JP7594780B2 - Deburring Machine - Google Patents

Description

The present invention relates to a deburring machine that performs processes such as cutting and polishing on a workpiece.

Conventionally, deburring machines that process workpieces by cutting or grinding have had the problem that various parts of the deburring machine are easily soiled by cutting chips generated when processing the workpiece, making cleaning difficult, and the accumulation of cutting chips can lead to machine breakdowns.

With the aim of providing a machine tool that can accurately correct deformation of a guide rail, Japanese Patent Application Laid-Open No. 2002-137129 (Patent Document 1) discloses a machine tool that includes a beam-shaped frame member arranged to face a grinding wheel mounted on a table, a guide rail that is parallel to the beam-shaped frame member and movably supports a moving body, and an expandable member interposed between the beam-shaped frame member and the guide rail.

JP 2002-137129 A

However, in the machine tool disclosed in Patent Document 1, although the moving parts are thought to be less susceptible to dirt, the grinding wheel, table, etc. are located below the machining area, so they are easily soiled and difficult to clean, and there is still a risk that the equipment on the table may break down due to cutting chips.

The present invention has been made in consideration of the above points, and aims to provide a deburring machine that is less likely to get dirty and easier to clean, and that can prevent machine breakdowns due to the accumulation of cutting chips, by installing a robot upside down from a ceiling panel and not placing components such as blades where the table would normally be installed.

The deburring machine of the present invention comprises:
A frame,
A ceiling plate provided on an upper portion of the frame;
A robot provided facing downward from the lower surface of the ceiling board;
A gripping unit that grips a workpiece and is provided on one of the lower surface of the robot or the lower surface of the ceiling plate;
a first machining tool for machining the workpiece, the first machining tool being provided on the other of the robot or the lower surface of the ceiling panel;
The present invention is characterized by comprising:

According to the deburring machine of the present invention, the robot, the gripping part for gripping the workpiece, and the first processing tool for processing the workpiece are attached to the underside of a ceiling plate provided at the top of the frame. Therefore, chips generated by processing the workpiece fall without adhering to the components inside the deburring machine, preventing the deburring machine from becoming dirty. Note that the gripping part and the first processing tool are provided on the underside of the ceiling plate not only when the gripping part and the processing tool are provided directly on the underside of the ceiling plate, but also when they are provided indirectly via some kind of support (the same applies to the second processing tool described below).

A preferred example of the deburring machine of the present invention is
The first processing tool is provided on the lower surface of the ceiling board and is disposed facing downward.

In a preferred embodiment of the deburring machine of the present invention, the first processing tool is positioned facing downwards, so that chips are not blown up in an upward direction. This makes it easier for the chips to fall, and more effectively prevents the machine from becoming dirty.

A preferred example of the deburring machine of the present invention is
A plurality of the first machining tools are provided, and the heights of the respective first machining tools are the same.

In a preferred embodiment of the deburring machine of the present invention, multiple first processing tools are arranged at the same height, so that chips produced by one first processing tool do not adhere to other first processing tools.

The deburring machine of the present invention comprises:
A frame,
A ceiling plate provided on an upper portion of the frame;
A robot provided facing downward from the lower surface of the ceiling board;
A gripping unit provided on the robot for gripping a workpiece;
One or more first machining tools are provided on the lower surface of the ceiling board and face downward to machine the workpiece;
One or more second machining tools are provided on the lower surface of the ceiling board and are oriented horizontally to machine the workpiece;
The present invention is characterized by comprising:

The deburring machine of the present invention is equipped with a second processing tool that faces sideways, so it can perform deburring that is difficult to perform using only the first processing tool that faces downward.

A preferred example of the deburring machine of the present invention is
The second machining tool is provided at a position higher than a line perpendicular to the rotation axis of the first machining tool.

According to a preferred embodiment of the deburring machine of the present invention, chips generated by the first processing tool can be prevented from adhering to the second processing tool and its components. Note that the line perpendicular to the rotation axis of the processing tool refers to a line perpendicular to the rotation axis that extends from the point where the cutting edge of the processing tool is attached.

The deburring machine of the present invention comprises:
The first machining tool is provided at a position offset from a line perpendicular to the rotation axis of the second machining tool.

The deburring machine of the present invention can prevent chips generated by the second processing tool from adhering to the first processing tool and its components.

