WO2012020446A1 - スクレイパー式バリ取り装置 - Google Patents
スクレイパー式バリ取り装置 Download PDFInfo
- Publication number
- WO2012020446A1 WO2012020446A1 PCT/JP2010/004999 JP2010004999W WO2012020446A1 WO 2012020446 A1 WO2012020446 A1 WO 2012020446A1 JP 2010004999 W JP2010004999 W JP 2010004999W WO 2012020446 A1 WO2012020446 A1 WO 2012020446A1
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- WO
- WIPO (PCT)
- Prior art keywords
- scraper
- thrust
- chamfering
- cutting edge
- robot
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/20—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of plastics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/003—Other grinding machines or devices using a tool turning around the work-piece
Definitions
- the present invention relates to a scraper type deburring apparatus suitable for chamfering a resin molded product.
- the present invention has been made in view of the above-described circumstances, and provides a scraper-type deburring apparatus capable of accurately cutting burrs and improving the finish of a chamfer without damaging the workpiece surface.
- the purpose is to
- a tip end arm of a robot supports a scraper through a floating mechanism
- the floating mechanism includes a plurality of thrust applying members for applying thrust to the scraper in directions crossing each other
- the cutting edge portion is sent along the chamfered portion by the robot to perform chamfering while pressing against the chamfered portion and directing the resultant force of each thrust by the plurality of thrust applying members in the normal direction of the chamfered portion.
- the floating mechanism has a plurality of thrust imparting members, and when chamfering the chamfered portion, the resultant force of each thrust of the thrust imparting member points in the normal direction of the chamfer, for example, one thrust Compared with the case where the thrust of the applying member is directed in the normal direction, a stable resultant (thrust) can be applied in the normal direction of the chamfered portion. Therefore, the size of the chamfered portion and the like become constant, and the finish feeling of the machined surface is improved.
- burrs are generated at the chamfered portion of the resin molded product
- the generation direction of burrs such as vertical burrs and horizontal burrs, differs depending on the position of the parting surface of the mold in the resin molding machine .
- the reaction force acting on the blade edge of the scraper changes according to the burr generation direction.
- the thrust is applied in the direction of increasing the reaction force for burr removal.
- the chamfered portion is chamfered by posture control of the robot, but a greater effect is exhibited in the case where the chamfered portion is a curved portion than in the case where the chamfered portion is a linear portion.
- a thrust is applied in one direction
- the thrust in the normal direction is reduced, and the finish feeling of the processed surface is reduced.
- the thrust acts in the intersecting direction, even if attitude control is performed by the robot in a direction in which any thrust does not act, the blade tip of the scraper is pushed in the normal direction by the thrust of the remaining thrust applying members. Therefore, the thrust always acts even at the time of chamfering of the curved portion, and the finish feeling of the processed surface of the curved portion is improved.
- the scraper may be formed of a wide flat plate, and a cutting edge of the scraper may be integrally formed on a side edge of the flat plate.
- the edge of the scraper may comprise a rake surface having a negative rake angle. In this configuration, the cutting resistance is reduced due to the negative rake angle.
- the blade tip portion of the scraper may have a flank surface having a clearance angle from the curved surface portion when chamfering the curved surface portion.
- the flank surface may be configured to function when chamfering a curved portion with a radius smaller than the thickness of the scraper.
- the resin molded product is a frame-like work having an outer peripheral portion and an inner peripheral portion, the scraper is formed of a wide flat plate, a cutting edge portion for chamfering the outer peripheral portion is formed on one side edge, and an inner side is formed on the other side edge A cutting edge for chamfering the periphery may be formed.
- the edge portion of the scraper may be provided with a curved portion for R-chamfering.
- FIG. 3 is a cross-sectional view taken along the line III-III in FIG.
- A) is an enlarged front view in the vicinity of the scraper
- B) is a cross-sectional view taken along the line BB in (A)
- C) is a cross-sectional view taken along the line CC in (A).
- A) is a perspective view which shows typically the relationship between the attitude
- (B) is the same perspective view in chamfering process of outer periphery.
- FIG. 6 is a cross-sectional view taken along the line VI-VI in FIG. (A) is a principal part enlarged view of FIG. 6, (B) is B arrow line view in (A). It is a figure which shows typically the relationship between the attitude
- FIG. 4 (A) is a corresponding view.
- FIG. 1 is a perspective view showing an embodiment of a scraper type deburring apparatus.
- reference numeral 1 denotes an articulated robot.
- a distal end arm 4 is connected to the wrist shaft 3 of the articulated robot 1
- a floating mechanism 5 is attached to the distal end arm 4, and a scraper 9 made of carbide is supported by the floating mechanism 5.
- the articulated robot 1 is connected to a controller (not shown), and the operation of the articulated robot 1 is determined by data input in advance by teaching or a program, and is controlled by the controller.
- the floating mechanism 5 is provided with a mounting plate 11 with reference to FIGS. 1 to 3, and is attached to a tip arm 4 of the articulated robot 1 via the mounting plate 11.
- a mounting plate 11 At four corners of the mounting plate 11, four radial linear shafts 13 extending in a direction parallel to the wrist shaft 3 are fixed.
- the radial linear shafts 13, 13 on one side edge 11A side of the mounting plate 11 slidably penetrate the radial linear bushes 14, 14 fixed to the radial movable plate 19, and the respective tips are connected by the retaining member 15 ing.
- the radial linear shafts 13, 13 on the other side 11B side of the mounting plate 11 slidably penetrate the radial linear bushes 16, 16 similarly fixed to the radial movable plate 19, and the respective tip portions are prevented from coming off It is connected by a member 17.
- the two adjacent radial linear shafts are connected by the retaining members 15 and 17 to increase the rigidity.
