JPS62166940A - Automatic grinding device - Google Patents

Abstract

PURPOSE:To enhance the accuracy of machining, by providing a robot body having a tool changer to and from which a polishing tool may be mounted and removed, and a robot control means for delivering a control signal to the robot body. CONSTITUTION:A teaching jig 24 is attached to a tool changer 5, and therefore, the operator teaches operation steps by manipulating a teaching box 28. A machining program including machining conditions which are inputted through a keyboard 30 is stored in a robot operation box 29 which therefore delivers a control signal. A robot controller 27 actuates a robot body, and therefore, the exchange of tools which are held by the tool exchanger 5 and so forth are automatically made in accordance with the machining program. Further, when the held tool approaches a press die 13, a polishing tool control device 25 opens an electromagnetic solenoid valve 44 to operate the polishing tool.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] [Industrial Application] The present invention relates to an automatic grinding device suitable for grinding press molds of automobiles and the like.

[Conventional technology]

In the machining of press molds for automobiles, the surface of the press mold after being cut by a die-sinking machine has a wavy shape, so it is ground for finishing. This grinding process has traditionally been done manually by workers, but
Grinder, file.

As the polishing work must be performed sequentially using vapor and a grindstone, the number of man-hours increases and the work time is long, and the skill of an expert is required to obtain good quality, and the work itself is This had the disadvantage of being hard labor.

For this reason, the present applicant has proposed a rotary tool suitable for grinding in Japanese Patent Application No. 60-97887.

[Problem that the invention seeks to solve]

However, even if the above-mentioned rotating tools are used, a worker is required to operate the tools, and machining operations must be constantly monitored to prevent accidents during work. There was an inconvenience in that it was not possible to achieve significant labor savings.

[Means for deciding issues]

The present invention was invented in view of the above, and its gist is to provide a plurality of abrasive tools arranged at predetermined positions on a tool stand, and a tool changer configured to allow the abrasive tools to be freely attached and detached. detects the operating position of the robot body and sends a control signal to the robot body to change the tool held by the tool changer and move the polishing tool according to the taught machining program; a robot control device; and tool holding state detection means provided to detect that a polishing tool is held in the tool changer.

When a detection signal is received from the tool holding state detection means and the robot control device, the TIF polishing tool is operated on the condition that the polishing tool is held in the tool changer and the polishing tool approaches the workpiece. An automatic grinding device comprising: a polishing tool i control device provided therein; and a grinding fluid supply device provided to supply grinding fluid to the workpiece or the polishing tool held in the tool changer. .

Further, another invention includes a robot body holding a polishing tool, and a control signal sent to the robot body so as to detect the operating position of the robot body and to move the polishing tool according to a taught machining program. a robot controller; a polishing tool controller configured to receive a detection signal from the robot controller and operate the polishing tool at least on the condition that the polishing tool approaches the workpiece; a grinding fluid supply device provided to supply a grinding fluid, electrically connected to the robot control device, the abrasive tool control device, and the grinding fluid supply device, the robot control device, the abrasive tool control device, When an abnormal condition is detected from at least one of the grinding fluid supply devices, an ink lock device installed to stop at least the robot (main body and the polishing tool) is activated. This article focuses on Atsushi and Zuro automatic grinding equipment.

[Effect]

According to the present invention, when an operator teaches a machining program for grinding, the robot control device sends a control signal to the robot body, and according to the machining program, the tool changer replaces and replaces the abrasive tool held by the tool changer. When the polishing tool controller detects that the polishing tool is held in the tool changer and is close to the workpiece based on the detection signals from the tool holding state detection means and the robot controller, the polishing tool is moved. It operates the tool, and the grinding fluid can be supplied to the workpiece or the polishing tool using the grinding fluid supply device. As described above, according to the present invention, the grinding process is automatically executed simply by the operator teaching the machining program.

Furthermore, according to other inventions, a robot control device and a polishing tool control device are provided using an ink lock device.

If an abnormal condition is detected from at least one of the grinding fluid supply devices, at least the robot main body and the grinding tool are stopped, which is highly safe and eliminates the need to constantly monitor the machining operation. be.

