JPS59175954A - Grinding device - Google Patents

Grinding device

Info

Publication number
JPS59175954A
JPS59175954A JP4718583A JP4718583A JPS59175954A JP S59175954 A JPS59175954 A JP S59175954A JP 4718583 A JP4718583 A JP 4718583A JP 4718583 A JP4718583 A JP 4718583A JP S59175954 A JPS59175954 A JP S59175954A
Authority
JP
Japan
Prior art keywords
polishing
amount
deflection
constant
pressure
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP4718583A
Other languages
Japanese (ja)
Inventor
Takashi Miyatani
孝 宮谷
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toshiba Corp
Original Assignee
Toshiba Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toshiba Corp filed Critical Toshiba Corp
Priority to JP4718583A priority Critical patent/JPS59175954A/en
Publication of JPS59175954A publication Critical patent/JPS59175954A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)

Abstract

PURPOSE:To work a work under a constant grinding pressure and improve the working accuracy of the device by a method wherein the regulation of the grinding pressure is effected based on the amount of deflection of an elastic body energizing a rotary grindstone. CONSTITUTION:An arm 1 is moved to abut the outer peripheral surface of the grindstone 7 against the end face 14a of the work 14 with a constant pressure. At this time, a spring 11 deflects by a constant amount in accordance with the abutting pressure, however, the amount of deflection is detected by a strain gauge 13 and a detecting signal, indicating the amount of deflection, is outputted to an operating and controlling unit. The operating and controlling unit moves the grindstone 7, driven by a driving source 5, so that the amount of deflection of the spring 11 becomes constant at all times.

Description

【発明の詳細な説明】 〔発明の技術分野〕 本発明は、パリ取り、金型研磨等に好適する研磨装置に
関する。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a polishing apparatus suitable for deburring, mold polishing, etc.

〔発明の技術的背景とその問題点〕[Technical background of the invention and its problems]

一般に、被加工物に発生したパリを除去す′る場合には
、研磨工具とその駆動源を手で持ってパリ発生部位に押
し当て、適切な圧力を手で調節してパリ取りを行ってい
た。しかし、手により全パリ取り部位にわたって研磨圧
力を一定に制御することは困難であって、パリの取）過
ぎを生じゃすく、均一なパリ取りを行うには相当な熟練
を必要とする。ことに、被加工物の形状が平面でなく曲
面であり、パリが発生している綾部が曲線である場合や
、金型の曲面部位の仕上げ加工においては、研磨圧力の
調整がすこぶる困難であり、加工が非能率となるととも
に、寸法精度の点で所要の設計基準を満足することが難
しかった。Generally, when removing burrs that have occurred on a workpiece, the polishing tool and its drive source are held in hand and pressed against the area where burrs are generated, and the appropriate pressure is manually adjusted to remove burrs. Ta. However, it is difficult to control the polishing pressure uniformly over the entire deburring area by hand, and considerable skill is required to avoid excessive deburring and to uniformly remove deburring. In particular, it is extremely difficult to adjust the polishing pressure when the shape of the workpiece is not a flat surface but a curved surface, and the tread where the cracks occur is curved, or when finishing the curved surface of a mold. , machining became inefficient, and it was difficult to satisfy the required design standards in terms of dimensional accuracy.

〔発明の目的〕[Purpose of the invention]

本発明は、上記事情を勘案してなされたもので、パリ取
りや曲面の研磨加工を一定の研磨圧力で行うことのでき
る研磨装置を提供することを目的とする。The present invention has been made in consideration of the above circumstances, and an object of the present invention is to provide a polishing device that can perform deburring and polishing of curved surfaces with a constant polishing pressure.

〔発明の概要〕[Summary of the invention]

研磨工具を揺動自在に支持するとともに、この研磨工具
を弾性体によシ被加工物に対して付勢して研磨加工する
研磨装置において、研磨圧力の調整を弾性体に取付けら
れた歪検出器から出力された弾性体の撓み量検出信号に
基づいて行うようにしたものである。In a polishing device that supports a polishing tool in a swingable manner and performs polishing by biasing the polishing tool against a workpiece using an elastic body, the polishing pressure is adjusted using a strain detection device attached to the elastic body. This is done based on the detection signal of the amount of deflection of the elastic body output from the device.

〔発明の実施例〕[Embodiments of the invention]

以下、本発明の一実施例を図面を参照して詳述する。 Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings.

第１図は、本実施例の研磨装置を示しでいる。FIG. 1 shows the polishing apparatus of this embodiment.

