JPS59187485A - Grinding robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] The present invention relates to a grinding robot, and specifically to a casting robot.

This paper proposes a grinding robot that automatically removes burrs by following changes in the position of burrs on the surface of a forged product.

Castings and forgings generally have cast burrs after forming.

Forging) < Deburring is essential as IJ occurs and reduces surface quality. Traditionally, this type of paring was done using hand-made wood, but the work efficiency was low, and
Since it is a simple task, the development of automatic 1υJ deburring equipment has been progressing recently.

As this type of grinding robot, a teaching play pack type grinding robot is known. This grinding robot is
The Paris wire that exists on the surface of castings and forgings must be taught (input) to the sales equipment in advance, and 4J
A grinder placed in the manipulator section of the f+jlJ robot is moved along this Paris line. However, for the Paris Line, even if the product has the same specifications, the provisional 4dl'R
Since each 11J material is different, if the paris line differs from the teaching content, there was a 111 reference point that would prevent correct paris removal.

The present invention has been made in view of the circumstances, and has a function of detecting the relative position of the manipulator part or the grinder and the Paris wire, and based on the detection result, 44 J of force is applied to the υ manipulator part, causing two fires each. The object of the present invention is to provide an A111 cutting robot capable of highly efficient deburring in regular copying by being able to follow changes in the position of the deburring lines.

The present invention will be described in detail below with reference to Figures 1 showing embodiments thereof. Fig. 1 is a schematic diagram of a grinding robot according to the present invention, and Fig. 2 is a partially fragmented enlarged plan view of a manipulator section.

The abrasive material I is transferred to a predetermined position on a base (not shown). One screen of the carved leaf shrine is formed by Hagi 1a, Paris, over the entire view in the direction of the hand. From 1j11-1 Seizan J of 1j11 of the 4th leaf cut l] Commercial (-At a distant position 112', there is a row of running rails 2.2 parallel to this side surface, each with an appropriate length. (The extension of the second running rail 2, 2,
Hereinafter, the direction perpendicular to this in the horizontal direction is referred to as Y;
A protrusion is shown on the upper surface of 2, and there is a protrusion (11
R cutting robot A's running trolley 3 four cars on the left and right + i *
3a is engaged and mounted, and the movement j in the X-axis direction is made possible. Of the 3 for the running platform? 116, a pulse smoke 3b is fixed, and the pulse smoke 31) rotates forward and backward, and the traveling carriage 3 is reciprocated in the X-axis direction on the traveling rails 2, 2.

A hydraulic cylinder 4 with a double diameter of 1 μm is installed upright in the center part VC of the top surface of the traveling truck 3, and pressure oil supplied from a hydraulic cylinder (not shown) is supplied to two cylinders by switching an Ichiya valve 4b (F1). The oil is selectively supplied to the oil chamber, and the rod 4a, which is aimed at 11r above the oil chamber, is advanced and retracted in the ZIIllllI direction.

The hydraulic cylinder 4 is connected to the rod 4a so as to change the output voltage according to the forward and backward movement of the rod 4a.A potentiometer 4c is connected to the hydraulic cylinder 4a, and this output voltage is applied to the rod 4a. The amount of advance and retreat of the central portion is inputted to the 411 device i170. Upper I+1^1 of rod 4a? C.I.
I-J, the direction of advancement and withdrawal of the rod 5a is along the Y-axis direction IIIJL1. The air cylinder 5 is horizontally spaced apart and receives pressurized air supplied from a pressure air supply source (not shown).
44. The air is selectively supplied to the two air chambers by switching control of the magnet Jr-5b, and the rod 5a is moved forward and backward in the Y-axis direction.

A potentiometer 5c connected to the rod 5a is connected to the air cylinder 5 so as to change the output voltage b5i applied to the button/retraction IJ of the rod 5a, and the central processing unit 70 uses this output voltage as a forward/retreat amount signal of the rod 5a. Enter.

The central processing unit 1ia0 is the 1lilJ of the robot of the present invention.
It is the control center and controls the drive of the pulse smoke 3b, the movement of the hydraulic cylinder 4, and the control valves 4b and 5b for controlling the movement of the air cylinder 5. Driving force σ of each of the tunic valves 4b and 5b
Pulse motor drive circuit 73. It is equipped with city valve 1 drive circuits 72 and 71.

