KR20160149939A

KR20160149939A - Buffered floating shaft

Info

Publication number: KR20160149939A
Application number: KR1020150087806A
Authority: KR
Inventors: 신재덕; 최현진; 박용진; 김대일
Original assignee: (주)우진하이텍; 김대일; (재)대구기계부품연구원
Priority date: 2015-06-19
Filing date: 2015-06-19
Publication date: 2016-12-28
Also published as: KR101701379B1

Abstract

A cushioning floating shaft 100 according to the present invention includes an upper housing 110 configured to be mounted on a terminal end portion of a robot arm 10 and a lower housing 110 mounted on the upper housing 110 and configured to be reciprocable upward and downward A grinder 140 mounted in the lower housing 130 and exposed downward and extending in a downward direction to the rotary shaft 141; and a grinder 140 interposed between the upper housing 110 and the lower housing 130, And includes an elastic portion 120.
The present invention is not limited to the side and upward stresses generated by the grinder 140 but is buffered by the tube 150 and the compression spring 129 so that the rotary shaft 141 of the grinder 140 is braked and decelerated The phenomenon can be prevented. Therefore, irregular shapes such as protrusions formed on the surface of the workpiece 30 can be processed in the same plane, so that it is not necessary for the operator to manually work again.

Description

Buffered floating shaft

The present invention relates to a cushioning floating shaft, and more particularly, to a cushioning floating shaft which is capable of buffering up and down and sideways so that braking is prevented from occurring during driving.

Hereinafter, the construction and operation of the floating shaft according to the background art will be described with reference to the accompanying drawings.

FIG. 2 is a perspective view showing a floating shaft according to the background art. FIG. 3 is a perspective view of a floating shaft of a floating shaft according to the background art. FIG. ) Will be explained together with the use state diagram showing the process of machining the surface of the workpiece.

In general, a workpiece 30 requiring an elaborate surface, such as an injection mold, is provided with a floating shaft 20 at the end of the robot arm 10 to polish or buff the surface of the workpiece 30.

The floating shaft 20 includes a housing 21 mounted on the end of the robot arm 10 and a grinder 23 accommodated in the housing 21 and protruding downward. The grinder 23 has a rotary shaft 25 protruded downward and is configured to rotate the rotary shaft 25 by receiving air. A burr 27 is attached to the end of the rotary shaft 25 to process the workpiece 30. The burr 27 comprises a disk wheel for grinding or buffing for grinding.

The operation of the background art will be described as follows.

First, air is supplied to the grinder 23 of the floating shaft 20 by machining the surface of the workpiece 30, which is a metal product, with the floating shaft 20 mounted on the end of the robot arm 10 The burr 27 is rotated. The robot arm 10 is driven in accordance with a program inputted so that the burr 27 is transferred along the surface of the workpiece 30.

3, when the burr 27 passes over the projecting portion 33 of the workpiece 30, stress is applied to the side S and the upper side U so that the rotational speed of the rotary shaft 25 is reduced or stopped . The reason for this phenomenon is that the floating shaft 20 simultaneously applies a downward force against the stress pushing the projecting portion 33 upward to the upper portion U when the burr 27 passes over the lower portion S, The floating shaft 20 is also forced to sidewise simultaneously, so that the bush 27 is naturally forced to braking. Therefore, the rotational speed of the burr 27 is reduced in the protruding portion 33, so that the work can not be performed properly. Therefore, the operator has to manually carry the grinder by hand.

Korean Patent Registration No. 10-0197161 (February 23, 1999)

Problems to be solved by the cushioning floating shaft according to the present invention are as follows.

When the surface of the workpiece is machined with the robot arm mounted on the surface of the workpiece, a stress is applied to the bur of the floating shaft laterally due to the protrusion of the workpiece so that the rotational force of the floating shaft is braked .

Therefore, it is an object of the present invention to solve the problem that the protrusion of the workpiece is not machined properly, thereby preventing the occurrence of defects, and that the protrusion is manually machined again by the operator.

In the cushioning floating shaft according to the present invention,

A lower housing mounted on the upper housing and configured to be reciprocable in the upper and lower chambers, a grinder mounted in the lower housing and exposed downward and extending in the downward direction, And an elastic portion interposed between the upper housing and the lower housing.

The upper and lower plates are connected to the upper end of the grinder to inject air. The upper and lower plates are formed on the side of the inflow pipe and spaced apart from each other. The lower plate and the lower plate are interposed between the upper plate and the lower plate. And an inner flange formed along the periphery of the inner surface of the housing.

A tubular tube attached to an inner surface of the lower housing and through which the grinder passes; and an inlet formed on an outer surface of the lower housing and connected to the tube. A tube-shaped tube attached to an inner surface of the insertion tube and passed through the grinder, and a lower tube formed to penetrate through the lower tube and the insertion tube, And includes an inlet port for connection.

The lower housing is configured to be accommodated below the upper housing. The upper housing includes a step formed on the inner side surface to correspond to an upper end of the lower housing, and a count formed on the upper end of the upper housing, Wherein the elastic portion includes an O-ring hole, the O-ring including a pin having a head formed through the counting boring hole and connected to an upper end of the lower housing, As shown in FIG.

