JPH11277334A - Elastic chamfering tool with guide - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably and efficiently machine the various kinds of chamfering by reducing contact resistance with a workpiece. SOLUTION: The position of a plane guide roller 1 is adjusted by an adjusting stopper 26. Cutting resistance with respect to a side surface guide roller 2 is set up based on both air pressure within a cylinder bracket with respect to the plane guide roller 1 and the inner force sensor of a robot. Air is fed through an air feeding hole 25, a motor is thereby rotated, and subsequently, an arbor, a round chamfering throwaway tip, and the guide roller 2 are thereby rotated respectively, so that chamfering for workpiece is thereby processed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tool for processing a workpiece by being gripped by a robot.
The present invention relates to an elastic chamfering tool with a guide for chamfering according to the shape of a workpiece.

[0002]

2. Description of the Related Art Conventionally, in order to perform a chamfering process by causing a robot to hold a chamfering tool, in principle, a program and a tool for the robot are required. However, if the shape of the processing material is the material surface and the dimensions of the processing location vary slightly, a processing method that has high rigidity and slides the processing track accurately, such as a machine tool, has a large chamfer size and uneven quality. Was not stable. Therefore, in order to compensate for this, the robot checks the shape and dimensions with the touch sensor when there are large variations in the dimensions of the processing material, and when there is little variation in the dimensions of the processing material, Use elasticity or appropriate elasticity for tools used, or
In general, stable chamfering is performed by using the elasticity and the guide method of only one side in the side direction of the work material so as to follow the shape variation of the work surface.

The purpose of using the elastic technique is to control the cutting resistance generated at the time of machining to obtain a stable machined surface. Methods for intentionally generating this elasticity include springs such as coils and springs, air, elastic resin,
There are blade tools elasticity and the like, and when these are adopted, a method suitable for the purpose is used in combination. However, only the elastic body has a limited control range such as an elastic width and a feed speed, and a method combined with an electric control or a guide system is being adopted.

A conventional chamfering tool used for a robot will be described with reference to FIGS. The chamfering tool shown in FIG. 8A is a chamfering tool that combines the elastic effect of the damper 30 and the side guide rollers 2 and the guide plate 41, and replaces the round chamfering throw-away tip 5 with a throw-away tip 42 shown in FIG. By doing so, a 45 ° chamfer is possible. By adjusting the guide plate 41 up and down, the dimension between the cutting edge and the processing location has been adjusted. FIG.
The chamfering tool shown in (A) has a total of eight dampers 30 at the connection between the upper plate 11 and the middle plate 12 as an elastic function, and further has a round chamfering cutter 43;
The elastic effect is enhanced by making the shank portion of each tool of the 45 ° chamfering cutter 44 shown in FIG.

[0005]

However, since the chamfering tool shown in FIG. 9 has insufficient elasticity, chatter sometimes occurs on the machined surface. Further, in the chamfering tool shown in FIG. 8, the contact resistance between the guide plate 41 and the machined surface is large, and the function as a guide is not exhibited. Improvements such as pasting were not so good as a result, and there were problems such as high contact resistance. Using a conventional chamfering tool, a 45 ° chamfering of a work material whose material shape is slightly unbalanced requires an elastic function if the material shape changes as long as the blade width is within the processing range. Although there is some angle error, processing can be performed without any problem in quality. However, in the round chamfering, the apex of the work material and the processing point of the cutting edge are displaced in a three-dimensional direction due to elasticity, and thus are not always appropriate.

Conventionally, a spring or an elastic resin has been employed as an elastic material from the viewpoint of economy and structure. For this reason, the tool is inclined in the direction in which the elasticity of the tool is weaker during elastic deformation, and it is difficult to control the tool stably. For advanced operations such as round chamfering that requires positional accuracy in two directions of the upper surface and side surface of the work material It wasn't just that it was always suitable. However, the elastic function was the optimal function for releasing the resistance generated by the displacement error. In the conventional elastic method, the resistance fluctuates due to a change in a cutting speed, a feed speed, a material type of a workpiece, a sharpness of a cutting tool, and the like. In order to cover this, the feed rate was controlled, but it was necessary to always control the change in the sharpness of the cutting tool in calculation.

