JPH0155925B2 - - Google Patents

Description

[Detailed Description of the Invention] Purpose of the Invention (Field of Industrial Application) The present invention relates to a vertically arranged motor (hereinafter referred to as a vertical motor), particularly a motor in which a rotary cutter or a grinding tool is attached to a rotating shaft. This invention relates to a floating mechanism for a vertical motor.

(Conventional technology) Conventionally, methods have been adopted for cutting and grinding workpieces such as metal, wood, and synthetic resin, using a device configured to rotate a grinding tool such as a rotary knife or grindstone using a motor. has been done.

In this method, the motor is held in hand and fixed to the arm of a machine robot so that the blade surface of a rotary blade or the grinding surface of a grinding tool is in contact with the workpiece, and the arm of the robot is moved to remove the workpiece. This method involved cutting or grinding.

(Problems to be Solved by the Invention) However, some workpieces have slightly uneven surfaces that cause molding errors, and the movement of the arm of the robot cannot follow the uneven surfaces.
In such processing, there was a risk of damaging the workpiece and producing defective products.

For example, when removing burrs from the exterior material of a ring portion of an automobile steering wheel, only the burrs must be removed without damaging other parts.

To explain this in more detail based on FIGS. 5 and 6, firstly, an automobile steering wheel (hereinafter referred to as a ring) 51 usually has a core metal 5
2 is set in a mold, insert molded with a synthetic resin such as urethane resin, and the core bar 52 is covered with a synthetic resin exterior material 53.

However, the ring 5 taken out from the mold
In the exterior material 53 of No. 1, burrs 54 may occur at the mold cracks of the molding die.

It is important to cut only the burr 54 neatly without cutting too much or leaving anything uncut, so as not to damage or scrape off other parts, that is, the exterior material 53, such as the arm of the robot mentioned above. This could not be done with a rotating blade fixed to the

This is because the surface of the exterior material 53 actually has a slightly uneven surface within a range of variation, and in the process of contacting the side surface of the exterior material 53 with a cutter and moving it, for example, a rotary knife encounters the convex surface. If you do not move the rotary knife back by a height corresponding to the protrusion while keeping it in contact with the exterior material 53, even if the cutter has a clearance angle of 0 degrees, the burr 54 will form. This may cause over-shaving or leaving unsharpened parts.
Furthermore, the protrusions of the exterior material 53 may be scratched, reducing the product value, and in some cases, the protrusions may be scraped.

The same problem occurs when a rotating blade encounters a recess, and this is an unavoidable problem in a device in which a rotating blade is directly attached and a motor is directly moved.

Therefore, even if the surface of the product has a certain degree of unevenness, a motor support mechanism is required that can accurately follow the uneven surface while keeping a rotating blade or the like in constant contact with the product. The present invention aims to provide a floating mechanism for a motor that can meet this need.

Structure of the Invention (Means for Solving Problems) The present invention provides a method for displacing a vertically arranged motor in its axial direction by a support plate and a bearing of a support member connected to the motor. The spring retaining member of the supporting member and the motor are arranged at regular intervals along the circumferential direction at the periphery of the motor. three or more compression springs in a compressed state; and three or more extension springs arranged at regular intervals along the circumferential direction between the spring locking member of the support member and the coupling member connected to the motor. A return member 3 consisting of an extension spring is interposed to hold the motor so that the relative position of the motor with respect to the support member is the reference position when no external force is applied to the motor, and the motor is held in a reference position when no external force is applied to the motor. The motor is supported so that the relative position of the motor with respect to the support member returns to the reference position when the motor is displaced by The above problem is solved by a motor floating mechanism in which a return member is arranged rotationally symmetrically with respect to the axis of the motor so as to perform an auxiliary function of the return member. .

(Function) Even if there is an uneven surface on the surface in contact with the rotary blade attached to the rotating shaft of the vertical motor, the vertical motor and the support member supporting the motor can accurately follow the uneven surface and The target positional relationship is corrected in a direction perpendicular to the axis of the motor.

In addition, the fluid return member, which is a combination of a cylinder and a piston, is designed to return the motor to its reference position by restricting the motor from moving in the horizontal direction more than necessary due to the increased responsiveness and followability of the return member. Performs an auxiliary function as a return member.

(Example) A first example in which the present invention is embodied in a floating mechanism of a vertical motor installed in a deburring machine is described below.
This will be explained based on FIGS.

In this embodiment, two types of springs, one in a compressed state and one in an expanded state, are used as the return member, and a fluid return member consisting of a piston and a cylinder is provided to perform an auxiliary function of the return member.