A manipulator portion 60 is omitted from the tip end portion V of the rod 5a. Manipulator part 60 (7) Tip 1'M
A grinder 62 and a contactor 63 that swings in the Z1il111 direction are provided on the 1st part - side. Through the grinder 62, the horizontal pronation is divided into four sections by +jJ', and the rotary section JIIJ is carried out by the air mortar 4. The contact 63 is made of a flexible magnetic material and is in the shape of a round bar long in the Y-axis direction. The tip end 63a of this contactor 63 is formed into a spherical shape, and the proximal end thereof has a length that is in contact with the part located in the x-axis stop direction position. There, Zllllll [direction to the clan! II
IIJ is pivoted at a desired point on the hashing 61 by a pin 63b so that it can be freely moved, and its base end is connected to the tip of a link 66. Link 66 is connected to 1CI! lI child 63's Z
The oscillation in the ql111 direction is required to coincide with the linear movement IWj in the YllIlh direction, and its proximal end face is paired with a load cell 68 fixed at a predetermined position in the housing 61, and the load cell Between the link 68 and the link 66, a coil spring 67 is provided to bias the load cell 68 so that the two folds are reversed.
This is used to detect the contact pressure of the contactor 63 that controls the VC, and its output is input to the central processing unit 770.

An electromagnetic vibration 1MJ device 65 for swinging the contact 63 in the Zllll11 direction is provided at a position closer to the tip 63a than the portion of the contact 63 pivoted by the pin 63b. The main circuit 69 of the 4th generation Tatsucho device is the ``saw of the Pyromagnetic vibration UσJ device 65,''
'' 13 circuits, which generate electromagnetic vibrations according to a constant cycle vibration command signal output by the central processing unit *70.
65 excitation is performed.

Next, the control contents of the central processing unit 70 will be explained. Information input from a teaching device (not shown) is stored in a memory 76, and the central processing unit 70 reads out the teaching information every time according to a system program separately stored in this memory 76, and performs pulse smoke driving. A necessary signal is issued to the circuit 73° electromagnetic valve drive circuit 72.7+, and the pulse motor 3a, 'electromagnetic valves 4b and 5b are driven to move the traveling carriage 3 in the X-axis direction 1111J, and the rod of the hydraulic cylinder 4 is moved. 4a in a straight line, and move the air cylinder 50 rod 5a forward and backward to move the manipulator section 60 or the grinder 62 in a three-dimensional direction.
Control. As a result, the grinder 62 grinds away the paris wire 1a.

During this time, the C dropout processing device 70
A command signal having a constant cycle is issued to the circuit 69 of 1'A and 9 as shown in FIG. 3(A). The heavy line vibrator 1 drive circuit 69 is rotated by this circuit I'4 shown in FIG. 3 (b).
A force sensing signal of 1.1 AC wave is emitted, and the contact 63 is
Swing in the i111 direction. If the amplitude of this oscillation 11 peak is made wider than the width of the par line 1a, the tip 63a of the contact 63 is on the inner tl mar link 6 on the par line 41a.
6.) Since Rui strongly presses the load cell 68 via the coil spring 67, the output of the load cell 68 is 314th (c).
As shown in the actual seed, the output level during the first period of the first period is extremely high. And this third [Yu phase/
The data with the content “1V shows/4” is sent to the central processing unit rj.
t, 70. This load cell 6
8 output is shown in the actual record in Figure 3 (c) 4'< peak position is 1 d at the middle VC of 1 θ 1 d, and manipulator 60 or grinder 62 is 7 < 4 Q
It shows that it is directly facing I a, but this peak position 1
If 1 A shifts from 0 to 2 points in Figure 3,] + i If the eye shifts to 1 A as shown by the soul, then IΔ] Manibir - Kirl < 60
Or, the grinder 62 comes off the burr 41a, and the amount of deviation on the signal represents the deviation between the manipulator 60 or the grinder 62 and the par line la. , i load cell 68
The relative position between the manipulator 60 or the grinder 62 and the Paris wire 1a is detected by the output, and if the position is changed to a predetermined position, the peak value of the signal 1 is at the center tζ between the vibration command values (Fig. 3). The rod 4a should be moved back and forth so that

FIG. 954 is a flowchart showing the contents of this device side 1. When the central processing unit 70 issues the vibration 1 jino command signal, it reads the data from the load cell 68 at predetermined intervals, and stores the next data until it issues the next vibration command signal. Next, a calculation is performed to specify the peak position for the takes accumulated during one cycle of the cut-off command signal. and,
Time information and swing when taking this peak position! Calculate the time left from the timing of generation of command A and No. 4, compare this time difference with the reference fIEj (for example, the period of the swing and cut command signals), and match this time difference with the reference value. Z of the manipulator part 6o or grinder 62 required to
Calculate the amount of axial movement. Correct the control details in the Z-axis direction so that this movement "1." overlaps with the teaching information,
The desired frequency is output to the electric shield valve drive circuit 72, and the rod 4a is advanced or retracted. As a result, the manipulator section 60 or the grinder 62 follows the Paris line Ia and performs grinding without coming off from it.

