JPH05337808A - Method of deburring workpiece - Google Patents

Abstract

PURPOSE:To form a ground surface with excellent smoothness without uniform grinding, by grinding a workpiece through circular motion about the Z-axis in such a condition that the workpiece is made into contact with the grinding surface of a belt sander, and by turning the workpiece around the Z-axis so as to change the direction of the workpiece during grinding. CONSTITUTION:A workpiece 5 gripped by a hand 18 of a manipulator 10 is lowered at first from a position direct above a belt sander 3 to a first contact point at which a surface to be ground of the workpiece 5 makes contact with a grinding surface 4a of an endless grinding cloth 4. Then, the workpiece 5 is repeatedly subjected to circular motion by the manipulator 10 without X- and Y-axial directions being changed, so that the workpiece 5 is ground. After the workpiece 5 is once separated from the grinding surface 4a, with the repetitions of a grinding process in which a workpiece 5 is fed predetermined- pitch by pitch, a rod 17 is turned by an angle of 180deg. around an axis 16 so as to lower the workpiece 5 to a second contact point at which a similar grinding process is repeated at several times. Thereafter, the rod 17 is turned by an angle of 180deg. so as to finish the workpiece 5.

Description

【発明の詳細な説明】Detailed Description of the Invention

【０００１】[0001]

【産業上の利用分野】この発明は鋳造部品などのワ−ク
を平面状にバリ取りする方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for deburring a work such as a cast part into a flat surface.

【０００２】[0002]

【従来の技術】従来ダイカスト部品などのワ−クのバリ
取りは、一般に作業者がワ−クを手で把持して、ベルト
サンダの研削面に押付けて研削することによりおこなつ
ていた。2. Description of the Related Art Conventionally, deburring of a work such as a die-cast part is generally performed by an operator holding the work by hand and pressing it against the grinding surface of the belt sander for grinding.

【０００３】[0003]

【発明が解決しようとする課題】ところが上記の手作業
による方法では、手によるワ−クの把持が不確実なた
め、バリ取り時に被削面の端部付近が曲面になりやす
く、バリ取り後の被削面の平面度が劣り、バリの取り残
しが生じたり深い筋状の研削痕が付いたりして研削不良
が多発し、また多数個のワ−クのバリ取りは作業者の疲
労をきたし生産性も劣るものであつた。However, in the above manual method, since it is uncertain that the work is gripped by the hand, when the deburring is performed, the vicinity of the end of the work surface is likely to be a curved surface. The flatness of the surface to be machined is inferior, and unfinished burrs are left behind and deep streak-like grinding marks often cause grinding defects.In addition, deburring multiple workpieces causes worker fatigue and increases productivity. Was also inferior.

【０００４】この発明は上記従来の問題点を解決するも
ので、研削むらが少なく平面度がすぐれた研削面が得ら
れ、かつ人手を要さずに高能率でバリ取りがおこなえる
ワ−クのバリ取り方法を提供しようとするものである。The present invention solves the above-mentioned problems of the prior art, and provides a work surface capable of obtaining a ground surface with less unevenness of grinding and excellent flatness, and capable of deburring with high efficiency without requiring manpower. It is intended to provide a deburring method.

【０００５】[0005]

【課題を解決するための手段】しかしてこの発明のワ−
クのバリ取り方法は、Ｘ−Ｙ面に平行な研削面を有する
ベルトサンダの該研削面に対して、マニプレ−タのハン
ドにより把持したワ−クの被削面を対向させ、前記ハン
ドのＺ軸方向への駆動によりワ−クを前記研削面に接触
させてワ−クをＸＹ軸方向の向きを変えずにＺ軸のまわ
りに円運動させつつ研削後前記研削面から離間させる研
削工程を、複数回繰返し、続いてＺ軸のまわりにワ−ク
を所定角度旋回させてワ−クの向きを少なくとも１回以
上変え、各向きのワ−クに対して前記研削工程を複数回
繰返すとともに、一定の向きのワ−クに対して前記研削
工程を複数回繰返す際に、前工程の研削時のワ−クの位
置よりも所定のピツチ分だけワ−クをＺ軸方向に送り込
んだ状態で次工程の研削をおこなうことを特徴とする。However, the work of the present invention
The deburring method of the work is as follows: the work surface of the work gripped by the hand of the manipulator is made to face the grinding surface of the belt sander having a grinding surface parallel to the XY plane, and the Z of the hand is cut. A grinding step of bringing the work into contact with the grinding surface by driving in the axial direction to move the work circularly around the Z axis without changing the direction of the XY axis direction and separating from the grinding surface after grinding. Repeated a plurality of times, then turning the work about the Z axis by a predetermined angle to change the direction of the work at least once, and repeating the grinding process a plurality of times for the work in each direction. The state in which the work is fed in the Z-axis direction by a predetermined pitch from the position of the work at the time of grinding in the previous process when the grinding process is repeated a plurality of times for the work in a constant direction. It is characterized in that the grinding in the next step is carried out.

