JPS60228064A - Polishing machine - Google Patents

Abstract

PURPOSE:To reduce the burden in an operating person, by providing such a brake mechanism at the peripheral part of a differential-type speed reducer provided at the axis of swing of an arm, as to maintain a speed reducing function in the operation of a polishing machine but to lose the function in the teaching of the machine to decrease the turning force of the arm. CONSTITUTION:Work is performed by a robot mechanism having a memory, according to a taught procedure. An operating person grasps a holder 11 for a polished workpiece secured on a table 3, so as to teach the memory the contents of the work. Prior to the teaching, a speed reducer is disengaged to decrease the turning forces of a first and a second arms 8, 10. After that, the work procedure corresponding to the form of the polished workpiece is taught to the memory. After the teaching, brake plates 23, 41 are braked by brake members 50, 51 in order to start the polishing work. In the teaching, the speed reducer and a brake are disengaged to reduce the burden on the operating person. In the polishing work, the speed reducer is restrained on the peripheral part by the brake. According to this constitution, the torque for the arms 8, 10 in the polishing work can be increased.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a polishing device, and more particularly to a polishing device for press molds or plastic molds, and particularly to a device that serves as a polishing robot that can be taught the content of the work.

Kusunobu 1 Up until now, no suitable equipment had been developed for polishing complex-shaped curved parts such as molds, which required a large number of steps and the work was complicated, but all in all. This was done manually, which had the disadvantage of poor work efficiency.

In view of these conventional circumstances, the present inventor developed a polishing robot capable of automatic polishing, and patent application No. 58-2148E11
I filed an application. This technology was a robot with a teaching function that could automatically move the polishing tool in the required direction and efficiently finish curved surfaces with complex shapes.

The present invention aims to provide a polishing device that reduces the burden on the operator by reducing the rotational force of the arm before teaching the content of the work to be performed on the object to be polished before starting the work. It is something to do.

The present invention is a polishing device that can perform the work as taught by a storage device that stores the work contents, and is equipped with a polishing tool and is swingable around the base end. A differential type reducer is installed on the arm and the shaft that is the center of swing of the arm. This polishing device has a brake mechanism that releases the deceleration function.

Eiji - Example Figures 1 and 2 show the entire device. A base 1 is provided with a tool drive mechanism 2 and a table 3 on which a workpiece to be polished is placed. The tool drive mechanism 2 can be raised and lowered by a handle 6 or a case 5 which is slidably held on a guide rod 4 of a base l. A first arm 10 connected to the tip of the arm 8 and the first arm 8 by a pivot 1119 is provided, and the first arm 10 is provided with a holder 11 for sharpening tools (grindstones). A link 14 or pin 15 or 16 connects another arm 13 that rotates around a rotating shaft 12 provided adjacent to the first arm 10 for one device. The rotational movement of the first arm 8 and the arm 13 is performed by the first arm 10 and the link 14.
This results in a plane motion of the grindstone X (grindstone) fixed to the holder 11.

Next, with reference to FIGS. 3 and 4, it will be explained that the mechanism for swinging the first art 8 is built into the case 5.

A rotary cylinder 21 protruding upward from the case 5 is rotatably inserted into a holding cylinder 20 provided in the case 5.
The first arm 8 is integrally connected at two ends of the rotary cylinder 21. Further, the lower end of the rotary cylinder 21 is connected to a differential mechanism type speed reducer 22 (preferably one commercialized under the trademark of Harmonic Drive).

Simply put, this speed reducer consists of three parts. That is, it is composed of a central shaft, a flexible gear that can be deformed in the radial direction by being pressed by the cam-shaped portion of the shaft, and a casing having internal teeth that mesh with the flexible gear. In this case, the number of teeth on the flexible gear and the casing are two different,
Therefore, when the shaft is rotated with the casing fixed, the flexible carrier rotates by an angle corresponding to the difference in the number of teeth of the casing. The rotary cylinder 21 is connected to a flexible gear,
A brake plate 23 is fixed to the casing, and the cylindrical portion extending downward is a holding cylinder 2 fixed to the case 5.
4, it is rotatably supported. The central shaft is connected to an output shaft 26 of a servo motor 25 provided at the lower end of the holding cylinder 24.

The servo motor 25 rotates in forward and reverse directions,
When the servo motor 25 is driven, the rotational force of the output shaft 26 is reduced by the speed reducer 22 and transmitted to the rotary cylinder 21, and together with the rotary cylinder 21, the first arm 8 is swung around the base shaft 7.

