WO2023182711A1 - Deburring device - Google Patents
Deburring device Download PDFInfo
- Publication number
- WO2023182711A1 WO2023182711A1 PCT/KR2023/003310 KR2023003310W WO2023182711A1 WO 2023182711 A1 WO2023182711 A1 WO 2023182711A1 KR 2023003310 W KR2023003310 W KR 2023003310W WO 2023182711 A1 WO2023182711 A1 WO 2023182711A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- workpiece
- unit
- deburring
- stopper
- deburring tool
- Prior art date
Links
- 238000005520 cutting process Methods 0.000 claims abstract description 19
- 238000013459 approach Methods 0.000 claims abstract description 8
- 238000005096 rolling process Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 13
- 230000002093 peripheral effect Effects 0.000 description 13
- 238000012546 transfer Methods 0.000 description 7
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000004512 die casting Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000002848 electrochemical method Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/12—Trimming or finishing edges, e.g. deburring welded corners
- B23C3/126—Portable devices or machines for chamfering edges
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/12—Trimming or finishing edges, e.g. deburring welded corners
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/02—Driving main working members
- B23Q5/04—Driving main working members rotary shafts, e.g. working-spindles
- B23Q5/10—Driving main working members rotary shafts, e.g. working-spindles driven essentially by electrical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C2220/00—Details of milling processes
- B23C2220/20—Deburring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C2270/00—Details of milling machines, milling processes or milling tools not otherwise provided for
- B23C2270/08—Clamping mechanisms or provision for clamping
Definitions
- the present invention relates to a deburring device, and more specifically, to a deburring device for automatically removing burrs formed on a workpiece during the manufacturing process of the workpiece.
- burrs are likely to form on the surface of a workpiece manufactured by cutting, cutting, press, die casting, or injection processing.
- Fine burrs or burrs on workpieces that do not require great precision may not be a problem.
- most burrs cause interference between workpieces during the assembly process, which reduces assembly quality and can have a negative impact on the functionality of the assembled product. Therefore, it is desirable to remove burrs protruding from the surface of the workpiece during the manufacturing process.
- the process of removing burrs from the surface of a workpiece is called deburring.
- the deburring process can be performed through various methods depending on the material or type of the workpiece, such as mechanical, chemical, or electrochemical methods, but the method using a deburring tool that can cut the part protruding from the surface of the workpiece is mainly used. It is used. Deburring work using a deburring tool can be divided into a manual method by an operator and an automated method using a deburring device.
- the manual method requires a lot of labor, has the problem of delaying the manufacturing time of the workpiece, and has the disadvantage of inconsistent quality depending on the skill of the worker.
- the automated method removes burrs by moving the workpiece or deburring tool with a robot, which is advantageous in reducing process time and obtaining consistent quality.
- the method using a robot the task of inputting the position (coordinates) of the burr to the robot according to the shape of the workpiece is quite complicated and difficult. Therefore, the method using robots can be advantageous for mass production of small varieties of workpieces, but is not efficient for producing large quantities of small quantities.
- the present invention was conceived in consideration of the above-mentioned points, and its purpose is to provide a deburring device that can efficiently remove burrs without the need to specify and input the position of the burr according to the shape of the workpiece. .
- a deburring device for solving the above-described object is a deburring device for removing burrs protruding from the surface of a workpiece, comprising: a deburring tool for cutting the burrs of the workpiece; A drive unit that provides rotational force to the deburring tool; a support unit supporting the drive unit; A gripper for positioning the workpiece in a working position where a burr of the workpiece can contact the deburring tool; And a stopper coupled to the support unit and in contact with the surface of the workpiece placed at the working position to limit movement in the mutual approach direction between the deburring tool and the workpiece.
- the drive unit may rotate the deburring tool around a central rotation axis (C) perpendicular to the moving direction of the drive unit.
- the stopper may be installed in an adjustable position on the support unit so that its relative position with respect to the deburring tool can be changed.
- the deburring device may include an adjustment unit installed on the support unit to restrain the movement of the stopper so that the stopper does not move in a retreating direction away from the workpiece placed in the working position.
- the adjustment unit may include a protruding member that is screwably coupled to the support unit to restrict movement of the stopper in a retreat direction.
- the deburring device includes a carriage that is movably coupled to the support unit to support the stopper, and the protruding member is in contact with the carriage to restrict the backward movement of the carriage.
- the adjustment unit may be screwably coupled to the carriage and may include an adjustment member installed on the support unit so that a user can adjust the position of the carriage by screwing the carriage.
- the stopper may be in the form of a roller capable of rolling movement in contact with the surface of the workpiece.
- the deburring device may include an elastic unit that provides elastic force to the support unit so that the deburring tool can be pushed in a direction approaching the workpiece placed in the working position.
- the deburring device can limit movement in the mutual approach direction between the deburring tool and the workpiece by using a stopper unit that can contact the workpiece placed in the working position. Therefore, the amount of cutting of the workpiece by the deburring tool can be varied.
- the deburring device uses a stopper unit, so that the deburring work by the deburring tool can be performed smoothly and stably without moving the deburring tool or the workpiece by precisely controlling the position.
- the deburring device does not require the cumbersome task of inputting the position (coordinates) of the burr according to the shape of the workpiece to the robot, as in the prior art of moving the workpiece using a robot, and is simpler and simpler than the prior art. Deburring work can be performed efficiently.
- Figure 1 is a perspective view showing the main configuration of a deburring device according to an embodiment of the present invention.
- Figure 2 is a plan view showing the main configuration of a deburring device according to an embodiment of the present invention.
- Figure 3 is a side view showing the main configuration of a deburring device according to an embodiment of the present invention.
- Figure 4 is a block diagram showing a partial configuration of a deburring device according to an embodiment of the present invention.
- Figure 5 is an exploded view of a partial configuration of a deburring device according to an embodiment of the present invention.
- Figure 6 is for explaining the operation of the deburring device according to an embodiment of the present invention.
- Figure 11 is for explaining the operation of a stopper unit provided in a deburring device according to an embodiment of the present invention.
- Figure 12 shows a modified example of a stopper unit provided in the deburring device according to the present invention.
- Figure 1 is a perspective view showing the main configuration of a deburring device according to an embodiment of the present invention
- Figure 2 is a plan view showing the main configuration of a deburring device according to an embodiment of the present invention
- Figure 3 is an embodiment of the present invention. It is a side view showing the main configuration of the deburring device according to an example
- Figure 4 is a block diagram showing a partial configuration of the deburring device according to an embodiment of the present invention
- Figure 5 is a part of the deburring device according to an embodiment of the present invention. It is shown by disassembling the composition.