【０００６】この発明におけるワ−クの円運動として
は、回転半径一定の円運動のほか、楕円運動や、円状運
動の連続した８の字運動などを採用してもよい。As the circular movement of the work in the present invention, an elliptic movement, an 8-shaped movement in which a circular movement is continuous, or the like may be adopted in addition to the circular movement having a constant radius of rotation.

【０００７】この発明においてワ−クの向きを変える際
のＺ軸のまわりの旋回角度を１８０度とすると、研削方
向が反対向きとなることにより、かえりやバリが取れや
すいので、特に好ましい。In the present invention, when the turning angle around the Z axis when changing the direction of the work is set to 180 degrees, since the grinding directions are opposite to each other, burrs and burrs are easily removed, which is particularly preferable.

【０００８】またこの発明におけるマニプレ−タとして
は種々の形式のものを使用できるが、スカラ形マニプレ
−タは、構造が小形簡潔で安価なうえ、Ｚ軸方向へのワ
−クの微少量の送り込みを充分高精度で制御できるの
で、特に好ましい。Although various types of manipulators can be used in the present invention, the scalar-type manipulator has a small structure, is simple and inexpensive, and has a small amount of work in the Z-axis direction. It is particularly preferable because the feeding can be controlled with sufficiently high accuracy.

【０００９】[0009]

【作用】この発明のワ−クのバリ取り方法においては、
ワ−クをベルトサンダの研削面に接触させた状態でＺ軸
のまわりに円運動させつつ研削をおこなうこと、および
ワ−クをＺ軸のまわりに所定角度旋回させてワ−クの向
きを変えて研削をおこなうことにより、ワ−クのバリ取
り面は研削むらが少なく良好な平面度が得られる。また
ワ−クを所定ピツチ分だけＺ軸方向に送り込み後研削面
から離間させる研削工程を繰返すので、一研削工程当り
の研削負荷を小さくでき、小形小容量のベルトサンダお
よびマニプレ−タを用いて能率よくバリ取りがおこなえ
る。In the work deburring method of the present invention,
Grinding while circularly moving around the Z-axis with the work in contact with the ground surface of the belt sander, and turning the work around the Z-axis by a predetermined angle to change the direction of the work. By changing the grinding, the work deburring surface has less grinding unevenness and good flatness can be obtained. Further, since the work is fed in the Z-axis direction by a predetermined pitch and then the grinding process for separating it from the grinding surface is repeated, the grinding load per grinding process can be reduced, and a small and small capacity belt sander and manipulator can be used. Deburring can be done efficiently.

【００１０】[0010]

【実施例】以下図１および図２によりこの発明の一実施
例を説明する。図１はこの発明の方法を実施するバリ取
り装置１を示し、２は架台、３はこの架台２上に取付け
たベルトサンダで、４はエンドレス研摩布、４ａはその
研削面である。研削面４ａは、互いに直交するＸ軸とＹ
軸を含むＸ−Ｙ平面に対して平行に延びており、Ｘ軸方
向に駆動されてワ−ク５の下面である被削面５ａ（図２
参照）を研削するものである。６はベルトサンダ３の駆
動用モ−タである。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. FIG. 1 shows a deburring apparatus 1 for carrying out the method of the present invention. Reference numeral 2 is a pedestal, 3 is a belt sander mounted on the pedestal 2, 4 is an endless polishing cloth, and 4a is a ground surface thereof. The grinding surface 4a has an X axis and a Y axis that are orthogonal to each other.
The work surface 5a, which is the lower surface of the work 5 (see FIG. 2), extends parallel to the XY plane including the axis and is driven in the X-axis direction.
(See) is to be ground. 6 is a motor for driving the belt sander 3.

