KR101845076B1

KR101845076B1 - Multi-purpose finishing grinder head

Info

Publication number: KR101845076B1
Application number: KR1020150096415A
Authority: KR
Inventors: 이재영; 오석홍; 배기호
Original assignee: 이재영; 오석홍; 주식회사 성남전자; 배기호
Priority date: 2015-07-07
Filing date: 2015-07-07
Publication date: 2018-04-03
Also published as: KR20170006047A

Abstract

Disclosed is a multipurpose fusing head mounted on a multi-joint robot so that various kinds of burrs formed on the surface of the product can be removed by an automated process. The disclosed multipurpose jets are mounted on a frame having a plurality of mounting surfaces connected to the distal joints of a jointed robot, and a plurality of mounting surfaces, respectively, to remove a burr formed in the product And a plurality of units each having a lift actuator for supporting a tool and a tool and raising and lowering the tool between a work preparation position spaced apart from the burr and a working position contacting the burr. The tools and lift actuators of the plurality of units are individually driven.

Description

Multi-purpose finishing grinder head [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a warper for removing and polishing burrs on the surface of a product such as a mobile phone case, and more particularly, .

For example, products such as a mobile phone case and a notebook case are usually produced by die casting in consideration of productivity, cost, product strength, ease of molding, and aesthetics. A die casting product is formed by injecting molten metal into a cavity in a mold, curing it, and then separating the hardened metal from the mold in a cavity shape. On the other hand, an ejecting pin is provided in the mold to push the hardened metal into the cavity so as to separate the metal from the mold. The hardened metal filled at the boundary between the end of the microneedle and the cavity does not smoothly connect with the outer surface of the surrounding, and is protruded step by step or steppedly pierced, which is called a burr.

The burr of such a die casting product has been manually removed by a worker. Particularly in the case of relatively small and precise products such as mobile phone cases, the burr is also small, so that it is difficult to precisely control the work when using a grinding wheel rotating rapidly unless it is a skilled worker, so it is manually removed by using a tool such as a line, . Therefore, there is a problem in that the work productivity of the burr removal is deteriorated and the deviation of the work quality becomes worse according to the skill and the condition of the worker.

Korean Patent Registration No. 10-0821625 Korean Registered Patent No. 10-1346786

The present invention provides a multipurpose mast head mounted on a articulated robot so that various types of burr formed on the product surface can be removed by an automated process.

The present invention relates to a frame having a plurality of mounting surfaces connected to the distal joints of a jointed robot and an operation of removing a burr formed in the product by being mounted on the plurality of mounting surfaces one by one A plurality of units each of which includes a tool and a lift actuator for supporting the tool and for lifting the tool between a work preparation position spaced apart from the burr and a working position in contact with the burr Wherein the tool and lift actuator of the plurality of units provide a multipurpose mapped head that is individually driven.

The lift actuators of the plurality of units each include an air cylinder and the pressure inside the pneumatic cylinder can be controlled by a proportional control valve so that the tool maintains a constant height at the working position.

The multipurpose head of the present invention further includes a damper fixedly coupled to the mounting surface, and a detent block fixedly coupled to the elevating actuator, wherein when the tool is lowered from the working preparation position to the working position The stop block descends together with the tool and collides with the damper, thereby mitigating the impact due to the collision between the tool and the product.

The multipurpose feeder head of the present invention may further include a dust collecting pipe for sucking particles that are formed while the burr is removed and inducing the particles to move upward.

The mounting surfaces and the dust collecting pipes are each provided with four, and the four mounting surfaces are orthogonal to the adjacent mounting surfaces, and the four dust collecting pipes may be disposed one by one on the adjacent portions of the pair of mounting surfaces .

At least one of the plurality of units may be a lapping unit having as a tool a lapper for repeatedly blowing the burr to remove the burr.

The lapping blade of the rapper can be raised and lowered at a high speed, repeatedly striking the burr, or reciprocating right and left at a high speed to repeatedly strike the burr.

