JPH0526631B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a deburring robot device, and more particularly to a deburring robot device suitable for removing burrs formed in pairs on both sides of a rod-shaped body. .

[Conventional technology]

A conventional device of this kind will be explained based on FIGS. 3 and 4. As shown in FIG. 4, the conventional device has an arm 3 connected to a robot body 1 via a swing shaft 2, and this arm 3 is configured to swing up and down about the upper end of the swing shaft 2. has been done. Furthermore, the tip of the arm 3 has a hand 4, as shown in an enlarged view in FIG. The burrs on one side of the rod-shaped body 7 indicated by the line are removed.

Therefore, in order to remove burrs, the rod-shaped body 7 is fixed in a direction where the burrs can be easily removed, and the grindstone 6 of the robot device is aligned with one burr of the fixed rod-shaped body 7, and then the burr is removed. That's what I was doing.

When one side of the burr has been removed, the grindstone 6a is applied to the other burr and the burr is removed in the same manner.

[Problem that the invention seeks to solve]

As is clear from the above structure, the conventional deburring robot apparatus cannot simultaneously remove the burrs on both sides of the rod-shaped body 7, so that deburring requires a lot of time. Furthermore, since the grindstone 6a is pressed against the rod-shaped body 7 during deburring, the grindstone 6a is displaced depending on the amount of burrs, and the deburring accuracy is reduced accordingly.

The present invention has been made to solve the above-mentioned problems, and by deburring both sides of the rod-shaped body at the same time, the deburring time can be shortened, and the grindstone can be pressed from both sides at the same time. It is an object of the present invention to provide a deburring robot device that eliminates positional deviation of a grinder and performs deburring with high precision.

[Means for solving problems]

The deburring robot device according to the present invention has a pair of hand arms configured to be expandable and retractable, and each hand arm has a grinder whetstone, and is located near the grinder whetstone so that it can be used immediately after deburring. It has a claw that traces the surface of the rod-shaped body to imitate the surface condition, and deburring is performed according to the pattern of the claw.

[Effect]

According to the present invention, a pair of grinder whetstones removes burrs while adjusting the size and contraction via the hand arm according to the amount of burrs on both sides of the rod-shaped body, and the claws trace the surface immediately after deburring to improve the surface condition. The grinder grindstone removes burrs according to what the claws have copied.

〔Example〕

Hereinafter, based on an embodiment shown in FIGS. 1 and 2, parts that are the same as or equivalent to those in the prior art will be given the same reference numerals, and the description thereof will be omitted, and the features of the present invention will be mainly described. As shown in FIG. 1, the device of this embodiment has a general configuration substantially similar to that of the conventional device, but the hand portion has a configuration different from that of the conventional device. In other words, in the device of this embodiment, the hand base portion 8 is connected to the hand 4 by an air cylinder (not shown).
The hand arm 5,
5 are each extended. A grinder 6 is attached to the inside of each hand arm 5, 5, and is configured to simultaneously remove burrs on both sides of a rod-shaped body (imaginary line) 7 using respective grindstones 6a, 6a.

Further, copying claws 9, 9 are attached to the hand arms 5, 5 of the device of this embodiment. Copying claws 9,9
As is clear from FIG. 2, the hand arm 5,
attached to the tips of lead bodies 9a, 9a extending from the tips of 5 to the vicinity of the grinding points of the grinding wheels 6a, 6a;
It is designed to come into contact with the surface of the rod-shaped body 7 immediately after it has been deburred by the grindstones 6a, 6a. Therefore, as is clear from the above structure, the copying claws 9, 9 expand and contract together with the grindstones 6a, 6a via the hand arms 5, 5, and as the deburring progresses, the grindstones 6
Proceeds with a and 6a. At this time, the copying claw 9,
9 is always in contact with the surface of the rod-shaped body 7 immediately after deburring,
As the grindstones 6a, 6a advance, their surfaces are traced, and the surface condition immediately after deburring is detected and copied. Therefore, in the deburring process, the robot device always drives the grindstones 6a, 6a in accordance with the tracing of the copying claws 9, so that deburring can be performed with high precision.

Note that various sensors can be used as the copying claws 9.

According to the apparatus of this embodiment, the burrs on both sides of the rod-shaped body 7 are simultaneously removed by the pair of grindstones 6a, so that the deburring time is significantly shortened. In addition, since the surface of the rod-shaped body 7 immediately after deburring is grasped by the copying claws 9, and deburring is performed based on this result, deburring can be performed with high precision regardless of the amount of burrs.

〔Effect of the invention〕

According to the present invention, burrs on a rod-shaped body can be removed in a short time and with high precision.

[Brief explanation of the drawing]

FIG. 1 is a side view showing an embodiment of a deburring robot device according to the present invention, FIG. 2 is an enlarged view of the main part of FIG. 1, and FIG. 3 is a view equivalent to FIG. 1 showing a conventional device.
FIG. 4 is an explanatory diagram showing the main part thereof. In the figure, 4 is a hand, 5 is a hand arm,
6 is a grinder, 6a is a grindstone, 7 is a rod-shaped body, and 9 is a tracing claw. In each figure, the same reference numerals indicate the same or corresponding parts.

Claims (1)

[Claims] 1. In a deburring robot device that removes burrs on both sides of a rod-shaped body using a grinder attached to the hand via a hand arm, a pair of the above-mentioned hand arms is attached so as to be adjustable in expansion and contraction, and
A grinder is attached to each hand arm with the grindstone facing each other, and a copying claw is attached near each grindstone to contact the surface of the rod-shaped body and imitate the surface condition immediately after deburring with each grindstone. A robotic device for deburring.