【００１１】一方１０は、架台２上に取付けたスカラ形
マニプレ−タから成るマニプレ−タで、支柱１１に中間
ア−ム１２を、Ｘ軸およびＹ軸と直交するＺ軸方向に延
びる軸線１３のまわりに旋回駆動自在に取付け、この中
間ア−ム１２にア−ム１４を、Ｚ軸方向に延びる軸線１
５のまわりに旋回駆動自在に取付け、ア−ム１４の先端
部には、Ｚ軸方向に延びる軸線１６を有するロツド１７
を、Ｚ軸方向に昇降駆動自在に、かつ軸線１６のまわり
に旋回駆動自在に取付けて成る。On the other hand, reference numeral 10 is a manipulator consisting of a scalar type manipulator mounted on the gantry 2, and an intermediate arm 12 is provided on a column 11 and an axis line 13 extending in the Z-axis direction orthogonal to the X-axis and the Y-axis. The arm 14 is attached to the intermediate arm 12 such that it can be swivel-driven freely, and an axis line 1 extending in the Z-axis direction is provided.
5, a rod 17 having an axis 16 extending in the Z-axis direction at the tip of the arm 14 so that it can be swivel-driven freely.
Is mounted so as to be vertically movable in the Z-axis direction and rotatable about the axis 16.

【００１２】１８はロツド１７の下端部に取付けたハン
ド（メカニカルハンド）で、ダイカスト部品であるワ−
ク５のフランジ部５ｂを爪１９で把持するとともに、ワ
−ク５に穿設された上下方向に延びる鋳抜き穴（図示し
ない）に係脱される爪（図示しない）により、ワ−ク５
を把持するものであり、２０はこれらの爪を駆動するた
めのエアシリンダである。Reference numeral 18 denotes a hand (mechanical hand) attached to the lower end of the rod 17, which is a die-casting work piece.
The flange 5b of the work 5 is gripped by the claws 19 and the work 5 is held by the claws (not shown) that are engaged with and disengaged from the vertically extending casting holes (not shown) formed in the work 5.
And 20 is an air cylinder for driving these claws.

【００１３】次に図２により上記装置を用いたバリ取り
方法について説明する。先ずマニプレ−タ１０の図示し
ないコントロ−ル部に、一研削工程当りのワ−ク５の円
運動回数Ｒ、研削繰返回数Ｎ、Ｚ軸方向のハンド１８に
よるワ−ク５の送り込みピツチｐ（この実施例では０．
０６mm）、第２工程（後述）開始時のワ−ク第２接触点
２２の位置ｒ、第３工程（後述）開始時のワ−ク第３接
触点２３の位置ｓ等のインプツトをおこなう。Next, a deburring method using the above apparatus will be described with reference to FIG. First, in a control part (not shown) of the manipulator 10, the number of circular motions R of the work 5 per grinding step, the number of times N of grinding repetition, the feed pitch p of the work 5 by the hand 18 in the Z-axis direction p. (In this embodiment, 0.
06 mm), the position r of the work second contact point 22 at the start of the second step (described later), the position s of the work third contact point 23 at the start of the third step (described later), and the like.

【００１４】そして図示しないワ−ク搬送ライン上のワ
−ク５を、マニプレ−タ１０のハンド１８により１個把
持し、ベルトサンダ３の直上部から下降させて、被削面
５ａが研削面４ａに接触する第１接触点２１まで下降さ
せたら、マニプレ−タ１０によりワ−ク５のＸＹ軸方向
の向きを変えずに、図１に矢印Ｑで示すように円運動を
Ｒ＝６回おこないつつ、ワ−ク５の研削をおこなう。そ
の後ワ−ク５を上昇させて一旦研削面４ａから離間さ
せ、１回の研削工程を終了する。Then, one work 5 on a work conveying line (not shown) is gripped by the hand 18 of the manipulator 10 and lowered from just above the belt sander 3 so that the work surface 5a becomes the grinding surface 4a. When the manipulator 10 does not change the direction of the work 5 in the XY axis directions, the circular motion is performed R = 6 times as indicated by an arrow Q in FIG. Meanwhile, the work 5 is ground. After that, the work 5 is lifted to once separate from the grinding surface 4a, and one grinding process is completed.

