JPS62107956A - Metal working method by industrial robot apparatus - Google Patents

Abstract

PURPOSE:To obtain a work having a high dimension precision and shape precision by working the first worked part and then working the not-influenced part by the heat due to the working for said worked part. CONSTITUTION:Eight recessed parts 5a are formed onto a work 5, and the inside surface of each recessed part 5a is polished by an abrasive grindstone 3. The No. in the recessed part 5a in the figure shows the working order. Succeeding to the first recessed part 5a, other recessed part 5a positioned at the corner part on the line diagonal to the first recessed part 5a is polished. Therefore, the recessed part 5a to be polished at the second is hardly given with the influence of the heat generated at the first recessed part 5a in working, and therefore, when the second recessed part 5a is polished, the deformation such as strain and thermal expansion of the recessed part 5a due to the thermal influence can be reduced or to zero. Therefore, the polishing precision can be improved. Further, when the third recessed part 5a is polished, the influence of the heat generation in the second recessed part is hardly given.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to an industrial robot device that processes a workpiece using a processing device attached to the tip of the robot, and particularly a method for preventing deformation of the workpiece due to heat generation during processing. It is related to.

[Prior Art] Generally, molds for plastic molding or press use are required to have high dimensional accuracy and shape accuracy. For this reason, in the past, craftsmen relied on their intuition to finish with dimensional accuracy, but recently it has been proposed to process this type of work using a processing device attached to the tip of a robot.

Figure 3 shows a conventional industrial robot device of this type, as shown in, for example, Japanese Patent Publication No. 55-21382. In the figure, (1) is the main body of the robot device, and (2) is this robot device. A rotary drive machine is attached to the tip of the main body (1), (3) is a polishing wheel attached to the output shaft of this rotary drive machine via a chuck (4), and (5) is a grindstone mounted on the work table (8). The fixed workpiece (7) is the floor.

A conventional industrial robot device is configured as described above, and the robot device main body (1) moves the polishing wheel (3) as specified by the program, thereby polishing the workpiece (5) in a prescribed manner. be done.

[Problem to be Solved by the Invention 1] In the conventional industrial robot device as described above, the robot device main body (1) performs the work specified by the program, so the robot device body (1) is prone to work due to heat generated during machining, etc. (5) is deformed, the grinding wheel (3) will not come into proper contact with the workpiece (5), and when the machining is completed and the temperature of the workpiece (5) returns to the ambient temperature, the dimensions or shape may differ from those shown in the drawing. It may not be as specified. This error is particularly noticeable in the thin portions of the workpiece (5), but there is a problem in that conventional devices cannot prevent this error.

The present invention has been made to solve these problems, and proposes a metal processing method using an industrial robot device that can produce workpieces with high dimensional and shape accuracy.

[Means for Solving the Problems] In the present invention, when processing a workpiece with an industrial robot device, after processing a processing portion l, a portion not affected by heat generation due to processing of this processing portion is processed. This is how it was done.

[Operation] According to the present invention, after machining one machining part, by machining a part that is not thermally affected by the heat generated in that machining part, the dimensions and shape of the workpiece can be finished with high precision. .

[Example] The method of the present invention will be described below based on the example shown in FIGS. 1 and 2. Figure 1 shows the state of the workpiece (5) during machining in the case shown in Figure 3 as a plane along the I-I line, and this workpiece (5) has eight pieces as shown in Figure 1. This shows a method in which a recess (5a) is formed and the inner surface of each recess (5a) is polished with a grindstone (3) to achieve a high precision finish.
The number inside is the recess (5a) made by the polishing wheel (3).
) Indicates the order in which the inner surface is processed. Therefore, after polishing the recess (5a) indicated by number "1", the state shown is that the recess (5a) indicated by number "2" is being polished. Next to the recess (5a), there is another recess (5a) located at a diagonal corner of this recess (5a).
), the second recess (5a) to be polished is not affected by the heat generated during machining in the first recess (5a) located farthest away from the second recess (5a). difficult,
Therefore, when polishing the second recess (5a), there is little or no deformation of the recess (5a) due to thermal effects such as distortion or thermal expansion, and the polishing precision can be improved compared to the conventional one. I can do it. The second one is followed by a recess (5a) with the number "3n" in the other corner with the recess (2a) interposed therebetween.
), but in this case too, it is hardly affected by the heat generated in the second recess (5a), and in this way, the subsequent polishing points are all areas that are less affected by heat. In order to shift the polishing position to each recess (5a)
The polishing accuracy is extremely high.

Fig. 2 shows another embodiment, showing the process of polishing a workpiece (5) to the thickness indicated by the dashed line. Since the cutting is done in numerical order that is as far away as possible from the diagonal line of 2", it is possible to avoid thermal effects on each part due to the cutting process. In this way, all parts are cut as a spherical recess (5a). After removing the remaining parts, if you cut the remaining parts in the order according to the numbers above, you can cut out the remaining parts with high precision in the same way as described above and create a workpiece with the desired thickness (5
) can be finished with high precision.

Note that this metal processing method can be applied to any workpiece that generates heat in its processing portion during processing. and,
This machining order varies depending on the workpiece, and by programming the different machining orders, it is possible to determine the optimal machining method each time.

[Effects of the Invention] According to the present invention, since the workpiece is machined in sequence while avoiding the thermal influence of the heat generated in each machined part, it is possible to obtain a workpiece with highly accurate dimensions and shape. can.

[Brief explanation of drawings]

Fig. 1 is a plan view showing the processing order of a workpiece according to an embodiment of the method of the present invention, Fig. 2 is a cross-sectional view of main parts of the workpiece showing the second embodiment, and Fig. 3 is a workpiece processed by an industrial robot device. FIG. In the figure, (1) is the main body of the industrial robot device. (3) is a polishing wheel, (5) is a workpiece, and (5a) is a recess. Note that the same reference numerals in each figure indicate the same or corresponding parts. Agent Masuo Oiwa Procedural amendment (voluntary) Showa year, month, day 2, title of invention: Metal processing method using industrial robot device 3, person making the amendment Representative Moriya Shiki 4, agent 5, subject of amendment 6. Contents of the amendment The statement ``Next, the recess (2a)'' on page 5, line 3 of the specification is amended to ``Next, the recess (5a).''that's all

Claims (1)

[Claims] In a method of machining a workpiece using an industrial robot device, after machining one machining part of the workpiece, a part separated from the machining part where the temperature changes due to heat generated in the machining part is A metal processing method using industrial robot equipment that is characterized by processing extremely small parts.