JPH0810935A - Automatic deburring device - Google Patents
Automatic deburring deviceInfo
- Publication number
- JPH0810935A JPH0810935A JP14441094A JP14441094A JPH0810935A JP H0810935 A JPH0810935 A JP H0810935A JP 14441094 A JP14441094 A JP 14441094A JP 14441094 A JP14441094 A JP 14441094A JP H0810935 A JPH0810935 A JP H0810935A
- Authority
- JP
- Japan
- Prior art keywords
- work
- head
- deburring
- frequency
- shape
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
- Milling, Broaching, Filing, Reaming, And Others (AREA)
- Manipulator (AREA)
- Casting Devices For Molds (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、大型鋳造品の鋳造のた
めの中子等のバリ取りを行うに適した自動バリ取り装置
に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic deburring device suitable for deburring cores and the like for casting large castings.
【０００２】[0002]
【従来の技術】従来、中子等のワークのバリを除去する
には、丸棒を用いて人手によるバリ取り作業を行ってい
たのであるが、ワークの細かい形状部分やアール等の曲
線部分については、精度のよいバリ取りを行うことがで
きないという問題があった。またこのような従来の方法
は多くの時間が必要となるうえ、作業に熟練を要すると
いう問題もあった。2. Description of the Related Art Conventionally, in order to remove burrs from a work such as a core, a round bar is used to manually remove the burrs. Had a problem that it was not possible to perform deburring with high accuracy. In addition, such a conventional method requires a lot of time, and also has a problem that it requires skill for the work.
【０００３】[0003]
【発明が解決しようとする課題】本発明は上記のような
従来の問題点を解決して、中子等のワークのバリを精度
よくかつ自動的に除去することができる自動バリ取り装
置を提供するためになされたものである。SUMMARY OF THE INVENTION The present invention solves the above-mentioned conventional problems and provides an automatic deburring device capable of accurately and automatically removing burrs from a work such as a core. It was made to do.
【０００４】[0004]
【課題を解決するための手段】上記の課題を解決するた
めになされた本発明の自動バリ取り装置は、ワークがセ
ットされたテーブルの上方に、ヘッドをワークの形状に
沿って移動させることができる３軸ロボットを設けると
ともに、このヘッド上にワークの直線部と曲線部とで振
動数を変えることができる垂直方向の振動軸を設け、こ
の振動軸の下端に棒状のバリ取り部材を取付けたことを
特徴とするものである。The automatic deburring apparatus of the present invention, which has been made to solve the above problems, is capable of moving a head along the shape of a work above a table on which the work is set. In addition to providing a possible 3-axis robot, a vertical vibrating shaft whose frequency can be changed between a linear portion and a curved portion of the work is provided on this head, and a rod-shaped deburring member is attached to the lower end of this vibrating shaft. It is characterized by that.
【０００５】[0005]
【作用】本発明によれば、予め入力されたワーク形状の
データに基づき、３軸ロボットがヘッドをワークの形状
に沿って移動させながら、このヘッド上に設けられた垂
直方向の振動軸の下端に取り付けられた棒状のバリ取り
部材によりバリ取りを行う。このとき、振動軸はワーク
の直線部と曲線部とで振動数を変えることができるた
め、例えば直線部分では振動数を少なく、曲線部分では
振動数を多くすることにより、精度のよいバリ取りを自
動的に行うことができる。According to the present invention, the lower end of the vertical oscillating shaft provided on the head is moved by the three-axis robot while moving the head along the shape of the work based on the data of the work shape input in advance. Deburring is performed by a rod-shaped deburring member attached to. At this time, since the vibration axis can change the frequency between the straight line portion and the curved line portion of the work, for example, by decreasing the frequency of the straight line portion and increasing the frequency of the curved line portion, accurate deburring can be performed. It can be done automatically.
