JPH0665453B2 - robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION << Industrial Application Field >> The present invention relates to a robot posture teaching method, and more specifically, a robot for removing burrs on a workpiece end face while moving a tool such as a cutting tool driven by a motor. In the above, the present invention relates to a technique for accurately designating the position of a tool when teaching a posture.

<< Prior art and its problems >> Generally, burrs that occur in mold work and the like have different sizes, and when large burrs are encountered when these are removed under constant cutting conditions of a cutting tool, When the cutting tool is traveling at a constant speed and a constant speed, an excessive load is applied to the cutting tool, which shortens the life of the cutting tool and deteriorates the finishing performance of the cut surface of the work. Therefore, the cutting conditions and the like may be controlled at once according to the size of the burr.

In response to this request, various tool holders of a deburring robot have been provided with a centripetal mechanism, a floating mechanism, and a mechanism provided with a mechanism for detecting a machining load force or a relief amount of a cutting tool.

However, since these mechanisms are mechanisms that escape the load during deburring and detect the machining load, they cannot be used as they are to find the optimum posture to teach the robot. Therefore, when teaching the posture to the robot, it is necessary to search for the optimum posture while observing the state of contact with the work by attaching a cutting tool or a gauge to replace it with a tool holder and store it. Therefore, there was a drawback that the efficiency was very poor.

<< Summary of the Invention >> The present invention has been made to solve the above problems.
When a machining load is applied to the tool, the tool escapes, and the load is removed.The tool is returned to its original position.The floating tool holder has a centripetal force. The gist is to specifically display at a position different from that of the displacement sensor.

<< Embodiment >> An embodiment of the present invention is shown in the accompanying drawings.

A motor 1 driven by electricity or fluid pressure holds a tool 5 on its output shaft 3. This motor is held by a gimbal mechanism 9 which is rotatably supported by a tool holder body frame 7, and the tool 5 can be swung in the front-back, left-right and combined directions thereof. The motor 1 is provided with a pedestal 11 having a rivet-shaped recess at the tail end thereof, and a ball 13 is accommodated in this recess. The upper side of the ball 13 is pressed by the compression spring 19 via the ball pressing tool 17 of the ball guide 15 toward the concave portion. As a result, the tool 5 tries to maintain the downward direction in the drawing. A displacement sensor 21 for detecting a displacement of the ball 13 is provided at the upper end of the frame 7 and at a position facing the upper end surface of the ball 13, and an output signal according to the displacement is provided in addition to a controller (not shown) and an indicator Send to 23. Although the display device 23 is attached to the tool holder body frame 7 in the drawing, the display device 23 is not limited to this and may be provided on the teaching operation panel of the robot. Further, the display method of the display device 23 does not matter whether it is digital display or analog display.
Alternatively, a predetermined pressing amount may be set in advance in the electric circuit and a lamp indicating whether or not the value is exceeded may be displayed.

<< Operation and Effect of the Invention >> When a force is applied to the tip of the tool 5 in the left-right and front-rear directions in the drawing, the tool 5 and thus the motor 1 centering around the swing center X.
Leans. At this time, the ball 13 is pushed up against the biasing force of the compression spring 19 along the inclination of the sliver-shaped recess of the pedestal 11. Then, the movement amount is detected by the sensor 21. When the external force is removed, the urging force of the compression spring 19 causes the motor 1 and the tool 5 attached thereto to return to their original positions.
As a result, the tool 5 is released for a large processing load during deburring work, or the feed rate of the tool 5 is reduced by detecting the escape amount to check whether there is an excessive load.

On the other hand, the amount of movement of the ball 13, that is, the amount of movement of the tool 5, detected by the sensor 21 indicates the amount of pressing of the tool 5 against the work W, and therefore the amount of pressing is displayed on the display unit 23.

When teaching the robot a route (actually, a point route), the driving of the motor 1 is stopped, the tool 5 is pressed against the work W, and the display of the display 23 shows a predetermined value. Stop and teach the posture.

According to the present invention, since the escape amount detected by the tool holder is specifically displayed at a position different from that of the sensor, it is possible to specifically display the escape amount of the tool when teaching the route to the robot. Even a slight movement of the tool can be known, and an accurate tool position can be specified. Further, since the display device for this purpose is attached to the frame, it is possible to perform stable display without being influenced by the swing of the tool.

[Brief description of drawings]

The attached drawings are explanatory views showing an example of an apparatus for carrying out the robot posture teaching method of the present invention. 1 …… Motor, 5 …… Tool 7 …… Tool holder body frame 9 …… Gimbal mechanism, 11 …… Pedestal 13 …… Ball, 15 …… Ball guide 17 …… Ball pressing tool, 19 …… Compression spring 21… … Sensors, 23 …… Displays

Claims (1)

[Claims] 1. A tool, a floating type tool holder having centripetal force for holding the tool so as to escape when a processing load is applied and return to the original position when the load is removed, and this tool holder is rotatably supported. It has a frame, a displacement sensor that detects the amount of relief from the movement of the tool holder when a machining load is applied to the tool, and an escape amount indicator that displays the amount of escape detected by this displacement sensor. A robot characterized in that a relief amount indicator is supported by the frame independently of the displacement sensor, and displays the indication at least during posture teaching.