WO2012020446A1

WO2012020446A1 - Scraper-type burr removing device

Info

Publication number: WO2012020446A1
Application number: PCT/JP2010/004999
Authority: WO
Inventors: 田中　章夫; 孝明星; 政弘吉田; 池田　篤
Original assignee: 日本省力機械株式会社
Priority date: 2010-08-09
Filing date: 2010-08-09
Publication date: 2012-02-16
Also published as: JPWO2012020446A1; CN103038039A; CN103038039B; JP4685976B1

Abstract

Provided is a scraper-type burr removing device capable of correctly cutting burrs and improving finish at a chamfered portion, without damaging a work surface. A scraper (9) is supported by a front end arm of a robot (1) through a floating mechanism (5), and a plurality of thrust application members (21, 31, 32) are provided so that the floating mechanism (5) applies thrusts (FX, FZ) to the scraper (9) in the mutually intersecting directions. Blade edges (41, 42) of the scraper (9) are pressed onto a chamfered portion (100D) of a resin molded product (100), and a total force (F) of the thrusts by the plurality of thrust application members (21, 31) is directed in the direction of the normal line (150) of the chamfered portion (100D), so that the robot (1) chamfers by feeding the blade edges (41, 42) along the chamfered portion (100D).

Description

Scraper type deburring device

The present invention relates to a scraper type deburring apparatus suitable for chamfering a resin molded product.

Conventionally, as a device for cutting burrs generated at corners of resin molded products, by moving the copying guide member while pressing against the copying reference surface of the workpiece surface, the relative position of the blade to the workpiece is made constant, and the burrs are accurate. A deburring device has been proposed to cut into. (See, for example, Patent Document 1). According to this deburring device, the burr can be cut accurately to improve the finish.

Patent No. 3587171

However, for example, in resin panels such as flat-screen TVs and notebook computers, deburring of decorative panels whose front side is composed entirely of design surfaces, in chamfering, the burrs are cut exactly and There is a need to improve the finish feeling, but when the deburring device described in Patent Document 1 is applied to deburring and chamfering of a decorative plate, the copying guide member moves while being pressed by the design surface, Tool marks will remain.
Therefore, conventionally, for deburring of decorative boards such as television frames and laptop computer frames, for example, a scraper is pressed against the processing surface, and this is moved along the processing surface and the burrs are manually removed by manual operation. It is common to perform removal and chamfering operations.
In such manual deburring and chamfering, the finish of the scraped surface varies, and processing defects are likely to occur, resulting in a problem that the yield is greatly reduced. In addition, with a tool suitable for manual work, there is a problem that processing becomes difficult if the radius of curvature of the processing portion is small.

The present invention has been made in view of the above-described circumstances, and provides a scraper-type deburring apparatus capable of accurately cutting burrs and improving the finish of a chamfer without damaging the workpiece surface. The purpose is to

According to the present invention, a tip end arm of a robot supports a scraper through a floating mechanism, and the floating mechanism includes a plurality of thrust applying members for applying thrust to the scraper in directions crossing each other The cutting edge portion is sent along the chamfered portion by the robot to perform chamfering while pressing against the chamfered portion and directing the resultant force of each thrust by the plurality of thrust applying members in the normal direction of the chamfered portion. It features.

In the present invention, the floating mechanism has a plurality of thrust imparting members, and when chamfering the chamfered portion, the resultant force of each thrust of the thrust imparting member points in the normal direction of the chamfer, for example, one thrust Compared with the case where the thrust of the applying member is directed in the normal direction, a stable resultant (thrust) can be applied in the normal direction of the chamfered portion. Therefore, the size of the chamfered portion and the like become constant, and the finish feeling of the machined surface is improved.
In addition, although burrs are generated at the chamfered portion of the resin molded product, generally, the generation direction of burrs, such as vertical burrs and horizontal burrs, differs depending on the position of the parting surface of the mold in the resin molding machine . At the time of chamfering, since the burrs are integrally removed, the reaction force acting on the blade edge of the scraper changes according to the burr generation direction. In this configuration, for example, the thrust is applied in the direction of increasing the reaction force for burr removal. By adjusting the thrust of the member to be larger than the others, the finish dimension of the machined surface is improved, such as the machined dimension of the machined surface becomes constant.
In this configuration, the chamfered portion is chamfered by posture control of the robot, but a greater effect is exhibited in the case where the chamfered portion is a curved portion than in the case where the chamfered portion is a linear portion. For example, in the case where a thrust is applied in one direction, if attitude control is performed by the robot in a direction in which the thrust does not work, the thrust in the normal direction is reduced, and the finish feeling of the processed surface is reduced. In this configuration, since the thrust acts in the intersecting direction, even if attitude control is performed by the robot in a direction in which any thrust does not act, the blade tip of the scraper is pushed in the normal direction by the thrust of the remaining thrust applying members. Therefore, the thrust always acts even at the time of chamfering of the curved portion, and the finish feeling of the processed surface of the curved portion is improved.