- the deburring device 100 includes a deburring tool 110 capable of cutting the burr (B) in contact with the burr (B) of the workpiece (W), and a deburring tool A drive unit 115 that provides rotational force to (110), a support unit 120 that supports the drive unit 115, a base 130 that movably supports the support unit 120, and a deburring tool ( A stopper unit 140 coupled to the support unit 120 so that it can be placed adjacent to 110), an adjustment unit 150 for adjusting the position of the stopper unit 140, and a workpiece (W) capable of supporting It includes a gripper 155 and a control unit 165 for controlling the overall operation of the deburring device 100.
- the deburring tool 110 rotates by the drive unit 115, and the gripper 155 positions the workpiece W at the working position P, thereby burring the workpiece W. B) can be removed by cutting with the deburring tool 110.
- the working position (P) is a position where the deburring tool 110 can contact the burr (B) of the workpiece (W).
- the gripper 155 moves the workpiece W at the work position P at a preset feed path and a preset feed speed to perform a deburring operation on the workpiece W. do.
- the deburring tool 110 can remove the burr (B) by cutting it by contacting the burr (B) of the workpiece (W) while rotating at high speed.
- the deburring tool 110 includes a tool body 111 coupled to the drive unit 115, and a tool head 112 provided at one end of the tool body 111 to cut the burr (B).
- the tool head 112 is made of a material capable of cutting the workpiece (W).
- the deburring tool 110 is detachably coupled to the drive unit 115 and can be replaced.
- the deburring tool 110 may be formed in various forms capable of cutting the workpiece W by rotating in contact with the workpiece W.
- the drive unit 115 provides rotational force to the deburring tool 110.
- the drive unit 115 includes a drive unit body 116 fixed to the support unit 120, and a rotating member 117 rotatably provided on the drive unit body 116.
- the rotating member 117 may rotate around a virtual central rotation axis C perpendicular to the moving direction of the support unit 120. Based on Figure 1, the rotation center axis (C) of the deburring tool 110 is parallel to the Z axis.
- a coupling hole 118 for coupling the deburring tool 110 is provided at the center of the rotating member 117.
- the deburring tool 110 may be coupled to the rotating member 117 by inserting the tool body 111 into the coupling hole 118.
- the deburring tool 110 coupled to the rotating member 117 may rotate around a central rotation axis C perpendicular to the linear movement direction of the support unit 120 together with the rotating member 117.
- the rotating member 117 may be provided with a chuck structure for fixing the tool body 111 inserted into the coupling hole 118.
- the drive unit 115 may be formed in various forms that can provide rotational force to the deburring tool 110.
- the support unit 120 supports the drive unit 115 so that it can move relative to the base 130.
- the support unit 120 includes a moving frame 121 to which the drive unit body 116 is fixed, and a support frame 123 that supports the stopper unit 140.
- the moving frame 121 is coupled to the base rail 131 provided on the base 130 to enable linear movement.
- the support frame 123 is provided with a rail portion 124 to which the stopper unit 140 is coupled. Additionally, the support frame 123 is provided with an insertion hole 125 and a through hole 126.
- the protruding member 151 of the adjustment unit 150 may be inserted into the insertion hole 125, and the adjustment member 152 of the adjustment unit 150 may be inserted into the through hole 126.
- the support frame 123 is shown to be coupled to the drive unit body 116 and coupled to the movable frame 121 through the drive unit body 116, but the support frame 123 is connected to the movable frame 121. Can be connected directly.
- the support unit 120 may be changed into various other forms capable of supporting the drive unit 115 other than the form shown.
- the support unit 120 may be integrated with the drive unit body 116, or a portion of the drive unit body 116 may be formed in a modified form.
- the base 130 supports the support unit 120 so as to be linearly movable.
- the base 130 is provided with a base rail 131 for guiding the support unit 120.
- the base rail 131 includes a pair of guide bars 132 extending in the linear movement direction of the support unit 120.
- the support unit 120 is coupled to a pair of guide bars 132 and can move linearly along the guide bars 132.
- the base rail 131 can be changed into various other forms that can movably support the support unit 120.
- the base 130 may be changed to another form that supports the support unit 120 so that it can move linearly or in various forms.
- An elastic unit 135 is installed in the base 130 to provide elastic force to the support unit 120.
- the elastic unit 135 includes an elastic member 136 coupled to the guide bar 132 in a form that surrounds at least a portion of the guide bar 132.
- One end of the elastic member 136 is in contact with or connected to the support unit 120 and can be elastically deformed by linear movement of the support unit 120.
- the elastic unit 135 applies elastic force due to the elastic deformation of the elastic member 136 to the support unit 120, thereby moving the deburring tool 110 coupled to the drive unit 115 to the workpiece (P) placed at the working position (P). You can push in the direction approaching W).
- the elastic unit 135 can provide the drive unit 115 with a moving force that can linearly move the drive unit 115 in the forward direction by applying elastic force to the support unit 120.
- the forward direction is a direction in which the deburring tool 110 approaches the workpiece (W) located at the working position (P).
- the retreat direction represents a direction in which the deburring tool 110 moves away from the workpiece (W) located at the working position (P) in a direction opposite to the forward direction.
- the elastic force application direction in which the elastic unit 135 applies elastic force to the support unit 120 is the Y-axis direction.
- the workpiece (W) to be deburred may be moved to the working position (P) by the gripper 155 and then cut by the deburring tool 110. Due to the action of the elastic unit 135, the deburring tool 110 can rotate in stable contact with the burr (B) of the workpiece (W) placed at the working position (P), and through this, deburring by the deburring tool (110) Work can be done more smoothly.
- the elastic unit 135 can be changed to various other configurations that can apply elastic force to the support unit 120. It can be.
- the elastic unit 135 may include an elastic member in the form of a tension spring.
- the elastic unit 135 may include other types of elastic members that can be elastically deformed according to the linear movement of the support unit 120, in addition to the coil spring-type elastic members.
- the elastic unit 135 may have a configuration that provides elastic force using pneumatic or hydraulic pressure in addition to including an elastic member that is elastically deformed.
- the stopper unit 140 may contact the surface of the workpiece (W) located at the working position (P) and restrict movement in the mutual approach direction between the deburring tool 110 and the workpiece (W). That is, when the stopper unit 140 is in contact with the surface of the workpiece (W), the deburring tool 110 and the workpiece (W) cannot move in the direction of approaching each other, and the deburring tool 110 and the work position (P) The distance between the surfaces of the workpiece (W) placed on cannot be changed.
- the stopper unit 140 is coupled to the support unit 120 so as to contact the surface of the workpiece W being deburred by the deburring tool 110.
- the stopper unit 140 includes a carriage 141 coupled to the support unit 120 to enable linear movement, and a stopper 145 coupled to the carriage 141 so as to contact the surface of the workpiece W.
- the carriage 141 is coupled to the rail portion 124 of the support unit 120 to enable linear movement.
- the carriage 141 may move in a forward or backward direction along the rail portion 124.
- a carriage hole 142 into which the adjustment member 152 can be inserted is formed at one end of the carriage 141.