A preferred example of the deburring machine of the present invention is
A tray is provided at the bottom of the frame to catch falling chips.

A preferred embodiment of the deburring machine of the present invention is equipped with a tray to catch falling chips, making it easy to remove the chips.

A preferred example of the deburring machine of the present invention is
The tray is configured to be smaller than the ceiling plate and includes an inclined plate for collecting the chips in the tray.

In a preferred embodiment of the deburring machine of the present invention, the tray is smaller than the ceiling plate, making it easier to remove the tray and to remove the chips.

As described above, with the deburring machine of the present invention, the robot is installed upside down from the ceiling panel, and components such as blades are not placed where the table would normally be, making it less likely to get dirty and easier to clean, and preventing machine breakdowns due to the accumulation of cutting chips.

FIG. 1 is a front view of a deburring machine according to an embodiment of the present invention. FIG. 2 is a rear view of the deburring machine. FIG. 2 is a diagram illustrating the transfer of a workpiece in a deburring machine. 2 is a cross-sectional view taken along line AA in FIG. 1. 2 is a cross-sectional view taken along line BB in FIG. 1. 2 is a cross-sectional view taken along line BB of FIG. 1, illustrating an example in which a plurality of first processing tools are provided. FIG. 2 is a cross-sectional view taken along line AA of FIG. 1, illustrating an example in which a plurality of second processing tools are provided. FIG. 2 is a cross-sectional view taken along line AA of FIG. 1, illustrating an example in which a plurality of first processing tools and a plurality of second processing tools are provided. FIG.

The following is a detailed description of an embodiment of the deburring machine 1 of the present invention with reference to the accompanying drawings. Note that Figs. 1 to 3 are schematic diagrams in which the front or rear panel 14 of the deburring machine 1 is removed in order to facilitate explanation of the configuration of the deburring machine 1. The second machining tool 24b, etc. located at the back of Fig. 1, and the first machining tool 24a, etc. located at the back of Fig. 2 are shown by dashed lines to make the drawings easier to see. Figs. 4, 7, and 8 omit the illustration of the robot 21, and only the position of the base of the robot 21 is shown by dashed lines. Figs. 5 and 6 also omit the illustration of the robot 21.

As shown in Figures 1 to 5, the deburring machine 1 of this embodiment includes a frame 10, a ceiling panel 20, a robot 21, a gripping unit 22, support units 23a and 23b, a first processing tool 24a, a second processing tool 24b, an inclined plate 25, a receiving tray 26, and a loading/unloading unit 30.

The frame 10 comprises a lower column 11, an upper column 12, and beams 13a and 13b. The lower column 11, which is the lower part of the frame 10, forms the base of the frame 10 and is erected near the four corners of the deburring machine 1 and connected to a bottom plate 16. The lower column 11 is also appropriately connected to beams, braces, or other components (not shown) as necessary. The upper column 12, which is the upper part of the frame 10, is erected upward from the upper end of the lower column 11. The beams 13a and 13b connect adjacent upper columns 12 to improve the strength of the entire frame 10.

A panel 14 is attached around the upper pillar 12 to prevent chips from scattering during processing. A transfer opening 15 for the transfer of the workpiece 40 is provided in part of this panel 14. Note that, in a normal machine tool, a table is provided near the bottom end of the upper pillar 12 or near the top end of the lower pillar 11, but in the deburring machine 1 of this embodiment, no table is provided, and the area surrounded by the lower beam 13b and its vicinity is left as space.

The ceiling panel 20 is provided on the upper part of the frame 10, and in this embodiment is supported by the upper end portion of the upper column 12. The robot 21, support parts 23a, 23b, etc. are installed on the underside of this ceiling panel 20.

The robot 21 is installed facing downward from the underside of the ceiling board 20, that is, upside down, which is the opposite of the normal orientation, and in this embodiment, an articulated robot is used. In addition, a gripper 22 that grips the workpiece 40 is provided at the tip of the robot 21.

The support parts 23a and 23b are pillars that are provided facing downward from the underside of the ceiling board 20. At the tip of one of the support parts 23a, a first machining tool 24a that processes the workpiece 40 is provided facing downward. When the first machining tool 24a faces downward, it is meant that the rotation axis of the first machining tool 24a is approximately vertical. Furthermore, at the tip of the other support part 23b, a second machining tool 24b that processes the workpiece 40 is provided facing horizontally. When the second machining tool 24b faces horizontally, it is meant that the rotation axis of the second machining tool 24b is approximately horizontal.