FIG. 5 shows another embodiment of the invention. In this embodiment, the grinder 6 makes the rotation UJ by 1 lulu according to the data 74.
The rotation axis of Z is horizontally K, and the manipulator part 60
’ in the Z-axis direction! 1i1J Settsu Xll111
This is to perform quieping grinding that is transferred to one direction. A resistor 75 is interposed in the communication circuit of the motor 74, and the voltage across the resistor 75 is detected as the load current k'j'.
This is input to the central processing unit (d70).

FIG. 6(a) shows that the central processing unit 70 has engraved the heavy line valve I ru j moe circuit 72 to indicate the summer 1 of the upper 1 ro, lower scallop, and tight rod 4a.
(Queeping emitted for entering/exiting; +r++ master 1d
This signal is issued at a predetermined period. Quieping swing 1
11111 is wider than the width of the paris wire 1a, the load current of the data 74 increases while the grinder 62' is cutting the paris wire 1a (df), so that the cutting by the grinder 62' cannot be performed correctly. The beginning is Figure 6 (b)
As shown in Figure 2, this load's direct current increases and decreases so that it reaches a peak at an intermediate position of the sweeping signal. When the manipulator part 60' or grinding 62' is positioned 1'l K f above or below the line of Paris 13 in line with this, the peak position is indicated by the two-dot chain line in Fig. 36 (b). It will be off center. The central processing unit iK 70 controls the manipulator unit 60' based on the relationship between the quieping signal generated by itself and the peak value of the load current of the motor 74.
In order to detect the relative position between the grinder 62' and the paris line]a and correct the teaching content using a method similar to that of a song, the ZIII11 direction position 1 of the manipulator section 60' is adjusted.
Control x.

The grinding robot described in detail below has a grinder installed in the manipulator section.4.
In a teaching grayback type grinding robot that automatically removes paris lines existing on the surface of A'ljh material, there is provided a means for detecting the relative position between the manipulator part and the paris line, and a means for detecting the relative position of the paris line at a predetermined position. Since the grinder is equipped with a means for correcting the control according to the teaching contents, and is designed to make the grinder follow the Paris line, even if the position of the burr 1 is different from the teaching contents, the manipulator section can be used for this purpose. The Suekan-Shi J, a model that can follow the same conditions and perform accurate and highly efficient self-excited deburring, has an excellent effect.

[Brief explanation of the drawing]

The drawings show embodiments of the present invention: - Figure 1 on the right is a schematic diagram of the ωF grinding robot related to the final stage, Figure 2 is an enlarged view of the crystal fraction crushing curve of the manipulator part, and Figure 3 is a schematic diagram of the ωF cutting robot. Fig. 4 is an explanatory diagram of the operation of the device according to the present invention (v).
FIG. 5 is a flowchart showing the contents, and FIG. 5 shows another embodiment of the present invention (a schematic diagram of the l11 cutting robot, and FIG. 6 is an explanatory diagram of its operation. I...Wave cutting material 1a...Paris line 3... Travel platform I
L4... Oil 1 king shilling 5... Air shilling 6
0... Manipulator part 62... Grinder 63
...Contact 11 prefectures 68...Load cell 70...Central processing unit patent Author: Sumitomo Metal Industries, Kabanshu Shiki Company agent Patent attorney fl.
2 Figure '3P-, 3 Figure 4 (2) Tame 6 Figure

Claims (1)

[Claims] 1. In a teaching-playback type grinding robot that is equipped with a grinder in the manipulator section and automatically removes the paris wires present on the surface of a metal material, means for detecting the relative surface 1d between the manipulator section and the paris wires; , and means for correcting the control based on the teaching content so that the relative one-piece shift is at a predetermined position, and the grinding robot is configured to cause the grinder to follow the Paris line.