JPS6257810A - Floating mechanism for motor - Google Patents

Abstract

PURPOSE:To provide a tool on a rotary shaft performing a follow-up motion to the ruggedness of a machined surface in a fixed level of adapting force, by supporting a vertical type motor so as to be prevented from its displacement in the vertical direction while so as to be reset to the center position of the motor, when it is displaced, through three or more resetting members in the horizontal direction. CONSTITUTION:A motor M and a coupling member 8 are supported, so that their displacement is incapable in the vertical direction, by each upper and bottom six bearings 12, 23. And the motor M and the coupling member 8, being reset, if they are displaced, to the center position in the horizontal direction, are supported to a fluid resetting member 3c, comprising six sets of cylinders 19 and pistons 20, and stopped to a stopper member 15 by zigzag arranged extension springs 3b while supported to compression springs 3a held to a holding member 29. Accordingly, a floating mechanism, mounting a supporting member B to a robot arm 9 while a reamer 7a to a motor rotary shaft 6 to move along a machined surface in a fixed level of adapting force, actuates the resetting member if the reamer is adapted to a rugged part on the half way, and the reamer, after it is displaced, is reset to the original position thus performing a follow-up motion to the machined surface.

Description

DETAILED DESCRIPTION OF THE INVENTION Object of the Invention (Field of Industrial Application) The present invention relates to a vertical motor, and particularly to a floating mechanism of a vertical motor in which a rotary cutter A5 grinding knife is attached to a rotating shaft.

(Prior art) Conventionally, there has been a method of using a rotary blade or a grinding tool such as a grindstone that is rotated by a motor to cut or grind workpieces such as metal, wood, and synthetic resin. It has been adopted.

In this method, the motor is held in hand and fixed to the arm of a machine robot so that the blade surface of a rotary blade or the grinding surface of a grinding tool is in contact with the workpiece, and the arm of the robot is moved to machine the workpiece. It was a method of cutting or grinding things.

(Problem to be Solved by the Invention) However, some workpieces have delicately uneven surfaces that cause molding errors, and the movement of the robot's arm cannot follow the uneven surfaces. In this case, there was a risk of damaging the workpiece and producing defective products.

For example, when cutting off the edges of the exterior material of the ring portion of an automobile steering wheel, only the edges must be removed without damaging other parts.

This will be explained in more detail based on FIGS. 5 and 6. First, a steering wheel (hereinafter referred to as a ring) 51 of an automobile is usually made by setting a core metal 52 in a mold and using a synthetic material such as urethane resin. 1q is achieved by insert molding with resin and covering the core metal 52 with a synthetic resin exterior material 53.

However, in the exterior material 53 of the ring 51 taken out from the molding die, cracks 54 may occur at the mold cracks of the molding die.

It is important to cleanly cut the paris 54 without cutting too much or leaving anything uncut, and to avoid damaging or scraping other parts, that is, the exterior material 53. This could not be done with a fixed rotating blade.

This is because the surface of the exterior material 53 actually has a slightly uneven surface within a range of variation, and in the process of contacting the side surface of the exterior material 53 with a blade and moving it, for example, a rotary knife may appear on the convex part. If you do not move the rotary knife back by a height corresponding to the convex part while keeping it in contact with the exterior material 53, even if the knife has a clearance angle of 0 degrees, the paris 54 This may cause over-shaving or unshaving, and the protrusions of the exterior material 53 may be scratched, lowering the product value, and in some cases, the protrusions may be scraped.

The same problem occurs when a rotating blade encounters a recess, and this is an unavoidable problem in a device in which a rotating blade is directly attached and a motor is directly moved.

Therefore, even if the surface of the product has a certain degree of unevenness, a motor support mechanism is required that allows a rotary cutter or the like to follow the uneven surface while maintaining constant contact with the product. The present invention aims to provide a motor floating mechanism that can meet this need.

Structure of the Invention (Means for Solving the Problems) The present invention provides a structure in which a vertical motor is supported on a support member so as to be non-displaceable in the direction of its axis, and displaceable in a direction perpendicular to the direction of the co-axis. At the same time, a return member is provided around the motor for returning the relative position of the motor to the support member to the original position when the motor is displaced.
The above-mentioned problem is solved by a floating mechanism of two or more motors.

(Effect) I11! ll! Even if there is an uneven surface on the surface that comes in contact with a rotary cutter attached to the rotating shaft of the motor, the relative positional relationship between the vertical motor and the support member that supports the motor will change depending on the uneven surface. Modified in the direction perpendicular to the core.