Regarding the relative positions of the first machining tool 24a and the second machining tool 24b, it is preferable that the second machining tool 24b and the components around the second machining tool 24b are higher than the line L1 perpendicular to the rotation axis of the first machining tool 24a, which faces downward (see FIG. 5).

Furthermore, it is preferable to set the first machining tool 24a and the components around the first machining tool 24a away from the line L2 perpendicular to the rotation axis of the second machining tool 24b, which is set laterally (see FIG. 4). Note that the lines L1 and L2 are shown simply in the figure, but in reality they extend radially in multiple directions perpendicular to the rotation axes of the first machining tool 24a and the second machining tool 24b.

As the first machining tool 24a and the second machining tool 24b, for example, a rotating cutting tool such as an end mill or a grinding tool such as a rotating grindstone is used. In addition, the first machining tool 24a and the second machining tool 24b are provided with pressing devices 27a, 27b (see JP 8-118126 A, JP 2019-188543 A, etc.) that press the first machining tool 24a and the second machining tool 24b against the workpiece 40 with a predetermined force when the workpiece 40 is abutted against the first machining tool 24a and the second machining tool 24b, as necessary, and further provided with motors 28a, 28b, etc. that rotate the first machining tool 24a and the second machining tool 24b. In addition, when using multiple machining tools in this way, some of the machining tools can be used for relatively rough machining and the other machining tools can be used for finishing.

The length of the support parts 23a and 23b is arbitrary, and can be any desired length as long as the workpiece 40 can be at a height that makes it easy for the first machining tool 24a and the second machining tool 24b to contact, and in some cases can be omitted. Note that, contrary to the deburring machine 1 of this embodiment, the machining tool 24a may be provided at the tip of the robot 21, and grippers 22 may be provided at the tips of the support parts 23a and 23b to grip the workpiece 40. In such a case, the workpiece 40 will be transported to the grippers 22 provided at the tips of the support parts 23a and 23b by a transport device (not shown).

Furthermore, the first machining tool 24a and the second machining tool 24b are not limited to one each as in this embodiment, and it is also possible to install multiple tools. For example, as shown in FIG. 6, in addition to the first machining tool 24a provided on the support part 23a, a downward-facing first machining tool 24c, a pressing device 27c, and a motor 28c can also be provided on the support part 23b. In such a case, it is preferable to make the heights of the first machining tools 24a and 24c approximately the same.

As shown in Fig. 7, in addition to the second machining tool 24b provided on the support part 23b, a second machining tool 24d, a pressing device 27d, and a motor 28d can also be provided on the support part 23a in a horizontal orientation. In this case, even if the second machining tool 24b is oriented in the same direction as the second machining tool 24b shown in Fig. 4, there is no particular problem as the cuttings do not adhere to adjacent machining tools, etc., but in order to further prevent the adhesion of cuttings, the second machining tool 24b may be rotated and positioned horizontally so that the other second machining tool 24d, pressing device 27d, and motor 28d are removed from the line L3 perpendicular to the rotation axis of the second machining tool 24b (the same applies to the line L4 of the second machining tool 24d).

Furthermore, as shown in FIG. 8, it is possible to arrange three or more processing tools, including the first processing tools 24a, 24c and the second processing tools 24b, 24d, as three or more support parts 23a, 23b, 23c, 23d. In such a case, it is preferable to make the height of the first processing tools 24a, 24c approximately the same, make the second processing tools 24b, 24d and the components around the second processing tools 24b, 24d higher than the first processing tools 24a, 24c, and arrange the other processing tools and the components around the processing tools so that they are out of the line L2, L5 perpendicular to the rotation axis of the second processing tools 24b, 24d.

Returning to FIG. 1 to FIG. 5, the inclined plate 25 collects chips in a tray 26, and in this embodiment is inclined from near the upper end of the lower pillar 11 toward the center of the bottom of the deburring machine 1. The inclined plate 25 in this embodiment is made up of four plates combined to close the gaps between adjacent lower pillars 11 and has a roughly inverted pyramid shape. However, the inclined plate 25 is not limited to this, and various shapes can be adopted, such as a state in which only some of the plates are inclined, or a roughly inverted cone shape.