At least one of the plurality of units may be a grinding unit having as a grinder a grinder that rubs a polishing grindstone rotating at a high speed with the burr to remove the burr.

Wherein at least one of the plurality of units is a cutting unit for scraping the surface of the product to the lower end of a cutting blade to remove the burr, The surface of the product can be moved in a scraping direction.

By using the multipurpose threading head of the present invention mounted on the articulated robot, it is possible to select a tool and a tool operation control method that are different from each other according to the product without changing the work line, It can be removed by an automated process.

Further, a multipurpose head according to a preferred embodiment of the present invention is provided with a lifting actuator including a damping means for mitigating an impact upon collision of a tool with a product, and a pneumatic cylinder whose internal pressure is controlled by a proportional control valve, And the damage of the tool or the product due to the strong impact of the product is prevented.

1 is a front view showing a multi-joint robot equipped with a multi-purpose mover head according to an embodiment of the present invention.
2 and 3 are a front view and a plan view showing a multipurpose head according to an embodiment of the present invention.
Figs. 4 and 5 are a front view and a plan view showing the frames of the multipurpose math heads of Figs. 2 and 3. Fig.
Fig. 6 is an enlarged front view of the lapping unit of Fig. 2; Fig.
Fig. 7 is an enlarged front view of the grinding unit of Fig. 2; Fig.
8 is an enlarged side view of the cutting unit of Fig.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a multi-purpose mover head according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. The terminology used herein is a term used to properly express the preferred embodiment of the present invention, which may vary depending on the intention of the user or operator or the custom in the field to which the present invention belongs. Therefore, the definitions of these terms should be based on the contents throughout this specification.

FIG. 1 is a front view of a multi-jointed robot equipped with a multi-purpose threading head according to an embodiment of the present invention. Referring to FIG. 1, the multi-purpose threading head 20 of the present invention includes a distal joint 15 . An articulated robot (11) is a robot having three or more revolving joints. The articulated robot (11) is made by simulating the joints of the human shoulders, arms, elbows, and wrists, The articulated robot (11) is fast in action, takes up little space and has a wide operating range and can be used for assembly, painting, welding and the like.

When a die casting product such as a mobile phone case is supported on the feed rail 5 provided on the table 4 and moves parallel to the positive direction of the X axis and stops below the multipurpose yarn head 20, The robot 11 is operated to align with the product, and the mapping operation proceeds.

2 and 3 are a front view and a plan view showing a multi-purpose mover head according to an embodiment of the present invention, and FIGS. 4 and 5 are a front view and a plan view showing the frames of the multi-purpose mover head of FIGS. 2 and 3 . 2 to 5, the multipurpose jog head 20 includes a frame 24 connected to the distal joint 15 of the articulated robot 11, a plurality of (40, 50, 60).

Specifically, a ring-shaped coupling plate 21 is fixedly fastened to the distal joint 15 of the articulated robot 11, and the frame 24 is fixedly supported on the coupling plate 21. [ The frame 24 has first to fourth mounting surfaces 26, 27, 28, 29 disposed below the engaging plate 21. The first mounting surface 26 and the third mounting surface 28 are mutually backed with the rotation axis CL of the distal joint 15 therebetween and the second mounting surface 27 and the fourth mounting surface 29 They are arranged to be opposite to each other. The first mounting surface 26 and the third mounting surface 28 are parallel to each other and the second mounting surface 27 and the fourth mounting surface 29 are parallel to each other. The surfaces 26, 27, 28, 29 are arranged in a rectangular shape.

Four units 40, 50 and 60 are mounted on the first to fourth mounting surfaces 26, 27, 28 and 29, respectively, for performing an operation of removing a burr formed on the product. Specifically, a lapping unit 40 is mounted on the first mounting surface 26, a grinding unit 50 is mounted on the third mounting surface 28, 27 and the fourth mounting surface 29 are mounted with a cutting unit 60, respectively.