The scraper may be formed of a wide flat plate, and a cutting edge of the scraper may be integrally formed on a side edge of the flat plate.
In this configuration, since the scraper is formed of a wide flat plate, the rigidity of the scraper is increased by the wide width, and a cutting edge portion is formed on the side edge of this flat plate, so that crack vibration etc. occur during cutting. Without it, the finish of the machined surface is improved.
The edge of the scraper may comprise a rake surface having a negative rake angle.
In this configuration, the cutting resistance is reduced due to the negative rake angle.
The blade tip portion of the scraper may have a flank surface having a clearance angle from the curved surface portion when chamfering the curved surface portion.
The flank surface may be configured to function when chamfering a curved portion with a radius smaller than the thickness of the scraper.
The resin molded product is a frame-like work having an outer peripheral portion and an inner peripheral portion, the scraper is formed of a wide flat plate, a cutting edge portion for chamfering the outer peripheral portion is formed on one side edge, and an inner side is formed on the other side edge A cutting edge for chamfering the periphery may be formed.
The edge portion of the scraper may be provided with a curved portion for R-chamfering.

According to the present invention, it is possible to accurately cut the burr and to improve the finish of the chamfer without damaging the surface of the workpiece.

It is a perspective view showing the composition of the scraper type deburring device concerning the embodiment of the present invention. It is a front view of a deburring device. FIG. 3 is a cross-sectional view taken along the line III-III in FIG. (A) is an enlarged front view in the vicinity of the scraper, (B) is a cross-sectional view taken along the line BB in (A), and (C) is a cross-sectional view taken along the line CC in (A). (A) is a perspective view which shows typically the relationship between the attitude | position of the deburring apparatus in chamfering process of inner periphery, and a workpiece | work, (B) is the same perspective view in chamfering process of outer periphery. FIG. 6 is a cross-sectional view taken along the line VI-VI in FIG. (A) is a principal part enlarged view of FIG. 6, (B) is B arrow line view in (A). It is a figure which shows typically the relationship between the attitude | position of the scraper in chamfering of a curved-surface part, and a workpiece | work. FIG. 4 (A) is a corresponding view.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view showing an embodiment of a scraper type deburring apparatus.
In FIG. 1, reference numeral 1 denotes an articulated robot. A distal end arm 4 is connected to the wrist shaft 3 of the articulated robot 1, a floating mechanism 5 is attached to the distal end arm 4, and a scraper 9 made of carbide is supported by the floating mechanism 5. The articulated robot 1 is connected to a controller (not shown), and the operation of the articulated robot 1 is determined by data input in advance by teaching or a program, and is controlled by the controller.

The floating mechanism 5 is provided with a mounting plate 11 with reference to FIGS. 1 to 3, and is attached to a tip arm 4 of the articulated robot 1 via the mounting plate 11. At four corners of the mounting plate 11, four radial linear shafts 13 extending in a direction parallel to the wrist shaft 3 are fixed. The radial

linear shafts

13, 13 on one side edge 11A side of the mounting plate 11 slidably penetrate the radial

linear bushes

14, 14 fixed to the radial movable plate 19, and the respective tips are connected by the retaining member 15 ing.
Further, the radial

linear shafts

13, 13 on the other side 11B side of the mounting plate 11 slidably penetrate the radial

linear bushes

16, 16 similarly fixed to the radial movable plate 19, and the respective tip portions are prevented from coming off It is connected by a member 17. The two adjacent radial linear shafts are connected by the retaining

members

15 and 17 to increase the rigidity.

Radial air cylinders (thrust applying members) 21 and 21 having axes parallel to the wrist shaft 3 are fixed to one side edge 19A side and the other side edge 19B side of the radial movable plate 19, and pistons of the radial air cylinders The tips of the

rods

21A and 21A are connected to the fixing portion 11C of the mounting plate 11, respectively. In the operation of the

radial air cylinders

21, 21, the radial movable plate 19 is always pressed in the direction of the arrow Z1 by the air pressure, and when a pressure higher than the air pressure acts in the direction of the arrow Z2, the radial movable plate 19 is pushed back. And become floating. The

radial air cylinders

21, 21 are connected to a control device (not shown), and are configured to be able to simultaneously control the respective air pressures to the same amount.

