JPS60155356A - Polishing robot - Google Patents

Abstract

PURPOSE:To enable a time of polishing to be reduced and its accuracy to be improved, by mounting a polishing tool to the arm part of a robot and actuating the robot to perform polishing work in accordance with the teaching while the polishing pressure is feedback controlled so as to be continually held to a fixed level. CONSTITUTION:A robot actuates its arm part 3 to perform polishing work in accordance with the teaching while a polishing tool 13 driven by a polishing head 12 is brought into contact at a predetermined polishing pressure with the polishing surface of a workpiece A fixed to a table 2. Here the robot, if it is left as given the teaching so as to move the polishing tool 13 while accurately actuating the arm part 3 corresponding to the workpiece A, enables a time of polishing to be reduced without providing uselessness of the polishing tool 13 in its movement being different from an automatic profiling machine, further the robot, even if its motion by the teaching is a little roughly performed, promotes machining accuracy to be improved because the polishing pressure is feedback controlled so as to be continually held to a fixed value.

Description

[Detailed description of the invention] (Technical field) At this stage, Akira is involved in polishing 1" Bot 1.

(Background technology) For example, when polishing a workpiece (for example, a mold) that has been primarily processed in advance, an automatic copying machine is sometimes used.

This type of automatic copying machine polishes the workpiece by pressing the laser head (1) against the surface of the model, and at the same time driving the polishing tool (1), which follows the movement of the laser head. (Special rAIf85
No. 1-87846 JKt).

However, in such automatic copying machines, the stroke zero of the tracer head in the copying direction is constant, so depending on the workpiece, the copying time (machining time) is longer than necessary (in addition, the grinding Ig In order to obtain a constant seminal mark, the Rayleigh head must always move at a constant speed in a direction parallel to the model surface, but such 31-degree control is quite technically difficult to rotate. There were problems such as:

(Objective of the Invention) The purpose of this invention is to solve the above-mentioned problems by paying attention to the new industrial robots that have recently become a focus of technological advances, and having them perform riII@ processing.

(Description and operation of the invention) Therefore, in a robot whose arm moves multidimensionally according to teaching, a polishing tool is attached to the tip of the arm, and the contact pressure between the polishing tool and the workpiece is detected. and a correction means for feedback controlling the polishing pressure to a predetermined value based on this detection signal.

Therefore, [1 point moves the arm according to the teaching and performs the polishing process, and the arm movement ((tl+l
The moving speed of the polishing tool) can be freely adjusted according to the workpiece by teaching, and the RTL between the polishing tool and the workpiece can be adjusted freely.
l 1! Since the pressure is always feedback-controlled to a predetermined value, it is possible to improve the quality of processed stone.

<Example> The present invention will be described below according to the example shown in FIGS. 1 to 4.

Reference numeral 1 denotes the main body of the robot 1, and 2 a table for fixing the workpiece to the robot.

The arm portion 3 (another base portion 7) is supported by the robot 1 to the main body 1 so as to be able to move up and down via a screw rod 4.

That is, the arm portion 3 is rotated by the motor 5 when the screw rod 4 is rotated.
Then, move upward 1°1° along the guide rod 6.
It's starting to move.

The first and second joints 8 and 9 of the arm 3 each have a vertical axis 10.
and 11 are rotated by an actuator (not shown).

A ω1 polishing head 12 is installed at the tip of the slit section 3, and a polishing tool (for example, a rotary puff, a grindstone, etc.) 13 is installed at the bottom of the polishing head 12.

The polishing head 12 is, for example, Jζ shown in FIG.
will be accomplished.

That is, in the polishing head 12, a rotary spindle 52 directly connected to a drive motor 51 is installed inside a hollow casing 50.
1, and is rotatably accommodated in a sleeve 55 having an arcuate face 54 formed on a part of the side wall.

Further, the sleeve 55 is rotatably supported on the arcuate inner surface of the support plows 1 to 5G attached to the bottom surface of the casing 50 via the arcuate face 54 with the center of the arc as the center of rotation. A spring 57 having an appropriate pressing force against the weight ω of the rotating spindle 52 and the small amount of the drive motor 51 is interposed between the inner wall of the sleeve 56 and the upper edge of the sleeve 55.