- Radial air cylinders (thrust applying members) 21 and 21 having axes parallel to the wrist shaft 3 are fixed to one side edge 19A side and the other side edge 19B side of the radial movable plate 19, and pistons of the radial air cylinders
- the tips of the rods 21A and 21A are connected to the fixing portion 11C of the mounting plate 11, respectively.
- the radial air cylinders 21, 21 the radial movable plate 19 is always pressed in the direction of the arrow Z1 by the air pressure, and when a pressure higher than the air pressure acts in the direction of the arrow Z2, the radial movable plate 19 is pushed back. And become floating.
- the radial air cylinders 21, 21 are connected to a control device (not shown), and are configured to be able to simultaneously control the respective air pressures to the same amount.
- a pair of side plates 23, 23 are fixed by bolts 24 to the remaining side edges 19C, 19D other than one side edge 19A and the other side edge 19B of the radially movable plate 19, and a pair is formed between the side plates 23, 23.
- Thrust linear shafts 25, 25 are provided.
- a pair of thrust linear bushes 26, 26 is slidably fitted to the respective thrust linear shafts 25, 25, and the thrust linear bushes 26, 26 are fixed to the thrust movable plate 27.
- the thrust linear bushes 26, 26 slide along the thrust linear shafts 25, 25 to guide the thrust movable plate 27 in the direction perpendicular to the wrist axis 3. That is, the thrust movable plate 27 is slidably supported in both directions of the arrow X1 and the arrow X2.
- the outer peripheral thrust air cylinder (thrust applying member) 31 and the inner peripheral thrust air cylinder (thrust) have an axis parallel to the axis of the thrust linear shafts 25, 25 on the side plates 23, 23.
- An application member) 32 is attached to face each other.
- a receiving member 33 is disposed between the outer peripheral thrust air cylinder 31 and the piston rods 31A and 32A of the inner peripheral thrust air cylinder 32, and the receiving member 33 is provided to project from the plate surface of the thrust movable plate 27.
- the piston rod 31A of the outer peripheral thrust air cylinder 31 is extended to press the receiving member 33, and the piston rod 32A of the inner peripheral thrust air cylinder 32 is retracted to separate from the receiving member 33.
- the thrust movable plate 27 is pressed in the direction of the arrow X2 by the air pressure, and when a pressure greater than the air pressure acts in the direction of the arrow X1, the thrust movable plate 27 is pushed back to be in a floating state.
- the piston rod 32A of the inner peripheral thrust air cylinder 32 is extended to press the receiving member 33, and the piston rod 31A of the outer peripheral thrust air cylinder 31 is retracted to receive the receiving member 33.
- the thrust movable plate 27 is pressed in the direction of the arrow X1 by the air pressure by air pressure, and when the pressure more than the air pressure acts in the arrow X2 direction, the thrust movable plate 27 is pushed back to be in a floating state .
- the outer peripheral thrust air cylinder 31 and the inner peripheral thrust air cylinder 32 are connected to a control device (not shown).
- the outer peripheral thrust air cylinder 31, the inner peripheral thrust air cylinder 32, and the pair of radial air cylinders 21, 21 described above are connected to a pressure adjusting device such as a regulator, for example, and the air pressure supplied to each cylinder is independent. And is configured to be controllable.
- the receiving member 33 is held between the piston rods 31A and 32A by operating either the outer peripheral thrust air cylinder 31 or the inner peripheral thrust air cylinder 32, and the thrust movable plate 27 It is configured to prevent rattling.
- a flange-like holder support member 35 is attached to the thrust movable plate 27, and a holder 36 is fixed to the holder support member 35.
- a blade attachment surface 36A is formed at the tip end of the holder 36, and the blade attachment surface 36A is parallel to a plane including the axial air lines of the inner peripheral thrust air cylinder 31, the outer peripheral thrust air cylinder 32 and the axis 3A of the wrist shaft 3. It is extended.
- a cemented carbide scraper 9 is positioned and fixed to the cutter attachment surface 36A by two screws 37, 37.
- two air blow nozzles 38, 38 At the central portion of the holder support member 35, two air blow nozzles 38, 38 extending toward the scraper 9 side are attached. The air blow nozzles 38, 38 eject compressed air from their tips in order to remove chips from the processing surface.
- the scraper 9 is a flat blade having a substantially triangular shape in a front view, is formed of cemented carbide, and prevents breakage and chipping of the blade.
- the cemented carbide is prevented from chatter vibration due to its high natural frequency.
- two notches 9B and 9C whose opening directions are different by 90 ° are formed, and the screws 37 and 37 are screwed into the notches 9B and 9C, whereby the scraper 9 is formed. Is positioned and attached to the blade attachment surface 36A.
- the blade attachment surface 36A is formed so as to be parallel to the axis 3A of the wrist shaft 3 and to be a half of the thickness t of the scraper 9 with respect to the axis 3A of the wrist shaft 3. Therefore, the surface at the center of the plate thickness t of the scraper 9 includes the axis 3 A of the wrist axis 3.
- the scraper 9 is provided with a bottom surface 9D substantially perpendicular to the axis 3A of the wrist shaft 3, a first inclined surface 9E provided on the arrow X1 direction side and forming an inclination angle ⁇ 1 with the bottom surface 9D, and an inclination for the bottom surface 9D.
- An inner peripheral cutting edge 41 is formed on the tip end side of the first slope 9E, and an outer peripheral cutting edge 42 is formed on the tip end side of the second inclined face 9F. .
- the inclination angle ⁇ 1 and the inclination angle ⁇ 2 are uniquely set in accordance with the angle of the processing planned surface of the workpiece.
- FIG. 4B is a cross-sectional view taken along the line BB in FIG. 4A, and is a cross-sectional view of the inner circumferential cutting edge 41.
- FIG. 4C is a cross-sectional view taken along the line CC in FIG. 4A and is a cross-sectional view of the outer peripheral cutting edge portion 42.
