JPS6299068A - Apparatus and method for removing burr with robot exclusively used for long workpiece - Google Patents

Abstract

PURPOSE:To remove burrs on both end faces of a long workpiece with one unit of robot for simplifying apparatus by providing a travelling section having a moving bed capably of linear longitudinal reciprocation and a robot equipped with a rotary section for reversing a tool. CONSTITUTION:In a burr removing operation, compressed air is first supplied from a combined stopper and pressure supply section 14a and a moving bed 10 is shifted to abut against a combined stopper and pressure supply section 14b. And the compressed air is supplied to a turn body 15 and a tool 17 mounted on a grinder 16 is pivoted in the direction R to be positioned and fixed. Next, a robot 4 is started to remove burrs from end faces of a workpiece 5 with the tool 17. Thus, the burrs on both end faces of the long workpiece 5 can be removed only by mounting one unit robot 4 on the moving bed 10 reciprocating on the guide rail 13 of a travelling section 6 and turning on and off a switch.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to streamlining work for deburring workpieces, and particularly to a deburring device and method for deburring long objects using a robot.

[Background of the invention]

In recent years, robots have been used to deburr workpieces in machine processing factories and other places as a part of rationalization.
is fixed, and the workpiece f to be deburred by the robot 1 is
(How to move 12a and the workpiece as shown in Figure 8)
There is a method in which the robot 1 holds the deburring tool 3 while fixing the deburring tool 12b, and operates the deburring tool 3 to remove the burr.

However, in all of the above cases, increasing the length of the robot's arms to an extreme length would result in excessive structural costs and would be unsuitable for deburring large workpieces. For example, for long workpieces, multiple robots each equipped with a deburring tool 3 are arranged as shown in Figure 8 to deburr the workpiece.
The method of doing the work is often taken.

In addition, if deburring is required only on both end faces of a long object, it is wasteful that two robots must be placed at both ends of the workpiece 50 to be deburred, as shown in Figure 9. was there.

[Purpose of the invention]

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a robot device and a burr removal method suitable for work with a large number of burrs on both end faces of a long workpiece.

[Summary of the invention]

The present invention has been made to achieve the above-mentioned object, and uses a single robot mounted on a movable table capable of rectilinear reciprocating movement to reach predetermined positions at both ends of a long workpiece that requires deburring. This apparatus and method are characterized by deburring both end faces of a long object.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 1 to 6.

FIG. 1 is a perspective view of an embodiment of the present invention showing the relationship and configuration of a robot-based deburring device for long objects and a workpiece, with a robot 4 having three degrees of freedom in an orthogonal coordinate system.

A deburring device exclusively for long objects is installed parallel to the workpiece 5, which is composed of a running section 6 and a rotating section 7.

Regarding the movement in the X direction in the figure, coarse movement by the traveling section 6,
There is a slight movement caused by the moving part 4x in the robot 4, Y
, the movement in the Z direction is caused by the moving parts 4y and 4z of the robot 4.

Further, the arm end of the robot 4 has a rotating part 7t which has one degree of freedom of rotation and can be positioned at two different positions.

Next, each of the above components will be described in detail.

FIG. 2 shows the configuration of a three-degree-of-freedom robot 4 based on an orthogonal coordinate system.

In this example, since the parts to be deburred are both end faces of a long workpiece, a robot with a three-degree-of-freedom Cartesian coordinate system is used, which is inexpensive and easy to control and train. However, depending on the shape of the workpiece, In some cases, a robot whose coordinate system is an oblique coordinate system or a polar coordinate system is used.

FIG. 3 shows the traveling section 6, and in this embodiment pneumatic pressure is used as the driving source, but hydraulic pressure may be used as the driving source. The cylinder 8 is a so-called rodless cylinder that does not have a guide rod in order to utilize space effectively. By supplying compressed air to the rodless cylinder 8 from the inlet side as shown, the slider 9 moves toward the B side.

Conversely, by supplying compressed air from the B side.

The slider 9 moves to the A side. The moving table 10 is a slider 9
The movable table 10 is fixed to the slide bearing 1.
1 so as to be slidable on a guide rail 13. Therefore, as described above, it is possible to move the movable table 10t as the slider 9 reciprocates by supplying compressed air.

Also, at both ends of the rodless cylinder 8, a stopper and pressure supply section 1 is provided.
4a and 14b, and the movable table 10 moved to the B side with respect to the compressed air pressure from the inlet side is moved to the stopper and pressure supply part 14.
It comes into contact with b and stops. While continuing to supply compressed air from the entrance side, the movable platform 101 is moved...S-line Buddhist tray-AL
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If the inner diameter of the cylinder 8 is D and the air pressure is P, then F=πD
Due to the thrust F given by 2P/A.