(Embodiment) An embodiment in which the present invention is embodied in a floating mechanism of a vertical motor installed in a deburring machine will be described with reference to FIGS. 1 to 4. FIG.

In this embodiment, two types of springs and a combination of a piston and a cylinder using fluid are used together as the return member.

As shown in FIG. 1, the deburring machine 5 of this embodiment includes a vertical motor M, a rotary cutter 7 connected to the tip of a rotating shaft 6 of the motor M, and a rotary cutter 7 that surrounds and supports the motor M. It consists of a supporting member B and other members. As the rotary cutter 7, a gluer with a clearance angle of 0 degrees is used.

This deburring machine 5 is attached to a robot (not shown) so that it can move the reamer 7a three-dimensionally. The deburring machine 5 is brought into contact with the inner or outer circumferential side where the deburr 14 is formed.
By moving the ring 11, it is possible to deburr the ring 11.

The support member B may be of any type as long as it has a shape and size that can support the vertical motor M;
In example I it is constructed from a combination of the following parts:

As shown in FIG. 2, a substrate 1 of the support member B is fixed to an arm 9 of a robot, and other members constituting the support member B are assembled on the upper surface of the substrate 1.

These members include three or more bearings 12 fixed on the side of the vertical motor M, and the same bearings 12 on the top surface.
three or more fluid return members 3C fixed to the outside of the return member 3G, a spring locking member 15 assembled to the top surface of the return member 3G, and a spring holding member 29 fixed to the top surface like a lid. It is composed of. In this embodiment, six bearings and six fluid return members 3C are used, and the fluid return members 3C also function as the return members themselves, which will be described later.

The board 1 has a hole 10 through which the vertical motor M can pass, and a rearance C is formed between the side surface of the hole 10 and the side surface of the motor M to allow the vertical motor M to float. There is.

Six bearings 12 are arranged and fixed at rotationally symmetrical positions with respect to the rotational axis of the vertical motor M, and a support plate 4 in the form of a hollow disc is fixed on top of the bearings 12. The vertical motor M captured by the two-split coupling member 8 is indirectly fixed.

As shown in FIGS. 2 and 4, a locking portion 26 is provided on the upper outer periphery of the coupling member 8, and locking holes 27 are bored therein at regular intervals along the circumferential direction. There is.

As shown in FIGS. 2 and 3, the fluid return member 3C consists of a combination of six cylinders 19 and a piston 20,
It is arranged and fixed at a rotationally symmetrical position with respect to the rotation axis of the vertical motor M.

One cylinder is formed by two casings 16 and 17 for convenience of manufacture and assembly, and the casing 17 is provided with an oil storage chamber 18 so that oil in the cylinder 19 can enter and exit.

There is a clearance of 2 between the piston 20 and one cylinder.
1 is formed, and the displacement speed of the piston 20 is defined by the clearance 21 thereof. Further, a bearing 22 is attached to the tip of the piston 20,
Even if the support plate 4 moves slightly, it is in stable contact with it.

A hole 2 is bored in the center of the bottom of the spring locking member 15, and the vertical motor M is inserted into the hole 2, and between the side surface of the hole 2 and the side surface of the vertical motor M. A clearance C is formed between the two, allowing the vertical motor M to float.

Furthermore, a bear link 23 is provided on the lower surface of the spring locking member 15.
are provided in the same number as the bearings 12, so that the support plate 4 can smoothly move between the two bearings 12 and 23 in a direction perpendicular to the rotation axis 6 of the vertical motor M. .

A locking portion 24 is provided on the inner surface of the spring support member 15 at approximately the same height as the locking portion 26 of the coupling member 8, and the locking portion 24 has a groove along the circumferential direction as shown in FIG. Three or more locking holes 25 are provided at regular intervals.

Further, these holes 25 are bored at positions such that a straight line connecting the center of the circumferential hole 25 and the axis of the vertical motor M passes between the two locking holes 27 of the coupling member 8.

Extension springs 3b as return members are locked in a staggered arrangement between the two locking holes 25 and 27, and the two locking holes 25 and 27 are locked in a staggered arrangement. The resultant force of the extension spring 3b is directed in the normal direction. Therefore, the vertical motor M is pulled toward the spring locking member 15, and as long as no external force is applied to it, the motor M is kept in the reference position, which is the most stable position relative to the support member B, and , rotation of the motor M itself is prevented.

The two lid-like spring holding members also have a hole 30 in the middle through which the vertical motor M can pass, as shown in FIG. A certain clearance C is formed between.

Three or more insertion holes 31 are bored in the spring holding member 29 in its normal direction, and a compression spring 3a serving as a return member is inserted into the insertion holes 31.

A plug 32 is screwed into the hole 31 into which the compression spring 3a is inserted from the outside inward, and the compression spring 3a always pushes the vertical motor M from its periphery and holds it at the reference position.

The vertical motor M of this embodiment configured as described above
The floating mechanism exhibits the following functions and effects.

As shown in FIG.
and move the reamer 7a to the inner peripheral side of the ring 11 while touching it with a light touch. At this time, the motor M is held at the reference position or a position close to it, and the cutting edge of the reamer 7a comes into contact with the inner peripheral side of the ring 11, causing the paris 1
Cut 4.

However, during this movement process, even if there is a convex part on the inner circumferential side and the reamer 7a encounters it, the reamer 7a has a blade with a relief angle of 0 degrees, and the reamer 7a will be able to avoid the convex part. Try to overcome it without cutting down on it.

On the other hand, since the vertical motor M is supported by the support member B in a floating state, when the reamer 7a tries to get over the convex part, the relative position of the two changes, and the side opposite to the concave part changes. Move to.

However, the vertical motor M has a compression spring 3a, an extension spring 3b, and a fluid return member 3C as return members.
Therefore, even if the vertical motor M moves, the relative position of the support member B and the vertical motor M tends to return to its original position in response to the displacement force. If the relative position returns to its original position, the biasing force applied to the ring 11 will be the same as the original biasing force, so that no inconvenient situation such as the ring 11 being scraped occurs. Therefore, the edges 14 of the convex portions are not cut too much or left uncut, and are cut cleanly. The above also applies when the beam 7a encounters a recess.

The above is a description of deburring on the inner circumferential side of the ring 11, and deburring on the outer circumferential side of the IC is also carried out in the same manner as described above.

The present invention is not limited to the configurations of the embodiments described above, and can be implemented, for example, in the following embodiments.

(1> Only the compression spring 3a or only the spring spring 3b can be used as the return member, or both can be used in combination.

(2) Fluid such as air, water, or oil can be actively caused to flow into the cylinder 19 from the outside through the fluid return member 3C.

(3) Although it is possible to have a worker carry the deburring machine 5 and perform deburring manually, it is preferable to attach the deburring machine 5 to a robot and have the robot operate it. Make use of it.

(4) Instead of the rotary blade 7 of the vertical motor M, a grindstone having a cylindrical shape or the like may be attached to the motor to perform the grinding process.

Effect of the invention The present invention exhibits the following significant effects.

Even when a rotating blade or grindstone attached to a vertical motor moves while being in contact with the surface to be cut or ground, even if it encounters an uneven surface, it will always remain constant against the uneven surface. can apply a contact force of As a result, a clean cut or ground surface 19 with no over-cutting or uncut parts is obtained.

[Brief Description of the Drawings] Fig. 1 is a perspective view of a device according to an embodiment of the present invention, Fig. 2 is a partial vertical sectional view of the same device, and Fig. 3 is a
- Partially broken sectional view of the -■ surface, Figure 4 is IV- in Figure 2
Partially broken sectional view of the IV plane, Figure 5 is a front view of the ring, Figure 6 is a front view of the ring.
The figure is a sectional view taken along the line V-V in FIG. 5.

Claims (1)

[Claims] 1. A vertical motor (M) is supported by a support member (B) so as to be non-displaceable in its axial direction and movable in a direction perpendicular to the coaxial direction; Motor (M) relative to the support member (B) when the motor (M) is displaced
A return member (
A floating mechanism for a motor, characterized in that three or more of 3) are provided around the motor (M). 2. The motor floating mechanism according to claim 1, wherein the return member (3) is a spring. 3. Two types of springs are used, one of which is a compression spring (3a) that is installed in a compressed state.
), and the other type is an extension spring (3b) disposed in an extended state. 4. The motor floating mechanism according to claim 1, wherein the return member (3) comprises a combination of a cylinder and a piston. 5. The motor floating mechanism according to claim 1, wherein a spring is used in combination with the cylinder and piston as the return member (3).