- the inner peripheral cutting edge portion 41 has a rake surface 41A and a flank surface 41B, and an angle ⁇ 1 between the rake surface 41A and the scraper surface 9G is set to 5 to 30 °, and the rake surface 41A and the flank surface 41B
- the formed angle (cutting edge angle) ⁇ 1 is set to 60 ° to 120 °.
- the outer peripheral cutting edge portion 42 has a rake surface 42A and a flank surface 42B, and an angle ⁇ 2 formed between the rake surface 42A and the scraper surface 9G is set to 5 to 30 °, and the rake surface 42A and the flank surface 42B
- the angle (cutting edge angle) ⁇ 2 made by the lens is set to 60 ° to 120 °.
- FIGS. 5A and 5B are diagrams schematically showing the relationship between the posture of the scraper-type deburring apparatus in the chamfering process and the work (resin-formed product) 100.
- FIG. This work 100 is, for example, a resin injection molded product such as a television frame or a notebook personal computer frame, and since all the surface 100A on the front side is configured as a design surface, the suction jig is addressed to the back with the back facing downward. It is held by suction.
- burrs generated during injection molding remain at the corners of the inner circumferential portion 100B and at the corners of the outer circumferential portion 100C. 100C deburring and chamfering are performed.
- deburring and chamfering of the inner peripheral portion 100B of the work 100 (hereinafter, chamfering of the inner peripheral portion) is performed by the inner peripheral cutting edge portion 41 of the scraper 9, as shown in FIG. 5B
- deburring of the outer peripheral portion 100C and chamfering (hereinafter, chamfering of the outer peripheral portion) are performed by the outer peripheral cutting edge portion 42 of the scraper 9.
- the chamfering process procedure of the workpiece 100 will be described by taking the chamfering process of the inner peripheral portion 100B as an example. In the following description, the case where the workpiece 100 is held horizontally and processed will be described. Note that the holding posture of the work 100 is not limited to horizontal. As shown in FIG.
- the processing planned surface 100D of the inner peripheral portion 100B is substantially rectangular, and includes a flat surface portion 100DL of four sides and a curved surface portion 100DR connecting the adjacent flat surface portions 100DL.
- Chamfering of the inner peripheral portion 100B is started from any one of four flat portions 100DL, for example, the flat portion 100DL in the X1 direction. Then, the processing of the flat surface portion 100DL and the processing of the curved surface portion 100DR are alternately repeated to complete the process planned surface 100D.
- the chamfering process of the flat portion 100DL will be described in detail by taking the deburring start time as an example.
- the scraper 9 is lowered from above the workpiece 100 so as not to interfere with the inner circumferential portion 100B of the workpiece 100 while keeping the direction of the axis 3A of the wrist axis 3 in the vertical direction.
- the scraper 9 is moved in the X1 direction, and the cutting edge portion 41 for the inner circumference is brought into contact with the inner circumference portion 100B of the workpiece 100.
- thrust FX is generated by the operation of the thrust air cylinder 32 for the inner circumference
- thrust FZ is generated by the operation of the radial air cylinders 21, 21,
- the scraper 9 is generated by the resultant F of thrust FX and FZ.
- the inner peripheral cutting edge 41 is pressed against the flat portion 100DL.
- the air pressure of the inner peripheral thrust air cylinder 32 is controlled to be 2 tan ⁇ 1 times the air pressure output from one radial air cylinder 21 by a control device (not shown), as shown in FIGS.
- the direction of the resultant force F between the pressing force FX by the inner peripheral thrust air cylinder 32 and the pressing force FZ by the radial air cylinders 21 is the normal 150 direction of the flat portion 100DL of the workpiece.
- the resultant force F of the thrust force FX and the thrust force FZ is set to a predetermined force, for example, in the range of 0.5 to 50 (N).
- the resultant force F is in the range of 0.5 to 50 (N)
- the pressing force is a load exceeding 50 (N)
- the cutting amount increases and chatter vibration occurs in the scraper 9, and the finish of the processed surface is deteriorated, and the pressing force is less than 0.5 (N)
- the amount of cutting was small and the burr could not be removed sufficiently.
- the scraper 9 is moved along the flat portion 100DL to a predetermined moving speed (for example, 10 to 1500 mm / sec) along the flat portion 100DL while pressing the inner peripheral cutting edge portion 41 of the scraper 9 against the work 100.
- a predetermined moving speed for example, 10 to 1500 mm / sec
- the moving speed of the scraper is set to a predetermined speed, for example, in the range of 10 to 1500 mm / sec. It was found that when the moving speed is in the range of 10 to 1500 mm / sec, it is possible to execute chamfering with an excellent feeling of finish while securing a sufficient amount of cutting.
- the moving speed is less than 10 mm / sec, the amount of cutting increases and chatter vibration occurs to deteriorate the finish of the machined surface, and if the moving speed exceeds 1500 mm / sec, the cutting amount is small, It turned out that the burr can not be removed sufficiently.
- the posture of the scraper 9 is controlled by the articulated robot 1 so that the scraper surface 9G is orthogonal to the processing surface of the inner peripheral portion 100B of the workpiece 100. Since the scraper surface 9G is orthogonal to the flat portion 100DL of the processing planned surface 100D, the rake angle ⁇ in the chamfering process is negative at the same angle as the angle ⁇ 1 (for example, 5 ° to 30 °) between the rake surface 41A and the scraper surface 9G. It will be a rake corner.
- the rake angle is a negative rake angle of 5 ° to 30 °, it is possible to execute chamfering with an excellent finish feeling while securing a sufficient amount of cutting. If the rake angle is a positive rake angle or a negative rake angle of less than 5 °, the amount of cutting increases and chatter vibration occurs, the finish of the machined surface deteriorates, and if it is a negative rake angle exceeding 30 °, cutting It was found that the amount was small and the burr could not be removed sufficiently.