- a support shaft 143 is provided on one side of the carriage 141.
- the stopper 145 is rotatably coupled to the support shaft 143.
- the stopper 145 may rotate around the support shaft 143 to roll in contact with the surface of the workpiece W.
- the stopper unit 140 is in contact with the surface of the workpiece W and restricts the movement in the mutual approach direction between the deburring tool 110 and the workpiece W, thereby limiting the cutting amount of the workpiece W by the deburring tool 110. can do.
- the stopper unit 140 when the stopper unit 140 is moved in the forward direction and fixed so that the outer peripheral surface of the stopper 145 protrudes from the outer peripheral surface of the tool head 112, the stopper 145 is positioned at the working position (P).
- the tool head 112 When contacting the workpiece W, the tool head 112 is spaced apart from the surface of the workpiece W.
- the fact that one outer peripheral surface protrudes more means that the outer peripheral surface protrudes more in a direction approaching the workpiece (W) located at the work position (P) compared to the other outer peripheral surface.
- the deburring tool 110 is used on the workpiece (W). ) can be partially removed without contacting the surface of the burr (B).
- the tool head 112 may contact the surface of the workpiece (W). You can. In this case, it is possible for the deburring tool 110 to completely remove the burr (B) on the surface of the workpiece (W) and also partially cut the surface of the workpiece (W).
- the stopper unit 140 moves further in the retreat direction and is fixed in a state in which the outer peripheral surface of the tool head 112 protrudes from the outer peripheral surface of the stopper 145, the tool head 112 is positioned on the surface of the workpiece (W). You can dig into. In this case, the deburring tool 110 can completely remove the burr (B) on the surface of the workpiece (W) and cut into the workpiece (W) by cutting the surface of the workpiece (W).
- the position of the stopper unit 140 can be adjusted by the adjustment unit 150.
- the adjustment unit 150 is installed on the support unit 120 so that it can be operated by the user.
- the adjustment unit 150 may restrain the movement of the stopper 145 so that the stopper unit 140 does not move in a retreat direction away from the workpiece (W) placed at the working position (P).
- the adjustment unit 150 includes a protruding member 151 that contacts the carriage 141 and can constrain the backward movement of the carriage 141, and is coupled to the carriage 141 so that the carriage 141 can be moved. It includes an adjustment member 152 that is.
- the protruding member 151 can be inserted into the insertion hole 125 of the support unit 120 and perform a screw movement.
- the protruding member 151 may be formed in the form of a bolt having a male thread
- the insertion hole 125 may be formed in the form of a screw hole having a female thread.
- the protruding member 151 may be manipulated by the user to change the position of the end in contact with the carriage 141.
- the end of the protruding member 151 may advance toward the workpiece (W) placed at the working position (P). Meanwhile, when the user rotates the protruding member 151 counterclockwise, the end of the protruding member 151 may move in the retreat direction. Therefore, the user moves the stopper unit 140 along the rail portion 124 to adjust the position of the stopper unit 140, and then moves the protruding member 151 to prevent the stopper unit 140 from retreating from the adjusted position. You can.
- the adjustment member 152 may be inserted into the through hole 126 of the support frame 123 and coupled to the carriage 141 to enable screw movement.
- the adjustment member 152 is inserted into the carriage hole 142 of the carriage 141 so as to engage with the carriage 141.
- the adjustment member 152 may be in the form of a bolt with a male thread
- the carriage hole 142 may be in the form of a screw hole with a female thread.
- the adjustment member 152 can move the carriage 141 in the forward or backward direction by screwing.
- FIGS. 7 to 10 A specific method of adjusting the position of the stopper unit 140 using the adjustment unit 150 is as shown in FIGS. 7 to 10.
- the user determines the size of the workpiece W to be deburred or the burr formed on the workpiece W ( Adjust the position of the support unit 120 according to the size or position of B). As shown in Figure 8, the user couples the adjustment member 152 to the carriage 141 and manipulates the adjustment member 152 to finely adjust the position of the stopper unit 140 to the workpiece (W) to be deburred. Adjust. After the position of the stopper unit 140 is finely adjusted, the user rotates the protruding member 151 so that the end of the protruding member 151 comes into contact with the position-adjusted carriage 141, as shown in FIG. 9. Adjust the position of (151).
- the user disengages the adjusting member 152 from the carriage 141, as shown in FIG. 10. In this state, the stopper unit 140 is restricted from moving in the retreat direction by the position-adjusted protruding member 151.
- the stopper unit 140 whose position is adjusted by the adjustment unit 150, has the stopper 145 in contact with the surface of the workpiece (W) located at the working position (P), so that the deburring tool 110 and the workpiece (W) The mutual approach direction movement between the two can be restricted. And the amount of cutting of the workpiece (W) by the deburring tool 110 may vary depending on the position of the stopper unit 140.
- the tool head (112) may or may not slightly contact the surface of the workpiece (W) placed at the working position (P). In this case, it is possible for the deburring tool 110 to completely remove the burr (B) on the surface of the workpiece (W).
- the deburring device 100 can variously adjust the cutting amount of the workpiece (W) by the deburring tool 110 by using the stopper unit 140, and the workpiece (W) ) can be deburred to have various surface roughnesses.
- the stopper unit 140 or the adjustment unit 150 may be changed into various other forms other than those shown.
- the stopper unit 170 shown in FIG. 12 includes a carriage 141 coupled to the support unit 120 to enable linear movement, and a carriage 141 coupled to the carriage 141 so as to contact the surface of the workpiece W.
- the stopper 171 unlike the roller-shaped stopper 145 described above, has a protruding or rod-shaped shape.
- the end of the stopper 171 in contact with the surface of the workpiece W may be rounded to reduce friction with the workpiece W.
- the stopper can be made in a variety of different forms.
- the part of the stopper that is in contact with the surface of the workpiece (W) may be made of a material that is softer than the workpiece (W).
- the adjustment unit 150 adjusts the position of the stopper unit 140 in addition to including a pair of protruding members 151 and an adjustment member 152 that can be screwed to the carriage 141. Alternatively, it can be changed to various other configurations that can limit the movement of the stopper unit 140 in the retreat direction.
- the gripper 155 positions the workpiece (W) at the working position (P).
- the gripper 155 may have various forms that can grip or support the workpiece W and position it at the working position P.
- the gripper 155 can be moved by the transfer unit 160.
- the transfer unit 160 is controlled by the control unit 165 to provide a moving force to the gripper 155 so that the gripper 155 transports the workpiece W to the working position P.
- the transfer unit 160 moves the gripper 155 in a preset direction so that the relative position of the workpiece (W) with respect to the deburring tool 110 changes while the workpiece (W) is located at the working position (P). You can do it.
- the gripper 155 moves the workpiece W to the working position P, brings the burr B of the workpiece W into contact with the deburring tool 110, and then moves the workpiece W to the working position P.