Although it is necessary to quickly control the elastic force by the processing conditions and the strength of the work material, it is difficult to control the elastic force numerically with the conventional chamfering tools shown in FIGS. . Further, since the elastic force is used in a state initially set in principle, it is difficult to easily control the elastic force, and sometimes the control is performed in a minus factor direction.

An object of the present invention is to provide an elastic chamfering tool with a guide capable of performing various chamfering operations stably and efficiently by solving the above-mentioned problems and reducing the contact resistance with a work material. The purpose is.

[0009]

According to the present invention, there is provided an elastic chamfering tool with a guide according to the present invention, which has an elastic mechanism for absorbing a vertical resistance of a cutting tool, and which comes into contact with an upper surface of a workpiece. A plurality of first guide rollers for guiding the workpiece in the processing direction, and a second guide roller abutting on a side surface of the workpiece and guiding the workpiece in the processing direction are provided. It is a thing.

With this configuration, the elastic mechanism absorbs the resistance of the cutting tool in the vertical direction, and the first guide roller and the plurality of second guide rollers are connected to the side surface of the workpiece.
By guiding the upper surface, contact resistance with the workpiece can be reduced, and stable chamfering can be performed according to the shape of the workpiece.

[0011] The plurality of second guide rollers include:
It is preferable to have an up-down adjustment function that enables movement in the up-down direction, and it is desirable that the plurality of second guide rollers be provided symmetrically about the cutting tool.

[0012]

FIG. 1 is a block diagram showing an embodiment of the present invention.
This will be described with reference to FIG. FIG. 1 is a perspective view showing an embodiment of an elastic chamfering tool 50 with a guide according to the present invention. The elastic chamfering tool 50 with a guide mainly includes a round chamfering throw-away chip 5 as a cutting tool, a side guide roller 2 as a first guide roller, an arbor 3, an air motor 22 for rotating these, and a second pair of second motors. It comprises a flat guide roller 1 as a guide roller, a guide piston shaft 17 and a cylinder bracket 15 as an elastic mechanism, a pressure adjusting valve 32 for adjusting air, a pressure gauge 35, a tool plate 8 connected to a robot 60 shown in FIG. 5, and the like. Have been. The connection with the robot 60 is performed via a donut-shaped tool plate 8. The tool plate 8 is fixed to the upper plate 11, and the upper plate 11 is fixed to the middle plate 12 via a damper 30 vertically. Under the middle plate 12, four vertical bolts 13 serving as side surfaces of the elastic chamfering tool with guide 50 are provided.
18 fixed.

An air supply hole 25 and an air joint 34 are provided at two places on the tool plate 8, and an air pipe 9a is attached to each. Energy air for controlling the elasticity by rotating the cutting tool is distributed in two directions by a distributor (not shown) through an air supply hole 25, an air joint 34, an air pipe 9a, and a pressure gauge 35, and one is supplied to the air pipe 9b. To the cylinder brackets 15 (see FIG. 3) at both ends, and the other is supplied to an air motor 22 (see FIG. 4) built in the center. The cylinder bracket 15 is provided with a cylinder 1 inside the cylinder bracket 15 in order to cope with a vertical pressure change caused by a difference in the shape of the workpiece during cutting.
An air pipe 9c extends from 5a to a pressure adjustment valve 32 provided on the middle plate 12, and releases excess pressure to perform stable air adjustment control. Exhaust air discharged from the air motor 22 is supplied to the silencer 10.
And is discharged outside.

As shown in FIG. 3, a guide piston shaft 17 provided with O-rings 24 on both sides thereof
However, through the cylinder bracket 15,
3 and a pair of left and right set screws 21 as shown in FIG.
The upper and lower three places are fixed. Further, the cylinder bracket 15 is fixed to the casing 14 and the lower casing 31 by four fixing bolts A19. The cylinder bracket 15 is covered by a cover 28 and is fixed to the length 13 by four truss screws 28a. Further, in order to cope with a vertical pressure change generated due to a difference in the shape of the workpiece during cutting, an air pipe 9c passes from the cylinder 15a to the pressure adjusting valve 32 fixed to the middle plate 12 in the cylinder bracket 15. It has a stable control by releasing excess pressure.

