JPH028863B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a table device for a polishing robot that can easily polish a curved surface of a mold or the like.

[Conventional technology]

Conventionally, as shown in FIG. 7, a table device installed in a polishing robot to which a mold to be polished is mounted rotates back and forth 90 degrees around a horizontal axis 103 driven by a worm 101 and a worm wheel 102. It has a main body 104 whose top surface can rotate from horizontal to vertical, and a shaft 105 that can freely rotate 360 degrees is provided on the top surface of this main body 104.
A table 106 having a plane perpendicular to 05 is fixed to its shaft 105 and is used in a normal machine tool.

[Problem that the invention seeks to solve]

However, when such a table 106 changes its posture from horizontal to vertical, the table 106
is below the table 106, that is, the table 10
Horizontal axis 10 on the opposite side from the workpiece 107 on 6
Since the table 10 rotates around the center of rotation, the table 10
The position of the workpiece 107 on the workpiece 6 is largely displaced, for example, the center position of the upper end of the workpiece 107 in FIG. 7 is displaced by a large dimension H in the vertical direction. Therefore, there is a problem in that it is extremely inconvenient to align the polishing tool of the polishing robot with the workpiece 107 on the table 106.

An object of the present invention is to reduce the displacement of the workpiece mounted on the table even when the table is tilted.
To provide a table device for a polishing robot that allows easy control of the position and movement of a polishing tool.

[Means for solving problems]

In the present invention, a housing provided with a table is supported by first and second links, and the lengths and mounting positions of these first and second links are set around the workpiece side to be attached to the table as the rotation center. This is a polishing robot table device that can rotate the table from horizontal to vertical while minimizing changes in the position of the workpiece on the table by combining the housing so that it rotates and providing a drive means that swings the link. .

[Effect]

In such a configuration, when the link is driven, the housing having the table will rotate so that the workpiece on the table will be inward due to the difference in mounting position and dimensions of the first and second links. Therefore, the displacement of the workpiece is extremely small, and since this displacement is small, even when the polishing tool is involved in the workpiece, less control of the position of the polishing tool is required.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

In FIGS. 1 and 2, the polishing robot is composed of a tool drive device 1 and a table device 2 provided adjacent to the tool drive device 1. As shown in FIG.

A table device 2 is installed in the bed 3 of the tool drive device 1.
A movable platform 4 is provided that can move forward and backward toward.
An elevating case 6 is provided on the two guide rods 5 erected on the movable table 4 so that its position can be adjusted in the vertical direction. The elevating case 6 is provided with a toothed belt interlocking mechanism inside thereof, and has a first shaft in the upper part that is rotatably supported in the vertical direction and whose two ends protrude horizontally in a U-shape. An arm 7 is provided so as to be swingable in a horizontal plane. 1st
A second arm 8 is provided between the two distal ends of the arm 7, one end of which is pivoted between the two distal ends and extends horizontally so as to be swingable in a horizontal plane. Second
A vertically extending shaft 10 with a polishing tool 9 attached to the tip of the arm 8 is driven by a motor 11 provided on the pivot axis of the first arm 7.
It is designed to be able to rotate 90 degrees back and forth. The first and second arms 7 and 8 are connected to two drive motors 12 and 13 provided on the lifting case 6 (they are arranged overlapping each other in the direction perpendicular to the plane of the paper in FIG. 1, and are shown as if they were one). By controlling the drive motors 12 and 13 to reciprocate at an arbitrary angle, it is possible to freely oscillate the swing at a required angle. By combining this swinging motion,
It is possible to give the polishing tool 9 a movement that draws a free trajectory in a horizontal plane.

In FIGS. 1, 2, 3, and 4, a base shaft 15 is erected on the bed 14 of the table device 2, and the base shaft 15 is rotated counterclockwise (counterclockwise) from the position shown in the figure when viewed from above. A swivel base 16 with wheels is provided so as to be able to rotate approximately 90 degrees. This swivel table 16
can be fixed to the base shaft 15 by a handle 17 as shown in FIG. A horizontal shaft 18 is rotatably provided on the swivel base 16 at a position a required distance from the base shaft 15, and two parallel ear links 19 as a first link have one end fixed to the horizontal shaft 18. 1
9 is provided. As shown in FIGS. 1 and 3, one end is rotatably connected to the swivel base 16 via a shaft 20 that is parallel to the horizontal shaft 18, slightly lower than the horizontal shaft 18, and slightly closer to the base shaft 15. One link 21 serving as a second link is provided on the outside of one ear link 19.

A housing 22 is rotatably provided between the other end portions of the two ear links 19, 19, and a link 21 is provided at a position of the housing 22 slightly apart from the pivot portion.
The other end is pivoted as shown in FIGS. 2 and 4. One of the ears of the ear link 19 has a third
As shown in FIG. 4, a forked portion provided at the upper end of the threaded rod 23 is pivotally attached. This threaded rod 2
A bevel gear 24 having a female thread in the center thereof which is screwed into the bevel gear 3 is rotatably supported by the rocking plate 25. The swing plate 25 is mounted on the swivel base 1 in parallel with the horizontal axis 18.
The support shaft 26 is rotatably supported on the support shaft 26 . At this time, with the top surface of the housing 22 shown in FIG. 2 and FIG.
Support shaft 2 is positioned so that it faces up and down.
6. A swing plate 25 supported by a support shaft 26, a bevel gear 24 screwed onto a threaded rod 23, and the like are provided. As shown in FIG. 1, a bevel gear 27 that meshes with the bevel gear 24 is fixed to one end of the support shaft 26, and a tiltable handle 28 is fixed to the other end. As a result, when the tilting handle 28 is rotated, the bevel gear 2 is rotated through the bevel gear 27.
4 is rotated, and the screw shaft 23 screwed into the center of the bevel gear 24 moves up and down in accordance with the direction of rotation of the bevel gear 24, causing the lug link 19 to rise and fall around the horizontal axis 18. The housing 22 is adapted to be moved.