【０００６】[0006]
【実施例】以下に本発明を図示の実施例によって更に詳
細に説明する。図１は実施例の自動バリ取り装置の正面
図、図２はその平面図である。図中、１はワークＷがセ
ットされるテーブルであり、ここではワークＷとして中
子がセットされている。このテーブル１の上方には３軸
ロボット２が２基設けられている。The present invention will be described below in more detail with reference to the illustrated embodiments. FIG. 1 is a front view of the automatic deburring apparatus of the embodiment, and FIG. 2 is a plan view thereof. In the figure, reference numeral 1 is a table in which the work W is set, and a core is set as the work W here. Two triaxial robots 2 are provided above the table 1.
【０００７】この実施例の３軸ロボット２は、Ｘ軸方向
に延びる共通のＸ軸レール３上に２つのＹ軸レール４を
取り付けたもので、図２に示すようにＸ軸方向駆動モー
タ５によって各Ｙ軸レール４をＸ軸レール３に沿って移
動させることができる。また各Ｙ軸レール４には垂直な
Ｚ軸レール６が設けられており、図２に示されるＹ軸方
向駆動モータ７によって各Ｚ軸レール６をＹ軸方向（Ｘ
軸方向に対して水平面内で直角な方向）に移動させるこ
とができる。更にこれらのＺ軸レール６上には、図１に
示されるようにヘッド８が取り付けられており、Ｚ軸方
向駆動モータ９によって昇降することができる。The three-axis robot 2 of this embodiment has two Y-axis rails 4 mounted on a common X-axis rail 3 extending in the X-axis direction. As shown in FIG. Each Y axis rail 4 can be moved along the X axis rail 3 by. Further, a vertical Z-axis rail 6 is provided on each Y-axis rail 4, and each Z-axis rail 6 is moved by the Y-axis direction drive motor 7 shown in FIG.
It can be moved in a direction perpendicular to the axial direction in the horizontal plane). Further, a head 8 is mounted on these Z-axis rails 6 as shown in FIG. 1, and can be moved up and down by a Z-axis direction drive motor 9.
【０００８】これらのＸ軸方向駆動モータ５、Ｙ軸方向
駆動モータ７、Ｚ軸方向駆動モータ９の動作はコンピュ
ータにより制御されており、予め入力されたワークＷの
形状に沿ってヘッド８を移動させることができる。この
移動速度はワークＷの直線部では速く、曲線部では遅く
設定しておくことが好ましい。なお、図３、図４は片側
のヘッド８をＸ軸方向及びＺ軸方向に移動させた状態を
示したものである。The operations of the X-axis direction drive motor 5, the Y-axis direction drive motor 7, and the Z-axis direction drive motor 9 are controlled by a computer, and the head 8 is moved in accordance with the shape of the work W input in advance. Can be made. It is preferable that the moving speed is set fast in the straight part of the work W and slow in the curved part. 3 and 4 show the state in which the head 8 on one side is moved in the X-axis direction and the Z-axis direction.
【０００９】さて図５に示すように、各ヘッド８上には
垂直方向の振動軸10が設けられている。この振動軸10は
軸受11により支持されているが、その上端は圧縮ばね12
により常に上向きに弾発され、カム13に押し付けられて
いる。このカム13は円筒を斜めに切断した形状のもの
で、モータ14によりギヤ15を介して駆動されると回転
し、振動軸10を０〜120Hz の範囲内の任意の振動数で上
下に振動させることができる。As shown in FIG. 5, a vertical oscillating shaft 10 is provided on each head 8. The oscillating shaft 10 is supported by a bearing 11, the upper end of which is a compression spring 12
Is always fired upward by and is pressed against the cam 13. The cam 13 has a shape obtained by obliquely cutting a cylinder, and rotates when driven by a motor 14 via a gear 15 to vibrate the vibrating shaft 10 up and down at an arbitrary frequency within a range of 0 to 120 Hz. be able to.
【００１０】本発明では前記した３軸ロボット２のコン
ピュータがこのモータ14をも制御しており、ワークＷの
直線部と曲線部とで振動数を変えることができるように
なっている。例えば直線部分では振動数を少なく、曲線
部分では振動数を多くすることができる。In the present invention, the computer of the above-mentioned three-axis robot 2 also controls the motor 14, so that the frequency can be changed between the straight portion and the curved portion of the work W. For example, the frequency can be reduced in the straight line portion and increased in the curved line portion.
