JPH0653344B2 - Deburring equipment for industrial robots - Google Patents

Description

TECHNICAL FIELD The present invention relates to an improvement in a deburring device that grinds burrs on an object to be ground with a grindstone.

[Prior Art] FIG. 5 is a view showing a deburring device in a general industrial robot. As shown in the figure, a robot body 1 has an arm 3 via a swing shaft 2, and this arm 3 is It is configured to swing up and down about the upper end of the swing shaft 2.
Further, a hand 4 is provided at the tip of the arm 3 as shown in an enlarged manner in FIG. 6, and a hand base portion 5 for the hand 4 is configured to be adjustable in expansion / contraction by an air cylinder (not shown) or the like. The hand arms 6 and 6 are extended from both ends of the expanding and contracting hand base portion 5, respectively. Grinders 7 and 7 are provided inside the hand arms 6 and 6, respectively.
Is attached, and the grindstones 7a, 7a of the respective grinders 7, 7 are rotated to simultaneously remove burrs 8a (see FIG. 8) on both sides of the object 8 to be ground, which are shown by imaginary lines.

Further, as shown in FIG. 7, the grindstone 7a is provided near the grindstone 7a.
A tracing claw 9 is attached to the hand arm 6 while tracing the outer surface while contacting the surface of the object to be ground 8 after deburring by a.

Therefore, in order to remove burrs, the workpiece 8 is fixed so that the burrs 8a can be easily ground, and the copying arm 9 is pressed against the workpiece 8 while the hand arm 6 is moved relative to the workpiece 8. The grinder 7a of the grinder 7
The burr 8a is ground and removed by.

[Problems to be Solved by the Invention] In the conventional deburring apparatus as described above, in order to reduce the deburring time, when the grindstone 7a reaches the end of the object 8 to be ground, it is turned back to perform grinding. ing. At this time,
In order to prevent the copying claw 9 from coming off the object to be ground 8, the copying claw 9 and the grindstone 7a are controlled so as to be folded back slightly before the end of the object to be ground 8, and therefore the end of the object to be ground 8 is controlled. However, there is a problem that the burr 8a may be left uncut.

On the other hand, Japanese Utility Model Laid-Open No. 61-61151 discloses a technique for deburring with an image sensor.
This type of device requires image processing of the output of the image sensor, which makes the device expensive, and the image sensor is likely to be damaged by burr pieces or grindstones scattered from the rotating grindstone, resulting in a long service life. There was a problem that it was short.

Then, this invention is made | formed in order to solve such a problem, and an object of this invention is to obtain the deburring device in the industrial robot which is simple and cheap which does not leave the burrs of the edge part of a grinding object uncut.

[Means for Solving the Problems] The deburring device in the industrial robot according to the present invention is
In a deburring device in an industrial robot that grinds burrs of a grindstone with a grinder stone attached to a robot hand, a copying claw that comes into contact with the surface of the grindstone after deburring with the grindstone is near the grindstone. While being positioned and attached to the hand, when the grindstone comes off the end of the object to be ground, it has a predetermined length in the grinding feed direction so that it can remain on the object to be ground, and with the side of the object to be ground. The contact surface is disposed so as to be inclined at an angle of 30 degrees or less, and a groove wider than the width of the burr to be removed is formed on the contact surface.

[Operation] In the present invention, the copying claw that comes into contact with the object to be ground after deburring with the grindstone is positioned near the grindstone and attached to the hand, and when the grindstone comes off the end of the object to be ground, It has a predetermined length in the grinding feed direction so that it can remain in the grinding object, and is arranged with an inclination such that its contact plane is at an angle of 30 degrees or less with the grinding object side,
Since the grindstone forming a groove wider than the width of the burr to be removed on the contact plane remains on the object to be ground even if it is separated from the end of the object to be ground, the grindstone is It is possible to completely grind the burr.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS.

1 to 4 are views showing an embodiment of the present invention. FIG. 1 is a plan view, FIG. 2 is an enlarged plan view of FIG. 1, FIG. 3 is an enlarged side view, and FIG. It is an expanded side view when the grindstone of a figure is removed.

The deburring apparatus according to the present embodiment is similar to the above-described conventional technique, and the grindstone 7a of the grinder 7 mounted on the hand 4 of the robot via the hand base portion 5 and the hand arm 6.
Is a device for grinding the burr 8a of the object to be ground 8 by locating the copying claw 20 which comes into contact with the surface of the object to be ground after deburring with the grindstone 7a near the grindstone 7a. It is attached to the hand 4 side via the arm 6. As shown in the enlarged view of FIG. 2, the copying claw 20 has a grinding feed direction (that is,
It is formed with a predetermined length in the A direction or the direction opposite to the A direction).