- the floating mechanism 5 applies the thruster FZ in the direction of the axis 3A (vertical direction) of the wrist axis 3 (vertical direction) to the scraper 9 and the thrust FX in the direction (horizontal direction) orthogonal to the axis 3A of the wrist axis 3 And direct the resultant force F between the thrust FX and the thrust FZ in the direction of the normal 150 of the planned work surface 100D, while pressing the scraper 9 against the planned work surface 100D of the workpiece 100, along with the scraper 9 along the planned work surface 100D. Move and chamfer.
- the articulated robot 1 makes the scraper 9 a flat portion 100DL. Only by moving along, it is possible to execute the chamfering process with high precision and excellent finish feeling. In addition, the operation of the articulated robot 1 becomes a simple operation with the axis 3A of the wrist axis 3 directed vertically downward, which simplifies teaching and is stable because the robot operation speed does not change. I can carry out processing.
- the articulated robot 1 makes the scraper surface 9G orthogonal to the flat portion 100DL which is the processing surface of the inner peripheral portion 100B of the workpiece 100.
- the attitude of the scraper 9 is controlled, and chamfering is performed by moving the scraper 9 while maintaining the attitude.
- the blade position of the scraper 9 is moved by robot operation. The position and posture of the scraper 9 are controlled such that the scraper surface 9 G is rotated about the axis 3 A and is orthogonal to the contact surface 120 of the curved portion 100 DR in the blade contact portion 110.
- the rake angle ⁇ of the chamfering process is between the rake surface 41A and the scraper surface 9G also in the processing of the curved surface portion 100DR. It is a negative rake angle ⁇ which is the same as the angle ⁇ 1 formed.
- the robot moves the scraper 9 along the chamfer
- the chamfering process can be performed with high precision and excellent finish just by Further, even in the processing of the curved surface portion 100DR, the operation of the articulated robot 1 is a simple operation with the axis 3A of the wrist axis 3 directed vertically downward, so teaching becomes easy and the robot operation speed is increased. Since no change occurs, stable machining can be performed.
- the chamfering process of the processing planned surface 100D is performed by controlling the posture and the position of the articulated robot 1, but a larger effect is exhibited in the curved surface portion 100DR than in the case of the flat surface portion 100DL.
- the thrust force FX acts only in the horizontal direction
- the articulated robot 1 performs posture control in a direction in which the thrust force FX does not work
- the normal 150 of the contact surface 120 of the curved surface portion 100DR in the blade edge contact portion 110 The thrust force FX in the direction is reduced, and the finish feeling of the curved surface portion 100DR is reduced.
- the thrust FZ in the direction of the axis 3A of the wrist axis 3 and the thrust FX in the direction orthogonal to the axis 3A of the wrist axis 3 act on the scraper 9, either thrust FZ or thrust FX
- the inner peripheral cutting edge portion 41 of the scraper 9 is directed to the normal 150 of the contact surface 120 of the curved surface portion 100DR in the cutting edge contact portion 110 by the remaining thrust. Therefore, the thrust always acts even when chamfering the curved surface portion 100DR, and the finish feeling of the curved surface portion 100DR can be improved.
- the operation of the inner peripheral cutting edge portion 41 has been described above, it goes without saying that the outer peripheral cutting edge portion 42 also operates in the same manner at the time of cutting.
- the radius of curvature of the curved surface portion 100DR on the inner periphery of the workpiece 100 is as small as about 1 mm.
- the thickness t of the scraper is set to 1 mm or more, and breakage of the blade and breakage of the blade are prevented.
- the generation direction of the burr generated in the chamfered portion of the workpiece 100 depends on the structure of the mold in the resin molding machine, and depending on the type of workpiece, the lateral burr 131 shown in solid line in FIG. Vertical burrs 132 are generated.
- the direction of the burrs is different, since the direction of the reaction force that the scraper 9 receives from the workpiece 100 is different, it is necessary to adjust the thrust forces FX and FZ.
- the pressure of the thrust cylinder 32 for the inner circumference is set by the control device (not shown) so that the thrust force FX corresponding to the direction of the lateral burr can be increased. increase.
- the pressure of the radial air cylinders 21 is increased so that the thrust FZ corresponding to the direction of the vertical burrs can be increased.
- the resultant force F is slightly inclined toward the thrust FX and FZ with respect to the normal 150 direction, but in this specification, this action direction is also approximately the normal 150 direction. It is defined as the thrust of Thereby, the influence by the direction of a burr
- the floating mechanism 5 generates the thrust FZ in the direction of the axis 3A (vertical direction) of the wrist axis 3 with respect to the scraper 9 and the thrust FX in the direction (horizontal) orthogonal to the axis 3A of the wrist axis 3
- the robot directs the scraper 9 to the processing planned surface 100D while directing the resultant force F of the thrust force FX and the thrust force FZ in the direction of the normal 150 of the processing planned surface 100D and pressing the scraper 9 against the processing planned surface 100D. Move along to chamfer.
- the burr 131 (132) is accurately cut without damaging the surface 100A on the design side of the work 100, the inner peripheral portion 100B, and the outer peripheral portion 100C, and the processing planned surface (chamfered portion) 100D
- the finish feeling can be improved.
- the inner peripheral thrust air cylinder 32 that generates the thrust force FX and the radial air cylinders 21 that generate the thrust force FZ are controlled independently, and each air pressure can be adjusted.
- the thrusts FX and FZ can be adjusted even if the direction and the magnitude of the reaction force applied to the scraper 9 change at the time of chamfering, for example, because the direction, height and width of the burr 131 (132) are different.
- the finish feeling of the processing planned surface (chamfered portion) 100D can be maintained.
- the processing planned surface 100D has been described as a horizontal surface, it may not be a horizontal surface, or may be a planned surface including a portion that is not horizontal.
- the resultant force F can be applied in an appropriate direction by an air pressure adjusting mechanism such as a regulator.
