JPS6299068A - Apparatus and method for removing burr with robot exclusively used for long workpiece - Google Patents
Apparatus and method for removing burr with robot exclusively used for long workpieceInfo
- Publication number
- JPS6299068A JPS6299068A JP23519885A JP23519885A JPS6299068A JP S6299068 A JPS6299068 A JP S6299068A JP 23519885 A JP23519885 A JP 23519885A JP 23519885 A JP23519885 A JP 23519885A JP S6299068 A JPS6299068 A JP S6299068A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- workpiece
- deburring
- tool
- end faces
- 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.)
- Pending
Links
Landscapes
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は被加工物のバリ取シ作業の合理化に係如、特に
ロボットによる長尺物専用のバリ取シ装置とその方法に
関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to streamlining work for deburring workpieces, and particularly to a deburring device and method for deburring long objects using a robot.
近年機械加工工場その他において、被加工物のバリ取シ
作業は、合理化の一環としてロボット化が進められてお
シ、その方式には、第7図に示すようにバリ取カニ具3
を固定し、ロボット1がバリ取シ対象である被加工物f
(12aを動かす方法や第8図に示すように被加工物−
12bを固定して、ロボット1がバリ取シ工具3を把持
し、該バリ取シ工具3を作動してバリを取る方法などが
ある。In recent years, robots have been used to deburr workpieces in machine processing factories and other places as a part of rationalization.
is fixed, and the workpiece f to be deburred by the robot 1 is
(How to move 12a and the workpiece as shown in Figure 8)
There is a method in which the robot 1 holds the deburring tool 3 while fixing the deburring tool 12b, and operates the deburring tool 3 to remove the burr.
しかし上記はいずれも、ロボットの腕の長さを極端に長
くすることは、構造的に無理が生じたシコストが掛シす
ぎ、大きい被加工物のバリ取シ作業に対しては不適でア
シ、例えば長尺物の被加工物には、第8図のようにバリ
取り工具3を有するロボットを複数台配置してバリ取)
作業を行なうという方法がとられることが多い。However, in all of the above cases, increasing the length of the robot's arms to an extreme length would result in excessive structural costs and would be unsuitable for deburring large workpieces. For example, for long workpieces, multiple robots each equipped with a deburring tool 3 are arranged as shown in Figure 8 to deburr the workpiece.
The method of doing the work is often taken.
また長尺物の両端面のみに対してバリ取シが必要な場合
には、第9図のようにバリ取シ対象の被加工物50両端
に、ロボットを2台配置しなければならないというムダ
があった。In addition, if deburring is required only on both end faces of a long object, it is wasteful that two robots must be placed at both ends of the workpiece 50 to be deburred, as shown in Figure 9. was there.
本発明は上記の問題点を解決するためになされたもので
、長尺物の被加工物の両端面のバリ数多作業に好適なロ
ボット装置とバリ取り方法を提供することを目的として
いる。The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a robot device and a burr removal method suitable for work with a large number of burrs on both end faces of a long workpiece.
本発明は上記の目的を達するためになされたもので、バ
リ取)が必要な長尺物被加工物の両端所定位置まで、直
進往復移動可能な移動台に載置した1台のロボットによ
シ、長尺物両端面のバリ取シヲ行うことを特徴とする装
置と方法である。The present invention has been made to achieve the above-mentioned object, and uses a single robot mounted on a movable table capable of rectilinear reciprocating movement to reach predetermined positions at both ends of a long workpiece that requires deburring. This apparatus and method are characterized by deburring both end faces of a long object.
以下本発明の一実施例を第1〜第6図によって説明する
。An embodiment of the present invention will be described below with reference to FIGS. 1 to 6.
第1図は本発明のロボットによる長尺物専用バリ取)装
置と被加工物の関係と構成を示す実施例の斜視図で、直
交座標系3自由度のロボット4と。FIG. 1 is a perspective view of an embodiment of the present invention showing the relationship and configuration of a robot-based deburring device for long objects and a workpiece, with a robot 4 having three degrees of freedom in an orthogonal coordinate system.
走行部6と5回動部7とによって構成される長尺物専用
バリ取シ装置が被加工物5と平行に設置されている。A deburring device exclusively for long objects is installed parallel to the workpiece 5, which is composed of a running section 6 and a rotating section 7.
同図X方向の運動に関しては、走行部6による粗動と、
ロボット4における移動部4xによる微動とがあジ、Y
、Z方向の運動はロボット4の移動部4y、4zによる
。Regarding the movement in the X direction in the figure, coarse movement by the traveling section 6,
There is a slight movement caused by the moving part 4x in the robot 4, Y
, the movement in the Z direction is caused by the moving parts 4y and 4z of the robot 4.