- the elastic unit 135 may move in a direction crossing the direction in which elastic force is applied to the support unit 120. Based on Figure 1, the direction in which the gripper 155 moves the workpiece (W) located at the working position (P) is the X-axis direction.
- the gripper 155 moves in a direction opposite to the direction of applying the elastic force of the elastic unit 135 to the support unit 120 while supporting the workpiece W (arrow)
- the workpiece (W) can be moved to the working position (P) by moving in direction A.
- the working position (P) is the workpiece in a state in which the support unit 120 is retreated a certain distance to elastically deform the elastic member 136 by the moving force of the gripper 155. This is a position where the burr (B) of (W) can come into contact with the deburring tool 110.
- the gripper 155 moves the workpiece W in the direction opposite to the direction of application of the elastic force of the elastic unit 135 and retracts the support unit 120 so that the elastic member 136 is elastically deformed, thereby moving the workpiece W to the working position. It can be placed at (P). Therefore, when the workpiece (W) is located at the working position (P), the elastic force of the elastic unit 135 acts on the deburring tool 110, and the elastic unit 135 moves the deburring tool 110 to the workpiece (W). ) can be pushed in the direction approaching. Therefore, in a state in which the deburring tool 110 is pressed toward the workpiece (W), the deburring tool 110 can cut the burr (B) by contacting the burr (B) of the workpiece (W).
- the gripper 155 moves in a direction (direction of arrow B) that intersects the elastic force application direction of the elastic unit 135, as shown in (b) of FIG. 6 with the workpiece (W) positioned at the working position (P). Move the workpiece (W). Therefore, while the deburring tool 110 is operating, the workpiece W moves and the burr B of the workpiece W may be cut by the deburring tool 110.
- the speed at which the gripper 155 moves the workpiece (W) in the direction of arrow B may vary, and the workpiece (W) is moved by the deburring tool 110 according to the moving speed of the workpiece (W) by the gripper 155.
- the cutting amount of (W) can be adjusted in various ways. For example, if the moving speed of the workpiece W by the gripper 155 is relatively slow, the time the workpiece W is in contact with the deburring tool 110 becomes relatively long, and the cutting amount by the deburring tool 110 increases. It increases.
- the gripper 155 may be controlled to move to various positions by the control unit 165 depending on the size of the workpiece W or the protrusion height or length of the burr B formed on the workpiece W.
- the control unit 165 controls the overall operation of the deburring device 100, including the operation of the drive unit 115 and the transfer unit 160.
- the control unit 165 allows the gripper 155 to transport the workpiece (W) to the work position (P), and when the workpiece (W) is located at the work position (P), the gripper 155 moves the workpiece (W) to the work position (P).
- the gripper 155 is controlled to move W) in a direction intersecting the direction of application of the elastic force of the elastic unit 135.
- the deburring device 100 presses the deburring tool 110 toward the workpiece W located at the working position P by the elastic force of the elastic unit 135. It can rotate by stably contacting the burr (B) of the workpiece (W). Therefore, deburring work by the deburring tool 110 can be performed smoothly and stably without moving the workpiece (W) by precisely controlling its position. In the case of the embodiment shown in the drawing, the deburring device 100 can complete the deburring work by moving the workpiece (W) located at the work position (P) from one point to another point.
- the deburring device 100 uses a stopper unit 140 that can contact the workpiece (W) placed at the working position (P) to deburr the deburring tool 110 and the workpiece (W). Movement in the direction of mutual access between the two can be restricted. Therefore, the amount of cutting of the workpiece (W) by the deburring tool 110 can be varied.
- the deburring device 100 uses the stopper unit 140 to precisely control the position of the deburring tool 110 or the workpiece (W) by using the deburring tool 110 without moving it. Deburring work can be performed smoothly and stably.
- the installation direction of the deburring tool 110 may vary depending on the shape of the deburring tool 110.
- the deburring tool 110 is shown to rotate around a virtual central axis of rotation (C) that perpendicularly intersects the elastic force application direction of the elastic unit 135, but the deburring tool applies the elastic force of the elastic unit 135. It can rotate around a virtual central axis of rotation that is parallel to the direction, or a virtual central axis of rotation that is located in another direction.
- the drawing shows that the stopper 145 is coupled to the support unit 120 in a linearly movable manner, but the stopper may be fixedly installed on the support unit.
- the gripper 155 or the base 130 moves in a direction perpendicular to the direction of elastic force application of the elastic unit 135 to form the deburring tool 110 and the deburring tool 110.
- the movement direction of the gripper 155 or the base 130 can be changed in various ways.
- the deburring device 100 shown in the drawing shows that the transfer unit 160 changes the relative position between the deburring tool 110 and the workpiece (W) by moving the gripper 155, but the transfer unit is based on the base ( It is also possible to change the relative position between the deburring tool 110 and the workpiece (W) by moving 130).
- the base 130 can move to bring the deburring tool 110 into contact with the burr B of the workpiece W.
- the transfer unit moves the base 130 so that the deburring tool 110 moves along the burr B of the workpiece W.
- the burr (B) can be cut.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Milling Processes (AREA)
- Gear Processing (AREA)
Abstract
A deburring device according to the present invention, which is a deburring device for removing burrs protruding from the surface of a workpiece, comprises: a deburring tool for cutting burrs of the workpiece; a drive unit for providing rotating power to the deburring tool; a support unit for supporting the drive unit; a gripper for positioning the workpiece in a work position where burrs of the workpiece can come into contact with the deburring tool; and a stopper which is coupled to the support unit and can be brought into contact with the surface of the workpiece placed in the work position to restrict movements between the deburring tool and the workpiece in the direction of mutual approach.
Description
본 발명은 디버링 장치에 관한 것으로, 더욱 상세하게는 공작물의 제조 과정에서 공작물에 형성된 버(burr)를 자동으로 제거하기 위한 디버링 장치에 관한 것이다.The present invention relates to a deburring device, and more specifically, to a deburring device for automatically removing burrs formed on a workpiece during the manufacturing process of the workpiece.
일반적으로, 절삭가공, 절단가공, 프레스가공, 다이 케스팅, 사출가공 등의 방식으로 제조되는 피가공물의 표면에는 버(burr)가 생기기 쉽다.In general, burrs are likely to form on the surface of a workpiece manufactured by cutting, cutting, press, die casting, or injection processing.
미세한 버나, 큰 정밀도가 요구되지 않는 피가공물의 버는 별다른 문제가 되지 않을 수 있다. 그러나 대부분의 버는 피가공물 조립 공정에서 피가공물 간에 간섭을 일으켜 조립 품질을 떨어트리고, 조립 제품의 기능성에도 악영향을 줄 수 있다. 따라서 피가공물 제조 과정에서 피가공물의 표면으로부터 돌출되는 버는 제거되는 것이 바람직하다.Fine burrs or burrs on workpieces that do not require great precision may not be a problem. However, most burrs cause interference between workpieces during the assembly process, which reduces assembly quality and can have a negative impact on the functionality of the assembled product. Therefore, it is desirable to remove burrs protruding from the surface of the workpiece during the manufacturing process.
