JPS63169209A - Automatic deburring device - Google Patents

Abstract

PURPOSE:To remove the burrs at required points quickly and certainly by automating the deburring operation in such a way that a workpiece is held and transferred to a fixed position on an indexing table, and it is located and fixed through detecting the rotational position thereof, and then burrs on the surface of the workpiece are removed. CONSTITUTION:A carried-in workpiece W is held by a holding device 1 and transferred to a fixed position on an indexing table 32. And then, while the workpiece W is being held in a state where the shaft center coincides with a fixed mounting center, the workpiece W is rotated round the shaft center of the table in case of necessity, and, when it reaches a fixed rotational position, a positioning device is operated to locate it. The located workpiece W is fixed on the indexing table 32 by means of a swing clamp 38, and then, the burrs at required points on the fixed workpiece W are removed quickly and certainly by a deburring device 47, which is preset so as to perform the deburring operation while it is moving along the surface contour of the workpiece W. Thereby, such a dangerous and inefficient work can be performed efficiently by way of automating the work.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an automatic deburring device for automatically removing burrs from the surface of a processed product such as a tire wheel.

[Prior art] Processed products such as tires and wheels that are cast or manufactured by machine processing have burrs remaining on the corners, and if left untreated, people may be injured during handling or the product may spoil its aesthetic appearance. There is a problem.

Therefore, it is necessary to remove the burrs, and conventionally, such burr removal work has been carried out by a person using a grinder.

[Problems to be Solved by the Invention] However, such work is hard labor, inefficient, and also poses safety problems due to poor footing. Therefore, it is possible to automate the work by installing a cutting device for deburring at the tip of an articulated robot, but it would be complicated to judge the posture of processed products such as tires and wheels each time they are transported. It was difficult to deburr according to the surface shape.

[Means for Solving the Problems] In order to solve the above-mentioned problems, the present invention grips and transfers a workpiece to a predetermined position on an index table, and then transfers the workpiece to a predetermined position on an index table while holding the workpiece. a gripping device that can rotate around its axis; a positioning device that detects and positions the workpiece when it has reached a predetermined rotational position; and a clamp device that fixes the positioned workpiece to the index table; The present invention includes a deburring device for removing burrs from the surface of the workpiece fixed to the index table.

[Function] In such an automatic deburring device, the gripping device grips the transported workpiece, transfers it to a predetermined position on the index table, and aligns the axis of the workpiece with the predetermined mounting center on the index table. The workpiece is held in alignment while being rotated about its axis as required, and when the workpiece reaches a predetermined rotational position, a positioning device is actuated to position the workpiece. The positioned workpiece is fixed on the index table by a clamp device, and the deburring device, which is set in advance to remove burrs while moving along the surface shape of the workpiece, removes burrs from the workpiece fixed to the index table. Quickly and reliably remove burrs from the required locations.

[Example] An embodiment of the present invention will be described below with reference to the drawings.

In FIGS. 1 to 8, l is a gripping device, and a rotating shaft 4 supported by a pair of bearings 3 provided on a base 2
, a pair of frames 5 fixed near both ends of this rotating shaft 4, a screw shaft 6 rotatably supported by this frame 5 via a bearing 5a, and these rotating shafts 4 and screw shafts 6.
A pair of gripping arms 7 are inserted through and supported by the gripping arm 7. The gripping arm 7 includes a bent portion 7a on the free end side and a parallel portion 7b on the proximal end side, and the bent portions 7b form four portions 8 inside each other. The central portion of the rotating shaft 4 is a spline shaft 4a with a groove formed in the axial direction, while a bushing 9 that fits into the spline shaft 4a is fixed to the parallel portion 7b of the gripping arm 7. ing. A timing pulley 10 is attached to one end of the rotating shaft 4 via a torque limiter 11, and this timing pulley 10 is connected via a timing belt 12 to a reversing motor 13 installed on the base 2. When the reversing motor 13 operates and the rotating shaft 4 rotates, the frame 5 and the gripping arm 7 rotate together around the rotating shaft 4, and rotate 180 degrees from one horizontal plane position to the other horizontal plane. It is supposed to move into position. Further, the screw shaft 6 has a shape on its outer periphery.
A male thread 14 is provided with a right-hand thread on one side and a left-hand thread on the other side with the center as the boundary, and on the other hand, the parallel portion 7b of each gripping arm 7 is threaded into the male thread I4. A nut 16 having a female thread 15 formed therein is fixed. One end of the screw shaft 6 is connected to an air motor 17 with a brake installed on the frame 5, and when the air motor 17 is driven, the screw shaft 6 rotates, thereby holding the gripping arm to which the nut 16 is fixed. 7 moves symmetrically. In addition, 18 is
This is a balance weight attached to the base end to reduce the load when the gripping arm 7 rotates.