またロボット4の腕先端には、2個所の異なる位置に位
置ぎめ可能な回動の1自由度を有する回動部7t−有し
ている。Further, the arm end of the robot 4 has a rotating part 7t which has one degree of freedom of rotation and can be positioned at two different positions.
次に上記の各構成部分の詳細につ込て述べる。Next, each of the above components will be described in detail.
第2図は直交座標系3自由度ロボット4の構成を示す。FIG. 2 shows the configuration of a three-degree-of-freedom robot 4 based on an orthogonal coordinate system.
本実施例においては、バリ取り対象個所が長尺物の両端
面であるため、低価格で制御と教え込みの容易な直角座
標系3自由度ロボットヲ使用しているが、被加工物の形
状によっては、座標系を斜角座標系又は極座標系制御の
ロボットを使用する場合もある。In this example, since the parts to be deburred are both end faces of a long workpiece, a robot with a three-degree-of-freedom Cartesian coordinate system is used, which is inexpensive and easy to control and train. However, depending on the shape of the workpiece, In some cases, a robot whose coordinate system is an oblique coordinate system or a polar coordinate system is used.
第3図は走行部6を示し、駆動源は本実施例では空気圧
を使用しているが、場合によっては油圧の場合もsb得
る。シリンダ8はスペースを有効に利用するために、ガ
イドロッドを有しない、いわゆる無ロッドシリンダを用
いている。該無ロッドシリンダ8に対し、図示入側から
圧縮空気を供給することによシ、スライダ9がB側へ移
動する。FIG. 3 shows the traveling section 6, and in this embodiment pneumatic pressure is used as the driving source, but hydraulic pressure may be used as the driving source. The cylinder 8 is a so-called rodless cylinder that does not have a guide rod in order to utilize space effectively. By supplying compressed air to the rodless cylinder 8 from the inlet side as shown, the slider 9 moves toward the B side.
反対にB側から圧縮空気を供給することによシ。Conversely, by supplying compressed air from the B side.
スライダ9はA側へ移動する。移動台10はスライダ9
に固定されておシ、移動台10はスライドベアリング1
1を介してガイドレール13上を摺動可能に構成されて
いる。従って、上述のように圧縮空気の供給によるスラ
イダ9の往復動に伴い移動台10t−移動させることが
可能である。The slider 9 moves to the A side. The moving table 10 is a slider 9
The movable table 10 is fixed to the slide bearing 1.
1 so as to be slidable on a guide rail 13. Therefore, as described above, it is possible to move the movable table 10t as the slider 9 reciprocates by supplying compressed air.
また無ロッドシリンダ8の両端にはストッパ兼給圧部1
4a、14bが設けられ、入側からの圧縮空気圧に対し
てB側へ移動した移動台10は、ストッパ兼給圧部14
bに当接して停止する。入側からの圧縮空気の供給を継
続する間、移動台101叶ツし−・・S並仏工盆−AL
Ie徊1仇性病!r橙弔口が作用する。Also, at both ends of the rodless cylinder 8, a stopper and pressure supply section 1 is provided.
4a and 14b, and the movable table 10 moved to the B side with respect to the compressed air pressure from the inlet side is moved to the stopper and pressure supply part 14.
It comes into contact with b and stops. While continuing to supply compressed air from the entrance side, the movable platform 101 is moved...S-line Buddhist tray-AL
Ie wandering 1 enemy venereal disease! r Orange mouth is active.
シリンダ8の内径をD、空気圧をPとすると、F=πD
2P/Aによって与えられる推力Fにより。If the inner diameter of the cylinder 8 is D and the air pressure is P, then F=πD
Due to the thrust F given by 2P/A.
移動ステージ10が停止位置において、ガタを生じない
ようになされバリ取り作業に必要な精度保持が可能であ
る。なおステージ10上にはロボット4が固定されてい
る。When the movable stage 10 is at the stop position, it is prevented from wobbling, and the accuracy required for deburring work can be maintained. Note that the robot 4 is fixed on the stage 10.
上記の作動操作は、B側停止位置について説明したが、
A側における停止の場合も同様である。The above operation operation was explained for the B side stop position, but
The same applies to the case of stopping on the A side.
本実施例においては、移動台10はガイドレール13上
の中間位置に停止させる必要はないが、必要に応じては
中間停止形のエアシリンダを使用するか、適当な駆動力
によってストッパ14a又は1abを任意位置に設定す
ることによって、停止位置を変化させることは可能であ
る。In this embodiment, the movable table 10 does not need to be stopped at an intermediate position on the guide rail 13, but if necessary, an intermediate stop type air cylinder may be used or an appropriate driving force may be used to stop the moving table 10 at an intermediate position on the guide rail 13. It is possible to change the stopping position by setting .