피가공물의 표면에서 버를 제거하는 공정을 디버링(deburring)이라고 한다. 디버링 공정은 기계적 방법, 화학적 방법, 전기 화학적 방법 등 피가공물의 소재나 종류 등에 따라 다양한 방법을 통해 수행될 수 있으나, 피가공물의 표면으로부터 돌출되는 부분을 절삭할 수 있는 디버링 툴을 이용한 방법이 주로 사용된다. 디버링 툴을 이용하는 디버링 작업은 작업자에 의한 수작업 방식과, 디버링 장치를 이용한 자동화 방식으로 구분될 수 있다.The process of removing burrs from the surface of a workpiece is called deburring. The deburring process can be performed through various methods depending on the material or type of the workpiece, such as mechanical, chemical, or electrochemical methods, but the method using a deburring tool that can cut the part protruding from the surface of the workpiece is mainly used. It is used. Deburring work using a deburring tool can be divided into a manual method by an operator and an automated method using a deburring device.
수작업에 의한 방식은 많은 노동력이 필요하고, 피가공물 제조 시간이 지연되는 문제점이 있고, 작업자의 숙련도에 따라 품질이 일정하지 않은 단점도 있다.The manual method requires a lot of labor, has the problem of delaying the manufacturing time of the workpiece, and has the disadvantage of inconsistent quality depending on the skill of the worker.
이에 반해, 자동화 방식은 로봇으로 피가공물 또는 디버링 툴을 움직여 버를 제거하는 방식으로 공정 시간을 줄이고 일정한 품질을 얻는데 유리하다. 그러나 로봇을 이용한 방식은 피가공물의 형상에 따라 버의 위치(좌표)를 로봇에 입력하는 작업이 상당히 복잡하고 까다롭다. 따라서 로봇을 이용한 방식은 피가공물을 소품종 대량 생산하는데 유리할 수 있으나, 다품종 소량 생산하는 데에는 효율적이지 않다.In contrast, the automated method removes burrs by moving the workpiece or deburring tool with a robot, which is advantageous in reducing process time and obtaining consistent quality. However, in the method using a robot, the task of inputting the position (coordinates) of the burr to the robot according to the shape of the workpiece is quite complicated and difficult. Therefore, the method using robots can be advantageous for mass production of small varieties of workpieces, but is not efficient for producing large quantities of small quantities.
본 발명은 상술한 바와 같은 점을 감안하여 안출된 것으로, 피가공물의 형상에 따라 버의 위치를 지정하여 입력하는 작업이 필요없이 효율적으로 버를 제거할 수 있는 디버링 장치를 제공하는 것을 목적으로 한다.The present invention was conceived in consideration of the above-mentioned points, and its purpose is to provide a deburring device that can efficiently remove burrs without the need to specify and input the position of the burr according to the shape of the workpiece. .
상술한 바와 같은 목적을 해결하기 위한 본 발명에 따른 디버링 장치는, 피가공물의 표면에서 돌출되는 버를 제거하기 위한 디버링 장치에 있어서, 상기 피가공물의 버를 절삭하기 위한 디버링 툴; 상기 디버링 툴에 회전력을 제공하는 드라이브 유닛; 상기 드라이브 유닛을 지지하는 서포트 유닛; 상기 피가공물의 버가 상기 디버링 툴과 접촉할 수 있는 작업 위치에 상기 피가공물을 위치시키기 위한 그리퍼; 및 상기 서포트 유닛에 결합되고, 상기 작업 위치에 놓이는 상기 피가공물의 표면에 접하여 상기 디버링 툴과 상기 피가공물 간의 상호 접근 방향 움직임을 제한할 수 있는 스토퍼;를 포함한다.A deburring device according to the present invention for solving the above-described object is a deburring device for removing burrs protruding from the surface of a workpiece, comprising: a deburring tool for cutting the burrs of the workpiece; A drive unit that provides rotational force to the deburring tool; a support unit supporting the drive unit; A gripper for positioning the workpiece in a working position where a burr of the workpiece can contact the deburring tool; And a stopper coupled to the support unit and in contact with the surface of the workpiece placed at the working position to limit movement in the mutual approach direction between the deburring tool and the workpiece.
상기 드라이브 유닛은 상기 드라이브 유닛의 이동 방향에 대해 수직인 회전 중심축(C)을 중심으로 상기 디버링 툴을 회전시킬 수 있다.The drive unit may rotate the deburring tool around a central rotation axis (C) perpendicular to the moving direction of the drive unit.
상기 스토퍼는 상기 디버링 툴에 대한 상대 위치가 변할 수 있도록 상기 서포트 유닛에 위치 조절 가능하게 설치될 수 있다.The stopper may be installed in an adjustable position on the support unit so that its relative position with respect to the deburring tool can be changed.
본 발명에 따른 디버링 장치는, 상기 스토퍼가 상기 작업 위치에 놓이는 상기 피가공물로부터 멀어지는 후퇴 방향으로 움직이지 않도록 상기 스토퍼의 움직임을 구속하기 위해 상기 서포트 유닛에 설치되는 조정 유닛;을 포함할 수 있다.The deburring device according to the present invention may include an adjustment unit installed on the support unit to restrain the movement of the stopper so that the stopper does not move in a retreating direction away from the workpiece placed in the working position.
상기 조정 유닛은, 상기 스토퍼의 후퇴 방향 움직임을 구속할 수 있도록 상기 서포트 유닛에 나사 운동 가능하게 결합되는 돌출부재를 포함할 수 있다.The adjustment unit may include a protruding member that is screwably coupled to the support unit to restrict movement of the stopper in a retreat direction.
본 발명에 따른 디버링 장치는, 상기 서포트 유닛에 이동 가능하게 결합되어 상기 스토퍼를 지지하는 캐리지;를 포함하고, 상기 돌출부재는 상기 캐리지에 접하여 상기 캐리지의 후퇴 방향 움직임을 구속할 수 있다.The deburring device according to the present invention includes a carriage that is movably coupled to the support unit to support the stopper, and the protruding member is in contact with the carriage to restrict the backward movement of the carriage.
상기 조정 유닛은, 상기 캐리지에 나사 운동 가능하게 결합되고, 사용자에 의해 나사 운동하여 상기 캐리지의 위치를 조정할 수 있도록 상기 서포트 유닛에 설치되는 조정부재를 포함할 수 있다.The adjustment unit may be screwably coupled to the carriage and may include an adjustment member installed on the support unit so that a user can adjust the position of the carriage by screwing the carriage.