Further, a pair of gripping arms 19 and 20 are attached to mutually opposing positions of the bent portion 7a of the gripping arm 7 so as to be rotatable in a horizontal plane. The outer circumference of the gripping ring 19° 20 is made of a rubber tire, and the shaft 20a of the gripping ring 20 on the proximal end is connected to a rotating wheel installed on the parallel portion 7b of the gripping arm 7 via a timing pulley 21° and a timing belt 22. It is connected to the output shaft 23a of the motor 23, and by driving this wheel rotation motor, the four grippers 1
While gripping the workpiece (tire wheel) W held at 9 and 20, it is possible to rotate around the center of the workpiece W.

An index table 32 is provided on a base 31 adjacent to the base 2 of the gripping device 1. This index table 32 is provided with a swivel seat bearing 33 on a base 31, and a disk-shaped table main body 34 whose upper surface is partitioned by partition plates 32a every 120 degrees is rotatably attached to the swivel seat bearing 33. A small gear 35a fixed to the output shaft of the indexing motor 35 placed on the base 3I is engaged with a ring tooth @32a fixed to the lower surface of the indexing table 32, and the rotation of the indexing motor 35 is Accordingly, the index table 32 is rotated.

At the center of each partition part 34a on the top surface of the table main body 34,
A circular hole 36 with a diameter slightly smaller than that of the tire wheel W is formed with its center located on the circumference concentric with the center of the index table 32, and a ring-shaped fixing jig is attached to the edge of the circular hole 36. A tool 37 is attached, and around the circular hole 36, there are three swing clamps 38 consisting of a swing cylinder 38a that can rotate and move the rod up and down, and a clamper 38b fixed to the rod of the swing cylinder 38a. The provided and positioned tire wheel W is fixed to the table main body 34 by pressing the tip of the clamper 38a against a clamp receiver 37a fixed to the upper surface of the table main body 34. Furthermore, marker pins 39 are erected at corresponding positions of each partition portion 34a to be detected as reference points when a deburring device, which will be described later, is started. A locate pin 41 is provided on the lower side of the table body 34 and is moved up and down by an air cylinder 40 fixed to the base 31. Each time each partition comes to a predetermined position, the air cylinder 40 is activated. The locating pin 41 is inserted into a positioning hole (not shown) formed at the bottom of the table body 34, and the table body 3
4 is stopped at a predetermined position.

The gripping device l around the index table 32
A pedestal 42 is formed at a position rotated approximately 120 degrees from
, a vertical arm (not shown) attached to the base 43 so as to be able to rise and fall freely; a retractable horizontal arm 45 attached horizontally to the top of the vertical arm; and a vertical arm 45 attached to the tip of the horizontal arm 45. A deburring device 47 consisting of a grinder 46 is installed. This deburring device 47 detects the marker pin 39 and moves its tip in accordance with data stored in advance in a storage device (not shown) using the position as a reference to remove burrs from the surface of the tire wheel W. It is designed to be cut and removed.