The support frame 53 supporting the drive motor 51 has a plurality of springs 53.8 connected at one end to the inner wall of the casing 50.
As a result, the spindle 52 is elastically connected vertically, and a large-diameter head 60 formed at the tip of the detection rod 59 is brought into contact with the center of the upper end of the support frame 53 via a ball 58. , the ball 58 is attached to four conical parts 53 formed at the center of the end and the large-diameter head 60 of the support frame 53.
b, 6Qa, and is rotatably held between them. Further, the 1σ1 output rod 59 is slidably supported in a guide tube 61 mounted on the upper part of the casing 50, and the upper part of the detection rod 59 is formed in a stepped shape.

A movable side 61S4; , a switch 64 is installed to the limit 1 which is in contact with the side surface of the rad 59.

Reference numeral 65 denotes a stopper pin that engages with an engagement groove 66 formed in the axial direction of the large-diameter head 60 of the detection rod 59, and this stopper pin 65 restricts excessive vertical movement of the detection rod 59. 67 is the guide tube 61 and the detection rod 59
A ball bearing 68 is a spline portion for preventing rotation of the detection rod 59, and a number 69 is a bolt jack provided at the tip of the spindle 52.

Note that the detected value of the magnet sensor 162 is amplified via an amplifier and inputted to the microcomputer 1/1, which will be described later.

In this case, during machining, the Itll polishing head 12 detects the strength of the vertical or horizontal RTLL polishing force reaction force applied to the Iσ1 polishing tool 13, which is mounted on the spindle at an f dimension, through a detection rod through the ball 58. 59, and this lifting operation 1FJJIfi is detected by the magnet.

On the other hand, the motor 5 and the first
The actuators for driving the second joints 8 and 9 are each driven and controlled by a microcomputer 14 as shown in FIG.

That is, the microcomputer 14 memorizes the taught movement of the arm 3, and controls the control circuit 15, which drives the screw rod 4 and the first and second joints 8 and 9, and the magnetic sensor so that the arm 3 moves according to the teaching. Based on the signal of 62, the arm portion 3
It has an auxiliary circuit 16 that performs feedback control on the movement of the motor.

The table 21 is rotatably supported around the shaft 16, and its inclination angle θ can be adjusted.

With this configuration, the robot has (il + polishing head 1
The polishing tool 13 driven by No. 2 is brought into contact with the processing surface of the workpiece A fixed on the table 2 with a predetermined polishing pressure l! While
Follow the teaching instructions and operate the C arm 3 to perform polishing.

In this case, if the robots 1 to 1 are taught to move the polishing tool 13 while moving the arm 3 appropriately depending on the workpiece, unlike conventional automatic copying machines, the robot 1 can be taught to move the polishing tool 13. There is no waste, so processing time can be shortened.

Since the polishing pressure is feedback-controlled to always be at a constant value, the machining accuracy can be improved even if the robot used for teaching moves somewhat roughly.

Furthermore, when polishing is repeated many times, the 1σI@I tool 13 is always pressed with the same pressure according to the amount of polishing, so once teaching is performed, the amount of polishing can be freely adjusted depending on the number of times of polishing.

Incidentally, the table 2 can change the inclination angle θ according to the shape of the workpiece Δ, and can efficiently polish a workpiece having a complex shape.

(Effect of the invention) In short, according to this invention, the arm of the robot has (
Install the I11 polishing tool and follow the teaching instructions (
Feedback control is used to reduce polishing work and keep the polishing pressure fairly constant, so even complex-shaped workpieces can be polished freely, and the machining time is also reduced compared to conventional methods. It is possible to improve machining accuracy.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention. Fig. 1 is a schematic front view, Fig. 2 is a plan view thereof, Fig. 3 is a block diagram showing the schematic configuration of a microcomputer, and Fig. 4 is a diagram of a polishing head. FIG. DESCRIPTION OF SYMBOLS 1...Robot body, 3...Arm part, 4...Screw rod, 5...Year, 8.9...Joint, 13.
... Polishing tool, 171 ... Mini 1 in, 15 ... Control circuit, 16 ... Correction circuit.

Claims (1)

[Claims] In 1-1, the arm moves multidimensionally according to the teaching, while the polishing tool is placed at the tip of the arm,
The present invention is characterized in that it is equipped with means for detecting and overriding the contact pressure between the full polisher and the workpiece, and a correction means for feedback controlling the polishing pressure to a predetermined value based on this detection signal.
il + Ma Robo Bo Bo 1