In addition, a tray 26 is provided below the inclined plate 25 to receive falling chips. This tray 26 is placed on the bottom plate 16 that connects the lower ends of the lower columns 11, and is pulled out as needed to discharge chips that have accumulated inside. This tray 26 is configured to be smaller than the ceiling plate 20 in a plan view.

The loading/unloading section 30 transfers the workpiece 40 to the robot 21 and includes a subframe 31, a door 32, an intermediate plate 33, and an intermediate receiving table 34. The subframe 31 supports each component of the loading/unloading section 30 and is generally inverted L-shaped when viewed from the front, with one end connected to the upper column 12 and the other end placed on the floor. The door 32 is provided at the transport opening 15 and is opened when the workpiece 40 is transferred to the robot 21, and is closed when the workpiece 40 is processed with the first processing tool 24a and the second processing tool 24b to prevent chips from scattering. The intermediate plate 33 extends from near the lower end of the upper column 12 on the loading/unloading section 30 side, and the intermediate receiving table 34 is placed on it. The intermediate receiving table 34 is a table that temporarily receives the unprocessed workpiece 40 transported from a transport device (not shown) and then transfers it to the robot 21, and can be raised and lowered as necessary. The intermediate receiving table 34 is also used to receive the processed workpiece 40 from the robot 21 and transfer it to a transport device (not shown) for transport to the next process.

Next, referring to Figures 1 to 5, the effect of the operation of the deburring machine 1 of this embodiment will be described. As already mentioned, a new workpiece 40 is transported to the intermediate receiving table 34, and the workpiece 40 is grasped by the gripper 22 provided on the robot 21 and processed by the first processing tool 24a and the second processing tool 24b provided on the support parts 23a and 23b. At this time, the robot 21 provided on the underside of the ceiling board 20 is positioned facing downward. Also, chips generated during processing fall due to gravity. As a result, chips hardly adhere to the inside of the deburring machine 1, machine dirt can be minimized, and breakdowns due to accumulation of chips can be prevented.

The first machining tool 24a is also set facing downward, with the axis of rotation of the machining tool being approximately vertical. As a result, chips C generated by the rotation of the first machining tool 24a during machining will in principle only fly below the horizontal direction, preventing the chips C from being lifted up (see FIG. 5). Here, the second machining tool 24b and its surrounding components, the pressing device 27b and the motor 28b, are set above a line L1 that is perpendicular to the axis of rotation of the first machining tool 24a. This prevents chips from the first machining tool 24a from adhering to the second machining tool 24b and its surrounding components.

The second machining tool 24b is also installed horizontally, and the rotation axis of the machining tool is approximately horizontal. Therefore, the chips C generated by the second machining tool 24b basically scatter along the line L2 perpendicular to the rotation axis (see FIG. 4). Here, the first machining tool 24a and its surrounding components, the pressing device 27a and the motor 28a, are installed off the line L2 perpendicular to the rotation axis of the second machining tool 24b. This makes it possible to prevent the chips generated by the second machining tool 24b from adhering to the first machining tool 24a and its surrounding components. As for how to use the second machining tool, for example, it is suitable for deburring the edge of a hole, which is not suitable for machining with the downward-facing first machining tool because the chips accumulate in the hole.

Also, in the embodiment shown in FIG. 6, the chips C only scatter downward from the horizontal, and the chips C generated by one of the first machining tools 24a can be prevented from adhering to the other of the first machining tools 24c, the pressing device 27c, and the motor 28c.

Also, in the embodiment shown in FIG. 7, the chips C scatter in the direction along the line L3, so that the chips C generated by one second machining tool 24b can be prevented from adhering to the other second machining tool 24d, pressing device 27d, and motor 28d (the same applies to line L4). Furthermore, in the embodiment shown in FIG. 8, as in FIGS. 6 and 7, the chips generated by one machining tool can be prevented from adhering to other machining tools and surrounding components.

Returning to Figure 5 from Figure 1, when machining the workpiece 40, the area surrounded by the lower beam 13b is empty, so there is no table there, and only an inclined plate 25 and a tray 26 below. In a normal deburring machine 1, the table is located near the top of the lower pillar, and a robot or the like is installed there, so chips accumulate on the table and around the robot.