次に第4図に示すように回動部7は、圧縮空気を駆動動
力源とする旋回体15の先端部にグラインダ16と加工
具17を装着しておシ、グラインダ16と加工具17は
少くともり、Hの両方向に位置ぎめ停止が可能のように
構成されている。Next, as shown in FIG. 4, the rotating unit 7 is constructed by attaching a grinder 16 and a processing tool 17 to the tip of a rotating body 15 whose driving power source is compressed air. At least, it is constructed so that positioning and stopping in both directions of H is possible.
次に本装置によるバリ増多作業の実施例について説明す
る。第3図のストッパ兼給圧部14aから圧縮空気を供
給すると、スライダ9を介して移動台10はA側からB
側へ移動し、ストッパ兼給圧部14bに当接する位置で
停止する。従って第5図に示すように移動台10上に固
定したロボット4は、A側所定位置からB側所定位置ま
で移動し位置ぎめがなされる。次にD側端面を加工する
ために、第4図に示す旋回体15に図示しない給圧部か
ら圧縮空気を供給することによ)、グラインダ16に取
)付けられた加工具17がHの方向に回動し位置ぎめ固
定される。Next, an example of burr increasing work using this apparatus will be described. When compressed air is supplied from the stopper and pressure supply section 14a shown in FIG.
It moves to the side and stops at the position where it comes into contact with the stopper/pressure supply part 14b. Therefore, as shown in FIG. 5, the robot 4 fixed on the movable table 10 is moved and positioned from a predetermined position on the A side to a predetermined position on the B side. Next, in order to process the end face on the D side, the processing tool 17 attached to the grinder 16 is moved to the rotating body 15 shown in FIG. It rotates in the direction and is fixed in position.
次に第5図に示すようにロボット4が始動し加工具17
で被加工物5のC端面のバリ取)を行なう。Next, as shown in FIG. 5, the robot 4 starts and the processing tool 17
Deburring the C end face of the workpiece 5 is performed.
C端面のバリ取)が終了すると同時に、圧縮空気を第6
図に示す無ロッドシリンダ8のB側から供給して、スラ
イダ9を介して移動台10’iA側へ移動させる。これ
によシロボット4は第9図に示すようにストッパ兼給圧
部14alC移動台10が当接する位置まで移動したの
ち停止する。At the same time as the deburring of the C end face is completed, the compressed air is
It is supplied from the B side of the rodless cylinder 8 shown in the figure and moved to the moving stage 10'iA side via the slider 9. As a result, the robot 4 moves to a position where the stopper/pressure supply section 14alC movable table 10 comes into contact with it, as shown in FIG. 9, and then stops.
次に第4図に示す旋回体15に圧縮空気を供給し、グラ
インダ16に取付けられた加工具17をLの方向に回動
し1位置ぎめ固定される。Next, compressed air is supplied to the revolving body 15 shown in FIG. 4, and the processing tool 17 attached to the grinder 16 is rotated in the direction L and fixed at one position.
位置ぎめ終了後、第6図に示すようにロボット4が始動
し、加工具17で被加工物5のC端面のバリ数カを行な
う。After the positioning is completed, the robot 4 is started as shown in FIG. 6, and the processing tool 17 burrs the C end face of the workpiece 5.
上述のように、長尺物被加工物5の両端面のバリ取り作
業を行なうため1作業範囲の大きい大型ロボッ)Th使
用せず、走行部6のガイドレール13上において、無ロ
ッドシリンダによって往復運動を行なう1台のロボット
4を使用し、スイッチのON、OFF操作だけでバリ取
)を行なうことができる。まだ上記空気式無ロッドシリ
ンダによって得られる推力によって、ロボット4を被加
工物5の両端部で停止させるため、繰返し作業において
も、位置ぎめ精度を維持することが可能である。As mentioned above, in order to perform deburring work on both end faces of the long workpiece 5, a large robot with a large working range is not used, and the robot is reciprocated on the guide rail 13 of the traveling section 6 by a rodless cylinder. Using one moving robot 4, deburring can be performed by simply turning on and off a switch. Since the robot 4 can be stopped at both ends of the workpiece 5 by the thrust obtained by the pneumatic rodless cylinder, positioning accuracy can be maintained even in repeated operations.
また本装置の応用として、ガイドレール13上の任意位
置にストッパを設け、異なる座標系による制御を採用す
るなどによ)、複数の被加工物に対する加工や組立作業
を1台のロボットで行なうことが可能である。In addition, as an application of this device, by installing a stopper at an arbitrary position on the guide rail 13 and adopting control using different coordinate systems, it is possible to perform machining and assembly work on multiple workpieces with one robot. is possible.