FIG. 2 is a partially enlarged view showing a processing state of the cutting tool shown in FIG. The flat guide roller 1 includes a support shaft 4
Rotatably provided on the lower left and right 2 of the casing 31.
It is provided in a position where it can be adjusted up and down. Arbor 3
, A round chamfered throw-away tip 5 is fixed by a screw, and further below the side guide roller 2 is rotatably fixed by a nut 20. Each guide roller of the flat guide roller 1 and the side guide roller 2 includes:
A convex roller follower is used to reduce the contact area and contact resistance with the workpiece 6 to improve stability. During processing, one of the two pairs of left and right planar guide rollers 1 is in contact with the workpiece 6. Adjust the position of the flat guide roller 1 so that the radius of the cutting edge of the round chamfering slotaway tip 5 is at the same position as the processing point 6A.
6, and is fixed to the support shaft 4 with a lock screw 23 shown in FIG. The finish surface radius 7 is a finish shape surface when the arbor 3 is rotated and processed under appropriate conditions.

FIG. 3 is a perspective view in section A shown in FIG.
The air distributed for the guide piston shaft 17 by a distributor (not shown) is fixed to the casing 14 and the lower casing 31 by fixing bolts A19 via the air pipe 9b by the guide piston shafts 17 fixed to the vertical lengths 13 on both sides. Is supplied to the cylinder 15 a in the cylinder bracket 15. The air constantly pushes the cylinder bracket 15 toward the bottom surface of the vertical length 13. Further, the cylinder bracket 15 is provided with a guide bush 16 above the guide piston shaft 17 and a bush 29 above and below the guide piston shaft 17 to reduce vertical sliding friction.

FIG. 4 is a sectional perspective view taken along the line B shown in FIG.
The air distributed for the air motor 22 by the distributor (not shown) is supplied from the back of the casing 14 to the air motor 2.
2 are provided. The air motor 22 is fixed at the four corners via bearings 27, under which an arbor 3 is fitted by a reamer bolt type.
, A round beveled throw-away tip 5 is fixed by a screw, and a side guide roller 2 is fixed by a nut 20 therebelow. The planar guide roller 1 is rotatably fixed to the two pairs of left and right support shafts 4, and an adjustment stopper 26 is provided at the upper end of the support shaft 4. It is fixed by.

Reference numeral 33 denotes a vertical elastic operation range, which is also a stroke range of the cylinder bracket 15. When the present invention is used, in principle, it is set to an intermediate value within the vertical elastic operation range 33 so as to correspond to the unevenness of the shape of the workpiece 6. Centering on the upper surface of the tool plate 8, the guide piston shaft 17, the air motor 22, the cylinder bracket 15
Are provided on the same position surface, the unstable resistance coming from the material shape of the work material 6 transmitted from the round chamfering throw-away chip 5 and the flat guide roller 1 and the side guide roller 2 is guided on the same position line. An elastic mechanism composed of the piston shaft 17 and the cylinder bracket 15 is used to efficiently absorb the light in the same position direction.

FIG. 5 is a view showing a robot 60 for holding the guide-equipped elastic chamfering tool 50 of the present invention. The six-axis control cylindrical coordinate type force control robot 60 has a left-right rotatable turning unit 62 provided on a base plate 61, and a column 63 provided on the turning unit 62. A saddle 64 is vertically movably engaged with the column 63, and the turning unit 62 rotates left and right, so that the column 63 and the saddle 64 rotate integrally. Saddle 64
5, an arm 65 is provided to be able to expand and contract in the left direction and to be rotatable about an R-axis perpendicular to the Z-axis. At the left end of the arm 65 in FIG.
Are provided so as to be vertically movable with respect to the center line of the arm 65, and the wrist 66 itself is also provided so as to be rotatable left and right. A force sensor (not shown) is built in the wrist 66,
The force sensor detects the cutting resistance against the side guide roller 2 and sets the resistance value of the side guide roller 2. The wrist 66 grips the elastic chamfering tool 50 with a guide via the tool plate 8 shown in FIG.

