JPS6236836B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a burr removal control device for automatically removing burrs from a part of the surface of a casting cast by a die-casting machine as a workpiece.

[Technical background of the invention and its problems] During casting, burrs are formed on the divided parts of the mold in castings cast by a die-casting machine. Therefore, it is necessary to remove burrs from this casting as a post-treatment.

Incidentally, conventionally, removing burrs from such castings has been carried out by a large number of manual workers, but this requires a lot of time and effort, which not only reduces work efficiency but also places a heavy burden on the workers. As a result, there was a risk that they would suffer from occupational diseases such as white wax. For this reason, there has been a demand for processing machines that can automatically remove burrs from castings, but in reality, the shape of the casting that is the workpiece is complex, and due to dimensional errors in the molds of each die-casting company. Due to errors in the shape accuracy of castings,
Part of the burr may remain or part of the casting may be cut, making it difficult to automate the deburring process.

[Purpose of the invention]

The present invention overcomes the above-mentioned difficulties and provides a deburring control device that can reliably and automatically remove only burrs even when the shape of the workpiece is complex and there is an error in the shape accuracy. purpose.

[Summary of the invention]

In order to achieve such an object, the present invention provides means for measuring and recognizing the actual shape and dimensions of a workpiece and storing the measured values, and automatic measurement of the workpiece and automatic input of the data based on the stored values. A means for creating an automatic measurement program for and storing it, and a method for specifying the stored values, correction values such as tool position and diameter specified depending on the type of deburring tool, processing conditions for the deburring tool, and deburring. There is a means to create an NC machining program from the machining range of the tool, to store it, and to execute deburring machining based on this NC machining program, check the result, and if only the burr has been removed, the automatic A deburring tool is numerically controlled, comprising means for correcting the NC machining program by calculating the difference between the measurement value and the actual shape and dimensions of the next workpiece based on the measurement program. It is.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows an automatic deburring control device according to the present invention. SC is a sensor that measures the dimensions of the workpiece, that is, a large surface point of a casting. Although any non-contact type sensor using a stylus may be used, a stylus will be explained here.
Also, COM is a computer, and this computer COM is an input/output device I/O, a central processing unit.
It consists of a CPU, storage devices RAM and ROM, and a data bus BL connecting these, and is used to import various data and create programs. Furthermore, NC is a numerical control device, and this numerical control device NC executes based on an NC machining program, which will be described later, created by a computer COM. MT is a processing machine that is controlled by the output of a numerical control device NC. However, the case of a robot will be explained here. As shown in FIG. 5, such a processing machine, that is, a robot, has a deburring tool 5 attached to its arm 6, and a stylus 4 is movable upward and downward in parallel with the deburring tool 5. It is supported by the arm 6. In this case, the positional relationship between the stylus 4 and the deburring tool 5 is such that the stylus 4 is separated from the center of the deburring tool 5 by distances a and c in the x and y axis directions, respectively, and the diameter of the deburring tool 5 at this time is d, the diameter of the stylus 4 is set as _d1 . Therefore, by programming the deburring tool position correction and tool diameter correction (offset for NC machine tools) functions described later in the computer COM, it is possible to frequently change the deburring tool using an automatic tool changer, etc. Even if the deburring tool is not used, the deburring tool can be positioned easily and in a short time with respect to the workpiece. Also, the stylus 4 is
At times other than measurement, it is sufficient to raise the distance b shown in the figure.

Next, the operation of the deburring control device constructed as described above will be described by taking as an example the case where deburring is performed on the workpiece shown in FIGS. 2 and 3. Here, in FIGS. 2 and 3, 1
3 is a workpiece supported and fixed on a support 2 with the deburring surface facing the processing machine (not shown); 3 is a burr on the workpiece 1; 4 is a burr that is in contact with the surface of the workpiece 1; A stylus that measures the actual shape dimension x ₁ at the representative point p _1. The measured value measured by this stylus 4 is calculated by the computer shown in Fig. 1.
Input to COM. Reference numeral 5 denotes a deburring tool attached and set to the processing machine, and this deburring tool 5 removes the burrs 3 while moving in the x-axis, y-axis, and z-axis directions according to the operation of the processing machine. FIG. 4 is a flowchart showing the functions of the deburring control device.