〔Example〕

Hereinafter, one embodiment of the present invention will be described in detail based on the accompanying drawings.

1 and 2 show an embodiment of the present invention.

In Fig. 1, 1 is a work space partitioned off by safety shelves 2.

Reference numeral 3 denotes a robot body that is installed approximately in the center of the work place 1 and has an arm portion 4 with multiple joints and multiple degrees of freedom; 5 is a robot body 3;
A tool changer is provided at the tip of the arm portion 4 of the robot body 3 and is configured to allow tools to be attached and detached freely, and 6 and 7 are pressure air supply devices provided at the tip of the arm portion 4 of the robot body 3 adjacent to the tool changer 5. The pressurized air supply port 6 is connected to a pipe 8 provided along the arm portion 4.
The grinding fluid supply lower is also connected to a grinding fluid circulation device provided at a corner of the workshop 1 via a piping 10 provided along the arm portion 4. They are connected to 11 discharge ports, respectively.

Further, 12 is a grinding table provided near the robot body 3 so as to be positioned below the tool changer 5 when the arm portion 4 of the robot body 3 rotates, and supports a press die 13 for an automobile as a workpiece; Provided around the stand 12.
The grinding liquid receiving tray 14 is connected to the grinding liquid circulating device 11 via piping 15 buried in the floor of the work place 1.
is connected to the inlet of the

Reference numerals 16 to 18 denote tool stands which are arranged on the rotation trajectory of the tip end of the arm part 4 at a position away from the grinding liquid receiving tray 14 in the work place 1, and on which two polishing tools each held by the tool changer 5 are placed. , and the tool stand 16 (2N type 3-axis rotary tool 1.9.20 that rotates and rotates on its axis) is
The tool stand 17 is equipped with two types of 1-axis rotary tools 21 and 22, and the tool stand 18 is equipped with a reciprocating tool I), 23 that moves reciprocally by a crank mechanism, and a teaching jig 24. It is placed. And these tools 19 to 23
The jig 24 is placed at a predetermined position with the connection portion to the tool changer 5 facing upward. Furthermore, tools 19-2
Reference numeral 3 denotes a polishing tool, each of which has an air motor (not shown) for driving the grinding wheel yiA and a grinding fluid discharge port (not shown) directed toward the vicinity of the grinding wheel.

The tools 19 to 23 each have a pressurized air inlet (not shown) provided in communication with the air motor and a grinding fluid inlet (not shown) provided in communication with the grinding fluid discharge port. At the entrance, the polishing tool is tool changer 5.
When the robot body 3 is held at the pressurized air supply port 6
And grinding? They are each configured to be connected to a night supply lower.

For this reason, the pressurized air supply port 6 and the grinding fluid supply lower are provided with a diagram configured to open when connected to the pressurized air supply port or grinding fluid supply port of the polishing tool, and to close when not connected. An on-off valve that does not work is installed.

The piping 8 connecting the pressurized air supply port 6 and the pressure supply source 9 is provided with an electromagnetic solenoid valve 44 that can freely open and close the piping. And electromagnetic solenoid valve 4
4 is a polishing tool control device 25 installed beside the workshop 1.
The opening/closing state of the electromagnetic tolenoid valve 44 is controlled by the control signal sent from the polishing tool control device 25, and the operation and non-operation of the polishing tool held in the tool changer 5 is controlled. It's a bastard.

The grinding fluid discharged from the grinding fluid circulation device 11 is transferred to the pipe 10. The grinding fluid is supplied to the workpiece side through the grinding fluid supply lower, the polishing IJ fluid inlet of the polishing tool, and the grinding fluid discharge port, and the grinding fluid is supplied to the grinding fluid receiving tray 14. The grinding fluid circulation device 11 is sucked into the grinding fluid circulation device 11 through the piping 15 and circulated. and its operation should be controlled).