The wrapping unit 40 has a lapper 47 (see Fig. 6) as a tool for repeatedly striking the burr formed in the product to remove the burr. The grinding unit 50 is equipped with a grinder 56 (see Fig. 7) as a tool for grinding the grindstone 57 (see Fig. 7) rotating at a high speed with the burr formed on the product to remove the burr. The cutting unit 60 has a cutting blade 67 (see FIG. 8) as a tool and scrapes the surface of the product at the lower end of the cutting blade 67 to remove burrs protruding from the surface of the product.

Depending on the material of the product and the shape and size of the burr formed in the product, a suitable one of the wrapping unit 40, the grinding unit 50, and the cutting unit 60 may be applied to burr removal. 3 shows a lapping unit 40 mounted on the first mounting surface 26, a grinding unit 50 mounted on the third mounting surface 28, A multipurpose masthead 20 having a cutting unit 60 mounted on a face 27 and a fourth mounting face 29 has been disclosed in which the units 40, . It is also possible to mount a unit for the finishing operation other than the lapping unit 40, the grinding unit 50 and the cutting unit 60 to the mounting surfaces 26, 27, 28 and 29.

Fig. 6 is an enlarged front view of the lapping unit of Fig. 2, Fig. 7 is an enlarged front view of the grinding unit of Fig. 2, Fig. 8 is a cutting unit of Fig. Fig. 2, 3 and 6, the lapping unit 40 includes a lapper 47 as a tool, a first mounting surface 26 for supporting the lapper 47, And a lifting actuator (41) for lifting and raising the wrapper (47) between a work preparation position spaced apart from the burr to be removed and a working position in contact with the burr.

Specifically, the elevating actuator 41 includes an actuator body 42 including a pneumatic cylinder fixedly fastened to the first mounting surface 26, and an actuator body 42 fixed to the actuator body 42 by a difference in air pressure in the pneumatic cylinder interior space. And a lift block 43 that ascends and descends in parallel with the Z axis with respect to the support shaft 42. A wrapper support plate 44 is fixedly coupled to the lifting block 43 and a wrapper 47 is inserted into an upper holder 45 and a lower holder 46 of the wrapper support plate 44 do.

When the product moves parallel to the X axis along the transfer rail 5 and stops at a specific position, the wrapper 47 moves to the work preparation position by the operation of the articulated robot 11 (see FIG. 1). The work preparation position is a position where the lapping blade 48 of the wrapper 47 is located on the upper side away from the burr and the lapping blade 48 and the burr are aligned on a straight line parallel to the Z axis . At this time, the end joints 15 of the articulated robot 11 may be rotated by a certain angle such as 90 degrees and 180 degrees about the rotation axis CL, and the multipurpose mapping heads 20 may rotate by the same angle .

At the work preparation position, the operation of the elevating actuator 41 moves down the wrapper supporting plate 44 to move the wrapper 47 to the working position. The working position is the position where the lower end of the lapping blade 48 of the wrapper 47 contacts the burr.

The pressure inside the pneumatic cylinder is controlled by the proportional control valve so that the height of the wrapper 47 is kept constant at the working position. The reference value of the pressure inside the pneumatic cylinder is set when the rapper 47 is at the working position and the air inside the pneumatic cylinder is discharged when the pressure inside the pneumatic cylinder becomes larger than the reference value during the operation of the wrapper 47, When the pressure inside the pneumatic cylinder becomes smaller than the reference value, the proportional control valve operates so as to introduce air into the pneumatic cylinder. As a result, the height of the wrapper 47 is kept constant at the working position, so that the lapping blade 48 and the product collide with each other due to an excessive impact.

The wrapper 47 is also called a so-called " reciprocating twister ". The wrapper 47 is a so-called " electric reciprocating twister " in which the lapping blade 48 reciprocates by the power of the electric motor, Called " air reciprocating type " in which the lapping blade 48 reciprocates. The lapping blade 48 at the lower end of the wrapper 47 may be configured to ascend and descend at a high speed and the lower end thereof may be configured to repeatedly strike the burr to be removed, and the lapping blade 48 may be reciprocated in a leftward and rightward direction (in the direction parallel to the X- And the lower end thereof may be configured to repeatedly strike and remove the burr.