A pair of

side plates

23, 23 are fixed by bolts 24 to the

remaining side edges

19C, 19D other than one side edge 19A and the other side edge 19B of the radially movable plate 19, and a pair is formed between the

side plates

23, 23. Thrust

linear shafts

25, 25 are provided. A pair of thrust

linear bushes

26, 26 is slidably fitted to the respective thrust

linear shafts

25, 25, and the thrust

linear bushes

26, 26 are fixed to the thrust movable plate 27. The thrust

linear bushes

26, 26 slide along the thrust

linear shafts

25, 25 to guide the thrust movable plate 27 in the direction perpendicular to the wrist axis 3. That is, the thrust movable plate 27 is slidably supported in both directions of the arrow X1 and the arrow X2.

As shown in FIG. 3, the outer peripheral thrust air cylinder (thrust applying member) 31 and the inner peripheral thrust air cylinder (thrust) have an axis parallel to the axis of the thrust

linear shafts

25, 25 on the

side plates

23, 23. An application member) 32 is attached to face each other. A receiving member 33 is disposed between the outer peripheral thrust air cylinder 31 and the

piston rods

31A and 32A of the inner peripheral thrust air cylinder 32, and the receiving member 33 is provided to project from the plate surface of the thrust movable plate 27.
As shown by a broken line in FIG. 3, the piston rod 31A of the outer peripheral thrust air cylinder 31 is extended to press the receiving member 33, and the piston rod 32A of the inner peripheral thrust air cylinder 32 is retracted to separate from the receiving member 33. As a result, the thrust movable plate 27 is pressed in the direction of the arrow X2 by the air pressure, and when a pressure greater than the air pressure acts in the direction of the arrow X1, the thrust movable plate 27 is pushed back to be in a floating state. On the other hand, as shown by a solid line in FIG. 3, the piston rod 32A of the inner peripheral thrust air cylinder 32 is extended to press the receiving member 33, and the piston rod 31A of the outer peripheral thrust air cylinder 31 is retracted to receive the receiving member 33. The thrust movable plate 27 is pressed in the direction of the arrow X1 by the air pressure by air pressure, and when the pressure more than the air pressure acts in the arrow X2 direction, the thrust movable plate 27 is pushed back to be in a floating state .

The outer peripheral thrust air cylinder 31 and the inner peripheral thrust air cylinder 32 are connected to a control device (not shown). The outer peripheral thrust air cylinder 31, the inner peripheral thrust air cylinder 32, and the pair of

radial air cylinders

21, 21 described above are connected to a pressure adjusting device such as a regulator, for example, and the air pressure supplied to each cylinder is independent. And is configured to be controllable.
When not in the floating state, the receiving member 33 is held between the

piston rods

31A and 32A by operating either the outer peripheral thrust air cylinder 31 or the inner peripheral thrust air cylinder 32, and the thrust movable plate 27 It is configured to prevent rattling.

Referring to FIGS. 1 and 2, a flange-like holder support member 35 is attached to the thrust movable plate 27, and a holder 36 is fixed to the holder support member 35. A blade attachment surface 36A is formed at the tip end of the holder 36, and the blade attachment surface 36A is parallel to a plane including the axial air lines of the inner peripheral thrust air cylinder 31, the outer peripheral thrust air cylinder 32 and the axis 3A of the wrist shaft 3. It is extended. A cemented carbide scraper 9 is positioned and fixed to the cutter attachment surface 36A by two

screws

37, 37. At the central portion of the holder support member 35, two

air blow nozzles

38, 38 extending toward the scraper 9 side are attached. The

air blow nozzles

38, 38 eject compressed air from their tips in order to remove chips from the processing surface.

As shown in FIG. 4A, the scraper 9 is a flat blade having a substantially triangular shape in a front view, is formed of cemented carbide, and prevents breakage and chipping of the blade. The cemented carbide is prevented from chatter vibration due to its high natural frequency. On the base end 9A side of the scraper 9, two

notches

9B and 9C whose opening directions are different by 90 ° are formed, and the

screws

37 and 37 are screwed into the

notches

9B and 9C, whereby the scraper 9 is formed. Is positioned and attached to the blade attachment surface 36A. The blade attachment surface 36A is formed so as to be parallel to the axis 3A of the wrist shaft 3 and to be a half of the thickness t of the scraper 9 with respect to the axis 3A of the wrist shaft 3. Therefore, the surface at the center of the plate thickness t of the scraper 9 includes the axis 3 A of the wrist axis 3. The scraper 9 is provided with a bottom surface 9D substantially perpendicular to the axis 3A of the wrist shaft 3, a first inclined surface 9E provided on the arrow X1 direction side and forming an inclination angle θ1 with the bottom surface 9D, and an inclination for the bottom surface 9D. An inner peripheral cutting edge 41 is formed on the tip end side of the first slope 9E, and an outer peripheral cutting edge 42 is formed on the tip end side of the second inclined face 9F. . The inclination angle θ1 and the inclination angle θ2 are uniquely set in accordance with the angle of the processing planned surface of the workpiece.