Further, 27 is provided at the corner of the work area 1, and the robot body 3
．． Teaching board/shirasu 28° for teaching work; robot I-operation box 29 in which the operating program for the robot body 3 is stored; keyboard 3 for inputting machining conditions.
0 and the CRT device 31, and each of the devices 27 to 31 described above constitutes a robot control device. To explain each configuration of this robot control device in detail, a drive signal for operating the arm portion 4 and tool changer 5 of the robot controller I・i=3 is sent to the robot body 3, and at the same time, the robot body 3 It receives signals indicating the operating position of the section 4 and the operating state of the tool changer 5. The teaching box 28 serves as a robot controller to receive a signal for a switch operation performed by an operator as a teaching operation, and causes the robot controller 3 to output a drive signal. The robot operating box 29 is a robot controller that stores the contents taught by the operator and at the same time stores information related to machining conditions input from the keyboard 30, and stores the machining program such as the stored teaching contents and machining conditions. The robot main body 3 including the robot controller 5 is operated by a control signal corresponding to the robot controller 5.

Reference numeral 32 in FIG. 1 denotes the above-described polishing tool control device 25, grinding fluid circulation device control device 26, and robot controller ink clock device, which receives operating state signals from each of the devices 25 to 27 and also Provision is made to send signals controlling the operation of devices 25-27.

The electrical wiring state centered around this ink lock device 32 is as shown in FIG. That is, the ink lock device 32 is further provided with a tool mounting device which is provided on each of the tool stands 16 to 18 and detects whether or not each of the polishing tools 19 to 23 and the jig 24 are placed on the tool stand. The state sensors 33 to 38, the tool holding state sensor 39 which serves as tool holding state detection means and is provided in the tool changer 5 and detects whether or not a polishing tool is held in the tool changer 5, and the above-mentioned pressure sensor. A pressure sensor 40 provided to detect a pressure drop in the pressurized air supplied from the supply source 9
are connected, and can also receive detection signals from these cells 33-40.

The polishing tool control device 25 receives, via the interlock device 32, a signal indicating the position of the robot controller and a signal indicating the operating condition of the tool changer 5, as well as a state detection signal from the tool holding state sensor 39. The electromagnetic relay valve 44 is opened on the condition that at least the tool changer 5 holds a polishing tool and the arm portion 4 holding the polishing tool is detected to be close to the press mold 13 on the grinding table 12. The polishing tool is configured to send a control signal to cause the polishing tool to operate, and when the above conditions are not met, the electromagnetic solenoid L. -/id valve 44 is kept closed to prohibit operation of the polishing tool.

In addition, the grinding fluid circulation device control device 26 receives a detection signal from the abrasive tool control device 25 via the Inotaro Tsuk device 32 regarding whether or not the abrasive tool is being operated (electromagnetic/lunoid pal: open/close state of j24). , a control signal is sent out to operate the grinding fluid circulation device 11 in conjunction with the operation of the polishing tool.

In addition, the Innoclock device 32 includes each of the devices 25 to 27 described above.
When the following conditions are detected based on the signals detected by the sensors 33 to 40, it is determined that an abnormality has occurred in the device system, and the robot main body 3, polishing tool, and grinding fluid circulation device 11 are Robot Con to stop! - Sends control signals to the roller 27, the polishing tool control device 25, and the grinding fluid circulation device control device 26.

That is, the ink lock device 32 operates in a state where the arm portion 4 of the robot body 3 is close to the press die 13 but @the electric tool or the grinding fluid circulation device 11 is not operating (the block due to the abrasive tool is not operating). Detection of conditions to prevent surface damage or non-lubricated grinding), and detection of conditions in which the arm 4 is not operating even though the abrasive tool is operating and polishing work is being performed (during deep grinding). (condition detection for prevention).

TfF + Counterfeit tool The grinding fluid circulation device 11 is not operating even though the counterfeit tool is being used, or the grinding fluid circulation device 11
A condition in which a pump failure or a drop in the liquid level has occurred (condition detection to prevent grinding without lubrication).

A state in which the arm portion 4 is close to the push mold 13 without the polishing tool being held in the tool changer 5.