【００１５】次に前回の研削工程時よりピツチｐ＝０．
０６mmだけ送り込まれた位置までワ−ク５を下降させ
て、前回と同様な円運動により研削をおこなつたのち研
削面４ａから上方へ離間させて２回目の研削工程を終
え、以下同様な送り込みを伴う研削工程を２回繰返した
のち、円運動回数Ｒ＝１０回とする他は前記と同様な研
削工程を２回繰返して、第１工程を終了する。Next, the pitch p = 0.
The work 5 is lowered to a position where it is fed by 06 mm, grinding is performed by the same circular motion as the previous time, then it is separated upward from the grinding surface 4a, the second grinding process is completed, and so on. After repeating the grinding process involving 2 times, the same grinding process as described above is repeated 2 times except that the number of circular motions R = 10 times, and the first process is completed.

【００１６】次にロツド１７を軸線１６のまわりに、矢
印Ｗで示すように１８０度旋回させてワ−ク５の向きを
Ｘ−Ｙ面内において反対向きにし、第２接触点２２まで
ワ−ク５を下降させて研削を開始し、円運動回数Ｒ＝７
回の条件で、前記と同様な研削工程を３回繰返して、第
２工程を終了する。なお第２接触点２２の位置ｒは、第
１工程の最終研削工程時の送り込み位置よりは上方に設
定しないと、第２工程開始時の研削抵抗が過大となるこ
とが多いので、実験によつて決定するものであり、第３
工程開始時の第３接触点２３の位置ｓも同様にして決定
するものである。Next, the rod 17 is turned around the axis 16 by 180 degrees as shown by an arrow W so that the work 5 is oriented in the opposite direction in the XY plane, and the work is reached to the second contact point 22. Grinding is started by lowering 5 and the number of circular motions R = 7.
Under the condition of one time, the same grinding process as above is repeated three times to complete the second process. It should be noted that the position r of the second contact point 22 must be set higher than the feed-in position during the final grinding step of the first step, or the grinding resistance at the start of the second step will often become excessive. The third,
The position s of the third contact point 23 at the start of the process is similarly determined.

【００１７】次にこの実施例ではさらにロツド１７を軸
線１６のまわりにマイナス１８０度旋回させて、円運動
回数Ｒ＝８回、研削工程繰返回数Ｎ＝２回の、最終仕上
工程に相当する第３工程により仕上研削をおこない、そ
の後ワ−ク５を上昇させて別の搬送ライン上へ搬送し
て、１個のワ−ク５のバリ取り全工程を終了する。Next, in this embodiment, the rod 17 is further rotated about the axis 16 by minus 180 degrees, which corresponds to a final finishing step in which the number of circular motions R = 8 and the number of grinding process repetitions N = 2. Finish grinding is performed in the third step, and then the work 5 is lifted and conveyed to another conveyance line, and the entire deburring step for one work 5 is completed.

【００１８】上記方法および装置（但しベルトサンダ３
のエンドレス研摩布４の粒度：ＡＡ８０、速度：１６５
ｍ／分、円運動Ｑの半径：１５mm、１回転所要時間：
０．５秒）によつて、アルミダイカスト部品から成るワ
−ク５（但し被研削面：１００mm×６０mmの略長方形）
のバリ取りをおこなつたところ、研削むらがなく平面度
が良好（平面度：０．０６）な研削面が得られ、ワ−ク
５のチヤツキングからアンチヤツキング迄の全工程の所
要時間は３０秒であつた。The above method and apparatus (however, the belt sander 3
Endless polishing cloth 4 particle size: AA80, speed: 165
m / min, radius of circular movement Q: 15 mm, 1 rotation required time:
For 0.5 seconds, the work 5 made of aluminum die-cast parts (however, the surface to be ground: a rectangle of 100 mm x 60 mm)
After deburring, a ground surface with no unevenness in grinding and good flatness (flatness: 0.06) was obtained, and the time required for the entire process from the chucking of the work 5 to the anti-jacking was It took 30 seconds.

【００１９】この発明は上記実施例に限定されるもので
はなく、たとえば上記実施例では第１工程の途中で円運
動の回数Ｒを変更したが、これは一定のままでもよく、
また円運動はワ−クが研削面から離間している時も連続
しておこなつてもよい。また研削工程ごとの送り込みピ
ツチｐは、一定とせずに変化させてもよい。さらにワ−
クの材質や形状等によつては、ワ−ク５の旋回による向
きの変更は１回だけにしてもよいし、あるいは旋回角度
が小さい場合等は３回以上向きを変えるようにしてもよ
い。The present invention is not limited to the above embodiment. For example, in the above embodiment, the number R of circular motions was changed in the middle of the first step, but this may remain constant.
Further, the circular movement may be continuously performed even when the work is separated from the grinding surface. Further, the feeding pitch p for each grinding step may be changed instead of being constant. Further work
Depending on the material and shape of the work, the direction of the work 5 may be changed only once by turning, or when the turning angle is small, the direction may be changed three times or more. .