상기 스토퍼는 상기 피가공물의 표면에 접하여 구름 운동할 수 있는 롤러 형태로 이루어질 수 있다.The stopper may be in the form of a roller capable of rolling movement in contact with the surface of the workpiece.
본 발명에 따른 디버링 장치는, 상기 디버링 툴을 상기 작업 위치에 놓이는 상기 피가공물에 접근하는 방향으로 밀 수 있도록 상기 상기 서포트 유닛에 탄성력을 제공하는 탄성 유닛;을 포함할 수 있다.The deburring device according to the present invention may include an elastic unit that provides elastic force to the support unit so that the deburring tool can be pushed in a direction approaching the workpiece placed in the working position.
본 발명에 따른 디버링 장치는 작업 위치에 놓이는 피가공물에 접할 수 있는 스토퍼 유닛을 이용하여 디버링 툴과 피가공물 간의 상호 접근 방향 움직임을 제한할 수 있다. 따라서 디버링 툴에 의한 피가공물의 절삭량을 다양하게 변화시킬 수 있다.The deburring device according to the present invention can limit movement in the mutual approach direction between the deburring tool and the workpiece by using a stopper unit that can contact the workpiece placed in the working position. Therefore, the amount of cutting of the workpiece by the deburring tool can be varied.
또한 본 발명에 따른 디버링 장치는 스토퍼 유닛을 이용함으로써 디버링 툴이나 피가공물을 정밀하게 위치 제어하여 이동시키지 않고도 디버링 툴에 의한 디버링 작업이 원활하고 안정적으로 이루어질 수 있다.In addition, the deburring device according to the present invention uses a stopper unit, so that the deburring work by the deburring tool can be performed smoothly and stably without moving the deburring tool or the workpiece by precisely controlling the position.
또한 본 발명에 따른 디버링 장치는 로봇을 이용하여 피가공물을 움직이는 종래 기술과 같이 피가공물의 형상에 따라 버의 위치(좌표)를 로봇에 입력하는 번거로운 작업이 필요없고, 종래 기술에 비해 더욱 단순하고 효율적으로 디버링 작업을 수행할 수 있다.In addition, the deburring device according to the present invention does not require the cumbersome task of inputting the position (coordinates) of the burr according to the shape of the workpiece to the robot, as in the prior art of moving the workpiece using a robot, and is simpler and simpler than the prior art. Deburring work can be performed efficiently.
도 1은 본 발명의 일실시예에 따른 디버링 장치의 주요 구성을 나타낸 사시도이다.Figure 1 is a perspective view showing the main configuration of a deburring device according to an embodiment of the present invention.
도 2는 본 발명의 일실시예에 따른 디버링 장치의 주요 구성을 나타낸 평면도이다.Figure 2 is a plan view showing the main configuration of a deburring device according to an embodiment of the present invention.
도 3은 본 발명의 일실시예에 따른 디버링 장치의 주요 구성을 나타낸 측면도이다.Figure 3 is a side view showing the main configuration of a deburring device according to an embodiment of the present invention.
도 4는 본 발명의 일실시예에 따른 디버링 장치의 일부 구성을 나타낸 블록도이다.Figure 4 is a block diagram showing a partial configuration of a deburring device according to an embodiment of the present invention.
도 5는 본 발명의 일실시예에 따른 디버링 장치의 일부 구성을 분해하여 나타낸 것이다.Figure 5 is an exploded view of a partial configuration of a deburring device according to an embodiment of the present invention.
도 6은 본 발명의 일실시예에 따른 디버링 장치의 작용을 설명하기 위한 것이다.Figure 6 is for explaining the operation of the deburring device according to an embodiment of the present invention.
도 7 내지 도 10은 본 발명의 일실시예에 따른 디버링 장치에 구비되는 조정 유닛의 작용을 설명하기 위한 것이다.7 to 10 are for explaining the operation of the adjustment unit provided in the deburring device according to an embodiment of the present invention.
도 11은 본 발명의 일실시예에 따른 디버링 장치에 구비되는 스토퍼 유닛의 작용을 설명하기 위한 것이다.Figure 11 is for explaining the operation of a stopper unit provided in a deburring device according to an embodiment of the present invention.
도 12는 본 발명에 따른 디버링 장치에 구비되는 스토퍼 유닛의 변형예를 나타낸 것이다.Figure 12 shows a modified example of a stopper unit provided in the deburring device according to the present invention.
이하, 본 발명에 따른 디버링 장치를 도면을 참조하여 상세히 설명한다.Hereinafter, the deburring device according to the present invention will be described in detail with reference to the drawings.
도 1은 본 발명의 일실시예에 따른 디버링 장치의 주요 구성을 나타낸 사시도이고, 도 2는 본 발명의 일실시예에 따른 디버링 장치의 주요 구성을 나타낸 평면도이고, 도 3은 본 발명의 일실시예에 따른 디버링 장치의 주요 구성을 나타낸 측면도이고, 도 4는 본 발명의 일실시예에 따른 디버링 장치의 일부 구성을 나타낸 블록도이며, 도 5는 본 발명의 일실시예에 따른 디버링 장치의 일부 구성을 분해하여 나타낸 것이다.Figure 1 is a perspective view showing the main configuration of a deburring device according to an embodiment of the present invention, Figure 2 is a plan view showing the main configuration of a deburring device according to an embodiment of the present invention, and Figure 3 is an embodiment of the present invention. It is a side view showing the main configuration of the deburring device according to an example, Figure 4 is a block diagram showing a partial configuration of the deburring device according to an embodiment of the present invention, and Figure 5 is a part of the deburring device according to an embodiment of the present invention. It is shown by disassembling the composition.
도면에 나타낸 것과 같이, 본 발명의 일실시예에 따른 디버링 장치(100)는 피가공물(W)의 버(B)에 접하여 버(B)를 절삭할 수 있는 디버링 툴(110)과, 디버링 툴(110)에 회전력을 제공하는 드라이브 유닛(115)과, 드라이브 유닛(115)을 지지하는 서포트 유닛(120)과, 서포트 유닛(120)을 이동 가능하게 지지하는 베이스(130)와, 디버링 툴(110)에 인접하여 배치될 수 있도록 서포트 유닛(120)에 결합되는 스토퍼 유닛(140)과, 스토퍼 유닛(140)의 위치 조정을 위한 조정 유닛(150)과, 피가공물(W)을 지지할 수 있는 그리퍼(155)와, 디버링 장치(100)의 전반적인 동작을 제어하기 위한 제어부(165)를 포함한다. 이러한 디버링 장치(100)는 디버링 툴(110)이 드라이브 유닛(115)에 의해 회전하고, 그리퍼(155)가 피가공물(W)을 작업 위치(P)에 위치시킴으로써 피가공물(W)의 버(B)를 디버링 툴(110)로 절삭하여 제거할 수 있다. 여기에서, 작업 위치(P)는 디버링 툴(110)이 피가공물(W)의 버(B)에 접촉할 수 있는 위치이다.As shown in the drawing, the deburring device 100 according to an embodiment of the present invention includes a deburring tool 110 capable of cutting the burr (B) in contact with the burr (B) of the workpiece (W), and a deburring tool A drive unit 115 that provides rotational force to (110), a support unit 120 that supports the drive unit 115, a base 130 that movably supports the support unit 120, and a deburring tool ( A stopper unit 140 coupled to the support unit 120 so that it can be placed adjacent to 110), an adjustment unit 150 for adjusting the position of the stopper unit 140, and a workpiece (W) capable of supporting It includes a gripper 155 and a control unit 165 for controlling the overall operation of the deburring device 100. In this deburring device 100, the deburring tool 110 rotates by the drive unit 115, and the gripper 155 positions the workpiece W at the working position P, thereby burring the workpiece W. B) can be removed by cutting with the deburring tool 110. Here, the working position (P) is a position where the deburring tool 110 can contact the burr (B) of the workpiece (W).
