JPS5976761A - Teaching playback automatic grinder - Google Patents

Abstract

PURPOSE:To obtain the grinder which is full of general-purpose properties by a method wherein a grinding head is made movable into the directions of up-and- down and left-and-right while the head is controlled by a controller. CONSTITUTION:The grinding device is provided with driving means 2, 3, for moving the grinding head 1 equipped with a grinder 6 into two-dimensional directions of up-and-down and left-and-right, a turn table 4, for putting a work piece, and the controller 7 for controlling the movements of these equipments. Accordingly, teaching may be effected easily by an operating board and grinding works effected by the teaching and playback may be carried out with respect to any position and direction of the work, therefore, the device, full of general- purpose properties, may be obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic grinding device, and more particularly to an automatic grinding device for removing burrs that protrude continuously or discontinuously from the outer surface of a workpiece.

In casting technology, the so-called casting spall that occurs at the joints of molds is unavoidable, although the shape may vary in size, and at the same time, the work of removing the casting spall is also an unavoidable operation. However, due to problems such as the complexity of the shape and unevenness of the surface, mechanization has been slow, and the current situation is that we rely on manual labor, but the work environment is extremely poor, with noise, dust, vibration, and heavy labor. The reality is that it is bad. In order to improve this kind of work, a system has already been proposed that automates the deburring process. Examples are JP 54-37720 and JP 53-1.
There are 26,594 and 26,594 types, each of which can have an effective effect.

The present invention has been made in view of the current situation, and
The purpose is to provide a general-purpose device that automates deburring work, reduces the labor burden on workers, and improves the work environment. In order to achieve this purpose, a grinding head equipped with a grinder, a drive means for moving the grinding head two-dimensionally in the vertical and horizontal directions, and a workpiece (hereinafter referred to as a workpiece) are mounted. The present invention provides an automatic grinding device that includes a rotary table and a control device that controls the movement of the rotary table.

Hereinafter, a detailed explanation will be given based on the illustrated embodiment.

Figure 1 shows the external appearance of the grinding device, where 1 is the grinding head, 2 is the frame, 3 is the arm, 4 is the rotary table, and 5 is the grinding device.
is the base. 6 is a grinder attached to the grinding head 1; 3 FIGS. 2 and 5 are diagrams showing the vertical drive mechanism in detail through required cross sections of the frame 2;
10 is a drive motor, 11 is a screw shaft connected to the motor 10, 12 is a nut engaged with the screw shaft 11, and 13 and 14 are guide rails that lock bearings 15.16 and 17.18, respectively. ing. Numeral 19 is a plate member that integrally connects the nut 12 and bearings 15, 16 and 17, 18, and supports the arm 6. 20 is a weight, and the support 21
It is configured to be movable up and down while being guided by
It is suspended by a chain 22, and the other end of the chain 22 is locked to a locking member 26 extending from the nut 12. FIG. 4 is a detailed view of the arm 6, in which guide bars 66 and 64 are locked between support plates 69 and 41, and 3 and 60 are connected to a screw shaft 31 that engages a nut 62 with a motor. . Guide bars 36 and 64 are fitted with guide receivers 65 and 66 and 67 and 38, respectively, and a nut 62
It is also locked to the plate member 19. FIG. 5 is a cross-sectional view of the grinding head 10. 6 is a grinder with belt 42
．． Belt pulley 46. Axis 44. Gear 45. Gear 46. Shaft 47° Belt pulley 48. Bell) 49. Belt pulley 5
The power of the drive motor 40 is transmitted along the 1° axis 52. 56 and 54 are teaching sensors and ring 55
The gear 5 is locked by the torque motor 50.
6. Gear 57. Axis 58. The gear 59 is rotated in the same direction as the ring gear 66. A case 61 is rotatably supported by a box body 62, and is driven by a motor 60 to drive a chain wheel 66, a chain 64 . It is rotated by being transmitted along the chain wheel 65.

The effects of the embodiment of the present invention constructed as described above are as follows.

The model work 70 is transported onto the rotary table 4 by the loading means without being shuffled, and is fixed by a suitable stopper (not shown). At this time, the grinding head 1 is attached to the model work 70.
The vehicle will be stopped and waited at a location that is designed to avoid any hindrance to transportation. Then, the control device 7 is controlled by the input from the operation panel 8.
Set to teaching mode. When the teaching mode is set, the torque motor 50 provided in the grinding head 1 is driven and the gears 56, 57 . Axis 58. Gear 59. The ring 55 is rotated via the ring gear 66, and the teaching sensor 53 is set to the position shown in FIG. This completes the preparation for teaching, and then the teaching operation is performed. After inputting the moving direction of the grinding head 1 from the operation panel 8, the manual knob 72 provided on the operation panel 8
Turn to set the teaching sensor 53 to the desired position. A pulse generating means is connected to the manual knob 72, which generates a pulse according to the rotation of the manual handle 72, and controls the motor so that the pulse and the pulse of the drive motor correspond at a constant ratio. As for the drive control, the moving speed can be selected between high speed and slow speed, and the amount of movement relative to the rotation of the manual knob 7201 can be changed.