The gripping device l on the lower side of the index table 32
A positioning device 51 is provided at a portion facing the. This positioning device 51 is slidably fitted into a cylindrical body 53 erected on a base 52, and has four shafts 54.
and a table 55 fixed to the upper end of this shaft 54.
, a drive mechanism 56 that is provided between this table 55 and the base 52 and that raises and lowers the table 55, and this table 5.
A column 59 is provided upright on the upper surface of the tire wheel W, and a center body 57 that fits into the center hole of the tire wheel W is attached to the upper end by a bolt 58. A plate 60, a sensor 61 attached to the top surface of this mounting plate 60, three linear guide ball bearings 62 provided at every 90 degrees on this mounting plate 60, and a sensor 61 that is slidably fitted into this ball bearing 62. It consists of a positioning pin 63 and a positioning cylinder 63a that raises and lowers the positioning pin 63. This sensor 61 is
A light pulse is transmitted to the lower surface of the tire wheel W to detect the positioning recess 65 formed shallower than the other locking recesses 64. A control device (not shown) receives this detection signal and performs the above-mentioned positioning. The cylinder 63a is actuated to raise the positioning pin 63 and fit the head 66 into the locking recess 64, thereby positioning the tire wheel W at a predetermined position around its center.

Note that the index table 32 has a table main body 3 that rises from the bottom at an appropriate position on its outer periphery.
4. Air piping 6 formed from a main pipe 67a bent at the upper part and hanging down at the center of the table body 34, and branch pipes 67b branching left and right from this main pipe 67a.
7 is provided, and a branch pipe 67b in this air pipe 67 is provided.
At the end of the table body 34, a plurality of air nozzles 68 are arranged toward the outer circumferential side of the table body 34 via arc-shaped nozzle pipes 68a. On the other hand, around the outside of the index table 32, a circular dustproof plate 69 of an appropriate height to prevent chips from flying outside is provided on the frame 31 surrounding the base 31.52.
A discharge hole 70 for discharging chips blown off by the air nozzle 68 is formed in the bottom plate 69a of the dustproof plate 69, which is fixedly provided on top of the table body 34 and located below the table body 34. A plurality of scrapers 34b are provided on the outer periphery of the table main body 34 via support pieces 34c to drop chips on the bottom plate 69a into the discharge holes 70 as the scrapers 34b rotate. Further, in the lower part of the table main body 34, a discharge gutter 71 is provided below the circular hole 36 of the partition portion 34a facing the deburring device 47 to receive chips cut by the deburring device 47, This discharge gutter 71 and a discharge gutter 72 attached to the discharge hole 70 communicate with the chip box 73.

Next, the operation of the automatic deburring device configured as described above will be described.

The tire wheel W includes a cylindrical outer wall portion 81, a boss portion 82 having a central hole H, a bottom plate 83 connecting the outer wall portion 81 and the boss portion 82, and a space between the boss portion 82 and the outer wall portion 81. It is composed of ribs 84 formed radially, and the three locking recesses 64 and the positioning recess 65 are formed in the lower part of the bottom plate 83 around the central hole H. .

Then, with the bottom plate 83 facing up, the conveyor belt 85
and is stopped at a predetermined position in front of the gripping bag [1].

The gripping arms 7 of the gripping bag att open the distance between them;
When it is confirmed that the tire wheel W has arrived at a predetermined position on the conveyor belt 85, the reversing motor 13 is activated and rotates the frame around the rotating shaft 4. 5 to lower the gripping arm 7 to the gripping height of the tire wheel W. Next, air motor I7
is actuated and the screw pongee 6 is rotated in a certain direction, the parallel parts 7b of the gripping arms 7 are moved toward each other by the action of the nut 16 screwed onto the screw shaft 6, and eventually the gripping rings 19, 20 When the rubber tire on the outer periphery of is in contact with the tire wheel W and the tire wheel W is further gripped with a certain force, the brake of the air motor 7 is activated and the gripping arm 7 is fixed. Next, the reversing motor I3 is activated to rotate the rotary shaft 4 by 180 degrees in the direction in which the frame 5 rises, so that the tire wheel W is rotated by the bottom plate 83.
Table body 3 of index table 32 with
It is held above 4. At this time, the empty partition 34a of the index table 32 is waiting, and the tire wheel W is floating above the circular hole 36. And positioning device 5! The drive mechanism 56 is activated to raise the table 55, and the center body 57 protrudes from the circular hole 36 and is fitted into the center hole H of the tire wheel W (see FIG. 7).