- the blade rigidity can be increased by the wide width, and for the inner peripheral cutting edge portion 41 and the outer periphery at both side edges of the scraper 9 whose blade rigidity is enhanced. Since the cutting edge portion 42 is integrally formed, chatter vibration when cutting with the inner peripheral cutting edge portion 41 and chatter vibration when cutting with the outer peripheral cutting edge portion 42 are suppressed to improve the finish feeling of the processing planned surface 100D. be able to.
- the rake surface 41A is formed in the inner peripheral cutting edge portion 41 of the scraper 9 so that the angle formed with the scraper surface 9G is ⁇ 1, and the outer peripheral cutting edge portion 42 with the scraper surface 9G.
- the rake face 42A is formed such that the formed angle is ⁇ 1. Therefore, when chamfering is performed by moving the scraper 9 to the rake surface 42A side by controlling the posture of the scraper 9 so that the scraper surface 9G is perpendicular to the processing planned surface 100D, the rake angle ⁇ is negative for the angle ⁇ 1.
- the inner peripheral cutting edge portion 41 of the scraper 9 is provided with a flank 41B having a clearance angle ⁇ from the curved surface portion 100DR when the curved surface portion 100DR is chamfered. Therefore, when processing the curved portion 100DR while controlling the posture of the scraper 9 so that the scraper surface 9G is orthogonal to the contact surface 120 at the blade edge contact portion 110 of the curved portion 100DR, the plate thickness is larger than the radius of curvature of the curved portion 100DR. Even if the scraper 9 having a large t is used, the corner 9H (the blade No. 2) of the scraper 9 does not interfere with the curved surface portion 100DR. Thereby, it is possible to avoid the interference of the corner 9H (the second blade) with the workpiece 100 while improving the rigidity of the blade, and it is possible to suppress chatter vibration and improve the finish feeling of the processing planned surface 100D. .
- the blade edge parts 41 and 42 of the scraper 9 are linear form.
- the inner peripheral portion 100B or the outer peripheral portion 100C of the workpiece 100 is C-chamfered.
- the curved portions 9I may be provided on the cutting edges 41 and 42 of the scraper 9.
- the inner peripheral portion 100B or the outer peripheral portion 100C is addressed to the curved portion 9I and chamfered, the inner peripheral portion 100B or the outer peripheral portion 100C is R-chamfered to correspond to the shape of the curved portion 9I.
- the embodiment described above merely shows one aspect of the present invention, and arbitrary modifications and applications are possible within the scope of the present invention.
- the thrust FX in the direction (horizontal direction) orthogonal to the axis 3A of the wrist axis 3 and the thrust FZ in the axis 3A (vertical direction) of the wrist axis 3 are independently made.
- a controllable floating mechanism 5 is provided, and the scraper 9 is pressed against the planned work surface 100D of the workpiece 100 by directing the resultant force F of the thrust FX and the thrust FZ in the direction of the normal 150 of the planned work surface 100D.