The cushioning floating shaft according to the present invention can prevent the phenomenon that the grinder is braked by the rotation shaft of the grinder and decelerates because the grinder is not resistant to the stress generated laterally and upwardly and is buffered by the tube and the compression spring. Therefore, irregular shapes such as protrusions formed on the surface of the workpiece can be processed in the same plane, so that it is not necessary for the operator to manually work again.

1 is a use state diagram showing a state in which a floating shaft according to the background art is mounted on a robot arm.
2 is a perspective view showing a floating shaft according to the background art;
3 is a use state diagram showing a process of machining a surface of a workpiece by a bur of a floating shaft according to the background art.
4 is a perspective view showing a cushioning floating shaft according to the present invention;
5 is a sectional view taken along the line F-F 'of FIG. 4, showing a state in which the lower housing is lowered.
6 is a cross-sectional view taken along line F-F 'of FIG. 4, showing a state in which the lower housing is lifted.
7 is a cross-sectional view of an air gripper constructed in a cushioning floating shaft according to the present invention.
8 is a use state diagram showing a state in which a cushioning floating shaft according to the present invention is mounted on a robot arm.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

FIG. 4 is a perspective view showing a cushioning floating shaft according to the present invention, FIG. 5 is a sectional view taken along the line F-F 'of FIG. 4, FIG. 7 is a cross-sectional view showing an air gripper constructed in the cushioning floating shaft according to the present invention, and FIG. 8 is a sectional view showing the cushioning floating shaft according to the present invention, And the state of use will be described together as a state diagram of use.

The cushioning floating shaft 100 according to the present invention is constructed such that the cushioning floating shaft 100 can be buffered when stress is applied upwardly or laterally in the course of polishing the workpiece 30, so that polishing processing can be performed smoothly.

To this end, the present invention is configured as follows.

4 to 6, an upper housing 110 configured to be mounted on a terminal end portion of the robot arm 10 is formed, and a lower housing 130 configured to be reciprocally mounted on the upper housing 110, . The grinder 140 is installed inside the lower housing 130 and is exposed downward and extends downward to a rotating shaft 141. The grinder 140 is disposed between the upper housing 110 and the lower housing 130, The elastic portion 120 is constituted.

The upper housing 110 and the lower housing 130 are formed in a tubular shape that passes through the upper and lower walls and is configured to receive the lower housing 130 below the upper housing 110.

The upper housing 110 has a flange 111 through which a bolt hole 113 passes, so that the upper housing 110 can be detached and attached to the end of the robot arm 10 with a bolt.

The upper housing 110 is formed with a step 121 on the inner side so as to correspond to the upper end of the lower housing 130. A counting boring hole 123 formed to pass through the step 121 at the upper end of the upper housing 110 is formed. The counting boring hole 123 is formed with a hole having a large diameter at the top and a hole having a small diameter at the bottom.

5 and 6, the elastic part 120 is connected to the upper end of the lower housing 130 through the counting boring hole 123, and the head (not shown) engaged with the counting boring hole 123 And a compression spring 129 accommodated in the counting boring hole 123 and loaded on the head 127 is formed.

Therefore, when the upper housing 110 is connected to the end portion of the robot arm 10, the compression spring 129 can be compressed.

In order for the pin 125 to be connected to the lower housing 130, a male screw portion E is formed on the outer surface of the pin 125 and the male screw portion E is fastened to the upper end of the lower housing 130 A tapped hole T is formed.

In this state, when the force is applied to the lower housing 130 to raise it, the compression spring 129 is compressed. When the force is removed, the lower housing 130 is lowered by the expansion force of the compression spring.

The grinder 140 is configured to rotate the rotary shaft 141 by the supply of air, and it is a matter that can be understood by anyone skilled in the art, so a detailed description is omitted.

In addition, an inlet pipe 147 connected to the upper end of the grinder 140 to inject air is formed, and a disk-shaped top plate 136 formed on a side surface of the inlet pipe 147 and separated from the upper and lower chambers, A lower plate 149 is constituted. An inner flange 139 is formed on the inner surface of the lower housing 130 along the circumference and interposed between the upper plate 148 and the lower plate 149. The upper flange 148 and the inner flange 139, and the lower plate 149, as shown in Fig. Therefore, the grinder 140 is allowed to rotate sideways.

The air hose 160 is connected to the inflow pipe 147 and extends upward so that the air hose H1 can be guided to the air nipple 160 by being formed in the lower housing 130 A through hole 133 disposed at the upper portion of the inner flange 139 is formed.

7, the insertion tube 138 may be configured to be fitted and fixed to the inner surface of the lower housing 130, and the tube 150 may be attached to the inner surface of the insertion tube 138 . The inlet 145 is formed to penetrate through the lower housing 130 and the insertion tube 138 and is connected to the tube 150. The insertion tube 138 is formed with a flange F through which a bolt hole H is penetrated on an outer side and a tapped hole P is formed on a longitudinal side surface of the lower housing 130 to correspond to the bolt hole H. Therefore, the bolt B is fastened to the tap hole P through the bolt hole H, so that the insertion tube 138 can be fixed to the lower housing 130.

