JPS5841984B2 - Jidou Kenmasouchi - Google Patents

Description

[Detailed description of the invention] The present invention relates to grinder automation.

In particular, it attempts to automate grinder work by attaching an elastic body and a detector to the holder of the grinder.

Conventionally, grinding work for rough cutting of engine piston crowns, etc., has been performed manually, and the processing pressure and cutting allowance have been adjusted appropriately.

The present invention automates such grinding work and eliminates changes in the relative position between the grinder and the workpiece, such as errors in the set position of the workpiece, dimensional errors in parts, or wear of the grindstone during work. Another object of the present invention is to provide an automatic polishing device that enables grinding work by always applying appropriate processing pressure to the grindstone.

Embodiments will be described in detail below with reference to the accompanying drawings.

FIG. 1 shows a diagram of the principle of the present invention, 1 is a grindstone, 2 is a grindstone 1
3 is an elastic body, 4 is a detector, and 5 is a holder for the grinder.

According to the grinder made of such components, when the surface of the workpiece is polished by the grinder, the magnitude and direction of the drag force acting on the grinding wheel 1 are determined by the amount of strain in the elastic body 3 and the amount detected by the detector 4. Therefore, if the posture of the grinder and the machining pressure are controlled based on this detected value, the grinder work can always be carried out in the correct posture and at the appropriate machining pressure.

FIG. 2 shows an embodiment of a grinder that further embodies the principle of the present invention shown in FIG.

In FIG. 2, reference numeral 6 denotes a rotary grindstone, and its spindle T is rotationally driven by an actuator 8.

Although the actuator 8 is operated by compressed air in this embodiment, the method of driving the actuator 8 is not necessarily limited.

Now, 9 is a grinder holding part, which is connected and fixed to the actuator 8.

The grinder holding part 9 is made of stainless steel 1 and an elastic coupling device 1 such as a bellows or spring made of synthetic rubber or the like.
0 into two parts 90 and 92.

Reference numeral 11 denotes a mounting hole provided at the end of the grinder holding portion, through which the grinder is mounted to an automatic operation robot as described later.

A rotation detector 12 is fixedly installed within the end of the grinder holding portion 9 where the actuator 8 is attached.

The rotation detector 12 is composed of a rotating magnet and an electromagnetic coil. In the illustrated embodiment, the rotating magnet is attached to the actuator B side, and the electromagnetic coil is fixedly installed inside the grinder holding portion 9'.

The rotation of the grindstone is then detected by the change in the induced current due to the pairwise movement of the two wheels.

13 is a differential transformer, and as can be seen in the AA cross-sectional view of FIG. 3, there are four guiding wire rings 13. ．． 13□.

133 and 134 are arranged symmetrically, and an iron core is built inside.

This uses electromagnetic induction to convert the linear displacement of the grinding wheel into a change in voltage, detecting the displacement of the grinding wheel, and controlling the posture.

As mentioned above, during grinding work with whetstone 6,
The drag force acts on this elastic coupling 10 and displaces it, so by detecting the displacement of this elastic coupling 10, the machining pressure and amount of displacement of the grindstone 6 can be determined.

Since the present embodiment is configured as described above, when the grinding wheel 6 is used to grind a workpiece (not shown), the rotation of the grinding wheel is determined by the rotation detector 12 and by the drag force applied to the grinding wheel 6. By appropriately detecting the magnitude and direction of the strain in the elastic coupling 10 and the voltage change in the differential transformer 13, the proper working posture of the grindstone and the machining pressure can be easily controlled by remote control.

FIG. 4 shows an automated state in which the grindstone controlled as described above is attached to the arm of the robot R.

That is, the robot R has a rotatable shaft 1 on the base 14.
5.

On the shaft 15, an arm 16 extends vertically in a direction perpendicular to the shaft.

It is supported so that it can be displaced in the left and right direction.

A shaft 17 is rotatably attached to the end of the arm 16.

The rear end of the grinder is attached to the lower end of the shaft 17 through the attachment hole 11, forming the hand of the robot (H).

With such a configuration, a certain machining method can be stored in the computer, and the robot R can be made to perform machining based on it.

If the posture and processing pressure of the grinder, which is the hand, deviate from the normal values, it will be immediately detected by the detection device of the grinder holding part, and the control device will be actuated accordingly. Highly accurate machining is possible with this posture.

In the above embodiments of the present invention, a differential transformer was used to detect the displacement of the grinding wheel, but it is not necessarily limited to this as long as the amount of displacement can be detected; for example, a limit switch or potentiometer may also be used. It is possible.

The present invention is configured as described above.

That is, a rotation detector 6, an elastic coupling, and a strain detector such as a differential transformer are compactly mounted on the holding portion of a known grinder.

According to this, even if there is a change in the relative position between the grinder and the workpiece, that is, there is no error in the installation position of the workpiece, there is no dimensional error in the part, there is wear of the grindstone during work, etc., these can be accurately detected. Polishing work can now be performed with the correct processing pressure and posture.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the principle of the present invention. FIG. 2 shows an embodiment of the present invention, and FIG. 3 shows the A of FIG.
-A sectional view FIG. 4 shows a state where the present invention is attached to a robot. In the figure, 1... grindstone, 2... actuator (of the grindstone), 3... elastic body, 4...
...Detector, 5...Holding part (of the grinder), 6...Whetstone, 1...Spindle (of the grindstone), 8...・Actuator, 9... Grinder holding part, 10... Elastic coupling,
11... Mounting hole, 12... Rotation detector, 13... Differential transformer, 14... Base (of the robot), R... ...Robot, 15...
...(robot's) vertical axis, 16...(robot's) arm, 17...(robot's) axis.

Claims (1)

[Claims] 1 Consists of a grindstone, an actuator for the grindstone, and a grinder holding part, the grinder holding part is divided into two parts, both of which are joined via an elastic coupling, and a displacement detection device such as a differential transformer is installed inside the grinder holding part. Built-in device,
An automatic polishing apparatus characterized in that the magnitude and direction of relative displacement between the grindstone and the workpiece can be detected by the elastic coupling and the displacement detector.