That is, the teaching sensor 56 is connected to the model work 70.
It moves at high speed until it reaches the vicinity of , and then changes its speed and approaches the model work 70 at a very slow speed. and,
When the teaching sensor 56 comes into contact with the model work 70, a signal is emitted from the teaching sensor 56. Based on this signal, the number of pulses from the original position, that is, the position where movement started, to the time when the signal was generated is counted, and the position corresponding to the counted number of pulses is stored in the storage device 9 of the control device 7 according to a storage command from the operation panel 8. be done. Teaching sensor 5
3 comes into contact with the model workpiece 70, the signal generated also disconnects each drive motor 10, 30, 60° 80 from the manual handle 72, and the manual handle 72 no longer advances the grinding head 1. It is configured in such a way that it is impossible. In this way, one point is memorized. When the teaching of one point is completed, the grinding head 1 is released to a position where it is not supported even when the model work 70 rotates together with the rotary table 4.

The model workpiece 70 is rotated by a predetermined angle by rotating the manual handle 72 in response to a command from the operation panel 8 to drive the motor 80, similar to the movement of the grinding head 1 described above. It can be operated with high speed,
Low speed can be selectively used. model work 7
Even for a rotation angle of 0, the angle is stored by pulse counting. Thereafter, the position of another point different from the above is stored by the same operation as above. By repeating the above operations a required number of times, the shape of the outer periphery of the model work 70 is memorized. The outer surface position of the model work 70 taught here is, of course, the position where the burr occurs, and therefore the outer shape taught is stored as the ideal shape after the burr is removed.

For example, place the model work 70 on the rotary table 4,
The torque motor 50 is driven from the operation panel 8 to rotate the ring 55 and set the teaching sensor 56 to the state shown in FIG. When the surface to be processed of the workpiece is the upper surface, the operation panel 8 further drives the motor 6Q to rotate the chain 64 via the chain wheel 65, and the chain wheel 65 rotates the case 61 relative to the box body 62. When the teaching sensor 54 is facing downward, the model is set to '/70.
It can be set on the upper surface 73 of the cellar so that it can be used as a liquor store. Here, the disk 68 is inserted into the box body 62 of the case 61.
A brake 67 is provided inside the box body 62 and engages with the disc 68.
7 is in an operating state and holds the disc 68 and opens the box body 62.
The case 61 is fixed so as not to rotate, and when the motor 6o is operated, the brake 67 is stopped so that the case 261 can rotate. In this way, the teaching sensor 56 or 54 is set in a predetermined orientation.

First, in order to teach the upper surface 76 of the model work 70, the motor 60 is driven to rotate the screw shaft 31.

The screw III 31 only rotates within a framework constituted by the two support plates 69 and 41 and the two guide bars 63 and 64.