In this state, if the sensor 61 does not detect the positioning recess 65, the wheel rotation motor 23 is activated, and the rotation of the output shaft 23a is transmitted to the gripper 20 via the timing belt 22 and the timing pulley 21. shaft 20a
The rotation of the grip ring 20 causes the tire wheel W to rotate around its axis. When the sensor 6 attached to the mounting plate 60 detects the positioning recess 65 formed on the lower surface of the boss portion 82 of the tire wheel W, a signal is issued to stop the wheel rotation motor 23, and
The positioning cylinder 63a is actuated, and the positioning cylinder 63
is raised and its head 66 is fitted into the locking recess 64,
The tire wheel W is positioned. When positioning is completed in this way, the swing clamp 38 is activated,
The swing cylinder 38a lowers the clamper 38b while rotating toward the tire wheel W, and the fixing jig 37
is fixed via the lower flange portion F between the clamp holder 37a and the tip of the clamper 38b, and then the gripping device! The air motor I7 is activated to open the gripping arm 7, and the reversing motor ! 3 is activated and the gripping arm 7
is moved upward. And the positioning cylinder 63a
is operated, the positioning pin 63 is lowered, and the drive mechanism 5
6 is activated, the positioning device 5I is lowered, and the table body 34 of the index table 32 becomes rotatable. Then, the air cylinder 40 is activated to lower the locate pin 41, the indexing motor 35 is driven, and the table body 34 is rotated 120 degrees in the direction indicated by arrow A in FIG. 1, and the locate pin 41 is raised again to position it. be done.

In this state, the deburring device 47 starts operating, first extends the vertical arm and the horizontal arm 45 to appropriate lengths, rotates the base 43, detects the marker pin 39, and detects the marker pin 39. The tip is moved along a predetermined path based on the position of the tire wheel W.
The burrs on the bottom plate 83 between the ribs 84 are removed. The chips generated by cutting at this time are blown away by the air ejected from the air nozzle 68 at the tip of the air pipe 67, and some of them hit the dustproof plate 69 covering the outer periphery of the index table 32 and fall down. The chips accumulate on the bottom plate 69a of the table body 34, are scraped up by the scraper 34b as the table main body 34 rotates, and are sent from the discharge lower 0 through the discharge gutter 72 to the chip box 73. From there, it is sent to a chip box 73 through a discharge gutter 71.

When the burrs are removed, the index table 32 becomes 1.
After being rotated 20 degrees, the tire wheel W is moved to the unloading position, where the swing clamp 38 is released, and the tire wheel W is appropriately taken out from the index table 32 by the unloading device and transported elsewhere.

It should be noted that the above description has been made regarding one partition 34a, and it goes without saying that similar processes may be performed in parallel in other partitions 34a.

[Effects of the Invention] As detailed above, the present invention grips a processed product such as a tire wheel, transfers it to a predetermined position on an index table, and rotates the processed product in a horizontal plane while holding the processed product. a positioning device that detects when the workpiece has reached a predetermined rotational position and positions the workpiece; a clamp device that secures the positioned workpiece to the index table; and a workpiece that is fixed to the index table. Since the machine is equipped with a deburring device for removing burrs from the workpiece, the workpiece is reliably positioned at a predetermined position on the index table, and the deburring device quickly removes burrs from the surface of the workpiece. to ensure removal, thereby
It has the excellent effect of automating and efficiently performing dangerous and inefficient work that has traditionally been done manually.

[Brief explanation of the drawing]

Fig. 1 is a plan view showing the entire automatic deburring device of the present invention, Fig. 2 is a side view thereof, Fig. 3 is a plan sectional view of the gripping device, and Fig. 4 is a partially cutaway side view thereof. Fig. 5 is a plan view of the positioning device, Fig. 6 is a partially cutaway side view thereof, Fig. 7 is a sectional view showing the positioning state, and Fig. 8 is a plan view showing an example of a tire wheel. It is. 1... Gripping device, 32... Index table, 38... Swing clamp, 39
・・・・・・Marking pin, 47・・・Deburring device,
51...Positioning device, W...Processed product (tire wheel).

Claims (1)

[Claims] A gripping device that can grip a workpiece and transfer it to a predetermined position on an index table, and rotate around its axis while gripping the workpiece, and detect when the workpiece has reached a predetermined rotational position. a positioning device for positioning the workpiece, a clamp device for fixing the positioned workpiece to the index table, and a deburring device for removing burrs from the surface of the workpiece fixed to the index table. Automatic deburring equipment.