Next, the operation of the present invention will be described by taking a round chamfering operation as an example. The wrist 6 of the robot 60 shown in FIG.
6 causes the guide-equipped elastic chamfering tool 50 to be gripped via the tool plate 8. Processing point 6A as adjustment before processing
The side guide roller 2 is processed with the work material 6 so that the radius of the cutting edge of the round-away insert 5
Abut on the sides. In accordance with this, the position of the flat guide roller 1 is adjusted so as to come into contact with the upper surface of the workpiece 6 by the vertical adjustment mechanism of the support shaft 4 and the adjustment stopper 26.
Then, the air pressure in the cylinder bracket 15 is set for the flat guide roller 1 so that the flat guide roller 1 can withstand the cutting resistance in the vertical direction.

Further, the cutting resistance to the side guide roller 2 is detected by a force sensor incorporated in the wrist 66 of the robot 60, and a resistance value is set. The air supplied from the robot 60 is supplied through the air supply hole 25 of the tool plate 8 to the air pipe 9 a and the pressure gauge 3.
5 and air for rotating the air motor 22 by a distributor (not shown) and the cylinder bracket 15.
And the air used for the elastic mechanism inside. The distributed air causes the air motor 22
Rotate, and the arbor 3 fitted to the lower portion of the air motor 22, the round chamfered throw-away chip 5 fixed to the arbor 3, and the side guide roller 2 rotate to start chamfering the workpiece 6.

Further, the other air distributed by the distributor is passed through the air pipe 9b, through a hole provided in the guide piston shaft 17, and the cylinder bracket 15 is moved.
And the pressure inside the cylinder bracket 15 increases. This pressure is applied to the piston end face of the guide piston shaft 17 as a pressure receiver, through the casing 14 fixed to the cylinder bracket 15, the air motor 22, and the arbor 3, the rounded chamfered slotaway tip 5, that is, the blade tip is directed downward. The flat guide roller 1 is pushed through a support shaft 4 connected to a cylinder bracket 15 or the like.
At the same time, it comes into contact with the processing point 6A and the upper surface of the processing material 6.

The flat guide roller 1 moves up and down with the change in the shape of the upper surface of the work material 6, and the air pressure in the cylinder bracket 15 connected to the flat guide roller 1 changes. When the air pressure changes to a low pressure, the air pressure is always automatically supplied at an arbitrary set pressure. However, when the air pressure changes to a high pressure due to the compressed air pressure, a cylinder bracket 15 is provided. The pressure is automatically released by the pressure adjusting valve 32 from the air joint 34 via the air pipe 9c. Thereby, the work material 6 to be guided
With respect to the change of the upper surface, the round chamfered throw-away tip 5 can perform stable chamfering. Further, with respect to the change in the side surface shape of the work material 6, the shape and dimensions change to resistance via the side guide roller 2, and this resistance is detected by a force sensor built in the wrist 66 of the robot 60, The radius sensor chamfering the throw-away chip 5 is controlled to perform stable chamfering processing on the axis of the robot 60 in accordance with an instruction of the sense sensor.

With respect to the resistance generated by the difference between the program value of the robot 60 and the shape change value of the machined surface, the work material 6
If the upper surface of the workpiece is in the vertical elastic operating range 33, the elastic mechanism constituted by the guide piston shaft 17 and the cylinder bracket 15 is operated, and the side surface of the workpiece 6 is a force sensor of the robot 60 set in advance. When the robot 60 operates, it is possible to perform processing with stable resistance.

FIG. 6 is a perspective view in which a hard ball 37 is applied to the elastic tool with guide 50 of the present invention instead of the flat guide roller 1. A donut ring 36 is screwed to the inner diameter of the lower casing 31 by the set screw 21. Further, on the donut ring 36, eight hard balls 37 pressed by a hard ball sasae 38 are evenly arranged.
When the tool changes direction along the twill of the work material 6 on a plane, the hard sphere 37 always touches somewhere,
The number of trajectory axes of the robot 60 can be reduced by one, and as a result, creation of a program is simplified.