When the screw shaft 31 rotates, the nut 62 engaged with the screw shaft 61 tries to move to the right or left depending on the direction of rotation of the screw shaft 51, but the nut 62 is fixed to the plate member 19 and cannot move in the left-right direction. Since this is not possible, the screw shaft 61
The screw screwed into the nut 32 is unscrewed, and the entire arm 3 is moved in the left and right direction. Now, the grinding head 1 in the original position must approach the model work 70, that is, the motor 30 is driven to move the arm 6 to the right in the figure. At this time, the moving direction of the arm 6 is selected by the rotating direction of the manual knob 72 provided on the operation panel 8 as described above. Manual knob 7
The nozzle caused by the rotation of
is driven, and the grinding head 1 is set at a position approximately above a predetermined position. Next, the direction of movement is changed using the operation panel 8 and set to vertical movement. When the handle 72 is rotated (manually), the motor 10 rotates in response to the generated pulses, and the screw +IAb 11 is rotated. A nut 12 is engaged with the screw shaft 11, and since the screw shaft 11 is rotatably supported by the frame 2 and cannot be moved up and down, the nut engaged with the screw shaft 11 is rotated by the screw shaft 110. 1
2 moves up and down according to the direction of the rotational force of the screw shaft 110. Four plate members 19 are fixed to the nut 12, and as the nut 12 moves, the plate members 19 also move. On the other hand, the plate member 19 has bearings 15, 16, 17 and 18.
are fixed, and the bearings 15, 16 and 17.
18 are guide rails 13 fixed to the frame 2, respectively.
14, and allows the plate member 19 to move up and down smoothly. Furthermore, a stop part 23 is extended from the plate part 19, and is engaged with the stop member 26, so that the chain 22 can be attached to the chain wheel 24. In-prisoner 11! 20, thereby reducing the load on the screw shaft 11, nut 12, and motor 10, suppressing wear, and maintaining accuracy. In this way, when the manual handle 72 of the operation panel 8 is rotated, the screw shaft 11 is rotated by the rotor 10 and the nut 12 is lowered, and the arm 6 is also lowered together with the nut 12, so that the tip of the arm 6 is rotated. The locked grinding head 1 also descends. The above-mentioned standard υ and descending speed are determined by operation panel 8.
Since it is possible to switch between the positions, it descends at a high speed up to a certain position, and thereafter descends at a slow speed, making it easy to set the position. In this way, the teaching sensor 54
The grinding head 1 is brought into contact with a predetermined position on the model workpiece 70, and in order to position the teaching sensor 54 at a desired position, the direction of movement of the grinding head 1 is changed an appropriate number of times from the operating panel 8 and set at the optimum position. In this way, the shape at the required point is detected and stored by the teaching sensor 54. Next, the position of Paris on the side surface 74 of the model work 70 is taught. First, the motor 60 is driven from the operation panel 8 to rotate the grinding head 1, and the grinder 6 is set so as to be in the state shown in FIG. The following is the same operation as above, and the teaching sensor 56 is connected to the model work 7.
0 and reads the position information into the storage device. The motor 80 is driven to rotate the rotary table 4, the corresponding positions of the model work 70 fixed on the rotary table 4 and the teaching sensor 56 are changed, and all position information at the required positions is read into the storage device. In this way, the positions of occurrence of flash on the upper surface 73 of the workpiece and the side surface 74 of the workpiece and the finished shape are memorized by the teaching.

These pieces of information are stored as the vertical position and horizontal position of the grinding head 1, the orientation of the grinder 6 (different from the state shown in FIG. 8 or 9), and the rotation angle of the rotary table 40.

At the start of the grinding work, the workpiece 71 is placed on the rotary table 4.
is fixed. At this time, the one-turn table 4 is stopped at a preset travel rotation position. Here, if the shape of each workpiece 71 is deformed with respect to the model workpiece 70, or if there is a positional shift when fixing it on the rotary table 4, sample the shape at multiple points. It is equipped with a correction function to compensate for discrepancies with teaching data. Normally, consideration should be given to the clamping method so that the sampling and correction functions can be avoided since misalignment can be prevented. The control device 7 reads the teaching data and drives each motor in accordance with the teaching order to perform grinding on the workpiece 71 fixed on the rotary table 4. The execution of the grinding process is started by a command from the operation panel 8, and the motor 40 is driven by the start signal, and the belt pulley 69. Belt 42. Belt pulley 43. Axis 44. Gears 45 and 46. Axis 47. Belt pulley48. Belt 49. Belt pulley 51. Axis 5
The power is transmitted in the order of 2 and the grinder 6 rotates. ring 5
5 and the teaching sensor 56 are held in the state shown in FIG.
Care is taken to prevent the ring 55 from coming into contact with the workpiece 71. Further, by inputting the value of the diameter of the grinder 6 in advance, the grinder 6 is controlled to grind the edge along the shape of the workpiece 71 by calculating with the data read by the teaching sensors 53 and 54. The particles formed on the surface of the workpiece 71 have an irregular shape and are sometimes discontinuous, and therefore the load applied to the grinder 6 fluctuates significantly.
Since overloading the grinder B is dangerous, consideration must be given to reducing the load when the load exceeds a certain level. Various methods can be used for this purpose. A method of switching the rotation M degree of the rotary table 4 in order to reduce the cutting speed of the paris into the grinder B.

Gradually reduce the load on the grinder 6 to the workpiece 7.
A method of grinding continuously within a certain load range while moving away from grinder 6 until it becomes no load.
It is selectively used in a control program, such as a method in which grinding is performed intermittently by repeating the operation of retracting and then moving forward again for grinding. At the start of grinding, the grinder 6 approaches the workpiece 71 from a predetermined distance at a slow speed while rotating, and when it reaches the grinding start position on the taught path, the rotary table 4 starts rotating and grinding begins. At this time, if an overload condition as described above occurs before reaching the grinding start position, the grinding head 1 is controlled to reduce the load in the same manner as described above.