Further, in this embodiment, the ceramic 21 having excellent wear resistance is fixed to the surface of the copying claw 20 that is in contact with the object to be ground 8, and the surface 8c of the object to be ground 8 and the contact surface of the ceramic 21 are formed. The angle θ is preferably 5 to 30 degrees. Further, as shown in FIG. 3 and FIG.
A groove 22 sandwiching a is formed, and the width dimension d of this groove 22 is slightly wider than the width of the burr 8a.

Note that the ceramics 21 need not always be provided,
Further, the groove 22 may not be formed.

In this way, the deburring device in the industrial robot is
Grinding stone 7a of grinder 7 attached to robot hand 4
In the deburring device in the industrial robot that grinds the burr 8a of the object 8 to be ground by the copying claw 20 that comes into contact with the object 8 to be ground after deburring with the grindstone 7a,
The grindstone 7a is located near the grindstone 7a and attached to the hand 4, and when the grindstone 7a is disengaged from the end of the object 8 to be ground, it has a predetermined length in the grinding feed direction so that it can remain on the object 8 to be ground. And a groove wider than the width of the burr 8a to be removed on the contact surface with the inclined surface so that the contact surface has an angle of 30 degrees or less. Two
2 is formed.

Therefore, the burr 8a that the copying claw 20 removes to the contact plane
Groove 22 wider than the width of the object 8 to be ground, and since the copying claw 20 remains on the object 8 to be ground even if the wheel 7a is dislocated from the end of the object 8 to be ground, It becomes possible to completely grind the burr 8a at the end portion. Further, the groove 2 wider than the width of the burr 8a that the copying claw 20 removes on the contact plane.
2 is formed, the copying claw 20 is not displaced by the influence of the burr 8a and can be accurately ground.
Since the contact surface with the object to be ground 8 side is inclined so that the contact surface is at an angle of 30 degrees or less,
Easy surfacing.

Further, unlike the conventional technique of deburring with an image sensor, since the image sensor is not used, the apparatus is inexpensive, and the copying claw 20 is not damaged by burr pieces or grindstones scattered from the rotating grindstone. There is no possibility of receiving.

[Effects of the Invention] As described above, in the deburring device in the industrial robot of the present invention, the copying claw that comes into contact with the surface of the object to be ground after deburring with the grindstone is located near the grindstone and is attached to the hand. , When the grindstone comes off the edge of the object to be ground,
Has a predetermined length in the grinding feed direction so that it can remain on the object to be ground,
In addition, the contact surface is provided so as to be inclined at an angle of 30 degrees or less with the object to be ground, and a groove wider than the width of the burr to be removed is formed on the contact surface. From that,
Even if the grindstone comes off the object to be ground, the copying claw rides on the object to be ground, and the grindstone can grind up to the terminal end according to the movement of the copying claw without leaving any burr at the end of the object to be ground.

Further, the copying claw forms a groove wider than the width of the burr to be removed on the contact plane, and since the copying claw remains on the object to be ground even if the grindstone is dislocated from the end of the object to be ground, the whetstone is It becomes possible to completely grind the burr at the end of the object to be ground. Since the copying claw is formed with a groove wider than the width of the burr to be removed on the contact plane, the copying claw can be accurately ground without being displaced due to the influence of the burr. Further, since the contact surface with the side of the object to be ground is arranged so as to be inclined such that the contact surface is at an angle of 30 degrees or less, surface surfacing is easy.

Further, unlike the conventional technique of deburring with an image sensor, an image sensor is not used, so the apparatus is inexpensive, and damage is caused by deburring pieces or grindstone particles scattered from the grindstone on which the copying claw rotates. There is no possibility.

[Brief description of drawings]

1 to 4 are views showing an embodiment of the present invention. FIG. 1 is a plan view, FIG. 2 is an enlarged plan view of FIG. 1, FIG. 3 is an enlarged side view, and FIG. Enlarged side view without the grindstone in the figure,
FIG. 5 is a front view of a deburring device in a general industrial robot, FIG. 6 is a plan view showing a conventional device, FIG. 1 is a relative view, and FIG. 7 is an enlarged plan view of FIG. Equivalent diagram, No. 8
The figure is a perspective view of an object to be ground. In the figure, 4 is a robot hand, 7 is a glider, 7 a is a grindstone, 8 is an object to be ground, 8 a is a burr, 8 b is an end of an object to be ground, and 20 is a copying claw. In the drawings, the same reference numerals and symbols indicate the same or corresponding parts.

Claims (1)

[Claims] 1. A deburring device for an industrial robot that grinds burrs of a grindstone by a grinder of a grinder attached to a hand of a robot, wherein , Located near the grindstone and attached to the hand, when the grindstone is disengaged from the end of the object to be ground,
It has a predetermined length in the grinding feed direction so that it can remain on the object to be ground, and is arranged so as to be inclined with respect to the object side so that its contact surface is at an angle of 30 degrees or less. A deburring device for an industrial robot, characterized in that a groove wider than the width of the burr to be removed is formed on the contact surface.