FIG. 4B is a cross-sectional view taken along the line BB in FIG. 4A, and is a cross-sectional view of the inner circumferential cutting edge 41. FIG. 4C is a cross-sectional view taken along the line CC in FIG. 4A and is a cross-sectional view of the outer peripheral cutting edge portion 42.
The inner peripheral cutting edge portion 41 has a rake surface 41A and a flank surface 41B, and an angle α1 between the rake surface 41A and the scraper surface 9G is set to 5 to 30 °, and the rake surface 41A and the flank surface 41B The formed angle (cutting edge angle) β1 is set to 60 ° to 120 °. Further, the outer peripheral cutting edge portion 42 has a rake surface 42A and a flank surface 42B, and an angle α2 formed between the rake surface 42A and the scraper surface 9G is set to 5 to 30 °, and the rake surface 42A and the flank surface 42B The angle (cutting edge angle) β2 made by the lens is set to 60 ° to 120 °.

Next, the operation of this embodiment will be described.
FIGS. 5A and 5B are diagrams schematically showing the relationship between the posture of the scraper-type deburring apparatus in the chamfering process and the work (resin-formed product) 100. FIG.
This work 100 is, for example, a resin injection molded product such as a television frame or a notebook personal computer frame, and since all the surface 100A on the front side is configured as a design surface, the suction jig is addressed to the back with the back facing downward. It is held by suction. In this work 100, burrs generated during injection molding remain at the corners of the inner circumferential portion 100B and at the corners of the outer circumferential portion 100C. 100C deburring and chamfering are performed.

As shown in FIG. 5A, deburring and chamfering of the inner peripheral portion 100B of the work 100 (hereinafter, chamfering of the inner peripheral portion) is performed by the inner peripheral cutting edge portion 41 of the scraper 9, as shown in FIG. 5B Further, deburring of the outer peripheral portion 100C and chamfering (hereinafter, chamfering of the outer peripheral portion) are performed by the outer peripheral cutting edge portion 42 of the scraper 9.
The chamfering process procedure of the workpiece 100 will be described by taking the chamfering process of the inner peripheral portion 100B as an example. In the following description, the case where the workpiece 100 is held horizontally and processed will be described. Note that the holding posture of the work 100 is not limited to horizontal.
As shown in FIG. 5A, the processing planned surface 100D of the inner peripheral portion 100B is substantially rectangular, and includes a flat surface portion 100DL of four sides and a curved surface portion 100DR connecting the adjacent flat surface portions 100DL. Chamfering of the inner peripheral portion 100B is started from any one of four flat portions 100DL, for example, the flat portion 100DL in the X1 direction. Then, the processing of the flat surface portion 100DL and the processing of the curved surface portion 100DR are alternately repeated to complete the process planned surface 100D.

The chamfering process of the flat portion 100DL will be described in detail by taking the deburring start time as an example.
As shown by a broken line in FIG. 6, first, the scraper 9 is lowered from above the workpiece 100 so as not to interfere with the inner circumferential portion 100B of the workpiece 100 while keeping the direction of the axis 3A of the wrist axis 3 in the vertical direction. .
Next, as shown by a solid line in FIG. 6, the scraper 9 is moved in the X1 direction, and the cutting edge portion 41 for the inner circumference is brought into contact with the inner circumference portion 100B of the workpiece 100. Then, as shown in FIG. 7A, thrust FX is generated by the operation of the thrust air cylinder 32 for the inner circumference, thrust FZ is generated by the operation of the

radial air cylinders

21, 21, and the scraper 9 is generated by the resultant F of thrust FX and FZ. The inner peripheral cutting edge 41 is pressed against the flat portion 100DL.