【００１１】この振動軸10の下端には、棒状のバリ取り
部材16が取り付けられている。このバリ取り部材16とし
ては、丸棒や棒状のやすりを用いることができる。な
お、図２にＡとして示すようにワークＷの外周が内向き
のアールとなっている部分ではこのバリ取り部材16がワ
ークＷの表面から跳ね易いため、ヘッド８とバリ取り部
材16を特にゆっくりと移動させることが好ましい。A bar-shaped deburring member 16 is attached to the lower end of the vibrating shaft 10. As the deburring member 16, a round bar or a bar-shaped file can be used. As shown by A in FIG. 2, since the deburring member 16 easily bounces from the surface of the work W in a portion where the outer periphery of the work W is inwardly rounded, the head 8 and the deburring member 16 are particularly slowly moved. It is preferable to move it.
【００１２】このように構成された自動バリ取り装置
は、テーブル１上にセットされたワークＷの形状をコン
ピュータに入力しておけば、３軸ロボット２がヘッド８
をワークＷの形状に沿って移動させつつ、振動軸10の下
端に取り付けられた棒状のバリ取り部材16がその振動数
をワークＷの直線部と曲線部とで変化させながら自動的
にバリ取りを行う。このために複雑な形状のワークＷで
あっても精度よくバリ取りを行える。In the automatic deburring apparatus having the above-described structure, if the shape of the work W set on the table 1 is input to the computer, the three-axis robot 2 is operated by the head 8.
While moving the workpiece W along the shape of the workpiece W, a bar-shaped deburring member 16 attached to the lower end of the vibration shaft 10 automatically deburrs while changing its frequency between the straight portion and the curved portion of the workpiece W. I do. Therefore, even if the workpiece W has a complicated shape, deburring can be performed accurately.
【００１３】なお、実施例では２つのヘッド８が設けら
れ、同時に２つのワークＷのバリ取りを行うことができ
るようになっているが、ヘッド８を単一としてもよいこ
とはいうまでもない。In the embodiment, two heads 8 are provided so that two workpieces W can be deburred at the same time, but it goes without saying that the head 8 may be a single head. .
【００１４】[0014]
【発明の効果】以上に説明したように、本発明の自動バ
リ取り装置は、３軸ロボットによりワークの形状に沿っ
て移動させることができるヘッド上にワークの直線部と
曲線部とで振動数を変えることができる垂直方向の振動
軸を設け、この振動軸の下端に棒状のバリ取り部材を取
付けてバリ取りを行うようにしたので、直線部はもちろ
んワークの細かい形状部分やアール等の曲線部分につい
ても、精度のよいバリ取りを自動的に行うことができ
る。このため、従来のような熟練した人手を必要とせ
ず、中子等のバリ取り作業が可能となる。As described above, in the automatic deburring apparatus of the present invention, the frequency of vibration of the linear portion and the curved portion of the work on the head which can be moved along the shape of the work by the three-axis robot. The vertical deviating shaft that can be changed is provided, and a bar-shaped deburring member is attached to the lower end of this vibrating shaft to deburr, so not only the straight part but also the fine shape part of the work and the curve such as round Deburring can be automatically performed with high precision even for the portion. For this reason, it is possible to deburr the core and the like without requiring skilled workers as in the past.
【図１】実施例の自動バリ取り装置の正面図である。FIG. 1 is a front view of an automatic deburring device according to an embodiment.
【図２】実施例のバリ取り装置の平面図である。FIG. 2 is a plan view of the deburring device of the embodiment.
【図３】ヘッドをＸ軸方向に移動させた状態を示す正面
図である。FIG. 3 is a front view showing a state in which the head is moved in the X-axis direction.
【図４】ヘッドをＺ軸方向に移動させた状態を示す正面
図である。FIG. 4 is a front view showing a state in which the head is moved in the Z-axis direction.