A state in which the pressure of the air supplied from the pressurized air supply source 9 has decreased, a state in which a signal indicating that a tool is not mounted is detected from two or more of the processors 33 to 38 (a state in which a signal indicating that no tool is mounted is detected from two or more of the processors 33 to 38). If any one of the following conditions is detected, the operation of the robot body 3, the polishing tool, and the grinding fluid circulation device 11 is stopped. It is something.

According to the above configuration, the teaching contents performed by the operator by operating the tearing box 28 with the teaching jig 24 attached to the tool changer 5 and the machining input by the operator from the keyboard 30 The machining program such as conditions is stored in the robot controller operator control box 29, and the robot control roller 27 operates the robot body in response to control signals sent from the robot controller operator control box 29. According to the machining program, the tools held by the tool changer 5 are exchanged and the held tools are moved automatically. When the held tool approaches the press die 13, the polishing tool control device 25 opens the electromagnetic solenoid valve 44 to operate the polishing tool, and the grinding fluid circulation device control device 26 controls the grinding fluid circulation device. 11 is operated to supply the grinding fluid, and when the tool moves away from the grinding die 13, the operation of the polishing tool and the supply of the grinding fluid are stopped.

Furthermore, if the Inotalock device 32 detects any abnormality in the device system, the operations of the robot body 3, the polishing tool, and the grinding fluid circulation device 11 are automatically stopped.

According to the above embodiment, since the grinding work is automatically proceeded according to the teaching and machining program in advance, the machining work can be completed in a short time without requiring the skill of an expert. This has the effect of saving labor and achieving good machining accuracy at the same time.

In addition, if the ink lock device 32 detects any abnormality in the device system, it will stop the operation of each device, which improves safety and eliminates the need for personnel to monitor the processing work. This is effective as it allows for further labor saving.

It should be noted that the present invention is not limited or defined by the above-mentioned embodiments; however, it goes without saying that various other modifications may be made.

〔Effect of the invention〕

As described above in detail with the embodiments, the present invention has the effect of providing an automatic grinding device that can improve machining accuracy and safety and at the same time achieve labor savings.

[Brief explanation of drawings]

FIG. 1 is a system schematic diagram showing an embodiment of the present invention. FIG. 2 shows a block diagram of the embodiment shown in FIG. 3 - Roch I main body 5 - Tool changer 9 Pressure supply source 11... Grinding fluid circulation device 13 Press molds 16 to 18
Tool stand 19-23 Polishing tool 24, electromagnetic solenoid valve 25, polishing tool control device 26 Grinding fluid circulation device control device 27-robot controller 32' Interlock device 39, tool holding state sensor Fig. 1 LKI control

Claims (1)

[Claims] 1) a plurality of polishing tools arranged at predetermined positions on a tool stand;
A robot body configured to allow the polishing tool to be attached and detached, and having a tool changer, and a robot body that detects the operating position of the robot body and exchanges and polishes the tools held by the tool changer according to the taught machining program. a robot control device that sends a control signal to the robot body to move the tool; a tool holding state detection means provided to detect that a polishing tool is held in the tool changer; an abrasive tool control device configured to receive a detection signal from the detection means and the robot controller and operate the abrasive tool on the condition that the abrasive tool is held in at least the tool changer and the abrasive tool approaches a workpiece; and a grinding fluid supply device provided to supply grinding fluid to the workpiece or the polishing tool held in the tool changer. 2) A robot body holding the polishing tool; a robot control device that detects the operating position of the robot body and sends a control signal to the robot body to move the polishing tool according to the taught machining program; and a robot control device that receives a detection signal from the robot control device. an abrasive tool control device provided to operate the abrasive tool at least on the condition that the abrasive tool comes close to a workpiece; and a grinding fluid supply device provided to supply a grinding fluid to the workpiece or the abrasive tool. , electrically connected to the robot control device, the abrasive tool control device, and the grinding fluid supply device, the robot control device, the abrasive tool control device,
Automatic grinding characterized by comprising an interlock device provided to stop at least the robot main body and the polishing tool when an abnormal state is detected from at least one of the grinding fluid supply devices. Device