At this time, the air pressure of the inner peripheral thrust air cylinder 32 is controlled to be 2 tan θ1 times the air pressure output from one radial air cylinder 21 by a control device (not shown), as shown in FIGS. As shown, the direction of the resultant force F between the pressing force FX by the inner peripheral thrust air cylinder 32 and the pressing force FZ by the radial air cylinders 21 is the normal 150 direction of the flat portion 100DL of the workpiece.
The resultant force F of the thrust force FX and the thrust force FZ is set to a predetermined force, for example, in the range of 0.5 to 50 (N). It was found that when the resultant force F is in the range of 0.5 to 50 (N), it is possible to execute chamfering with an excellent feeling of finish while securing a sufficient amount of cutting. For example, when the pressing force is a load exceeding 50 (N), the cutting amount increases and chatter vibration occurs in the scraper 9, and the finish of the processed surface is deteriorated, and the pressing force is less than 0.5 (N) It was found that the amount of cutting was small and the burr could not be removed sufficiently.

Then, referring to FIG. 5A, the scraper 9 is moved along the flat portion 100DL to a predetermined moving speed (for example, 10 to 1500 mm / sec) along the flat portion 100DL while pressing the inner peripheral cutting edge portion 41 of the scraper 9 against the work 100. To move and chamfer the flat portion 100DL.
The moving speed of the scraper is set to a predetermined speed, for example, in the range of 10 to 1500 mm / sec. It was found that when the moving speed is in the range of 10 to 1500 mm / sec, it is possible to execute chamfering with an excellent feeling of finish while securing a sufficient amount of cutting. On the other hand, if the moving speed is less than 10 mm / sec, the amount of cutting increases and chatter vibration occurs to deteriorate the finish of the machined surface, and if the moving speed exceeds 1500 mm / sec, the cutting amount is small, It turned out that the burr can not be removed sufficiently.

At this time, as shown in FIG. 7B, the posture of the scraper 9 is controlled by the articulated robot 1 so that the scraper surface 9G is orthogonal to the processing surface of the inner peripheral portion 100B of the workpiece 100. Since the scraper surface 9G is orthogonal to the flat portion 100DL of the processing planned surface 100D, the rake angle γ in the chamfering process is negative at the same angle as the angle α1 (for example, 5 ° to 30 °) between the rake surface 41A and the scraper surface 9G. It will be a rake corner.
It was found that when the rake angle is a negative rake angle of 5 ° to 30 °, it is possible to execute chamfering with an excellent finish feeling while securing a sufficient amount of cutting. If the rake angle is a positive rake angle or a negative rake angle of less than 5 °, the amount of cutting increases and chatter vibration occurs, the finish of the machined surface deteriorates, and if it is a negative rake angle exceeding 30 °, cutting It was found that the amount was small and the burr could not be removed sufficiently.

In this embodiment, the floating mechanism 5 applies the thruster FZ in the direction of the axis 3A (vertical direction) of the wrist axis 3 (vertical direction) to the scraper 9 and the thrust FX in the direction (horizontal direction) orthogonal to the axis 3A of the wrist axis 3 And direct the resultant force F between the thrust FX and the thrust FZ in the direction of the normal 150 of the planned work surface 100D, while pressing the scraper 9 against the planned work surface 100D of the workpiece 100, along with the scraper 9 along the planned work surface 100D. Move and chamfer.
Therefore, for example, compared with the case where only the thrust FX in the horizontal direction is applied to the scraper 9, it is possible to stably apply thrust (total force) in the direction of the normal 150 of the processing planned surface 100D. Therefore, the cutting-in dimension etc. of processing plan surface 100D becomes fixed, and the finish feeling of processing plan surface 100D improves.

In the present embodiment, since the scraper surface 9G is always orthogonal to the flat portion 100DL of the processing planned surface 100D and the blade edge portion 41 has a negative rake angle γ, the articulated robot 1 makes the scraper 9 a flat portion 100DL. Only by moving along, it is possible to execute the chamfering process with high precision and excellent finish feeling.
In addition, the operation of the articulated robot 1 becomes a simple operation with the axis 3A of the wrist axis 3 directed vertically downward, which simplifies teaching and is stable because the robot operation speed does not change. I can carry out processing.

Below, the chamfering process of curved-surface part 100DR is demonstrated in detail.
First, in chamfering of the flat portion 100DL, as shown by a solid line in FIG. 8A, the articulated robot 1 makes the scraper surface 9G orthogonal to the flat portion 100DL which is the processing surface of the inner peripheral portion 100B of the workpiece 100. The attitude of the scraper 9 is controlled, and chamfering is performed by moving the scraper 9 while maintaining the attitude.
Next, as indicated by a broken line in FIG. 8A, after the blade edge reaches the end point of the workpiece 100, that is, the start point of the R portion, the blade position of the scraper 9 is moved by robot operation. The position and posture of the scraper 9 are controlled such that the scraper surface 9 G is rotated about the axis 3 A and is orthogonal to the contact surface 120 of the curved portion 100 DR in the blade contact portion 110.