First, the stylus 4 is brought into contact with the surface of the workpiece 1 to measure the actual shape and dimensions at the representative point _p1 ,
Input the measured value x ₁ into the computer COM.
In the computer COM, the measured value is given on the condition that x ₁ = constant, which is specified in advance as the shape and dimensions of workpiece 1.
Store x ₁ in the storage unit. Next, the representative point of the workpiece 1 is determined based on the data stored in this storage section.
Create a program for automatic measurement at _p1 and automatic input of the data, and store this in the storage unit. Here, the coordinates and tool position at the representative point of the workpiece are calculated using the tool position correction and tool diameter correction functions.
Try to match the offset amount with the tool diameter. Next, using the automatic program creation function, the x
machining range in the y-axis, y-axis, and z-axis directions; in Figures 2 and 3, data on the machining range Q ₁ to _{Q 2} in the y-axis direction, and machining conditions for the deburring tool specified in advance, such as the tool feed rate. By input of speed and rotation speed.
Create an NC machining program and store it in the storage unit. In this way, when the computer COM takes in various data and creates each program from the data, the data corresponding to the above-mentioned NC machining program is passed to the numerical controller NC, and the deburring process begins. When the processing machine MT is numerically controlled by this numerical control device NC according to the NC processing program, the deburring tool 5 attached to the processing machine MT moves the deburring surface of the workpiece 1 at a predetermined rotation speed and feed rate. moves in the y-axis direction with velocity,
The burr 3 is removed from the workpiece. Once the deburring is completed and it is confirmed that only the burrs have been removed, operation begins using the automatic measurement program as follows. First, by executing a program for automatic measurement and automatic input of the data, the actual shape and dimensions at the large surface point _p1 of the next workpiece 1 are measured by the sensor 4, and the measured value is obtained.
x ₁ is input to computer COM. Then, the measured value x ₁ is calculated to determine whether there is a difference from the previous measurement data, and if there is a difference, it is calculated as described above.
Modify the NC machining program so that the tool path is corrected, create a modified program, and store it. Then, using this NC machining correction program, the processing machine MT is numerically controlled via the numerical controller NC in the same manner as described above, and deburring of the workpiece 1 is executed.

Thereafter, in the same manner, deburring processing is continued sequentially for n workpieces 1 under automatic control.

In this way, in this example, the actual shape and dimensions of a workpiece with a shape error, such as a casting, are measured, and if there is an error in the measurement results, deburring is performed while correcting the NC machining program. Since this process can be carried out automatically, there is no possibility that the main body of the workpiece will be ground down or a part of the burr will remain. Furthermore, if the workpiece is attached to a robot, completely unmanned deburring can be achieved.

Next, other embodiments of the present invention will be described.

In the above embodiment, deburring of a workpiece having a simple shape as shown in FIGS. 2 and 3 has been described, but workpieces having a two-dimensional or three-dimensional shape can also be deburred Processing can be carried out. As an example, the operation and procedure for removing burrs from the workpiece 11 when the height is constant and the burrs are on the two-dimensional plane of the upper surface will be explained as shown in FIGS. 6a and 6b. In this case, a condition will be described in which a milling tool, for example, whose diameter does not change (wear) is used as a deburring tool in deburring the workpiece 11. first,
The touch sensor is brought into contact with a representative point that defines the shape of the workpiece 11, and the coordinate values (x, y, z) of that point are detected.
Measure. Here, the representative points shown in Fig. 6a and b are the straight line portions of p ₁ and p ₂ , the arcuate portions of p ₂ , p ₃ , and p ₄ , and the arc portions of p ₄ ,
It refers to the straight line part of _p5 , the arc part of _p5 , _p6 , _p7 , the straight line part of _p7 , _p8 , and the straight line part of _p9 , _p10 . The coordinate values of the representative points measured in this way are transferred to the computer COM.
At the same time, specify to the computer COM whether the shape of the part passing through the representative point is a straight line or an arc. The storage unit of the computer COM stores the coordinate values of the representative points obtained through the above measurements, and calculates whether the part passing through each point is a straight part or a circular arc based on the stored data and the designation of a straight line or circular arc. The shape of the workpiece 11 is determined by determining the shape of the workpiece 11, and this is stored. Next, a program for automatic measurement at representative points of the workpiece 11 and automatic input of the data is created based on the data stored in the storage section, and this program is stored in the storage section. here,
Based on the coordinate values that determine the shape of the workpiece 11, the deburring tool is accurately aligned with the surface of the workpiece by tool position correction and tool diameter correction functions. In other words,
Match the offset amount between the coordinates on the computer, the tool position, and the tool diameter. Next, the automatic program creation function inputs the shape recognition data and coordinate values of the workpiece 11 described above and the machining conditions of the deburring tool specified in advance, such as the number of revolutions of the deburring tool and the feed rate of the tool. Create a machining program and store it in the storage unit. In this way, when the computer COM takes in various data and creates each program from the data, the execution data of the above-mentioned NC machining program is passed to the numerical controller NC, and the deburring process begins. When the processing machine MT is numerically controlled by this numerical control device NC according to the NC processing program, the deburring tool 5 attached to the processing machine MT rotates the deburring surface of the workpiece 11 at a predetermined rotation speed and feed rate. It moves at high speed in the x- and y-axis directions, and the burr 12 is removed from the workpiece 11. Once the deburring is completed and it is confirmed that only the burrs have been removed, operation begins using the automatic measurement program as follows. First, the coordinate data at the representative point of the next workpiece 11 is automatically input into the computer COM by the automatic measurement program. Then, the computer COM determines the workpiece 1 based on the coordinate data as described above.
Recognize the actual shape of 1 and calculate whether there is a shape error or installation error between the shape recognition data and the previous shape recognition data. If there is an error, the NC machining program is changed to A corrected program is created by performing calculations so as to be corrected, and this program is stored. Then, using this NC machining correction program, the numerical control device NC is
The processing machine MT is numerically controlled via
Deburring is performed.