In FIG. 1, FIG. 2, FIG. 3, and FIG. 5, the housing 22 is rotatably provided with a rotating shaft 29 that is perpendicular to the upper surface of the housing 22.
A table 30 is fixed to the upper end of the rotating shaft 29. Further, a worm wheel 31 is fixed to a portion of the rotating shaft 29 inside the housing 22, and a shaft having a worm 32 that engages with the worm wheel 31 is rotatably provided in the housing 22,
A rotating handle 33 is fixed to the shaft end. A workpiece 34 is fixed on a table 30 (see FIG. 1), and its upper surface is polished by a polishing tool 9.

Next, we will discuss the effect.

In order to make the surface of the workpiece 34 to be polished opposed to the polishing tool 9, it is necessary to rotate the table 30 by a certain angle and tilt it by a certain angle. First, when attempting to tilt the table 30, turn the tilting handle 28 shown in FIG. 1, turn the bevel gear 24 shown in FIG. 4 via the support shaft 26 and bevel gear 27, and move the threaded rod 23 upward. and push up the ear link 19. Threaded rod 23
The ear link 19 pushed up to the horizontal axis 18
With this swing, the link 21 swings via the housing 22, and together with the housing 22, the table 30 is tilted with the right side facing downward. At this time, the threaded rod 23 and the bevel gear 24 are moved around the ear link 1 by the swing plate 25 swinging around the support shaft 26.
Follow the swing of 9. The table 30 is moved 90 degrees from the horizontal position to the vertical position shown by the dashed line in FIG.
It can be tilted arbitrarily within the angular range of degrees.
Due to the action of the ear link 19 and the link 21, the table 30 rotates around the workpiece 34 fixed to the table 30, as shown in FIG. Therefore, the position of the workpiece 34 fixed on the table 30 does not change significantly even if the table 30 is tilted, and for example, as is clear from FIG. 6, the amount of vertical displacement of the workpiece 34 before and after tilting is is the dimension h, which is much shorter than the displacement dimension H of the conventional example shown in FIG. 7 (h≪
H). Therefore, position adjustment of the polishing tool 9 is easy.

Next, when rotating the table 30, by turning the rotation handle 33, the table 30 can be rotated within a range of 360 degrees. In addition, table 3
If it is desired to change the direction of inclination of 0, loosen the handle 17 shown in FIG. 2 and rotate the swivel table 16 arbitrarily within a range of 90 degrees around the base axis 15. This expands the range of motion of the polishing tool 9 and facilitates polishing.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, the table on which the work is mounted can be tilted at any angle from horizontal to vertical.
It is easy to make the machined surface face the polishing tool. In addition, when tilting the table, the table rotates around the workpiece side due to the action of the first link and the second link, so the position of the workpiece fixed on the table does not change significantly. This makes it easier to control the position and movement of the polisher, making polishing work more efficient.

[Brief explanation of drawings]

Fig. 1 is a partially sectional front view of a polishing robot to which an embodiment of the present invention is attached, Fig. 2 is a side view thereof, Fig. 3 is an enlarged sectional view taken along the - line in Fig. 2, and Fig. 4 The figure is an enlarged sectional view taken along the - line in Fig. 1, Fig. 5 is a sectional view taken along the - line in Fig. 3, Fig. 6 is an explanatory diagram of the operation of this embodiment, and Fig. 7 is an explanation of the operation of the conventional example. It is a diagram. DESCRIPTION OF SYMBOLS 1... Tool drive device, 2... Table device, 3... Bed, 4... Moving table, 5... Guide rod, 6... Lifting case, 7... First arm, 8... Second arm, 9...
Polishing tool, 10... Axis, 11... Motor, 12... Drive motor, 13... Drive motor, 14... Bed, 15
...Base axis, 16...Swivel base, 17...Handle, 18...
Horizontal axis, 19... Ledge link as a first link, 20... Shaft, 21... Link as a second link, 22... Housing, 23... Threaded rod, 24... Bevel gear, 25... Swing plate, 26... Support shaft, 27...
Bevel gear, 28... tilting handle, 29... rotating shaft, 30... table, 31... worm wheel,
32...Worm, 33...Rotary handle, 34...Work.

Claims (1)

[Claims] 1. In a table device installed adjacent to a tool drive device of a polishing robot, a first link is supported on the bed portion so as to be swingable around one end thereof, and a first link is provided at a position different from the supporting portion of the first link. A second link is supported on the bed portion so as to be swingable about one end thereof, and these first and second links are
a housing is pivotally attached to the other end of the link, a table for mounting a workpiece is provided on the housing, and driving means is provided for tilting the table from horizontal to vertical by driving the link; 1. A table device for a polishing robot, wherein the second link is provided at such a length and position that the table rotates and tilts around the work mounting side when driven by the drive means.