2, 3 and 7, the grinding unit 50 includes a grinder 56 as a tool, a grinder 56 mounted on the third mounting surface 28 to support the grinder 56, And a lift actuator (51) for moving the grinder (56) between a work preparation position spaced apart from the burr to be removed and a work position in contact with the burr.

Specifically, the elevating actuator 51 includes an actuator body 52 including a pneumatic cylinder fixedly fastened to the third mounting surface 28, and an actuator body 52 fixed to the third mounting surface 28 by a difference in air pressure in the pneumatic cylinder interior space. And a lift block 53 ascending and descending in parallel with the Z-axis with respect to the Z-axis. A grinder support plate 54 is fixedly coupled to the lifting block 53 and a grinder 56 is inserted into a holder 55 of the grinder support plate 54 to be supported.

When the product moves parallel to the X axis along the transfer rail 5 and stops at a specific position, the grinder 56 moves to the work preparation position by the operation of the articulated robot 11 (see Fig. 1). The work preparation position is set such that the polishing grindstone 57 of the grinder 56 is spaced apart from the burr and is located on the upper side and the polishing grindstone 57 and the burr are placed on the Z axis As shown in FIG. At this time, the end joints 15 of the articulated robot 11 may be rotated by a certain angle such as 90 degrees and 180 degrees about the rotation axis CL, and the multipurpose mapping heads 20 may rotate by the same angle .

The grinder support plate 54 is lowered by the operation of the elevating actuator 51 at the work preparation position and the polishing grindstone 57 is moved to the working position. The working position is a position where the lower end of the polishing grindstone 57 of the grinder 56 contacts the burr.

The pressure inside the pneumatic cylinder is controlled by the proportional control valve so that the height of the grinder 56 at the working position is kept constant. The reference value of the pressure inside the pneumatic cylinder is set when the grinder 56 is at the working position and the air inside the pneumatic cylinder is discharged when the pressure inside the pneumatic cylinder becomes larger than the reference value during the operation of the grinder 56, When the pressure inside the pneumatic cylinder becomes smaller than the reference value, the proportional control valve operates so as to introduce air into the pneumatic cylinder. As a result, the height of the grinder 56 is kept constant at the working position, so that the abrasive grindstone 57 and the product collide with each other due to an excessive impact and are not damaged.

The grinder 56 is a so-called " electric grinder " in which the polishing grindstone 57 rotates by the power of the electric motor, or a so-called " electric grinder " in which the polishing grindstone 57 rotates by the power of rotating the turbine Grinder 'is applicable.

2, 3, and 8, the cutting unit 60 includes a cutting blade 67, which is a tool, a second mounting surface 27, and a fourth mounting surface 29, And a lift actuator 61 for supporting the cutting blade 67 and raising and lowering the cutting blade 67 between a work preparation position spaced apart from the burr to be removed and a work position in contact with the burr.

Specifically, the elevating actuator 61 includes an actuator body 62 including a pneumatic cylinder fixed to the second mounting surface 27 and the fourth mounting surface 29, And a lift block (63) that ascends and descends in parallel with the Z axis with respect to the actuator body (62) by a difference in air pressure of the actuator body (62). A cutting blade holder 65 is fixedly coupled to the lift block 63 and a cutting blade 67 is inserted and supported in the cutting blade holder 65.

When the product moves parallel to the X axis along the transfer rail 5 and stops at a specific position, the cutting blade 67 moves to the work preparation position by the operation of the articulated robot 11 (see Fig. 1). As described above in the description of the wrapping unit 40, the work preparation position is such that the cutting blade 67 is spaced apart from the burr, and the cutting blade 67 and the burr are aligned in a straight line As shown in FIG. At this time, the end joints 15 of the articulated robot 11 may be rotated by a certain angle such as 90 degrees and 180 degrees about the rotation axis CL, and the multipurpose mapping heads 20 may rotate by the same angle .