The rotary cylinder 21 is provided with a toothed disk 27, which is connected to a rotary encoder 28 provided in the case 5 by a toothed belt 29, which detects the swing angle of the first arm 8 and also controls the setting. The servo motor 25 is driven in the forward and reverse directions within this range to cause the first arm 8 to swing continuously.

The rotation mechanism of the tool holder will be explained with reference to FIGS. 3 to 5. The base shaft 7 is supported by the base end of the first arm 8 and is provided with a toothed pulley 30 that rotates inside the arm, and furthermore, a motor 31 is provided on a portion protruding from the first arm 8. There is. On the other hand, a toothed pulley 32, 33 that rotates within each arm is provided on the pivot shaft 9, which is a connecting portion between the first arm 8 and the first arm 10, and a holder 11 provided at the tip of the first arm 8O is rotated. A toothed pulley 35 is also provided on the shaft 34. The four toothed pulleys 30, 32, 33, 35 are all of the same diameter, and a toothed belt 36 is used between the pulleys 30 and 32 in the first arm 8, and a toothed belt 36 is provided in the second arm IO. A toothed belt 37 is installed between the pulleys 33 and 35, and the rotational force of the motor 31 is transmitted to the holder 11 on which the polishing tool is attached. The rotation of the motor 31 changes the direction of the polishing tool.

By the way, the arm 13 that reciprocates the link 14
The rotating shaft 12 is rotatably supported by the case 5,
The rotating shaft 12 is a servo motor 40 provided below the case 5.
The motor rotates in forward and reverse directions via a speed reducer. Although this reducer is not shown, its structure is the same as that provided in the rotating tube 21 described above, and a brake plate 41 is provided in the same manner as described above, and the two brake plates 23 and 41 are mounted on the same plane. ing.

Further, the rotary shaft 12 is provided with a painter's disc (not shown) which is the same as the toothed disc 27 provided on the rotary cylinder 21, and this disc is connected to another rotary encoder 42 adjacent to the rotary encoder 28. They are connected by a toothed belt (not shown), and the swing angle of the arm 13 is detected to control the servo motor 40.

Next, with reference to FIGS. 6 to 8, the brake plate 23.4
The first mechanism will be explained. The brake plates 23.41 are provided on the same top surface within the case 5 as described above, and two brake bodies 50.50.51.51 are provided that sandwich the side walls of each brake plate on the inside of the opposing surfaces. It is being The brake body 50.50 (the other one has the same structure) is housed in a cylinder 52.52.53.53 provided on the same line. A large braking torque is applied to the brake plate 23.41 by a spring 55 which is in contact with the outer periphery and is attached between the brake body and a plug body 54 provided at the cylinder opening.

In the gap formed at the tip of the brake body 50.50.51.51 described above, the brake body 50.50.51.51
An operation plate 56 is provided for releasing (retreating). The operation plate 56 is rotatably supported by the case 5, and has a substantially rectangular shape near both ends, with one end located between the brake bodies 50 and 50, and the other end located between the brake bodies 5 and 51, The central portion is connected to a piston rod 58 of an air cylinder 57 via a connecting rod 58. This air cylinder 57 is fixed to the case 5.

When the operation plate 56 is vertical, the brake body 50.50.51
．． The brake plates 23 and 51 are pushed together by the elasticity of the spring 55.
．． When the piston loft 58 is moved forward by the air cylinder 57, the operating plate 56 is tilted via the connecting rod 59, thereby each brake body 50, 50, 51, 51 All the details 5
4, and the brake is released.

Next, the work procedure will be explained. This device has a robot structure with a memory device (1) that performs the work according to the teaching procedure, and the worker grips the holder 11 on the workpiece fixed on the table 3 to teach the work details to the memory device. However, first, before teaching, the reducer 22
is released to reduce the rotational force of the first and second arms 8.10. Thereafter, -C teaching is performed on the memory device about the working procedure suitable for the shape of the object to be polished.

Next, when the teaching is completed, the brake body 50.
50.51.51 applies the brake to the brake plate 23.41 and starts the polishing operation.

The force for pressing the tool against the object to be polished is generated by an air cylinder installed at the top of the holder 11 (
(not shown) 6 &Kan Rishu The present invention provides a polishing device that can reduce the burden on the operator by releasing the reducer prior to teaching and also releasing the brake of the reducer.

Further, since a speed reducer is attached to the rotating part of the arm to which the polishing tool is attached, by swinging the arm with a large torque, it is possible to apply the pressing force necessary for polishing to the tool.

Further, since the outer peripheral portion of the speed reducer is restrained by a brake, the torque to the arm can be further increased, and the torque can be adjusted by operating the brake.