Thereafter, in the same manner, deburring processing is continued sequentially for n workpieces 11 under automatic control.

In the above embodiment, a case has been described in which, for example, a milling tool whose diameter does not change (wear) is used as a deburring tool. Next, deburring processing control in a case where a grinder is used will be described. Grinders are dressed due to clogging. As a result, the diameter of the grinding wheel changes, so it is necessary to compensate for this change in the NC machining program. That is, as shown in FIGS. 7a and 7b, the tip of the dresser 13 is fixed at a certain point (x, y, z), and the grinding wheel 14 is brought close to this point and the center 0 point is located at the x, y coordinates. y is made to match the point of the dresser 13, and x is sent slightly (-Δx) to complete the dressing. Then, input the x-coordinate value of the 0 point at that time into the computer COM.

The second and subsequent dressings may be programmed in accordance with a predetermined number of workpieces to be machined, taking into account wear of the grindstone. That is, the first
The x ₁ and y ₁ at the time of dressing are stored in the computer COM, and the tip of the dressing point x ₀ ,
By determining the coordinates of y ₀ in advance, the diameter d ₁ of the grindstone is detected and determined by calculating 2(x ₁ −x ₀ )=d ₁ . Next, the diameter of the grinding wheel after the second dressing is determined by setting the amount of wear in advance.
For example, 0.03mm, x ₁ −0.015=x ₂ and 0.015mm
Drive in from x ₁ to set the center of the whetstone and perform dressing. Therefore, the diameter of the grinding wheel is d ₂ = 2 (x ₂ −
The diameter of the grinding wheel is determined by x ₀ )=d ₁ −0.03.

In this way the diameter of the grinding wheel can be detected and determined according to its wear.

Therefore, if you include the grindstone dressing process in the NC machining program mentioned above, the grindstone will be dressed automatically, and if you also include a program to correct the tool diameter in the NC machining program, the tool will be dressed automatically. Deburring can be performed by correcting the diameter.

In this way, in the present invention, even if there is an error in the shape and size of the workpiece or an installation error, the error in the shape and installation is determined by measurement and the error corresponding to the actual shape and size of the workpiece is automatically corrected. Since the deburring process is performed, there is no possibility that part of the burr will remain or the workpiece will be scraped off. In addition, if the installation of workpieces is automated, unmanned work will become possible, and tasks that could not be automated in the past will be freed from manual labor, eliminating white wax and other problems.
You will no longer have to worry about diseases caused by dust.
Furthermore, since the power of processing machines and processing tools can be increased several times the input power, productivity can be greatly improved.

〔Effect of the invention〕

As described above, according to the present invention, it is possible to provide a deburring control device that can reliably and automatically remove only burrs even if the workpiece has a complex shape and has an error in shape accuracy.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of a deburring control device according to the present invention, and FIGS. 2 and 3 are side views showing the state in which burrs are removed from a simple-shaped workpiece in the same embodiment. and floor plan,
FIG. 4 is a flowchart for explaining the operation and procedure of the same embodiment, and FIG. 5 is for explaining the positional relationship between the deburring tool and the touch sensor attached to the processing machine in the same embodiment. Figures 6a and 6b are front and side views for explaining the control when removing burrs from a two-dimensional workpiece, and Figures 7a and 7b show a grinder as a deburring tool. FIG. 3 is a diagram for explaining correction of an NC machining program when used. SC...Sensor, COM...Computer, NC...Numerical control device, MT...Processing machine, 1, 11...Workpiece, 3...Burr, 4...Touch sensor, 5...Deburring tool.

Claims (1)

[Claims] 1. A sensor for measuring the actual shape at representative points of a cast metal with burrs as a workpiece, a means for reading and storing data measured by this sensor, and automatic processing of the workpiece based on this stored data. A means for creating and storing an automatic measurement program for automatically inputting measurement and data, and a means for storing the stored data, correction values such as tool position and tool diameter specified depending on the type of deburring tool, and deburring. NC by specifying tool machining conditions
A means for creating and storing a machining program,
Based on the automatic measurement program, calculate the difference between the measurement data of the actual shape and dimensions of the next workpiece and
A numerical control device that numerically controls a deburring machine that removes burrs from the workpiece by executing the NC machining program and executes the deburring process of the first workpiece. For the second and subsequent workpieces after the NC measurement is performed, the automatic measurement program is executed.
A deburring control device characterized by automatically executing deburring processing while modifying a processing program.