FIG. 7 is a partially enlarged view of a portion processed by the guide of the cutting tool and the hard ball 37 shown in FIG. The hard ball 37
The donut ring 36 is provided on the donut ring 36 by a hard ball support 38 and is fixed to the lower casing 31 by a set screw 21 so as to be vertically adjustable. During processing, one to three hard spheres 37 are always in contact with the workpiece 6. Further, the center of the round portion of the round chamfered throwaway tip 5 is positioned on the twill line with the lower point of the hard ball 37 so that the donut ring 3
6 and adjust it up and down, and fix it with the set screw 21 of FIG. The donut ring 36 is provided with an oil sump 39 for oil injected from an oil inlet 40 and is lubricated by hard balls 37. The finish surface radius 7 is a finish shape surface when the arbor 3 is rotated and processed under appropriate conditions.

In the above-described embodiment, an example in which a grinding wheel is formed by using a six-axis control cylindrical coordinate type force control robot has been described. However, 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.

[0028]

As described above, the elastic chamfering tool with a guide according to the present invention absorbs the resistance of the cutting tool in the vertical direction by the elastic mechanism, and the guide roller guides the side and the upper surface of the work material, whereby the work material is processed. And a stable and efficient chamfering process can be performed according to the shape of the workpiece.

[Brief description of the drawings]

FIG. 1 is a partially cutaway perspective view showing an embodiment of an elastic chamfering tool with a guide according to the present invention.

FIG. 2 is a partially enlarged perspective view showing a processing state of the elastic chamfering tool with a guide according to the present invention.

FIG. 3 is a perspective view in section A of FIG. 1;

FIG. 4 is a perspective view in section B of FIG. 1;

FIG. 5 is a schematic side view showing a cylindrical coordinate type force control robot gripping an elastic chamfering tool with a guide according to the present invention.

FIG. 6 is a partially cutaway perspective view showing another application example of the elastic chamfering tool with a guide of the present invention.

FIG. 7 is a partially enlarged perspective view showing a machining state of another application example of the elastic chamfering tool with a guide according to the present invention.

FIG. 8 is a partially cutaway perspective view showing an embodiment of a conventional chamfering tool and a cutting tool, where (A) shows a chamfering tool and (B) shows a cutting tool of the chamfering tool.

FIG. 9 is a perspective view showing an embodiment of a conventional chamfering tool and a cutting tool, wherein (A) shows a chamfering tool and (B) and (C) show cutting tools of the chamfering tool.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Plane guide roller 2 Side guide roller 3 Arbor 4 Support shaft 5 Round chamfering throwaway tip 6 Work material 6A Processing point 7 Finished surface round 8 Tool plate 9 Air piping 10 Silencer 11 Upper plate 12 Medium plate 13 Tatesae 14 Casing 15 Cylinder bracket 15a cylinder 16 guide bush 17 guide piston shaft 22 air motor 24 o-ring 25 air supply hole 26 adjustment stopper 27 bearing 29 bush 30 damper 32 pressure control valve 33 vertical elastic operation range 34 air joint 35 pressure gauge 36 donut ring 37 hard ball 38 hard ball Sasae 39 Oil reservoir 40 Lubrication port 41 Guide plate 42 45 ° chamfered slot away tip 43 R chamfering cutter 44 45 ° chamfering cutter 45 g Round chamfering cutter with guide 50 Elastic chamfering tool with guide 60 Robot 61 Base plate 62 Swivel unit 63 Column 64 Saddle 65 Arm 66 Wrist

Claims (3)

[Claims] 1. An elastic chamfering tool with a guide for performing a chamfering process on a workpiece with a cutting tool by causing a robot to grip the workpiece, an elastic mechanism for absorbing a vertical resistance of the cutting tool, and the workpiece. A plurality of first guide rollers that contact the upper surface of the workpiece and guide the workpiece in the processing direction; and a second guide roller that contacts the side surface of the workpiece and guides the workpiece in the processing direction. An elastic chamfering tool with a guide, comprising: a guide roller. 2. The elastic chamfering tool with a guide according to claim 1, wherein the plurality of first guide rollers have an up / down adjustment function that allows the first guide rollers to move in a vertical direction. 3. The elastic chamfering tool with a guide according to claim 1, wherein the plurality of second guide rollers are provided symmetrically about the cutting tool.