[Brief explanation of drawings]

Figure 1 is a plan view of the entire assembly, Figure 2 is a front view, Figure 3 is a front view, and Figure 3 is a front view.
The figure is a sectional view showing the swing mechanism of the first arm, FIG. 4 is a sectional view showing the rotation mechanism of the second arm, FIG. 5 is a sectional view showing the attachment state of the link that drives the second arm, and The figure is a plan view of the brake plate structure, FIG. 7 is a front view thereof, and FIG. 8 is a sectional view taken along line A-A in FIG. 1... Base 2... Tool drive mechanism 3... Table 4... Kite rod 5... Case 6... Handle 7... Base shaft 8... First arm 9... Pivot 10...Second arm 11...Holder 12...Rotating shaft 13...Arm 14...Link l5.16...Pin 20...Holding tube 21...Rotating tube 22. ...Reducer 23...Brake plate 24...Holding tube 25...Servo motor 26...Output shaft 27...Toothed disk 2
8...Rotary encoder 29...Toothed belt 3
0...Toothed pulley 31...Motor 32.33...
・Toothed pulley 34...Rotating shaft 35...Toothed pulley 36.37...Artist's belt 40...Servo motor 4
1... Brake plate 42... Rotary encoder 50.51... Brake body 52.53... Cylinder 54... Plug body 55... Spring 56... Operation plate 57... Air cylinder 58...
Piston rod 58... Connecting rod Patent applicant AIDA Engineering Co., Ltd. Agent Patent attorney Kiyoshi Nakayama Procedural amendment (voluntary) July 17, 1985 Commissioner of the Japan Patent Office Educational funding Dobu Tono LL-D, '+, l Incident display Cao! 1982 Patent Application No. 79715 2 Name of the invention Polishing device 3 Relationship with the case of the person making the amendment Patent applicant address 2-10 Oyama-cho, Sagamihara-shi, Kanagawa Prefecture Name Aida Engineering Co., Ltd. Representative Director Board 1) Keinosuke 4 Agent address: 4-1-6 Kojimachi, Chiyoda-ku, Tokyo Contents of amendment (1) “Detailed description of the invention” section of the specification, page 9, line 3 “
The following is added between "Before teaching" and "Reducer 22." [By extending the air cylinder 57 and tilting the operating plate 58 via its piston rod 58 and connecting rod 59, the brake body 50.
．． 51. 51 and release the brake, thereby" (2) Same, page 9, lines 7 to 9 "Brake bodies 50, 50.
51, 51 to apply the brakes to the brake plates 23, 41,'' is corrected as follows. "The air cylinder 57 is operated to restore the brake body 50.
, 50.51 , 51 with spring 55 brake plate 23.4
1, thereby restoring the deceleration function of the reducer 22.'' (3) Add the following after ``(not shown)'' on page 9, line 12 of the same. "Furthermore, in the present invention, the driving torque of the arm necessary for polishing is obtained by the release means (brake mechanism) of the reducer attached to the arm rotation part (base end part), but on the other hand, these The mechanism can also function as a safety device for this device.In other words, the drive torque transmitted to the arm (is set according to the braking force applied from the nabrake body to the brake plate, and this braking force, that is, the brake body and brake The larger the friction force of IuJ on the plate, the larger the driving torque applied to the arm.Also, if the external force acting on the arm is smaller than the driving torque, the arm will either overcome this external force and swing, or conversely it will be driven. If the external force is greater than the torque, the brake mechanism will slip and the arm will stop.
Or they will be pushed back. Therefore, by setting the braking force that influences the drive torque of the arm to an appropriate value (for example, 20 kg/crtf), a safe robot that does not cause injury to the operator can be obtained. (4) From page 9, line 14 to page 10, line 5, the statement ``Kikutai Wa'' has been amended as follows. [The present invention is equipped with a reducer at the rotating part (base end) of the arm to which the polishing tool is attached, so the arm can be swung with a large torque, thereby reducing the moving force necessary for polishing. can be given to the tool. Furthermore, since a means for releasing the reducer is provided, the arm can be easily moved (swung) by releasing the reducer prior to teaching, thereby reducing the burden on the teaching worker. I can do it. In addition, when the reducer is configured with a differential type reducer and the release means of the reducer is configured with a so-called friction brake mechanism, deceleration can be achieved by setting the braking force of this friction brake mechanism to an appropriate value. Since it is possible to avoid applying excessive torque to the machine, these mechanisms can also function as a safety device. "that's all

Claims (1)

[Claims] A polishing device equipped with a polishing tool and an arm that can swing around the base end, which stores previously taught work contents in a storage device and then performs polishing work according to the taught work procedure. A polishing apparatus characterized in that a speed reducer is built into the base end of the arm, and means for releasing the speed reducer during teaching is provided.