On the other hand, in the case of the deburring machine 1 of this embodiment, there is basically nothing below the robot 21, the first processing tool 24a, and the second processing tool 24b, and the chips simply fall onto the inclined plate 25 and the tray 26. This means that normal cleaning can be accomplished by simply removing the tray 26 and discharging the chips. Also, by using the first processing tool 24a mainly for normal processing and using the second processing tool 24b only when necessary, such as when drilling holes, the chips can be allowed to fall without being stirred up, and the chips that adhere to the panel 14, upper column 12, etc. can be kept to a minimum.

In addition, in the case of a gate-shaped deburring machine 1 as disclosed in Patent Document 1, if the table, side frames, and beam-shaped frame members are not strong enough to support each other, the position of the processing tool (the grinding wheel in Patent Document 1) relative to the workpiece will not be stable, making precise processing difficult. In Patent Document 1, an extension device is provided in the beam-shaped frame member to absorb vertical misalignment, but it cannot accommodate horizontal misalignment.

On the other hand, in the deburring machine 1 of this embodiment, the components such as the robot 21 and the supports 23a, 23b are installed upside down on a single ceiling board 20. Therefore, even if the frame 10 shakes, as long as the flatness of the underside of the ceiling board 20 is ensured, the positional relationship between the workpiece 40 and the first and second machining tools 24a, 24b will not shift, and machining precision can be maintained.

In this way, according to the deburring machine 1 of this embodiment, adhesion of chips to each component of the deburring machine 1 can be significantly reduced, and cleaning labor can be reduced both during normal operation and during maintenance. In addition, machine breakdowns due to accumulation of chips can be prevented. Furthermore, by providing the robot 21 and the supports 23a and 23b on one ceiling panel 20, processing precision can be maintained.

The above-described deburring machine 1 is an example of the present invention, and its configuration can be changed as appropriate without departing from the spirit of the invention. For example, in a configuration that includes only the first processing tool, the first processing tool can be attached in a desired direction, such as sideways or at an angle.

1. Deburring machine,
10: frame, 11: lower pillar, 12: upper pillar, 13a, 13b: beam, 14: panel, 15: transport port, 16: bottom plate,
20: ceiling panel, 21: robot, 22: gripping portion, 23a, 23b, 23c, 23d: support portion, 24a, 24c: first processing tool, 24b, 24d: second processing tool, 25: inclined plate, 26: receiving tray, 27a, 27b, 27c, 27d: pressing device, 28a, 28b, 28c, 28d: motor,
30: Loading/unloading section, 31: Subframe, 32: Door, 33: Intermediate plate, 34: Intermediate support table,
40. Work,

Claims (8)

A frame,
A ceiling plate provided on an upper portion of the frame;
A robot provided facing downward from the lower surface of the ceiling board;
A gripping unit that grips a workpiece and is provided on one of the lower surface of the robot or the lower surface of the ceiling plate;
a first machining tool for machining the workpiece, the first machining tool being provided on the other of the robot or the lower surface of the ceiling panel;
A deburring machine comprising: The deburring machine according to claim 1, wherein the first machining tool is provided on the underside of the ceiling plate and is positioned facing downward. 3. The deburring machine according to claim 2, wherein a plurality of the first processing tools are provided, and the height of the sharpened portion of each of the first processing tools is the same. A frame,
A ceiling plate provided on an upper portion of the frame;
A robot provided facing downward from the lower surface of the ceiling board;
A gripping unit provided on the robot for gripping a workpiece;
One or more first machining tools are provided on the lower surface of the ceiling board and face downward to machine the workpiece;
One or more second machining tools are provided on the lower surface of the ceiling board and are oriented horizontally to machine the workpiece;
A deburring machine comprising: 5. The deburring machine according to claim 4, wherein the second processing tool is provided at a position equal to or higher than the height of a line perpendicular to the rotation axis at a portion where the blade of the first processing tool is sharpened . 6. The deburring machine according to claim 4 or 5, wherein the first processing tool is provided at a position deviated from a line perpendicular to a rotation axis of a portion where the blade of the second processing tool is sharpened . A deburring machine according to any one of claims 1 to 6, comprising a tray at the bottom of the frame for receiving falling chips. The deburring machine according to claim 7, wherein the tray is smaller than the ceiling plate and includes an inclined plate that collects the chips in the tray.

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