【図５】ヘッド部分の拡大側面図である。FIG. 5 is an enlarged side view of a head portion.
１ テーブル ２ ３軸ロボット ３ レール ４ Ｙ軸レール ５ Ｘ軸方向駆動モータ ６ Ｚ軸レール ７ Ｙ軸方向駆動モータ ８ ヘッド ９ Ｚ軸方向駆動モータ 10 振動軸 11 軸受 12 圧縮ばね 13 カム 14 モータ 15 ギヤ 16 棒状のバリ取り部材 Ｗ ワーク Ａ ワークの外周が内向きのアールとなっている部分 1 table 2 3 axis robot 3 rail 4 Y axis rail 5 X axis direction drive motor 6 Z axis rail 7 Y axis direction drive motor 8 head 9 Z axis direction drive motor 10 vibration axis 11 bearing 12 compression spring 13 cam 14 motor 15 gear 16 Bar-shaped deburring member W Work A Part where the work outer circumference is inward
Claims (1)
に、ヘッドをワークの形状に沿って移動させることがで
きる３軸ロボットを設けるとともに、このヘッド上にワ
ークの直線部と曲線部とで振動数を変えることができる
垂直方向の振動軸を設け、この振動軸の下端に棒状のバ
リ取り部材を取付けたことを特徴とする自動バリ取り装
置。1. A three-axis robot capable of moving a head along the shape of a work is provided above a table on which the work is set, and the frequency of vibration of a linear portion and a curved portion of the work on the head. An automatic deburring device characterized in that a vertical vibrating shaft that can be changed is provided, and a rod-shaped deburring member is attached to the lower end of this vibrating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6144410A JP2835002B2 (en) | 1994-06-27 | 1994-06-27 | Automatic deburring method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6144410A JP2835002B2 (en) | 1994-06-27 | 1994-06-27 | Automatic deburring method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0810935A true JPH0810935A (en) | 1996-01-16 |
| JP2835002B2 JP2835002B2 (en) | 1998-12-14 |
Family
ID=15361529
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6144410A Expired - Fee Related JP2835002B2 (en) | 1994-06-27 | 1994-06-27 | Automatic deburring method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2835002B2 (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002233936A (en) * | 2001-02-01 | 2002-08-20 | Koyama:Kk | Machining tool for deburring and deburring device |
| CN106001437A (en) * | 2016-07-08 | 2016-10-12 | 昆明云内动力股份有限公司 | Sand core fin removing device |
| JP2017193009A (en) * | 2016-04-20 | 2017-10-26 | Ntn株式会社 | Working device and dual-arm type working device |
| WO2017217294A1 (en) * | 2016-06-15 | 2017-12-21 | Ntn株式会社 | Work device and dual-arm work device |
| WO2018088446A1 (en) * | 2016-11-10 | 2018-05-17 | Ntn株式会社 | Work device and double-arm-type work device |
| WO2018088445A1 (en) * | 2016-11-10 | 2018-05-17 | Ntn株式会社 | Working device and double-arm type working device |
| WO2018088447A1 (en) * | 2016-11-11 | 2018-05-17 | Ntn株式会社 | Work device and double-arm-type work device |
| WO2019078283A1 (en) * | 2017-10-19 | 2019-04-25 | Ntn株式会社 | Double-arm-type operation device |
| JP2019077031A (en) * | 2017-10-19 | 2019-05-23 | Ntn株式会社 | Double-arm working device |
| CN110586906A (en) * | 2019-10-10 | 2019-12-20 | 福州六和汽车零部件有限公司 | High-frequency vibration burr removing equipment and working method |
| CN111451773A (en) * | 2020-05-04 | 2020-07-28 | 台州路桥城歌机械有限公司 | Cutter adjusting mechanism is used in processing of high-efficient aluminium strip wheel limit chamfer |
Citations (2)
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|---|---|---|---|---|
| JPS5884843U (en) * | 1981-12-02 | 1983-06-08 | 株式会社井上ジャパックス研究所 | Vibratory polishing equipment |