본 실시예에서는, 그리퍼(155)가 피가공물(W)을 작업 위치(P)에서 사전 설정된 이송 경로 및 사전 설정된 이송 속도로 움직여 피가공물(W)에 대한 디버링 작업이 수행되는 것으로 예를 들어 설명한다.In this embodiment, the gripper 155 moves the workpiece W at the work position P at a preset feed path and a preset feed speed to perform a deburring operation on the workpiece W. do.
디버링 툴(110)은 고속으로 회전하면서 피가공물(W)의 버(B)에 접함으로써 버(B)를 절삭하여 제거할 수 있다. 디버링 툴(110)은 드라이브 유닛(115)에 결합되는 툴 바디(111)와, 버(B)를 절삭할 수 있도록 툴 바디(111)의 일단에 구비되는 툴 헤드(112)를 포함한다. 툴 헤드(112)는 피가공물(W)을 절삭할 수 있는 소재로 이루어진다. 디버링 툴(110)은 드라이브 유닛(115)에 분리 가능하게 결합되어 교체될 수 있다.The deburring tool 110 can remove the burr (B) by cutting it by contacting the burr (B) of the workpiece (W) while rotating at high speed. The deburring tool 110 includes a tool body 111 coupled to the drive unit 115, and a tool head 112 provided at one end of the tool body 111 to cut the burr (B). The tool head 112 is made of a material capable of cutting the workpiece (W). The deburring tool 110 is detachably coupled to the drive unit 115 and can be replaced.
디버링 툴(110)은 도시된 형태 이외에, 피가공물(W)에 접하여 회전함으로써 피가공물(W)을 절삭할 수 있는 다양한 형태로 이루어질 수 있다.In addition to the form shown, the deburring tool 110 may be formed in various forms capable of cutting the workpiece W by rotating in contact with the workpiece W.
드라이브 유닛(115)은 디버링 툴(110)에 회전력을 제공한다. 드라이브 유닛(115)은 서포트 유닛(120)에 고정되는 드라이브 유닛 바디(116)와, 드라이브 유닛 바디(116)에 회전 가능하게 구비되는 회전부재(117)를 포함한다. 회전부재(117)는 서포트 유닛(120)의 이동 방향과 수직인 가상의 회전 중심축(C)을 중심으로 회전할 수 있다. 도 1을 기준으로 디버링 툴(110)의 회전 중심축(C)은 Z축과 평행하다. 회전부재(117)의 중심에는 디버링 툴(110)의 결합을 위한 결합 홀(118)이 마련된다. 툴 바디(111)가 결합 홀(118)에 삽입되는 방식으로 디버링 툴(110)이 회전부재(117)에 결합될 수 있다. 회전부재(117)에 결합된 디버링 툴(110)은 회전부재(117)와 함께 서포트 유닛(120)의 선형 이동 방향과 수직인 회전 중심축(C)을 중심으로 회전할 수 있다. 회전부재(117)에는 결합 홀(118)에 삽입되는 툴 바디(111)를 고정하기 위한 척(chuck) 구조가 구비될 수 있다.The drive unit 115 provides rotational force to the deburring tool 110. The drive unit 115 includes a drive unit body 116 fixed to the support unit 120, and a rotating member 117 rotatably provided on the drive unit body 116. The rotating member 117 may rotate around a virtual central rotation axis C perpendicular to the moving direction of the support unit 120. Based on Figure 1, the rotation center axis (C) of the deburring tool 110 is parallel to the Z axis. A coupling hole 118 for coupling the deburring tool 110 is provided at the center of the rotating member 117. The deburring tool 110 may be coupled to the rotating member 117 by inserting the tool body 111 into the coupling hole 118. The deburring tool 110 coupled to the rotating member 117 may rotate around a central rotation axis C perpendicular to the linear movement direction of the support unit 120 together with the rotating member 117. The rotating member 117 may be provided with a chuck structure for fixing the tool body 111 inserted into the coupling hole 118.
드라이브 유닛(115)은 디버링 툴(110)에 회전력을 제공할 수 있는 다양한 형태로 이루어질 수 있다.The drive unit 115 may be formed in various forms that can provide rotational force to the deburring tool 110.
서포트 유닛(120)은 드라이브 유닛(115)을 베이스(130)에 대해 상대 이동할 수 있도록 지지한다. 서포트 유닛(120)은 드라이브 유닛 바디(116)가 고정되는 이동 프레임(121)과, 스토퍼 유닛(140)을 지지하는 지지 프레임(123)을 포함한다. 이동 프레임(121)은 베이스(130)에 구비되는 베이스 레일(131)에 선형 이동 가능하게 결합된다. 지지 프레임(123)에는 스토퍼 유닛(140)이 결합되는 레일부(124)가 구비된다. 또한 지지 프레임(123)에는 삽입 홀(125)과 관통 홀(126)이 마련된다. 삽입 홀(125)에는 조정 유닛(150)의 돌출부재(151)가 삽입되고, 관통 홀(126)에는 조정 유닛(150)의 조정부재(152)가 삽입될 수 있다. 도면에는 지지 프레임(123)이 드라이브 유닛 바디(116)에 결합되어 드라이브 유닛 바디(116)를 통해 이동 프레임(121)에 결합되는 것으로 나타냈으나, 지지 프레임(123)은 이동 프레임(121)에 직접 연결될 수 있다.The support unit 120 supports the drive unit 115 so that it can move relative to the base 130. The support unit 120 includes a moving frame 121 to which the drive unit body 116 is fixed, and a support frame 123 that supports the stopper unit 140. The moving frame 121 is coupled to the base rail 131 provided on the base 130 to enable linear movement. The support frame 123 is provided with a rail portion 124 to which the stopper unit 140 is coupled. Additionally, the support frame 123 is provided with an insertion hole 125 and a through hole 126. The protruding member 151 of the adjustment unit 150 may be inserted into the insertion hole 125, and the adjustment member 152 of the adjustment unit 150 may be inserted into the through hole 126. In the drawing, the support frame 123 is shown to be coupled to the drive unit body 116 and coupled to the movable frame 121 through the drive unit body 116, but the support frame 123 is connected to the movable frame 121. Can be connected directly.