【００２０】[0020]

【発明の効果】以上説明したようにこの発明によれば、
研削むらが少なく平面度がすぐれた研削面が得られ、人
手を要さずに高能率でワ−クのバリ取りがおこなえる。As described above, according to the present invention,
A ground surface with little unevenness in grinding and excellent flatness can be obtained, and work deburring can be performed with high efficiency without requiring manpower.

【図面の簡単な説明】[Brief description of drawings]

【図１】この発明の方法の実施に使用するバリ取り装置
の一例を示す斜視図である。FIG. 1 is a perspective view showing an example of a deburring device used for carrying out the method of the present invention.

【図２】この発明の方法の一実施例を示す動作線図であ
る。FIG. 2 is an operation diagram showing an embodiment of the method of the present invention.

【符号の説明】[Explanation of symbols]

１…バリ取り装置、３…ベルトサンダ、４…エンドレス
研摩布、４ａ…研削面、５…ワ−ク、５ａ…被削面、１
０…マニプレ−タ、１２…中間ア−ム、１４…ア−ム、
１６…軸線、１７…ロツド、１８…ハンド、２１…第１
接触点、２２…第２接触点、２３…第３接触点。1 ... Deburring device, 3 ... Belt sander, 4 ... Endless polishing cloth, 4a ... Grinding surface, 5 ... Work, 5a ... Work surface, 1
0 ... Manipulator, 12 ... Intermediate arm, 14 ... Arm,
16 ... Axis, 17 ... Rod, 18 ... Hand, 21 ... 1st
Contact point, 22 ... 2nd contact point, 23 ... 3rd contact point.

Claims (3)

【特許請求の範囲】[Claims] 【請求項１】 Ｘ−Ｙ面に平行な研削面を有するベルト
サンダの該研削面に対して、マニプレ−タのハンドによ
り把持したワ−クの被削面を対向させ、前記ハンドのＺ
軸方向への駆動によりワ−クを前記研削面に接触させて
ワ−クをＸＹ軸方向の向きを変えずにＺ軸のまわりに円
運動させつつ研削後前記研削面から離間させる研削工程
を、複数回繰返し、続いてＺ軸のまわりにワ−クを所定
角度旋回させてワ−クの向きを少なくとも１回以上変
え、各向きのワ−クに対して前記研削工程を複数回繰返
すとともに、一定の向きのワ−クに対して前記研削工程
を複数回繰返す際に、前工程の研削時のワ−クの位置よ
りも所定のピツチ分だけワ−クをＺ軸方向に送り込んだ
状態で次工程の研削をおこなうことを特徴とするワ−ク
のバリ取り方法。1. A work surface of a work gripped by a hand of a manipulator is opposed to a ground surface of a belt sander having a ground surface parallel to an XY plane, and a Z surface of the hand is Z.
A grinding step of bringing the work into contact with the grinding surface by driving in the axial direction to move the work circularly around the Z axis without changing the direction of the XY axis direction and separating from the grinding surface after grinding. Repeated a plurality of times, and then rotating the work about the Z-axis by a predetermined angle to change the direction of the work at least once, and repeating the grinding process a plurality of times for the work in each direction. The state in which the work is fed in the Z-axis direction by a predetermined pitch from the position of the work at the time of grinding in the previous process when the grinding process is repeated a plurality of times for the work in a constant direction. The method of deburring a work is characterized by performing the grinding in the next step. 【請求項２】 Ｚ軸のまわりにワ−クを１８０度旋回さ
せてワ−クの向きを変える請求項１記載のワ−クのバリ
取り方法。2. The method of deburring a work according to claim 1, wherein the work is turned 180 degrees around the Z axis to change the direction of the work. 【請求項３】 マニプレ−タとしてスカラ形マニプレ−
タを用いる請求項１または２記載のワ−クのバリ取り方
法。3. A scalar type manipulator as a manipulator.
A method for deburring a work according to claim 1 or 2, wherein a printer is used.