| JPH03277461A (en) * | 1990-03-26 | 1991-12-09 | Nissei Sogyo Kk | Burr removing jig supporting structure and burr removing jig control method |
-
1994
- 1994-06-27 JP JP6144410A patent/JP2835002B2/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5884843U (en) * | 1981-12-02 | 1983-06-08 | 株式会社井上ジャパックス研究所 | Vibratory polishing equipment |
| JPH03277461A (en) * | 1990-03-26 | 1991-12-09 | Nissei Sogyo Kk | Burr removing jig supporting structure and burr removing jig control method |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002233936A (en) * | 2001-02-01 | 2002-08-20 | Koyama:Kk | Machining tool for deburring and deburring device |
| CN109070341A (en) * | 2016-04-20 | 2018-12-21 | Ntn株式会社 | Apparatus for work and dual-arm apparatus for work |
| US11154994B2 (en) | 2016-04-20 | 2021-10-26 | Ntn Corporation | Work device and dual-arm work device |
| JP2017193009A (en) * | 2016-04-20 | 2017-10-26 | Ntn株式会社 | Working device and dual-arm type working device |
| WO2017183505A1 (en) * | 2016-04-20 | 2017-10-26 | Ntn株式会社 | Work device and dual-arm work device |
| EP3446836A4 (en) * | 2016-04-20 | 2019-04-24 | NTN Corporation | Work device and dual-arm work device |
| WO2017217294A1 (en) * | 2016-06-15 | 2017-12-21 | Ntn株式会社 | Work device and dual-arm work device |
| JP2017221998A (en) * | 2016-06-15 | 2017-12-21 | Ntn株式会社 | Work device and double-arm type work device |
| US11247329B2 (en) | 2016-06-15 | 2022-02-15 | Ntn Corportion | Work device and dual-arm work device |
| EP3473389A4 (en) * | 2016-06-15 | 2020-01-15 | NTN Corporation | Work device and dual-arm work device |
| CN106001437A (en) * | 2016-07-08 | 2016-10-12 | 昆明云内动力股份有限公司 | Sand core fin removing device |
| WO2018088445A1 (en) * | 2016-11-10 | 2018-05-17 | Ntn株式会社 | Working device and double-arm type working device |
| JP2018075675A (en) * | 2016-11-10 | 2018-05-17 | Ntn株式会社 | Operation device and double arm type operation device |
| WO2018088446A1 (en) * | 2016-11-10 | 2018-05-17 | Ntn株式会社 | Work device and double-arm-type work device |
| US11130225B2 (en) | 2016-11-10 | 2021-09-28 | Ntn Corporation | Working device and double-arm type working device |
| CN109922928A (en) * | 2016-11-10 | 2019-06-21 | Ntn株式会社 | Apparatus for work and dual-arm apparatus for work |
| EP3539727A4 (en) * | 2016-11-10 | 2020-07-15 | NTN Corporation | Working device and double-arm type working device |
| WO2018088447A1 (en) * | 2016-11-11 | 2018-05-17 | Ntn株式会社 | Work device and double-arm-type work device |
| US11420322B2 (en) | 2016-11-11 | 2022-08-23 | Ntn Corporation | Working device and double-arm type working device |
| WO2019078283A1 (en) * | 2017-10-19 | 2019-04-25 | Ntn株式会社 | Double-arm-type operation device |
| JP2019077031A (en) * | 2017-10-19 | 2019-05-23 | Ntn株式会社 | Double-arm working device |
| CN110586906A (en) * | 2019-10-10 | 2019-12-20 | 福州六和汽车零部件有限公司 | High-frequency vibration burr removing equipment and working method |
| CN110586906B (en) * | 2019-10-10 | 2024-04-19 | 福州六和汽车零部件有限公司 | High-frequency vibration burr removing equipment and working method |
| CN111451773A (en) * | 2020-05-04 | 2020-07-28 | 台州路桥城歌机械有限公司 | Cutter adjusting mechanism is used in processing of high-efficient aluminium strip wheel limit chamfer |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2835002B2 (en) | 1998-12-14 |
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