- the direction of the thrust provided by the floating mechanism 5 is not limited to this, What is necessary is just to cross.
- the thrust in the direction of the axis 3A of the wrist axis 3 and the thrust in the direction forming an angle of 45 ° with the axis 3A of the wrist axis 3 may be used.
- the scraper 9 since the scraper 9 is pressed against the processing planned surface 100D by the combined force of the thrusts in these two directions, it is possible to stably apply the thrust (synthetic force) in the direction of the normal 150 of the processing planned surface 100D.
- the cut-in size becomes constant.
- the burr 131 (132) is accurately cut without damaging the surface 100A on the design side of the work 100, the inner peripheral portion 100B, and the outer peripheral portion 100C, and the processing planned surface (chamfered portion) 100D
- the finish feeling can be improved.
- the shape of the scraper 9 is not limited to the flat, and may be, for example, a wedge-shaped scraper having a rake face and a flank face.
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Abstract
Description
そのため、従来、テレビジョン枠やノートパソコン枠などの化粧板のバリ取り加工は、例えばスクレイパーを加工面に押し当てて、これを加工面に沿って移動させて手作業による人海戦術でバリの除去、及び面取り作業を行うのが一般的である。
このような手作業によるバリ取り、面取り加工では、スクレイパー加工面の仕上がりにばらつきが生じるうえ、加工不良が発生し易く、歩留まりが大きく低下するという問題がある。また、手作業に適した工具では、加工部の曲率半径が小さい場合、加工が困難になるなどの問題がある。
また、樹脂成形品の面取り部にはバリが発生するが、一般的には、樹脂成形機における金型のパーティング面の位置に応じて、縦バリや横バリなど、バリの発生方向が異なる。面取り時にはバリも一体に除去するため、バリの発生方向に応じ、スクレイパーの刃先部に作用する反力が変化し、この構成では、例えばバリの除去のために反力が大きくなる方向の推力付与部材の推力を、他よりも大きく調整することで、加工面の削り込み寸法が一定となるなど、加工面の仕上がり感が向上する。
この構成では、ロボットの姿勢制御により、面取り部の面取りを行うが、面取り部が直線部の場合より、曲線部となっている場合において、大きな効果を発揮する。例えば、一方向に推力を作用させた場合では、この推力が働かない方向にロボットで姿勢制御されると、法線方向への推力が低下し、加工面の仕上がり感が低下する。この構成では、交差する方向に推力が作用するため、いずれかの推力が働かない方向にロボットで姿勢制御されても、残りの推力付与部材の推力によって、スクレイパーの刃先部が法線方向に押されるため、曲線部の面取り時においても常時推力が働くこととなり、曲線部の加工面の仕上がり感が向上する。
この構成では、スクレイパーが幅広の平板で形成されるため、幅広の分だけスクレイパーの剛性が高くなり、この平板の側縁に刃先部が形成されているため、切削時のひびり振動などが発生せず、加工面の仕上がり感が向上する。
前記スクレイパーの刃先部が、負のすくい角を有するすくい面を備えてもよい。
この構成では、負のすくい角を有するため、切削抵抗が減少する。
前記スクレイパーの刃先部が、曲面部の面取りを行うときの当該曲面部からの逃げ角を有する逃げ面を備えていてもよい。
前記逃げ面が、スクレイパーの板厚よりも小さい半径の曲面部の面取りを行うときに機能する構成としてもよい。
前記樹脂成形品が外周部及び内周部を有する枠状ワークであり、前記スクレイパーが幅広の平板で形成され、一側縁に外周部の面取り用の刃先部が形成され、他側縁に内周部の面取り用の刃先部が形成されていてもよい。
前記スクレイパーの刃先部にR面取り用の湾曲部を備えてもよい。
図1は、スクレイパー式バリ取り装置の一実施形態を示す斜視図である。
図1において、1は多関節ロボットを示している。多関節ロボット1の手首軸3には先端アーム4が連結され、先端アーム4にフローティング機構5が取り付けられ、フローティング機構5に超硬製のスクレイパー9が支持されている。多関節ロボット1は制御装置(不図示)と接続され、多関節ロボット1の動作は、ティーチング又はプログラムにより予め入力されるデータにより決定され、当該制御装置により制御される。
また、取り付けプレート11の他側縁11B側のラジアルリニアシャフト13,13は、同じくラジアル可動プレート19に固定されたラジアルリニアブッシュ16,16を摺動自在に貫通し、各先端部が、抜け止め部材17により連結されている。これら抜け止め部材15,17により、隣り合う二本のラジアルリニアシャフトが連結されることで、剛性が高められている。
図3に破線示するように、外周用スラストエアシリンダ31のピストンロッド31Aを伸長させて受け部材33を押圧し、内周用スラストエアシリンダ32のピストンロッド32Aを縮退させて受け部材33から離間させることで、スラスト可動プレート27は、エアー圧により、矢印X2の方向に押圧され、矢印X1方向にエアー圧以上の圧力が作用すると、スラスト可動プレート27が押し返され、フローティング状態となる。一方、図3において実線示するように、内周用スラストエアシリンダ32のピストンロッド32Aを伸長させて受け部材33を押圧し、外周用スラストエアシリンダ31のピストンロッド31Aを縮退させて受け部材33から離間させることで、スラスト可動プレート27は、エアー圧により、矢印X1の方向に押圧され、矢印X2方向にエアー圧以上の圧力が作用すると、スラスト可動プレート27が押し返され、フローティング状態となる。
なお、フローティング状態でないときには、外周用スラストエアシリンダ31、内周用スラストエアシリンダ32のいずれか一方を動作させることで、受け部材33がピストンロッド31A,32A間に挟持され、スラスト可動プレート27のがたつきを防止できるように構成されている。
内周用刃先部41は、すくい面41Aと逃げ面41Bとを有し、すくい面41Aとスクレイパー表面9Gとのなす角α1が5~30°に設定され、すくい面41Aと逃げ面41Bとのなす角(刃先角)β1が60°~120°に設定されている。また、外周用刃先部42は、すくい面42Aと逃げ面42Bとを有し、すくい面42Aとスクレイパー表面9Gとのなす角α2が5~30°に設定され、すくい面42Aと逃げ面42Bとのなす角(刃先角)β2が60°~120°に設定されている。