The tube 150 is attached to the inner surface of the lower housing 130 and has a tube 150 passing through the grinder 140. The tube 150 is formed on the outer surface of the lower housing 130, An inlet port 145 is formed. The tube 150 is configured to allow air to flow therein and press the grinder 140.

Hereinafter, the operation of the present invention will be described.

The flange 111 of the upper housing 110 is fixed to the end portion of the robot arm 10. After the burrs 143 are mounted on the rotary shaft 141 of the grinder 140, the rotary shaft 141 is rotated by injecting air into the air hose H1. In addition, since the air is injected into the tube 150 through the inlet 145, the tube 150 can hold the grinder 140. That is, if the tube 150 is not filled with air, the grinder 140 moves sideways. This is because the inner flange 139 is interposed with a gap between the upper plate 148 and the lower plate 149.

In this state, the robot arm 10 is driven in accordance with the input program, so that the burrs 143 can grind the workpiece 30. That is, the robot arm 10 operates so that the burrs 143 can be transferred along the surface of the workpiece 30.

When the burrs 143 are conveyed along the surface of the workpiece 30 and then meet the protrusions, the grinder 140 is subjected to the lateral and upward stresses. At this time, the grinder 140 pushes the tube 150 while rotating laterally due to the structure in which the inner flange 139 is interposed between the upper plate 148 and the lower plate 149. In addition, since the inner flange 139 is interposed between the upper plate 148 and the lower plate 149, the grinder 140 is prevented from being detached from the upper and lower chambers.

In addition, as the lower plate 149 pushes up the inner flange 139, the lower housing 130 rises and the pin 125 presses the compression spring 129 upward. Therefore, the grinder 140 functions as a buffer against the stress acting sideways and upward.

The grinder 140 is rotated in the original position, that is, in the reverse direction, by the expansion force of the tube 150, so that the grinder 140 is restored. The grinder 140 is lowered and restored by the restoring force of the compression spring 129 so that the upper plate 148 is caught by the inner flange 139 and the grinder 140 is prevented from falling downward do.

This operation is repeatedly generated as the burr 143 is conveyed along the surface of the irregular workpiece 30. That is, according to the present invention, since the grinder 140 does not resist the stress generated laterally and upwardly, but is buffered by the tube 150 and the compression spring 129, the rotation shaft 141 of the grinder 140 is braked The phenomenon of deceleration can be prevented. Therefore, irregular shapes such as protrusions formed on the surface of the workpiece 30 can be machined in the same plane, so that it is not necessary for the operator to manually work again.

The embodiments and the accompanying drawings described in the present specification are merely illustrative of some of the technical ideas included in the present invention. Therefore, it is to be understood that the embodiments disclosed herein are not for purposes of limiting the technical idea of the present invention, but are intended to be illustrative, and therefore, the scope of the technical idea of the present invention is not limited by these embodiments. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

100: buffer floating shaft 110: upper housing
111: flange 113: bolt hole
115: Step 116: Counting boring hole
117: step 120: elastic part
125: pin 127: head
129: compression spring 130: lower housing
133: through hole 138: insertion tube
139: Inner flange 140: Grinder 141: Rotation shaft 143: Burr 150: Tube 145: Inlet port 160: Air nipple

Claims

An upper housing 110 configured to be mounted at a terminating end of the robot arm 10,
A lower housing 130 mounted on the upper housing 110 and configured to be reciprocable upward and downward,
A grinder 140 mounted in the lower housing 130 and exposed downward and extending downward to the rotary shaft 141,
And an elastic part (120) interposed between the upper housing (110) and the lower housing (130).

The method according to claim 1,
An inlet pipe 147 connected to the upper end of the grinder 140 to inject air,
A disk-shaped top plate 148 and a bottom plate 149 formed on the side surface of the inflow pipe 147 and spaced apart from each other,
And an inner flange (139) formed along the inner surface of the lower housing (130) so as to be interposed between the upper plate (148) and the lower plate (149).

3. The method of claim 2,
A tubular tube 150 attached to the inner surface of the lower housing 130 and through which the grinder 140 passes,
And an inlet (145) formed on an outer surface of the lower housing (130) and connected to the tube (150).

3. The method of claim 2,
An insertion tube 138 fitted and fixed to the inner surface of the lower housing 130,
A tubular tube 150 attached to an inner surface of the insertion tube 138 and through which the grinder 140 passes,
And an inlet (145) formed to penetrate the lower housing (130) and the insertion tube (138) and connected to the tube (150).

The method according to claim 3 or 4,
The lower housing 130 is configured to be received below the upper housing 110,
The upper housing 110 includes a step 121 formed on an inner surface thereof to correspond to an upper end of the lower housing 130,
And a counting boring hole (123) formed to pass through the step (121) at the upper end of the upper housing (110)
The elastic part 120 is connected to the upper end of the lower housing 130 through the counting boring hole 123 and has a pin 125 formed with a head 127 hooked on the counting boring hole 123 )and,
And a compression spring (129) received in the counting boring hole (123) and loaded on the head (127).