The cutting blade holder 65 is lowered by the operation of the elevating actuator 61 at the work preparation position and the cutting blade 67 is moved to the working position. The working position is a position where the lower end of the cutting blade 67 can contact the burr.

The pressure inside the pneumatic cylinder is controlled by the proportional control valve so that the height of the cutting blade 67 at the working position is kept constant. In addition, when the cutting blade 67 is in the working position, a reference value of the pressure inside the pneumatic cylinder is set, and when the pressure inside the pneumatic cylinder becomes larger than the reference value during the operation of the cutting blade 67, And when the pressure inside the pneumatic cylinder becomes smaller than the reference value, the proportional control valve operates so as to introduce air into the pneumatic cylinder. As a result, the height of the cutting blade 67 is kept constant at the working position, so that the cutting blade 67 and the product collide with each other due to an excessive impact and are not damaged.

The articulated robot 11 is operated to remove the burr so that the cutting blade 67 descends to the working position and the lower end of the cutting blade 67 moves in the direction of scraping the product surface, that is, in the horizontal direction. The cutting blade 67 is a substantially rectangular member having a smaller thickness than the width and the length and is configured to move the edge of the lower end once in the direction parallel to the thickness direction of the cutting blade 67, So that the burr is scraped off.

Although not shown in other units 40 and 50, only the cutting unit 60 is shown in Fig. 2, the multipurpose mapped head 20 of the present invention has a lapping unit 40, a grinding unit 50, Each of the two cutting units 60 is provided with a damper 69 and a detent block 68 as shock absorber means for preventing damage due to collision of the products of the tools 47, 56 and 67. The damper 69 is fixedly coupled to the first to fourth mounting surfaces 26, 27, 28, 29, respectively. The damper 69 may include a spring or an air cylinder therein.

The stop block 68 is fixedly coupled to the elevating actuators 41, 51 and 61 of the units 40, 50 and 60, specifically to the elevating blocks 43, 53 and 63. When the tools 47, 56 and 67 of the units 40, 50 and 60 descend at the work preparatory position and reach the working position, the detent block 68 is lowered together with the tools 47, 56 and 67, 69). The kinetic energy of the lift blocks 43, 53 and 63 and the tools 47, 56 and 67 is absorbed by the damper 69 due to the collision between the stop block 68 and the damper 69, ) Stops at the working position. This relieves the impact caused by the collision of the products with the tools 47, 56, 67, specifically the lapping blades 48, the polishing grindstone 57 and the cutting blade 67, Damage to the product is prevented.

Referring again to Figures 1-5, the multipurpose yarn head 20 can be used to remove particles formed while the burr is removed by one of the wrapping unit 40, the grinding unit 50, and the cutting unit 60 (32, 33, 34, 35) for sucking up and moving the dust collecting pipe. The first to fourth dust collecting pipes 32, 33, 34 and 35 are connected to a dust collecting box 17 fixed to an arm of the articulated robot 11 by a hose (not shown) . The dust collecting box 17 is connected to a compressor (not shown) for sucking air through a hose. Inside the dust collection box 17, a filter for filtering the particles is provided. Accordingly, when the compressor is operated while performing the burr removing operation to one of the wrapping unit 40, the grinding unit 50, and the cutting unit 60, particles are sucked through the dust collecting pipes 32, 33, 34, And is collected in the box 17.

The lower end of the first dust collecting pipe 32 is bent so as to extend toward the lapping blade 48 so as to suck particles generated in the lapping operation using the lapping unit 40. In the finishing operation using the grinding unit 50, The lower end of the third dust collection pipe 34 is bent to extend toward the polishing grindstone 57 so that the generated particles can be sucked in. The lower ends of the dust collecting pipe 33 and the fourth dust collecting pipe 35 are bent and extend toward the adjacent cutting blades 67, respectively.

