied substantially as it is, there is the same advantage as that of the above-described first or fourth aspect.

In the chamfering method according to the present invention, a chamfering tool is provided instead of the deburring cutter, and the workpiece is chamfered by the chamfering tool. In addition to the advantage that the deburring method described in the third aspect can be applied as it is to perform the chamfering process, it has the same advantages as the deburring method described in the second or third aspect.

[Brief description of the drawings]

FIG. 1 is a schematic side view showing an entire configuration of a deburring apparatus according to a first embodiment of the present invention.

FIG. 2 is a schematic side view illustrating an entire configuration of a deburring apparatus according to a second embodiment of the present invention.

FIG. 3 is a schematic side view illustrating an entire configuration of a chamfering device according to a third embodiment of the present invention.

FIGS. 4 (I) to (V) are diagrams for explaining the operation of the deburring device or the chamfering device according to the first to third embodiments of the present invention.

5 (I) to (V) are diagrams for explaining the operation of a conventional deburring apparatus.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Contact pressure generation table 2 Deburring cutter 3 Cutter table 4 Articulated robot (industrial robot) 5 Control operation panel 6 Hand 7 Work 8 Memory 11 Rotary table 12 Contact pressure generation air cylinder 14 Slider 17 Base 18 Servo motor 20 Encoder 25 Air pressure adjusting valve 30 Cutter holder 31 Mounting base 32 First arm 33 Second arm 34, 35 Rotary actuator 36 First horizontal axis 37 Second horizontal axis 40 Orthogonal axis traveling robot (industrial robot) 46 Chamfering tool 47 Workpiece 50 Control operation panel 58 Memory

Claims (6)

[Claims] 1. A deburring apparatus comprising: a contact pressure generating table to which a deburring cutter is attached and rotatable in a horizontal plane; and an industrial robot capable of gripping a work and changing the position and posture of the work. A servomotor with an encoder for rotationally driving the contact pressure generating table; an air cylinder for generating contact pressure mounted on the contact pressure generating table; and a contact pressure generating table connected to an operating end of the contact pressure generating air cylinder. Teaches a slider that slides above, a cutter base attached to the slider to support the deburring cutter, an air pressure adjusting valve that adjusts the back pressure of the contact pressure generating air cylinder, and the industrial robot. A memory for storing the position, posture, and moving speed of the work; and reproducing the stored contents of the memory to control the industrial robot, the servomotor, and the air pressure adjusting valve. Characterized in that it is configured to include a control operation panel having a regeneration control circuit, deburring device. 2. An industrial robot grips a work, and the industrial robot is remotely or directly taught to provide a rough position and a moving speed of the work and an appropriate rotation angle position of a deburring cutter on a contact pressure generating table. Is stored in the memory of the control device, and based on the teaching contents stored in the memory, the operation of the industrial robot is controlled to move the work along the edge of the work, and to generate the contact pressure. After rotating the platform by a predetermined amount, the deburring cutter is slid in the direction of the work, and the deburring cutter is brought into contact with the tangential direction of the edge of the work at a right angle to maintain an appropriate contact pressure. A deburring method, wherein the workpiece is pressed against the deburring cutter to remove the workpiece. 3. The deburring amount according to claim 2, wherein the contact pressure of the workpiece with the deburring cutter is adjusted in accordance with the relative speed between the workpiece and the deburring cutter to equalize the deburring amount. Deburring method. 4. A first mounting member mounted on said slider and horizontally disposed in a direction orthogonal to an operating direction of said contact pressure generating air cylinder in place of said cutter base.
A first arm rotatably supported by the first horizontal axis, and a first arm provided on the free end side of the first arm and disposed in parallel with the first horizontal axis. A cutter holder comprising a second horizontal shaft and a second arm rotatably supported by the second horizontal shaft, and the deburring cutter attached to the free end side of the second arm; 2. The apparatus according to claim 1, wherein said first and second arms are driven to rotate to change the inclination angle and position of said deburring cutter.
The deburring device as described. 5. A chamfering device, comprising a chamfering tool in place of the deburring cutter according to claim 1. 6. A chamfering method, characterized in that a chamfering tool is provided in place of the deburring cutter according to claim 2 or 3, and the work is chamfered by the chamfering tool.