When the movable stage 10 is at the stop position, it is prevented from wobbling, and the accuracy required for deburring work can be maintained. Note that the robot 4 is fixed on the stage 10.

The above operation operation was explained for the B side stop position, but
The same applies to the case of stopping on the A side.

In this embodiment, the movable table 10 does not need to be stopped at an intermediate position on the guide rail 13, but if necessary, an intermediate stop type air cylinder may be used or an appropriate driving force may be used to stop the moving table 10 at an intermediate position on the guide rail 13. It is possible to change the stopping position by setting .

Next, as shown in FIG. 4, the rotating unit 7 is constructed by attaching a grinder 16 and a processing tool 17 to the tip of a rotating body 15 whose driving power source is compressed air. At least, it is constructed so that positioning and stopping in both directions of H is possible.

Next, an example of burr increasing work using this apparatus will be described. When compressed air is supplied from the stopper and pressure supply section 14a shown in FIG.
It moves to the side and stops at the position where it comes into contact with the stopper/pressure supply part 14b. Therefore, as shown in FIG. 5, the robot 4 fixed on the movable table 10 is moved and positioned from a predetermined position on the A side to a predetermined position on the B side. Next, in order to process the end face on the D side, the processing tool 17 attached to the grinder 16 is moved to the rotating body 15 shown in FIG. It rotates in the direction and is fixed in position.

Next, as shown in FIG. 5, the robot 4 starts and the processing tool 17
Deburring the C end face of the workpiece 5 is performed.

At the same time as the deburring of the C end face is completed, the compressed air is
It is supplied from the B side of the rodless cylinder 8 shown in the figure and moved to the moving stage 10'iA side via the slider 9. As a result, the robot 4 moves to a position where the stopper/pressure supply section 14alC movable table 10 comes into contact with it, as shown in FIG. 9, and then stops.

Next, compressed air is supplied to the revolving body 15 shown in FIG. 4, and the processing tool 17 attached to the grinder 16 is rotated in the direction L and fixed at one position.

After the positioning is completed, the robot 4 is started as shown in FIG. 6, and the processing tool 17 burrs the C end face of the workpiece 5.

As mentioned above, in order to perform deburring work on both end faces of the long workpiece 5, a large robot with a large working range is not used, and the robot is reciprocated on the guide rail 13 of the traveling section 6 by a rodless cylinder. Using one moving robot 4, deburring can be performed by simply turning on and off a switch. Since the robot 4 can be stopped at both ends of the workpiece 5 by the thrust obtained by the pneumatic rodless cylinder, positioning accuracy can be maintained even in repeated operations.

In addition, as an application of this device, by installing a stopper at an arbitrary position on the guide rail 13 and adopting control using different coordinate systems, it is possible to perform machining and assembly work on multiple workpieces with one robot. is possible.

[Effects of the Invention] By carrying out the present invention, it is possible to deburr both end faces of a long workpiece without using an expensive multi-jointed robot with multiple degrees of freedom.

[Brief explanation of drawings]

Figure 1 is a perspective view of an embodiment of the device used in the present invention, Figure 2 is a perspective view of the robot in Figure 1, Figure 3 is a perspective view of the traveling section in Figure 1, and Figure 4. is a perspective view of the revolving body in Fig. 1, Fig. 5.6 is a front view for explaining the machining of the workpiece in Fig. 1, and Figs. 7 to 9 are perspective views of various deburring devices according to the prior art. be. 4...Robot, 5...Workpiece, 6...Traveling section.

Claims (2)

[Claims] (1) A traveling part that has a movable base that can reciprocate in a straight line in the longitudinal direction, a robot that is placed on the movable base and has at least three degrees of freedom, and the tip of the robot that can be positioned at at least two different positions. 1. A deburring device exclusively for long objects, comprising a rotating part having a rotating shaft with one degree of freedom, and a processing tool is provided at the tip of the rotating part. (2) After moving a robot having at least three degrees of freedom to a predetermined position at one end of a long workpiece on a movable table that reciprocates in a straight line in the longitudinal direction and stopping the robot, Deburring one end surface of the workpiece using a processing tool, then reversing the robot to a predetermined position on the other end of the workpiece, and deburring the other end surface in the same manner as above. A deburring method exclusively for long objects.