That is, since the scraper surface 9G is always orthogonal to the contact surface 120 of the curved surface portion 100DR in the blade edge contact portion 110, the rake angle γ of the chamfering process is between the rake surface 41A and the scraper surface 9G also in the processing of the curved surface portion 100DR. It is a negative rake angle γ which is the same as the angle α1 formed. In this embodiment, since the scraper surface 9G is always orthogonal to the contact surface 120 of the curved surface portion 100DR in the blade contact portion 110 and the blade edge has a negative rake angle γ, the robot moves the scraper 9 along the chamfer The chamfering process can be performed with high precision and excellent finish just by Further, even in the processing of the curved surface portion 100DR, the operation of the articulated robot 1 is a simple operation with the axis 3A of the wrist axis 3 directed vertically downward, so teaching becomes easy and the robot operation speed is increased. Since no change occurs, stable machining can be performed.

Further, in the present embodiment, the chamfering process of the processing planned surface 100D is performed by controlling the posture and the position of the articulated robot 1, but a larger effect is exhibited in the curved surface portion 100DR than in the case of the flat surface portion 100DL.
For example, in the case where the thrust force FX acts only in the horizontal direction, when the articulated robot 1 performs posture control in a direction in which the thrust force FX does not work, the normal 150 of the contact surface 120 of the curved surface portion 100DR in the blade edge contact portion 110 The thrust force FX in the direction is reduced, and the finish feeling of the curved surface portion 100DR is reduced. On the other hand, in the present embodiment, since the thrust FZ in the direction of the axis 3A of the wrist axis 3 and the thrust FX in the direction orthogonal to the axis 3A of the wrist axis 3 act on the scraper 9, either thrust FZ or thrust FX Even if posture control is performed by the articulated robot 1 in a direction in which the blade does not work, the inner peripheral cutting edge portion 41 of the scraper 9 is directed to the normal 150 of the contact surface 120 of the curved surface portion 100DR in the cutting edge contact portion 110 by the remaining thrust. Therefore, the thrust always acts even when chamfering the curved surface portion 100DR, and the finish feeling of the curved surface portion 100DR can be improved. Although the operation of the inner peripheral cutting edge portion 41 has been described above, it goes without saying that the outer peripheral cutting edge portion 42 also operates in the same manner at the time of cutting.

Further, in the present embodiment, in order to improve the appearance of the workpiece 100, the radius of curvature of the curved surface portion 100DR on the inner periphery of the workpiece 100 is as small as about 1 mm.
When the thickness of the scraper-type blade is less than 1 mm, it is difficult to secure rigidity, and the blade is easily broken or chipped, and chatter vibration is generated to deteriorate the finish of the machined surface. Therefore, in the present embodiment, the thickness t of the scraper is set to 1 mm or more, and breakage of the blade and breakage of the blade are prevented. However, in FIG. 8, when processing the curved surface portion 100DR with the scraper 9 having a plate thickness t exceeding the curvature radius r of the processing surface, the corner 9H (i.e., the blade No. 2) of the scraper 9 on the rear side in the traveling direction It is easy to interfere with 100.

In order to avoid this interference, first, as shown in FIGS. 8A to 8C, in the flat surface portion 100DL to the curved surface portion 100DR, the blade edge portion of the scraper 9 is always each surface portion (curved surface portion 100DR, flat surface portion 100DL) It is applied at right angles to. When the scraper 9 is inclined, the corner 9H (i.e., the blade No. 2) of the scraper 9 on the rear side in the traveling direction is likely to interfere with the work 100 by that amount.
Second, on the opposite side of the rake face 41, a flank 42 having a clearance angle φ is formed. Since the flanks 42 are formed, as shown in FIGS. 8B and 8C, even when the curved surface portion 100DR is processed following the processing of the flat surface portion 100DL and the surface portion 100DL is processed further continuously, The part 9H (the blade No. 2) does not interfere with the workpiece 100. Therefore, a curved surface with a small radius of curvature r can be finished with high accuracy.
In this series of processing steps, referring to FIG. 1, air is jetted from the tips of the

air blow nozzles

38, 38 because the holder support member 35 is provided with the

air blow nozzles

38, 38 extending to the vicinity of the processing planned surface 100D. During the chamfering process, chips do not adhere to the workpiece 100.