The first to fourth dust collecting pipes 32, 33, 34 and 35 are arranged orthogonally one by one to a pair of adjacent mounting surfaces 26, 27, 28, 29 adjacent to each other. The first dust collecting pipe 32 is disposed at an edge portion adjacent to the fourth mounting surface 29 and the first mounting surface 26 and the first mounting surface 26 and the second mounting surface 27, The second dust collecting pipe 33 is disposed at the adjacent corner portion and the third dust collecting pipe 34 is disposed at the adjacent corner portion between the second mounting surface 27 and the third mounting surface 28, The fourth dust collecting pipe 35 is disposed at an edge portion where the third mounting surface 28 and the fourth mounting surface 29 are adjacent to each other. The frame 24 further includes a bracket 25 on the first to fourth mounting surfaces 26, 27, 28 and 29 and the first to fourth dust collecting pipes 32, 33, 34, 35 are fastened and supported.

A lapping unit 40 mounted on the first mounting surface 26, a cutting unit 60 mounted on the second mounting surface 27, a grinding unit 50 mounted on the third mounting surface 28, The operation of the elevating actuators 41, 51, 61 and the tools 47, 56, 67 of the cutting unit 60 mounted on the mounting surface 29 are not linked and are driven individually.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the present invention. Therefore, the true scope of protection of the present invention should be defined only by the appended claims.

11: articulated robot 20: multipurpose head
24: frame 26,27,28,29: mounting face
32, 33, 34, 35: Dust collection pipe 40: Wrapping unit
50: Grinding unit 60: Cutting unit

Claims

A ring-shaped coupling plate having the same rotation axis as the distal joint of the articulated robot and coupled to the distal joint; A frame fixedly supported on the coupling plate and having a plurality of mounting surfaces in the longitudinal direction; And a plurality of units mounted on the plurality of mounting surfaces, respectively, for performing an operation of removing a burr formed in the product,
Wherein the plurality of mounting surfaces include first, second, third and fourth mounting surfaces, wherein the first mounting surface and the third mounting surface are arranged so as to be opposite to each other with the rotation axis in between, And the fourth mounting surface are arranged so as to be opposite to each other with the rotation axis in between,
Each of said plurality of units having a tool and a lift actuator for supporting said tool and for lifting said tool between a working position spaced apart from said burr and a working position in contact with said burr,
One of the first, second, third and fourth mounting surfaces is equipped with a lapping unit, the other is equipped with a grinding unit, the other is equipped with a cutting unit,
Wherein the tools and the lift actuators of the plurality of units are individually driven.

The method according to claim 1,
Wherein the lift actuators of the plurality of units each include an air cylinder,
Wherein the pressure in the pneumatic cylinder is controlled by a proportional control valve such that the tool maintains a constant height at the working position.

The method according to claim 1,
A damper fixedly coupled to the mounting surface, and a detent block fixedly coupled to the elevating actuator,
Wherein when the tool is lowered from the work preparation position to the work position, the stop block descends with the tool to collide with the damper, thereby alleviating the impact due to the collision between the tool and the product. .

The method according to claim 1,
Further comprising a dust collecting pipe for sucking particles formed while the burr is removed and guiding the particles to move upwards.

5. The method of claim 4,
Wherein each of the mounting surface and the dust collecting pipe is provided with four,
Wherein the four mounting surfaces are orthogonal to the adjacent mounting surfaces, and the four dust collecting pipes are arranged one by one on the adjacent portions of the pair of mounting surfaces.

The method according to claim 1,
Characterized in that the lapping unit comprises a lapper as a tool for repeatedly striking the burr to remove the burr.

The method according to claim 6,
Wherein the lapping blade of the rapper raises and lowers at a high speed and repeatedly strikes the burr or reciprocates at high speed in the left and right direction repeatedly to hit the burr.

The method according to claim 1,
Wherein the grinding unit comprises a grinder as a tool for grinding the grindstone rotating at high speed with the burr to remove the burr.

The method according to claim 1,
The cutting unit scrapes the surface of the product to the lower end of a cutting blade to remove the burr,
Wherein the articulated robot is operated to move the cutting blade in a direction to scrape the surface of the product.