腕（１）は、図示せぬロボット本体に連結され、図示せ
ぬ駆動機構によ、リロボット本体に格納された演算制御
部からの指令に基づいて所定の運動を行うようになって
いる。この腕（１）の先端には、筐体状の支持体（２）
が取着されている。この支持体（２）の前面と背面は開
口していて、支持体（２）の内部には、円柱状の工具保
持体（３）がピン（４）により揺動自在に枢支されてい
る。この工具保持体（３）の一方の端部は、駆動源（５
）となっていて、この駆動源（５）からは回転軸（６）
が突出している。そして、回転軸（６）の先端に円板状
の研削砥石（７）が同軸に取付けられている。さらに、
工具保持体（３）の他方の端部には、円筒状の尾部（８
）が冠着されている。一方、上記支持体（２）の底板に
は、尾部（８）側に延在する支持板（９）が取付けられ
ている。この支持板（９）の先端部は、上方に直角に曲
折された取付部（９ａ）となっている。The arm (1) is connected to a robot body (not shown), and is configured to perform predetermined movements by a drive mechanism (not shown) based on commands from an arithmetic control unit stored in the robot body. At the tip of this arm (1) is a housing-like support (2).
is attached. The front and back sides of this support (2) are open, and a cylindrical tool holder (3) is swingably supported inside the support (2) by a pin (4). . One end of this tool holder (3) is connected to a drive source (5).
), and this drive source (5) connects the rotating shaft (6).
stands out. A disc-shaped grinding wheel (7) is coaxially attached to the tip of the rotating shaft (6). moreover,
The other end of the tool holder (3) has a cylindrical tail (8
) is crowned. On the other hand, a support plate (9) extending toward the tail portion (8) is attached to the bottom plate of the support body (2). The tip of the support plate (9) is a mounting portion (9a) bent upward at a right angle.

しかして、第２図に示すように、尾部（８）の端部に穿
設された透孔００）には、無方向性のばねＯＤの一端部
が遊嵌されているとともに、このばねαυの他端部は、
上記取付部（９ａ）に固定され、研削砥石（力を矢印（
１７Ｊ方向に付勢するようになっている。上記透孔００
）の軸を含む断面において尾部（８）側は半円形をなし
ていて、ばね０１）の撓みによる逃げが設けられている
。また、ばね圓の横断面形状は、尾部（８）側が円形に
、取付部（９ａ）側が矩形状に形成されている。そして
、ばねＵυの取付部（９ａ）近傍の４個の外面には、そ
れぞれ−片ずつ歪ゲージ０３）・・・が貼着されている
。これら歪ゲージ０３）・・・はブリッジを構成してい
て、ばね（１１）の伸縮を検出するようになっている。As shown in FIG. 2, one end of the non-directional spring OD is loosely fitted into the through hole 00) bored at the end of the tail (8), and this spring αυ The other end of
It is fixed to the above mounting part (9a) and the grinding wheel (the force is shown by the arrow)
It is designed to be biased in the 17J direction. Above through hole 00
) has a semicircular shape on the tail (8) side, and is provided with relief due to the deflection of the spring 01). Further, the cross-sectional shape of the spring circle is circular on the tail portion (8) side and rectangular on the attachment portion (9a) side. Strain gauges 03) are attached to each of the four outer surfaces of the spring Uυ near the mounting portion (9a). These strain gauges 03) constitute a bridge, and are adapted to detect expansion and contraction of the spring (11).

かくて、歪ゲージ（ｌ（８）・・・は、前記ロボット本
体の演算制御部に接続されている。Thus, the strain gauges (l(8)...) are connected to the calculation control section of the robot body.

つぎに、上記構成の研磨装置の作動について述べる。被
加工物Ｉは、その端面（１４ａ）が研磨面となっていて
、この端面（１４ａ）は平面となっている。Next, the operation of the polishing apparatus having the above configuration will be described. The end surface (14a) of the workpiece I is a polished surface, and this end surface (14a) is a flat surface.

しかして、腕（１）を移動させて、この端面（Ｘ４ａ）
に研削砥石（７）の外周面を一定の圧力で当接させる。Then, by moving the arm (1), this end face (X4a)
The outer peripheral surface of the grinding wheel (7) is brought into contact with the grinding wheel (7) with a constant pressure.

このときばね（ｌυは、当接圧力に応じて一定量撓むが
、この撓み量は、歪ゲージ（１り・・・によ量検出され
、撓み量を示す検出信号が演算制御部に出力される。At this time, the spring (lυ) is bent by a certain amount depending on the contact pressure, but this amount of deflection is detected by a strain gauge (1), and a detection signal indicating the amount of deflection is output to the calculation control section. be done.

この演算制御部にては、ばね０１）の撓み量が常に一定
値となるように、前記駆動機構に制御信号を出力して腕
を動かし、駆動源（５）により回転駆動されている研削
砥石（１）を端部（１４ａ）に沿って矢印（ＩＱ力方向
送る。すると、研削砥石（力は、被加工物（１４Ｉのど
の位置においても一定の研磨圧力で加工するので、研磨
量が均一化し、研磨代が一定となる。壕だ、面取り又は
パリ取りを行う場合も、研磨加工と全く同様にして、面
取り量を一定にすることができる。This arithmetic control unit outputs a control signal to the drive mechanism to move the arm so that the amount of deflection of the spring 01 is always a constant value, and the grinding wheel rotated by the drive source (5). (1) is sent along the end (14a) in the direction of the arrow (IQ force).Then, the grinding wheel (force) is processed with a constant polishing pressure at any position on the workpiece (14I), so the amount of polishing is uniform. The amount of chamfering can be made constant when trenching, chamfering, or chamfering is performed in exactly the same way as polishing.