As shown in FIG. 1, the deburring machine 5 of this embodiment includes a vertical motor M, a rotary cutter 7 connected to the tip of a rotating shaft 6 of the motor M, and a rotary cutter 7 that surrounds and supports the motor M. It consists of a supporting member B and other members. As the rotary cutter 7, a reamer with a clearance angle of 0 degrees is used.

This deburring machine 5 is attached to a robot (not shown) so that it can move the reamer 7a three-dimensionally. The ring 11 can be deburred by moving the deburring machine 5 while making contact with the inner circumferential side or the outer circumferential side where the burr 14 is formed.

The support member B is provided on a substrate 1 fixed to an arm 9 of the robot, as shown in FIG.

These members include a support plate 4 fixed to the vertical motor M via a coupling member 8, and this support plate 4.
three or more bearings 12, 23 (in this embodiment, six bearings were provided) fixed on the substrate 1 so as to sandwich it from above and below; a spring locking member 15 assembled on the upper surface of the bearings; The spring holding member 29 is fixed to the upper surface in a lid-like manner, and each member will be described in detail below.

In addition, three or more fluid return members 3c (six in this embodiment) are fixed to the outer side of the bearing 12 of the substrate 1, and are designed to perform an auxiliary function of the return members to be described later. There is.

The board 1 has a hole 10 through which the vertical motor M can pass, and a clearance C is formed between the side surface of the hole 10 and the side surface of the motor M to allow the vertical motor M to float. ing.

Six of the bearings 12 and 23 are arranged and fixed at rotationally symmetrical positions with respect to the center of rotation of the vertical motor M, and the hollow disc-shaped support plate 4 is inserted between them. The support plate 4 is fixed to the vertical motor M via the coupling member 8 which is divided into two parts. Therefore, in the vertical motor M, the support plate 4 is held between the upper and lower sides by both bearings 12 and 23, so that the motor M can be smoothly moved only in the direction orthogonal to the rotation axis 6. ing.

As shown in FIGS. 2 and 4, locking portions 26 are provided on the upper outer periphery of the coupling member 8, and locking holes 27 are provided at regular intervals along the circumferential direction.
is worn.

As shown in FIGS. 2 and 3, the fluid return member 3c
consists of a combination of six cylinders 19 and a piston 20, and is arranged and fixed at a rotationally symmetrical position with respect to the rotation axis of the vertical motor M.

The cylinder 19 is formed by two casings 16 and 17 for convenience of manufacture and assembly, and the casing 17 is provided with an oil storage chamber 18 so that oil in the cylinder 19 can enter and exit.

A clearance 21 is formed between the piston 20 and the cylinder 19, and the displacement speed of the piston 20 is defined by the clearance 21. Further, a bearing 22 is attached to the tip of the piston 20, so that even if the support plate 4 moves slightly, it is in stable contact with the support plate 4.

A hole 2 is provided in the center of the bottom of the spring locking member 15.
A vertical motor M is inserted into the hole 2, and a clearance C is formed between the side surface of the hole 2 and the side surface of the vertical motor M. is becoming possible.

A locking portion 24 is provided on the inner surface of the spring locking member 15 at approximately the same height as the locking portion 26 of the coupling member 8. 3 at regular intervals
More than one locking hole 25 is provided.

Further, these holes 25 are bored at positions such that a straight line connecting the center of the holes 25 and the axis of the vertical motor M passes between the two locking holes 27 of the coupling member 8.

Extension springs 3b as return members are locked in a staggered arrangement between the two locking holes 25 and 27, and the two locking holes 25 and 27 are locked in a staggered arrangement. Extension spring 3b
The resultant force of is directed in the normal direction. Therefore, the vertical motor M is pulled toward the spring locking member 15, and as long as no external force is applied to it, the motor M is kept in the reference position, which is the most stable position relative to the support member B, and , rotation of the motor M itself is prevented.

The lid-like spring holding member 29 also has a hole 30 in the middle thereof through which the vertical motor M can pass, as shown in FIG.
A certain clearance C is formed between the side surface of

The spring holding member 29 has 3 parts in the normal direction thereof.
More than one insertion hole 31 is bored, and a compression spring 3a serving as a return member is inserted into the insertion hole 31.

A plug 32 is screwed into the hole 31 into which the compression spring 3a is inserted from the outside inward.
The compression spring 3a always pushes the vertical motor M from its periphery and holds it in the reference position.

The floating mechanism of the vertical motor M of this embodiment configured as described above exhibits the following functions and effects.

