JPS6176265A - Deburring tool setting method of industrial robot - Google Patents

Abstract

PURPOSE:To prevent a tool from biting into a base material as well as to make finishing accuracy maintainable, by attaching a deburring tool to a rocker arm so as to cause work reaction force to be directed to an upper side of a line connecting a machining contact part of a grindstone and a rocking center of the rocker arm, that is, the reverse side of the base material. CONSTITUTION:At the time of setting an internal grinder 13, an angle position of a rocker arm 12 is set so as to cause a longitudinal center axis l passing a rocking center O of the rocker arm 12 to be paralleled with a tilt angle thetaof the grinder 13. And, a wheel rotary shaft m of the grinder 13 is parallel with the center axis l, and a machining contact part A, where a grindstone 14 performs deburring (17), is made so as to be situated on the center axis l. If doing like this, work reaction force F1 heads for the reverse side of a base material 16, that is, a more upper part than a straight line l in relation to the straight line connecting the machining contact part A and the rocking center O so that this work reaction force F1 works as compression force and clockwise moment M1 to the rocker arm 12, whereby the grindstone 14 is in no case bitten into the base material 16 due to the work reaction force F1, thus finishing accuracy is not deteriorated.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a method for attaching a deburring tool to an industrial robot.

<Conventional technology> Currently, industrial robots are widely used in factories, etc.
The work of deburring castings, etc., which used to depend on the skill and hard work of workers, is now being performed by industrial robots.These industrial robots generally have two or three degrees of freedom in their hands. Most of them have a swinging arm that points in the direction in which the hand is taken.Industrial robots with this swinging arm are used for deburring grinders, air chippers, etc.)
Conventionally, when installing a tool, the center of gravity of the debris removal tool is located on an extension of the longitudinal central axis of the swinging arm.

In other words, conventionally, when the internal grinder was installed as a deburring tool on all robot arms, the machining state was 7F!
4, a swinging arm 12 is attached to the tip of the robot arm 11 so as to be swingable about its swing center 0, and an internal grinder 13t is attached to the tip of the swinging arm 12. - The center of gravity G is positioned on an extension of the longitudinal central axis of the swinging arm 12.

In the case of manual grinding, the internal grinder 13 is used by moving the whetstone 14 in any direction while applying it to the grinding surface. For example, as shown in FIG. , direction of whetstone 140 rotation axis m (7), whetstone 1
4, a direction perpendicular to the rotation axis mK of the grindstone 14, a direction inclined to the rotation axis m of the grindstone 14, and the like. Here, we will consider the case of sending in the direction (7), which is the most problematic. Here, as shown in FIG. 4 showing an external view of the internal grinder 13, the grinding wheel 14 of the internal grinder 13 is
The internal grinder 13 has a small diameter because it is inserted into a relatively narrow place, and the outer diameter is smaller than the main body 15 that houses the drive source etc., so the internal grinder 13 can be fed parallel to the rotation axis of the grindstone 14. Can not. Therefore, the internal grinder 13 is used while being inclined by the required angle of inclination θ. Therefore, even when processing by a robot, as shown in FIG.
6GC by an inclination angle θ, and the base material 16
Robot arm 1 overflows in the tool feed direction fK parallel to the surface.
1 is moved forward, the chip 17 is removed by grinding.

<Problems to be Solved by the Invention> However, conventionally, the internal grinder 13 is supported so as to be suspended from the swinging arm 12Vf, so that due to the processing reaction force F acting on the grinding wheel 14 due to their positional relationship, A moment M in the counterclockwise direction in the figure acts on the swinging arm 12. On the other hand, the supporting rigidity of the swinging arm 12 is relatively weak due to gear breakdown, etc. Therefore, the swinging arm 12 may rotate due to the moment M. When the swinging arm 12 rotates counterclockwise in the figure, the grindstone 14 is rotated against the base material 1.
6, and is there an abnormal overload on internal grinder 13? Giving & taking, finishing accuracy has decreased, -
Further, depending on the location where the biting occurs, the base material 16 may become unusable as a product.