ガお、上記実施例においては、研削砥石（７）はロボッ
トの腕（１）により動かすようにしているが、Ｘ−ｙ−
ｚテーブルによシ動かすようにしてもよい。In the above embodiment, the grinding wheel (7) is moved by the arm (1) of the robot.
It may also be moved to the Z table.

また、被加工物Ｉの研磨加工すべき加工面が複雑曲面で
ある場合も、研磨圧力が一定状態で加工したとき歪ゲー
ジ（１３）・・・から出力される検出信号を演算制御部
にいったん撓み量一時間曲線として記憶させ、実際の研
磨加工においては、歪ゲージ（１３）・・・からの出力
が上記撓み量一時間曲線と一致するように研削砥石（力
を動かすことにより、研磨代を一定にすることができる
。In addition, even if the surface to be polished of the workpiece I is a complex curved surface, the detection signal output from the strain gauge (13) when the polishing pressure is constant is sent to the calculation control section. The curve is stored as a curve for the amount of deflection per hour, and during actual polishing, the grinding wheel is adjusted so that the output from the strain gauge (13) matches the curve for the amount of deflection per hour. can be kept constant.

〔発明の効果〕〔Effect of the invention〕

研磨圧力の調整を回転研削砥石を付勢する弾性体の撓み
量に基づいて行っているので、被加工物のどの部位でも
一定の研磨圧力で加工できる。したがって、研磨代９面
取り等の研磨量が均一化し、加工精度が著しく向上する
。また、研磨加工を自動化できるので、加工能率が飛躍
的に増大する。Since the polishing pressure is adjusted based on the amount of deflection of the elastic body that urges the rotary grinding wheel, any part of the workpiece can be processed with a constant polishing pressure. Therefore, the amount of polishing such as chamfering with a polishing allowance of 9 is made uniform, and the machining accuracy is significantly improved. Furthermore, since polishing can be automated, processing efficiency can be dramatically increased.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は本発明の一実施例の研磨装置の斜視図、第２図
は第１図の要部拡大断面図である。 （１）：腕、　　　　　　　（２）　：支持体。 （３）：工具保持体、　　　　　（カニ研削砥石（研磨
工具）。 ０１）：ばね（弾性体）、（Ｉ鵠：歪ゲージ（弾性体）
。 代理人　弁理士　　則　近　憲　佑 （ほか１名） γ　Ｉ　図 １２図 ３FIG. 1 is a perspective view of a polishing apparatus according to an embodiment of the present invention, and FIG. 2 is an enlarged sectional view of the main part of FIG. (1): Arm, (2): Support body. (3): Tool holder, (Crab grinding wheel (polishing tool). 01): Spring (elastic body), (I): Strain gauge (elastic body)
. Agent Patent attorney Noriyuki Chika (and 1 other person) γ I Figure 12 Figure 3

Claims (1)

【特許請求の範囲】[Claims] 一端部に研磨工具が取付けられこの研磨工具を回転駆動
して被加工物を研磨加工する工具保持体と、この工具保
持体が揺動自在に枢支された支持体と、この支持体が取
付けられ上記研磨工具を移動させる駆動機構と、上記工
具保持体に取付けられ上記研磨工具を付勢し７て上記被
加工物に研磨圧力を付加する弾性体と、上記弾性体に取
付けられ上記弾性体の撓みを検出する歪検出器と、この
歪検出器から出力された撓み検出信号に基づいて上記駆
動＠構の運動を制御して上記研磨圧力を調節する演算制
御部とを具備することを特徴とする研磨装置。A tool holder to which a polishing tool is attached to one end and rotates the polishing tool to polish a workpiece; a support body to which the tool holder is swingably supported; and a support body to which the support body is attached. a drive mechanism for moving the polishing tool; an elastic body attached to the tool holder for urging the polishing tool and applying polishing pressure to the workpiece; and an elastic body attached to the elastic body to apply polishing pressure to the workpiece. and a calculation control unit that controls the movement of the drive @ structure and adjusts the polishing pressure based on the deflection detection signal output from the distortion detector. polishing equipment.
JP4718583A 1983-03-23 1983-03-23 Grinding device Pending JPS59175954A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP4718583A JPS59175954A (en) 1983-03-23 1983-03-23 Grinding device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP4718583A JPS59175954A (en) 1983-03-23 1983-03-23 Grinding device

Publications (1)

Publication Number Publication Date
JPS59175954A true JPS59175954A (en) 1984-10-05

Family

ID=12768035

Family Applications (1)

Application Number Title Priority Date Filing Date
JP4718583A Pending JPS59175954A (en) 1983-03-23 1983-03-23 Grinding device

Country Status (1)

Country Link
JP (1) JPS59175954A (en)

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