As shown in FIG. 1, the deburring machine 5 is attached to the arm 9 of the robot, and the reamer 7a is moved to the inner peripheral side of the ring 11 while touching it with a light touch. At this time, the motor M is held at the reference position or a position close to it, and the cutting edge of the reamer 7a comes into contact with the inner peripheral surface of the ring 11 to cut the burr 14.

However, during this movement process, even if there is a convex part on the inner circumferential surface and the reamer 7a encounters it, the reamer 7a has a blade with a relief angle of 0 degrees, and the reamer 7a will be able to avoid the convex part. Try to overcome it without cutting down on it.

On the other hand, the vertical motor M has the compression spring 3
a. Since it is supported by the support member B in a floating state where the external force by the extension spring 3b is canceled,
When the reamer 7a attempts to get over the convex portion, the relative position of the two changes and moves to the side opposite to the concave portion.

However, the vertical motor M has a compression spring 3a and an extension spring 3b as return members.
and is surrounded by a fluid return member 3c that performs an auxiliary function, so even if the vertical motor M moves, the relative position between the support member B and the vertical motor M is changed by receiving the displacement force. Attempt to return to original position. If the relative position returns to the original position, the biasing force applied to the ring 11 will be the same as the original biasing force, so that no inconvenient situation such as the ring 11 being scraped occurs. Therefore, the burrs 14 on the convex portions are not cut too much or left uncut, and are cut cleanly. The above also applies when the reamer 7a encounters a recess.

In addition, the fluid return member 3c, which is made up of a combination of a cylinder 19 and a piston 20 that are arranged around the periphery of the support plate 4 with a slight gap between them, is a fluid return member 3c that improves the responsiveness and followability of the return member 3. The return member 3 can perform an auxiliary function to prevent the motor M from moving in the horizontal direction more than necessary, and to return the motor M to the reference position.

The above description has been about deburring the inner circumferential side of the ring 11, but deburring the outer circumferential side is also carried out in the same manner as described above.

The present invention is not limited to the configurations of the embodiments described above, and can be implemented, for example, in the following embodiments.

(1) Fluid such as air, water, or oil can be actively caused to flow into the cylinder 19 from the outside through the fluid return member 3c.

(2) Although it is possible to have a worker carry the deburring machine 5 and perform deburring manually, it is preferable to install the deburring machine 5 so that it is attached to a robot and operated by the robot. Use 5.

(3) Instead of the rotary blade 7 of the vertical motor M, a grindstone having a cylindrical shape or the like may be attached to the motor to perform the grinding process.

Effect of the invention The present invention exhibits the following excellent effects.

Even if a rotating blade or grindstone attached to a vertical motor moves while being in contact with the surface to be cut or ground, even if it encounters an uneven surface, it will not be able to accurately handle the uneven surface. A constant contact force can be applied at all times. As a result, a clean cut or ground surface without excessive cutting or uncut parts can be obtained.

[Brief explanation of drawings]

FIG. 1 is a perspective view of an apparatus according to an embodiment of the present invention;
Fig. 2 is a partial vertical sectional view of the device, Fig. 3 is a partially broken sectional view of the - side in Fig. 2, Fig. 4 is a partially broken sectional view of the - side in Fig. 2, and Fig. 5 is a partially broken sectional view of the - side in Fig. 2. The front view of the ring, Fig. 6, is - in Fig. 5.
FIG. A vertical motor M, a support plate 4 as a support member B,
Bearings 12, 23, spring locking member 1
5. Spring holding member 29, compression spring 3a as return member 3, extension spring 3b, cylinder 19 and piston 20 as fluid return member 3c.

Claims (1)

[Claims] 1 A vertically arranged motor M is connected to a support plate 4 of a support member B connected to the motor M and a bearing 1.
2 and 23, the spring holding member of the support member B is supported at the periphery of the motor M so as to be non-displaceable in the axial direction and displaceable in the direction perpendicular to the coaxial direction. 29 and the motor M, three or more compressed springs 3 are arranged at regular intervals along the circumferential direction.
a and the spring locking member 1 of the support member B as well.
5 and a coupling member 8 connected to the motor M, a return member 3 consisting of three or more extended extension springs 3b disposed at regular intervals along the circumferential direction is interposed, and the motor is Holding the motor M so that the relative position of the motor M with respect to the support member B becomes the reference position when no external force is applied to the motor M,
and supporting the motor M so as to return the relative position of the motor M with respect to the support member B to the reference position when the motor M is displaced by the external force;
Furthermore, a fluid return member 3c consisting of a combination of a cylinder 19 and a piston 20 is placed on the periphery of the support plate 4 with a slight gap at the axis of the motor M so as to perform an auxiliary function of the return member 3. A floating mechanism for a motor characterized by being arranged at a rotationally symmetrical position.