By the way, the generation direction of the burr generated in the chamfered portion of the workpiece 100 depends on the structure of the mold in the resin molding machine, and depending on the type of workpiece, the lateral burr 131 shown in solid line in FIG. Vertical burrs 132 are generated. When the direction of the burrs is different, since the direction of the reaction force that the scraper 9 receives from the workpiece 100 is different, it is necessary to adjust the thrust forces FX and FZ. In this configuration, for example, when the lateral burr 131 is generated, the pressure of the thrust cylinder 32 for the inner circumference is set by the control device (not shown) so that the thrust force FX corresponding to the direction of the lateral burr can be increased. increase. On the other hand, when the vertical burrs 132 are generated, the pressure of the radial air cylinders 21 is increased so that the thrust FZ corresponding to the direction of the vertical burrs can be increased. When one of the thrusts FX and FZ is increased, the resultant force F is slightly inclined toward the thrust FX and FZ with respect to the normal 150 direction, but in this specification, this action direction is also approximately the normal 150 direction. It is defined as the thrust of Thereby, the influence by the direction of a burr | flash can be excluded and the finish of a chamfer can be improved.

According to the present embodiment, the floating mechanism 5 generates the thrust FZ in the direction of the axis 3A (vertical direction) of the wrist axis 3 with respect to the scraper 9 and the thrust FX in the direction (horizontal) orthogonal to the axis 3A of the wrist axis 3 The robot directs the scraper 9 to the processing planned surface 100D while directing the resultant force F of the thrust force FX and the thrust force FZ in the direction of the normal 150 of the processing planned surface 100D and pressing the scraper 9 against the processing planned surface 100D. Move along to chamfer.
Therefore, it is possible to stably apply a thrust (total force) in the direction of the normal 150 of the processing planned surface 100D, and the cut-in dimension of the processing planned surface 100D becomes constant. As a result, the burr 131 (132) is accurately cut without damaging the surface 100A on the design side of the work 100, the inner peripheral portion 100B, and the outer peripheral portion 100C, and the processing planned surface (chamfered portion) 100D The finish feeling can be improved.
Further, in the present embodiment, the inner peripheral thrust air cylinder 32 that generates the thrust force FX and the radial air cylinders 21 that generate the thrust force FZ are controlled independently, and each air pressure can be adjusted. Therefore, the thrusts FX and FZ can be adjusted even if the direction and the magnitude of the reaction force applied to the scraper 9 change at the time of chamfering, for example, because the direction, height and width of the burr 131 (132) are different. The finish feeling of the processing planned surface (chamfered portion) 100D can be maintained.
Although the processing planned surface 100D has been described as a horizontal surface, it may not be a horizontal surface, or may be a planned surface including a portion that is not horizontal.
In any case, the resultant force F can be applied in an appropriate direction by an air pressure adjusting mechanism such as a regulator.

In the present embodiment, since the scraper 9 is formed of a wide flat plate, the blade rigidity can be increased by the wide width, and for the inner peripheral cutting edge portion 41 and the outer periphery at both side edges of the scraper 9 whose blade rigidity is enhanced. Since the cutting edge portion 42 is integrally formed, chatter vibration when cutting with the inner peripheral cutting edge portion 41 and chatter vibration when cutting with the outer peripheral cutting edge portion 42 are suppressed to improve the finish feeling of the processing planned surface 100D. be able to.

In the present embodiment, the rake surface 41A is formed in the inner peripheral cutting edge portion 41 of the scraper 9 so that the angle formed with the scraper surface 9G is α1, and the outer peripheral cutting edge portion 42 with the scraper surface 9G. The rake face 42A is formed such that the formed angle is α1.
Therefore, when chamfering is performed by moving the scraper 9 to the rake surface 42A side by controlling the posture of the scraper 9 so that the scraper surface 9G is perpendicular to the processing planned surface 100D, the rake angle γ is negative for the angle α1. It becomes a rake angle, biting into the processing planned surface 100D of the cutting edge part 41 for inner circumferences can be prevented, and the cutting-in dimension of the processing planned surface 100D can be made constant. Therefore, chatter vibration can be suppressed, and the finish feeling of the processing planned surface 100D can be improved.

In the present embodiment, the inner peripheral cutting edge portion 41 of the scraper 9 is provided with a flank 41B having a clearance angle φ from the curved surface portion 100DR when the curved surface portion 100DR is chamfered.
Therefore, when processing the curved portion 100DR while controlling the posture of the scraper 9 so that the scraper surface 9G is orthogonal to the contact surface 120 at the blade edge contact portion 110 of the curved portion 100DR, the plate thickness is larger than the radius of curvature of the curved portion 100DR. Even if the scraper 9 having a large t is used, the corner 9H (the blade No. 2) of the scraper 9 does not interfere with the curved surface portion 100DR. Thereby, it is possible to avoid the interference of the corner 9H (the second blade) with the workpiece 100 while improving the rigidity of the blade, and it is possible to suppress chatter vibration and improve the finish feeling of the processing planned surface 100D. .