〔発明の効果〕
本発明の実施によυ、高価な多関節形多自由度を有する
ロボットを使用する必要がなく、長尺物被加工物の両端
面のバリ取勺を行なうことができる。[Effects of the Invention] By carrying out the present invention, it is possible to deburr both end faces of a long workpiece without using an expensive multi-jointed robot with multiple degrees of freedom.
第1図は本発明に使用する装置の一実施例の斜視図、第
2図は第1図中のロボットの斜視図、第3図は第1図中
の走行部の斜視図、第4図は第1図中の旋回体の斜視図
、第5.6図は第1図の被加工物に対する加工説明のだ
めの正面図、第7〜9図は従来技術による各種バリ取り
装置の斜視図である。
4・・・ロボット、5・・・被加工物、6・・・走行部
。Figure 1 is a perspective view of an embodiment of the device used in the present invention, Figure 2 is a perspective view of the robot in Figure 1, Figure 3 is a perspective view of the traveling section in Figure 1, and Figure 4. is a perspective view of the revolving body in Fig. 1, Fig. 5.6 is a front view for explaining the machining of the workpiece in Fig. 1, and Figs. 7 to 9 are perspective views of various deburring devices according to the prior art. be. 4...Robot, 5...Workpiece, 6...Traveling section.
Claims (2)
と、該移動台に載置し少くとも3自由度を有するロボッ
トと、該ロボットの先端に少くとも2つの異なる位置に
位置ぎめ可能な1自由度の回動軸を有する回動部とから
成り、該回動部の先端に加工具を具備することを特徴と
する長尺物専用バリ取り装置。(1) A traveling part that has a movable base that can reciprocate in a straight line in the longitudinal direction, a robot that is placed on the movable base and has at least three degrees of freedom, and the tip of the robot that can be positioned at at least two different positions. 1. A deburring device exclusively for long objects, comprising a rotating part having a rotating shaft with one degree of freedom, and a processing tool is provided at the tip of the rotating part.
も3自由度を有するロボットを、長尺物被加工物の一端
所定位置まで移動し停止させたのち、前記ロボットに具
備されている加工具を用いて、前記被加工物の一端面の
バリ取りを行ない、続いて前記ロボットを前記被加工物
の他端所定位置まで逆進停止させ、前記と同様に他端面
のバリ取りを行なうことを特徴とする長尺物専用バリ取
り方法。(2) After moving a robot having at least three degrees of freedom to a predetermined position at one end of a long workpiece on a movable table that reciprocates in a straight line in the longitudinal direction and stopping the robot, Deburring one end surface of the workpiece using a processing tool, then reversing the robot to a predetermined position on the other end of the workpiece, and deburring the other end surface in the same manner as above. A deburring method exclusively for long objects.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP23519885A JPS6299068A (en) | 1985-10-23 | 1985-10-23 | Apparatus and method for removing burr with robot exclusively used for long workpiece |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP23519885A JPS6299068A (en) | 1985-10-23 | 1985-10-23 | Apparatus and method for removing burr with robot exclusively used for long workpiece |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6299068A true JPS6299068A (en) | 1987-05-08 |
Family
ID=16982524
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP23519885A Pending JPS6299068A (en) | 1985-10-23 | 1985-10-23 | Apparatus and method for removing burr with robot exclusively used for long workpiece |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6299068A (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100784423B1 (en) * | 2001-07-11 | 2007-12-11 | 주식회사 포스코 | Automatic scarfing machine for cut face of slab |
CN107471051A (en) * | 2017-09-30 | 2017-12-15 | 湖州铭灏机械有限公司 | A kind of grinding machine |
CN109590899A (en) * | 2018-12-22 | 2019-04-09 | 东莞锐航光电科技有限公司 | The raw material carrying for clearing off machine for glass picks up place system and glass clears off system |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS57138572A (en) * | 1981-02-20 | 1982-08-26 | Taiyo Chuki Kk | Grinding machine |
JPS57189779A (en) * | 1981-05-16 | 1982-11-22 | Kobe Steel Ltd | Method of controlling manipulator |
-
1985
- 1985-10-23 JP JP23519885A patent/JPS6299068A/en active Pending
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS57138572A (en) * | 1981-02-20 | 1982-08-26 | Taiyo Chuki Kk | Grinding machine |
JPS57189779A (en) * | 1981-05-16 | 1982-11-22 | Kobe Steel Ltd | Method of controlling manipulator |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100784423B1 (en) * | 2001-07-11 | 2007-12-11 | 주식회사 포스코 | Automatic scarfing machine for cut face of slab |
CN107471051A (en) * | 2017-09-30 | 2017-12-15 | 湖州铭灏机械有限公司 | A kind of grinding machine |
CN109590899A (en) * | 2018-12-22 | 2019-04-09 | 东莞锐航光电科技有限公司 | The raw material carrying for clearing off machine for glass picks up place system and glass clears off system |
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