図5A、Bは、面取り加工におけるスクレイパー式バリ取り加工装置の姿勢とワーク(樹脂成形品)100との関係を模式的に示す図である。
このワーク100は、例えばテレビジョン枠やノートパソコン枠などの樹脂射出成形品であり、表側の面100Aがすべて意匠面で構成されているため、裏面を下向きとして裏面に例えば吸着治具を宛がって吸着保持されている。このワーク100においては、内周部100Bの角部や、外周部100Cの角部に、射出成形時に生じたバリが残存しており、スクレイパー式バリ取り装置により、これら内周部100Bや外周部100Cのバリ取り、面取り加工が行われる。
ワーク100の面取り加工手順を、内周部100Bの面取り加工を例にとって説明する。以下の説明では、ワーク100を水平に保持して加工する場合について説明する。なお、ワーク100の保持姿勢は、水平に限定されない。
内周部100Bの加工予定面100Dは、図5Aに示すように、略矩形をなしており、四方の平面部100DLと、隣接する平面部100DLを接続する曲面部100DRとから構成される。内周部100Bの面取り加工は、四方いずれかの平面部100DLたとえばX1方向の平面部100DLから開始される。そして、平面部100DLの加工と、曲面部100DRの加工を交互に繰り返して、加工予定面100Dを一周して終了する。
図6に破線示するように、まず、手首軸3の軸線3Aの向きを鉛直方向に保ったまま、ワーク100の内周部100Bに干渉しないように、ワーク100の上方からスクレイパー9を降下させる。
ついで、図6に実線示するように、スクレイパー9をX1方向に移動させ、内周用刃先部41をワーク100の内周部100Bに当接させる。そして、図7Aに示すように、内周用スラストエアシリンダ32の動作で推力FXを発生し、ラジアルエアシリンダ21、21の動作で推力FZを発生し、推力FX、FZの合力Fでスクレイパー9の内周用刃先部41を平面部100DLに押し付ける。
推力FXと推力FZとの合力Fは、例えば0.5~50(N)の範囲内で、所定の力に設定される。合力Fを0.5~50(N)の範囲内とすると、十分な切削量を確保しつつ、仕上がり感に優れた面取り加工を実行できることが判明した。例えば、押し付け力が50(N)を超える荷重になると切削量が増加してスクレイパー9にびびり振動が生じ、加工面の仕上がりが悪化し、押し付け力が0.5(N)未満の場合には、切削量が少なく、バリを十分に除去できないことが判明した。
スクレイパーの移動速度は、例えば10~1500mm/secの範囲内で、所定の速度に設定される。移動速度を10~1500mm/secの範囲内とすると、十分な切削量を確保しつつ、仕上がり感に優れた面取り加工を実行できることが判明した。一方、移動速度が10mm/sec未満の場合には、切削量が増加してびびり振動が生じ、加工面の仕上がりが悪化し、移動速度が1500mm/secを超える場合には、切削量が少なく、バリを十分に除去できないことが判明した。
すくい角を5°~30°の負のすくい角とすると、十分な切削量を確保しつつ、仕上がり感に優れた面取り加工を実行できることが判明した。すくい角を正のすくい角あるいは5°未満の負のすくい角とすると、切削量が増加してびびり振動が生じ、加工面の仕上がりが悪化し、30°を超える負のすくい角とすると、切削量が少なく、バリを十分に除去できないことが判明した。
従って、例えば、スクレイパー9に対して、水平方向の推力FXのみを付与する場合と比較して、加工予定面100Dの法線150方向に安定して推力(合力)を付与できる。よって、加工予定面100Dの削り込み寸法などが一定となり、加工予定面100Dの仕上がり感が向上する。
また、多関節ロボット1の動作は、手首軸3の軸線3Aを鉛直下向きに向けたままの簡単な動作となり、ティーチングが簡単となるうえ、ロボット動作速度に変化が生じることがないので、安定した加工を実行できる。
まず、平面部100DLの面取り加工においては、図8Aで実線示するように、スクレイパー表面9Gがワーク100の内周部100Bの加工面である平面部100DLに直交するように、多関節ロボット1でスクレイパー9の姿勢が制御され、この姿勢を保ったままスクレイパー9を移動させることで面取り加工が行われる。
ついで、図8Aで破線示するように、ワーク100の終点すなわちR部の始点に刃先が到達した後は、ロボット動作により、スクレイパー9の刃先位置が移動されるとともに、スクレイパー9が手首軸3の軸線3A周りに回転され、スクレイパー表面9Gが、刃先接触部110における曲面部100DRの接面120と直交するように、スクレイパー9の位置および姿勢が制御される。
例えば、水平方向のみに推力FXを作用させた場合では、この推力FXが働かない方向に多関節ロボット1で姿勢制御されると、刃先接触部110における曲面部100DRの接面120の法線150方向への推力FXが低下し、曲面部100DRの仕上がり感が低下する。これに対し、本実施形態では、手首軸3の軸線3A方向の推力FZと、手首軸3の軸線3Aと直交する方向の推力FXとがスクレイパー9に作用するため、推力FZまたは推力FXのいずれかが働かない方向に多関節ロボット1で姿勢制御されても、残りの推力によって、スクレイパー9の内周用刃先部41が、刃先接触部110における曲面部100DRの接面120の法線150方向に押されるため、曲面部100DRの面取り加工時においても常時推力が働くこととなり、曲面部100DRの仕上がり感を向上させることができる。なお、以上は、内周用刃先部41の作用について説明したが、外周用刃先部42も切削時に同様に作用することは云うまでもない。
スクレイパー型の刃物は、その板厚が1mmを下回ると剛性の確保が難しく、刃の折損や刃欠けが生じやすいうえ、びびり振動が生じて加工面の仕上がりが悪化する。そこで、本実施形態では、スクレイパーの板厚tは1mm以上に設定され、刃の折損や刃欠けが防止されている。しかし、図8において、加工面の曲率半径rを超える板厚tを有するスクレイパー9で曲面部100DRを加工する場合、進行方向後ろ側のスクレイパー9の角部9H(すなわち刃物の2番)がワーク100に干渉しやすい。
第二に、すくい面41の反対側に逃げ角φを有する逃げ面42が形成される。逃げ面42が形成されているので、図8B、図8Cに示すように平面部100DLの加工に続いて曲面部100DRを加工し、さらに連続して平面部100DLの加工を行う場合にも、角部9H(刃物の2番)がワーク100に干渉することがない。従って、曲率半径rの小さい曲面部を精度良く仕上げられる。
この一連の加工段階においては、図1を参照し、ホルダ支持部材35に、加工予定面100D近傍まで伸びるエアブローノズル38、38が設けられるため、エアブローノズル38、38の先端からエアーが噴出されて、面取り加工の際、切りくずがワーク100に付着することがない。
従って、加工予定面100Dの法線150方向に安定して推力(合力)を付与でき、加工予定面100Dの削り込み寸法が一定となる。これにより、ワーク100の意匠面である表側の面100A、内周部100B、外周部100Cに傷をつけることなく、バリ131(132)を正確に切削し、加工予定面(面取り部)100Dの仕上がり感を向上させることができる。