When the grinding process is thus completed, the grinding head 1 returns to its original position and stops. And the workpiece 71 on the rotary table 4
are replaced and the grinding is carried out again in the above order. During grinding, the grinder 6 wears out and its diameter gradually changes, causing a difference between the initially input data on the diameter of the grinder 6 and the actual value.
ff, the diameter of the grinder is appropriately measured, for example, when replacing the workpiece, and the measured data is compared with the initially input data, and correction can be made so that the grinder 6 contacts the workpiece 71 in the optimum condition. .

Now, in order to actually carry out grinding based on the data taught by the teaching sensors 53 and 54, the movement of the grinder 6 is controlled by performing arithmetic processing in the control device.

When teaching, only a prespecified number of positions are memorized. The teaching data is taken into the storage device as cylindrical coordinates,
In the arithmetic unit, the teaching data is once converted into orthogonal coordinates assuming an ideal grinder. Next, the actual grinder 6
In addition to the data on the diameter of the cylindrical axis, the final setting is made into composite cylindrical coordinates, which are a mixture of cylindrical coordinates and orthogonal coordinates, to drive and control each motor.

In the present invention, the grinder 6 is configured to move only two-dimensionally up and down and left and right, but since this is relatively heavy grinding such as grinding casters, it is necessary to improve the positional accuracy of the grinder 6. The structure aims to give rigidity to the moving axis, and for this purpose the workpiece 71 is placed on the rotary table 4.
The grinder 6 is rotated together with the workpiece 71 so that the grinder 6 can be moved relative to the workpiece 71. Therefore, the dimensional accuracy of the workpiece 71 during grinding is improved.

On the other hand, the reason why the present invention uses a method of teaching the shape of the workpiece instead of using the method of teaching the movement trajectory of the tool, which is generally used for teaching, is due to the above-mentioned axis configuration. During teaching, two points near the start and end points of a straight line part of the workpiece shape, six points near the start point, end point, and intermediate point of a part of the same curvature as part of a circular arc for a curved part, and six points near the start point, end point, and intermediate point of a part of the same curvature are used for teaching. For shaped objects, teaching can be completed by storing six points on the circumference as teaching data.

Therefore, it is possible to teach the tool trajectory in a shorter time than teaching the tool trajectory all around the circumference, and the shape of the workpiece can be taught more accurately.

As detailed above, according to the present invention, teaching can be easily performed using the operation panel, and grinding can be performed by teaching and regeneration at any position and direction of the workpiece, making it extremely versatile. It is an effective device with a lot of features. Also, when teaching,
By memorizing the shape of the workpiece rather than the locus of movement of the tool, teaching is facilitated and high dimensional accuracy can be maintained.

[Brief explanation of the drawing]

Fig. 1 is an external view showing the configuration of an embodiment of the present invention, Figs. 2 to 4 are enlarged views of the drive mechanism, Fig. 5 is a longitudinal cross-sectional side view of main parts, and Figs. 6 to 9 The figure is an enlarged view for explaining the movement of the main parts, and FIGS. 10 and 11 are reference views. 1: Grinding head 2: Frame 3: Arm 4: Rotary table 5: Base 6: Grinder Z: Control device 8: Operation panel 9: Storage device 1o: Motor 60: Motor 40: Motor E3CJ: %-ta 79: Grinder diameter Measurement sensor representative Patent attorney Sanro Kimura No. 10 Fig. 2 Fig. 3 Fig. 4 Fig. 6 Fig. γ1〆] .1 When I do a mountain city, it's l'l patent applicant 4.
111 to A. Higashisha Miyako 1 meter Toranomon-1°1121
No. 19 No. 6-? +li IF, (1) λ・1
Kiri 4 of the brief explanation of the drawings in the technical specification, brief explanation of the drawings (1) On page 18, lines 7 to 8 of the specification, "enlarged drawings,"
Figures 10 and 11 are reference figures. ”,
[This is an enlarged view. Correct it to -1. (2) Figures 10 and 11 of the drawings will be deleted.

Claims (1)

[Claims] A grinding device including a grinding head, a means for moving the grinding head in the vertical direction, a means for moving the grinding head in the left-right direction, a means for rotating the grinding head around a left-right movement axis, and a rotary table on which a work is placed. , a control device including means for teaching the shape of the workpiece, a storage device for storing the taught shape of the workpiece, and an arithmetic processing device for reading out the memorized shape of the workpiece and driving the grinding device. The processing device has a function to detect the load torque of the grinder, compare it with the set torque, and drive the grinding head to avoid overload, and a function to detect the worn lid of the grinder and drive the grinding head to compensate for the amount of wear. A teaching playback automatic grinding device comprising: