JPS6294244A - Industrial robot device - Google Patents

Abstract

PURPOSE:To eliminate thermal deformation of a workpiece due to head developed at the time of machining and obtain high accuracy in dimension and configuration by cooling a machining part with a cooling medium during machining. CONSTITUTION:Machining is carried out while cooling a machining part with a cooling air or liquid from a nozzle 9 which is connected to a flexible hose 8 suspended from a ceiling. Thereby, heat developed in a honing stone 3 or a workpiece 5 at the time of machining can be allowed to escape by means of the cooling air or liquid. Accordingly, high accuracy in dimension and configuration can be obtained.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an industrial robot device that processes a workpiece using a processing device attached to the tip of the robot.

In particular, it relates to a structure that prevents deformation of a workpiece due to heat generation during machining.

[Conventional technology]

In general, molds for plastic molding or press use are required to have high dimensional accuracy and shape accuracy. For this reason, in the past, veteran craftsmen performed the finishing work relying on their intuition, but recently it has been proposed to process this type of workpiece using a processing device attached to the tip of a robot.

Figures 3 and 4 are 5, for example, Japanese Patent Publication No. 55-21362.
This figure shows a conventional industrial robot device of this type disclosed in the above publication. In the figure, (1) is a robot, (z) is a rotary drive machine attached to the tip of the robot (1),
3) is a polishing wheel mounted on the output shaft of this rotary drive machine via a chuck (4), (5) is a work fixed on a work table (6), and (7) is a floor.

A conventional industrial robot device is configured as described above, and the robot (1) moves the polishing wheel (3) as specified by the program, thereby polishing the workpiece (6) in a prescribed manner. .

[Problem that the invention seeks to solve]

In the conventional industrial robot device as described above, the robot (1) performs the work specified by the program, so if the workpiece (5) is deformed due to heat generated during machining, the As shown, the grinding wheel (3) is attached to the workpiece (5).
), the machining is completed and the workpiece (5)
When the temperature returns to ambient temperature, the dimensions or shape may not be as specified in the drawing. 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 was made to solve these problems, and an object of the present invention is to obtain an industrial robot device that can obtain workpieces with high dimensional and shape accuracy.

[Means for Solving the Problems] The industrial robot device according to the present invention is configured to perform processing while cooling the processing section with a cooling medium.

[Effect]

In this invention, since the processed part is cooled by the cooling medium during processing, the workpiece is not thermally deformed due to heat generated during processing, and high dimensional accuracy and shape accuracy can be obtained.

〔Example〕

FIG. 1 shows an embodiment of the present invention.
The same reference numerals as in FIGS. 5 to 5 indicate the same or corresponding parts. (3
) is a flexible hose suspended from the ceiling to supply cooling air or liquid; (9) is a flexible hose (3);
The cooling air or liquid is sprayed onto the workpiece being processed by a nozzle connected to the workpiece.

In the industrial robot device configured as described above, processing is performed while cooling the processing part with cooling air or liquid from the nozzle (9).
3) Alternatively, the heat generated in the workpiece (5) can be released to another place using the cooling air or liquid, and high dimensional accuracy and shape accuracy can be obtained.

In the above embodiment, cooling air or liquid is sprayed onto the machining part to cool it, but as shown in FIG.
Cooling may also be achieved by immersing the liquid in the liquid, and a similar effect can be expected.

In the above embodiment, a grinding wheel (3
), but the same effect can be obtained by using a cutting tool.

〔Effect of the invention〕

As explained above, this invention performs processing while cooling the processing part with a cooling medium, thereby preventing deformation of the workpiece due to heat generation during processing and improving dimensional accuracy and shape accuracy. There are effects such as being able to do it.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing one embodiment of the present invention, Fig. 2 is a diagram equivalent to Fig. 1 showing another embodiment of the invention, and Fig. 3 is a diagram equivalent to Fig. 1 showing a conventional industrial robot device. 4 is a plan view of FIG. 6, and FIG. 5 is an explanatory diagram showing the state of deformation of the workpiece due to heat. (1) Two robots (3): Grinding wheel (5): Workpiece (9): Nozzle aO): Cooling liquid In each figure, the same reference numerals indicate the same or corresponding parts.

Claims (3)

[Claims] (1) An industrial robot device that processes a workpiece using a processing device attached to the tip of the robot, characterized in that the processing is performed while cooling the processing section with a cooling medium. (2) The industrial robot apparatus according to claim 1, characterized in that the means for cooling the processing section includes spraying a cooling medium onto the processing section. (3) The industrial robot apparatus according to claim 1, wherein the processing section is immersed in a cooling medium as means for cooling the processing section.