また、本実施形態では、推力FXを発生させる内周用スラストエアシリンダ32と、推力FZを発生させるラジアルエアシリンダ21、21とは独立して制御され、各エアー圧力を調整可能である。従って、例えばバリ131(132)の向きや高さ、幅が異なるなどして、面取り加工時にスクレイパー9に加わる反力の方向や大きさが変動したとしても、推力FX,FZを調整できるので、加工予定面(面取り部)100Dの仕上がり感を維持することができる。
加工予定面100Dは水平面で説明したが、水平面でなくてもよく、あるいは水平でない部位を含む予定面であっても良い。
いずれの場合であっても、レギュレータなどの空気圧力調整機構により合力Fを適正な方向に付与できる。
従って、スクレイパー表面9Gが加工予定面100Dと垂直になるようにスクレイパー9の姿勢を制御して、すくい面42A側にスクレイパー9を移動させて面取り加工するときには、すくい角γが角度α1の負のすくい角となり、内周用刃先部41の加工予定面100Dへの食い込みを防止して、加工予定面100Dの削り込み寸法を一定とすることができる。したがって、びびり振動を抑制でき、加工予定面100Dの仕上がり感を向上させることができる。
従って、スクレイパー表面9Gが、曲面部100DRの刃先接触部110における接面120と直交するようにスクレイパー9の姿勢を制御しながら曲面部100DRを加工するとき、曲面部100DRの曲率半径よりも板厚tの大きなスクレイパー9を用いてもスクレイパー9の角部9H(刃物の2番)が曲面部100DRと干渉することがない。これにより、刃物剛性を向上させつつ、角部9H(刃物の2番)のワーク100への干渉を避けることができ、びびり振動を抑制して加工予定面100Dの仕上がり感を向上させることができる。
本実施形態では、スクレイパー9に対して、手首軸3の軸線3Aと直交する方向(水平方向)の推力FXと、手首軸3の軸線3A方向(垂直方向)の推力FZとを、独立して制御可能なフローティング機構5を設け、推力FXと推力FZとの合力Fを、加工予定面100Dの法線150方向に指向させてスクレイパー9をワーク100の加工予定面100Dに押し付けながら、スクレイパー9を加工予定面100Dに沿って移動させて面取り加工を行う構成を説明したが、フローティング機構5により付与される推力の方向はこれに限定されず、交差していればよい。たとえば手首軸3の軸線3A方向の推力と、手首軸3の軸線3Aと45°をなす方向の推力であってもよい。
この場合にも、この2方向の推力の合力によりスクレイパー9を加工予定面100Dに押し付けるので、加工予定面100Dの法線150方向に安定して推力(合力)を付与でき、加工予定面100Dの削り込み寸法が一定となる。これにより、ワーク100の意匠面である表側の面100A、内周部100B、外周部100Cに傷をつけることなく、バリ131(132)を正確に切削し、加工予定面(面取り部)100Dの仕上がり感を向上させることができる。
さらに、本実施形態では、平板状のスクレイパー9を例示したが、スクレイパー9の形状は平板状に限定されず、すくい面と逃げ面とを有する、例えばくさび形状のスクレイパーであってもよい。
4 先端アーム
5 フローティング機構
9 スクレイパー
9G スクレイパー表面
9I 湾曲部
21 ラジアルエアシリンダ(推力付与部材)
31 スラストエアシリンダ(推力付与部材)
32 スラストエアシリンダ(推力付与部材)
41 内周用刃先部(刃先部)
42 外周用刃先部(刃先部)
41A、42A すくい面
41B、42B 逃げ面
100 ワーク(樹脂成形品)
100B 内周面(内周部)
100C 外周面(外周部)
100D 加工予定面(面取り部)
100DL 平面部
100DR 曲面部
t 板厚
Claims (7)
- ロボットの先端アームにフローティング機構を介してスクレイパーを支持し、
フローティング機構がスクレイパーに対し互いに交差する方向に推力を付与する複数の推力付与部材を備え、
スクレイパーの刃先部を樹脂成形品の面取り部に押し当て、複数の推力付与部材による各推力の合力を面取り部の法線方向に指向させながら、ロボットにより刃先部を面取り部に沿って送って面取りを行うように構成したことを特徴とするスクレイパー式バリ取り装置。 - 前記スクレイパーが幅広の平板で形成され、前記スクレイパーの刃先部が、前記平板の側縁に一体に形成されていることを特徴とする請求項1に記載のスクレイパー式バリ取り装置。
- 前記スクレイパーの刃先部が、負のすくい角を有するすくい面を備えていることを特徴とする請求項1又は2に記載のスクレイパー式バリ取り装置。
- 前記スクレイパーの刃先部が、曲面部の面取りを行うときの当該曲面部からの逃げ角を有する逃げ面を備えていることを特徴とする請求項1乃至3のいずれか一項に記載のスクレイパー式バリ取り装置。
- 前記逃げ面が、スクレイパーの板厚よりも小さい半径の曲面部の面取りを行うときに機能することを特徴とする請求項4に記載のスクレイパー式バリ取り装置。
- 前記樹脂成形品が外周部及び内周部を有する枠状ワークであり、前記スクレイパーが幅広の平板で形成され、一側縁に外周部の面取り用の刃先部が形成され、他側縁に内周部の面取り用の刃先部が形成されていることを特徴とする請求項1乃至5のいずれか一項に記載のスクレイパー式バリ取り装置。
- 前記スクレイパーの刃先部にR面取り用の湾曲部を備えたことを特徴とする請求項1乃至6のいずれか一項に記載のスクレイパー式バリ取り装置。
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CN105592988A (zh) * | 2013-10-11 | 2016-05-18 | 日本省力机械株式会社 | 切割刀具和加工装置 |
CN104339508B (zh) * | 2014-10-27 | 2016-08-17 | 济南德佳机器有限公司 | 一种浮动清角装置 |
JP7200158B2 (ja) * | 2020-03-06 | 2023-01-06 | 日本碍子株式会社 | 接合材の掻き取り装置及びセグメント接合体の製造方法 |
CN113858501A (zh) * | 2020-06-30 | 2021-12-31 | 玉环市鑫庄电子股份有限公司 | 一种应用在电容器胶塞生产线中的自动化辅助装置 |
CN115971580B (zh) * | 2023-03-20 | 2023-06-06 | 山东南山铝业股份有限公司 | 一种建筑铝型材坡口切割装置 |
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JPS61125717A (ja) * | 1984-11-26 | 1986-06-13 | Ube Nitto Kasei Kk | 合成樹脂成形物のバリ取り装置 |
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WO2000030794A1 (fr) * | 1998-11-24 | 2000-06-02 | Nkk Corporation | Procede et dispositif d'ebavurage |
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CN103038039B (zh) | 2015-01-21 |
JP4685976B1 (ja) | 2011-05-18 |
JPWO2012020446A1 (ja) | 2013-10-28 |
CN103038039A (zh) | 2013-04-10 |
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