In the said embodiment, as shown to FIG. 4A, the

blade edge parts

41 and 42 of the scraper 9 are linear form. At this time, the inner peripheral portion 100B or the outer peripheral portion 100C of the workpiece 100 is C-chamfered. For example, as shown in FIG. 9, the curved portions 9I may be provided on the cutting edges 41 and 42 of the scraper 9. When the inner peripheral portion 100B or the outer peripheral portion 100C is addressed to the curved portion 9I and chamfered, the inner peripheral portion 100B or the outer peripheral portion 100C is R-chamfered to correspond to the shape of the curved portion 9I.

The embodiment described above merely shows one aspect of the present invention, and arbitrary modifications and applications are possible within the scope of the present invention.
In this embodiment, with respect to the scraper 9, the thrust FX in the direction (horizontal direction) orthogonal to the axis 3A of the wrist axis 3 and the thrust FZ in the axis 3A (vertical direction) of the wrist axis 3 are independently made. A controllable floating mechanism 5 is provided, and the scraper 9 is pressed against the planned work surface 100D of the workpiece 100 by directing the resultant force F of the thrust FX and the thrust FZ in the direction of the normal 150 of the planned work surface 100D. Although the structure which moves along the process plan surface 100D and performs a chamfering process was demonstrated, the direction of the thrust provided by the floating mechanism 5 is not limited to this, What is necessary is just to cross. For example, the thrust in the direction of the axis 3A of the wrist axis 3 and the thrust in the direction forming an angle of 45 ° with the axis 3A of the wrist axis 3 may be used.
Also in this case, since the scraper 9 is pressed against the processing planned surface 100D by the combined force of the thrusts in these two directions, it is possible to stably apply the thrust (synthetic force) in the direction of the normal 150 of the processing planned surface 100D. The cut-in size becomes constant. As a result, the burr 131 (132) is accurately cut without damaging the surface 100A on the design side of the work 100, the inner peripheral portion 100B, and the outer peripheral portion 100C, and the processing planned surface (chamfered portion) 100D The finish feeling can be improved.
Furthermore, although the flat scraper 9 is illustrated in this embodiment, the shape of the scraper 9 is not limited to the flat, and may be, for example, a wedge-shaped scraper having a rake face and a flank face.

Reference Signs List 1 articulated robot 4 tip arm 5 floating mechanism 9 scraper 9G scraper surface 9I curved portion 21 radial air cylinder (force applying member)
31 Thrust air cylinder (thrust member)
32 Thrust air cylinder (thrust member)
41 Cutting edge for inner circumference (cutting edge)
42 Cutting edge for outer periphery (cutting edge)
41A, 42A scoop surface 41B, 42B flank surface 100 work (resin molded product)
100B inner circumferential surface (inner circumferential portion)
100C Outer peripheral surface (outer peripheral part)
100D surface to be machined (Chamfered)
100DL flat surface 100DR curved surface t thickness

Claims

Support the scraper via the floating mechanism on the tip arm of the robot,
The floating mechanism includes a plurality of thrust applying members that apply thrust to the scraper in directions intersecting each other,
The blade edge of the scraper is pressed against the chamfer of the resin molded product, and the robot sends the blade edge along the chamfer with the robot while directing the resultant force of each thrust by the multiple thrust applying members in the normal direction of the chamfer. A scraper-type deburring device characterized in that it is configured to
The scraper type deburring apparatus according to claim 1, wherein the scraper is formed of a wide flat plate, and a cutting edge of the scraper is integrally formed on a side edge of the flat plate.
The scraper deburring apparatus according to claim 1 or 2, wherein the edge of the scraper is provided with a rake face having a negative rake angle.
The scraper type according to any one of claims 1 to 3, characterized in that the blade edge portion of the scraper has a flank surface having a relief angle from the curved surface portion when the curved surface portion is chamfered. Deburring device.
The scraper deburring apparatus according to claim 4, wherein the flank surface functions when chamfering a curved portion having a radius smaller than the thickness of the scraper.
The resin molded product is a frame-like work having an outer peripheral portion and an inner peripheral portion, the scraper is formed of a wide flat plate, a cutting edge portion for chamfering the outer peripheral portion is formed on one side edge, and an inner side is formed on the other side edge The scraper-type deburring apparatus according to any one of claims 1 to 5, wherein a cutting edge portion for chamfering the peripheral portion is formed.
The scraper-type deburring apparatus according to any one of claims 1 to 6, wherein a curved portion for rounding is provided at a cutting edge portion of the scraper.