Means for solving one problem> The purpose of the present invention is to solve all of the above-mentioned problems. Therefore, in the present invention, a swinging arm is swingably attached to the tip. In the robot arm, the bar is set so that the machining reaction force is directed from a straight line connecting the machining contact part where the cutting process is performed and the swing center of the swing arm to an area on the opposite side of the base material with respect to the straight line. All the removal tools are attached to the swing arm.

Therefore, according to the present invention, by rotating the swinging arm, it is possible to prevent the generation of a moment due to the processing reaction force that causes the grindstone or cutter of the υ removal tool to bite into the base material.

<Example> DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to all the drawings.

Figure 1 shows the processing state when an internal grinder is used as a deburring tool in an embodiment of the present invention.In Figure 1, the robot arm 11 has a tip. A swinging arm 12 is mounted to be swingable about its swinging center Of, and an internal grinder 13 is mounted at the tip of the swinging arm 12. In this embodiment, when installing the internal grinder 13, the longitudinal center axis t passing through the swing center O4 of the swing arm 12 is the internal grinder, . Servant
The angular position t of the swinging arm 12 is set to
If the grindstone 14 is in contact with the burr 17, the machining contact part A that performs the cutting process is aligned so that the longitudinal central axis is located above.

In this way, the machining reaction force F1 is directed to the side opposite to the base material 16 between the straight line connecting the machining contact portion A and the swing center O of the swing arm 12, that is, upward from the straight line t in the figure. Therefore, the machining reaction force F1 acts on the swing arm 12 as a compressive force and a clockwise moment M1, and the grindstone 14 does not bite into the base material 16 due to the machining reaction force F1.

Furthermore, when the grindstone 14 is worn out due to machining, the machining contact part A will be located above the longitudinal center axis t of the swing arm 12, and in this case, the machining reaction force FIK will cause the grindstone 14 to
There is no need to generate a moment in the direction of biting into the T-base material 16.

Note that the direction of the machining reaction force F1 is from the machining contact part A) to the blessing arm 12.
The internal grinder 13 may be attached to the swinging arm 12 so that it is parallel to the straight line connecting the swinging center 0 of The moment of full support and 0 rotation of the center of rotation will not work.

<Effects of the Invention> As specifically explained above with reference to one embodiment, according to the present invention, the processing reaction force that causes the swinging arm to fully rotate and cause the grindstone or cutter of the deburring tool to bite into the base material is reduced. Since no moment is generated, it is possible to prevent the cutting tool from digging into the base material during machining. In addition, the present invention does not require any special equipment, and is not affected by the performance of individual robots such as the rigidity of the Shikamo robot or the size of the back rack, so it can be easily implemented on any industrial robot. can do. Further, the deburring tool is not limited to an internal grinder, but can be applied to various types of deburring tools.

[Brief explanation of drawings]

Fig. 1 is a processing explanatory diagram showing an embodiment of the present invention, in which a deburring tool is attached to the tip of the robot arm according to the method of the present invention, and the entire deburring process is performed with it. Fig. 3 is a perspective view of the grindstone for explaining the entire feeding direction, and Fig. 4 is an external view of the internal grinder. In the drawing, 11 is a robot arm, 12 is a swing arm, 13 is an internal grinder, 14 is a grindstone, 16 is a base material, 17 is a burr, A is a processing contact part, O is a swing center, and Fl is a processing reaction force. It is.

Claims (1)

[Claims] In a robot arm having a swinging arm swingably attached to its tip, the range on the opposite side of the base material with respect to the straight line connecting the processing contact part where deburring is performed and the swing center of the swinging arm. A method for attaching a deburring tool to an industrial robot, characterized in that the deburring tool is attached to the swinging arm so that a processing reaction force is directed inward.