또한 서포트 유닛(120)은 도시된 형태 이외에 드라이브 유닛(115)을 지지할 수 있는 다양한 다른 형태로 변경될 수 있다. 예시적인 다른 실시예로서, 서포트 유닛(120)은 드라이브 유닛 바디(116)와 일체형으로 이루어지거나, 드라이브 유닛 바디(116)의 일부분이 변형된 형태로 이루어질 수 있다.Additionally, the support unit 120 may be changed into various other forms capable of supporting the drive unit 115 other than the form shown. As another exemplary embodiment, the support unit 120 may be integrated with the drive unit body 116, or a portion of the drive unit body 116 may be formed in a modified form.
베이스(130)는 서포트 유닛(120)을 선형 이동 가능하게 지지한다. 베이스(130)에는 서포트 유닛(120)을 가이드하기 위한 베이스 레일(131)이 구비된다. 베이스 레일(131)은 서포트 유닛(120)의 선형 이동 방향으로 연장되는 한 쌍의 가이드 바(132)를 포함한다. 서포트 유닛(120)은 한 쌍의 가이드 바(132)에 결합되어 가이드 바(132)를 따라 선형 이동할 수 있다. 베이스 레일(131)은 한 쌍의 가이드 바(132)를 포함하는 형태 이외에, 서포트 유닛(120)을 이동 가능하게 지지할 수 있는 다양한 다른 형태로 변경될 수 있다. 또한 베이스(130)는 서포트 유닛(120)을 선형 이동 또는 다양한 형태로 이동할 수 있도록 지지하는 다른 형태로 변경될 수 있다.The base 130 supports the support unit 120 so as to be linearly movable. The base 130 is provided with a base rail 131 for guiding the support unit 120. The base rail 131 includes a pair of guide bars 132 extending in the linear movement direction of the support unit 120. The support unit 120 is coupled to a pair of guide bars 132 and can move linearly along the guide bars 132. In addition to including a pair of guide bars 132, the base rail 131 can be changed into various other forms that can movably support the support unit 120. Additionally, the base 130 may be changed to another form that supports the support unit 120 so that it can move linearly or in various forms.
베이스(130)에는 서포트 유닛(120)에 탄성력을 제공하기 위한 탄성 유닛(135)이 설치된다. 탄성 유닛(135)은 가이드 바(132)의 적어도 일부분을 감싸는 형태로 가이드 바(132)에 결합되는 탄성부재(136)를 포함한다. 탄성부재(136)는 일단이 서포트 유닛(120)에 접하거나 연결되어 서포트 유닛(120)의 선형 이동에 의해 탄성 변형될 수 있다. 탄성 유닛(135)은 탄성부재(136)의 탄성 변형에 의한 탄성력을 서포트 유닛(120)에 가함으로써 드라이브 유닛(115)에 결합된 디버링 툴(110)을 작업 위치(P)에 놓이는 피가공물(W)에 접근하는 방향으로 밀 수 있다.An elastic unit 135 is installed in the base 130 to provide elastic force to the support unit 120. The elastic unit 135 includes an elastic member 136 coupled to the guide bar 132 in a form that surrounds at least a portion of the guide bar 132. One end of the elastic member 136 is in contact with or connected to the support unit 120 and can be elastically deformed by linear movement of the support unit 120. The elastic unit 135 applies elastic force due to the elastic deformation of the elastic member 136 to the support unit 120, thereby moving the deburring tool 110 coupled to the drive unit 115 to the workpiece (P) placed at the working position (P). You can push in the direction approaching W).
즉 탄성 유닛(135)은 서포트 유닛(120)에 탄성력을 가함으로써 드라이브 유닛(115)을 전진 방향으로 선형 이동시킬 수 있는 이동력을 드라이브 유닛(115)에 제공할 수 있다. 여기에서, 전진 방향은 디버링 툴(110)을 작업 위치(P)에 위치하는 피가공물(W)에 접근시키는 방향이다. 이하에서, 후퇴 방향은 전진 방향의 반대 방향으로 디버링 툴(110)이 작업 위치(P)에 위치하는 피가공물(W)에서 멀어지는 방향을 나타낸다. 도 1을 기준으로 탄성 유닛(135)이 서포트 유닛(120)에 탄성력을 가하는 탄성력 인가 방향은 Y축 방향이다.That is, the elastic unit 135 can provide the drive unit 115 with a moving force that can linearly move the drive unit 115 in the forward direction by applying elastic force to the support unit 120. Here, the forward direction is a direction in which the deburring tool 110 approaches the workpiece (W) located at the working position (P). Hereinafter, the retreat direction represents a direction in which the deburring tool 110 moves away from the workpiece (W) located at the working position (P) in a direction opposite to the forward direction. With reference to FIG. 1 , the elastic force application direction in which the elastic unit 135 applies elastic force to the support unit 120 is the Y-axis direction.
디버링 대상이 되는 피가공물(W)은 그리퍼(155)에 의해 작업 위치(P)로 이동한 후 디버링 툴(110)에 의해 절삭될 수 있다. 탄성 유닛(135)의 작용으로 디버링 툴(110)이 작업 위치(P)에 놓이는 피가공물(W)의 버(B)에 안정적으로 접하여 회전할 수 있으며, 이를 통해 디버링 툴(110)에 의한 디버링 작업이 더욱 원활하게 이루어질 수 있다. The workpiece (W) to be deburred may be moved to the working position (P) by the gripper 155 and then cut by the deburring tool 110. Due to the action of the elastic unit 135, the deburring tool 110 can rotate in stable contact with the burr (B) of the workpiece (W) placed at the working position (P), and through this, deburring by the deburring tool (110) Work can be done more smoothly.
탄성 유닛(135)은 도면에 나타낸 것과 같이 가이드 바(132)에 결합되는 압축 스프링 형태의 탄성부재(136)를 포함하는 구성 이외에, 서포트 유닛(120)에 탄성력을 가할 수 있는 다양한 다른 구성으로 변경될 수 있다. 예시적인 다른 실시예로서, 탄성 유닛(135)은 인장 스프링 형태의 탄성부재를 포함할 수 있다. 또 다른 실시예로서, 탄성 유닛(135)은 코일 스프링 형태의 탄성부재 이외에, 서포트 유닛(120)의 선형 이동에 따라 탄성 변형될 수 있는 다른 형태의 탄성부재를 포함할 수 있다. 이 밖에, 탄성 유닛(135)은 탄성 변형되는 탄성부재를 포함하는 구성 이외에, 공압이나 유압을 이용하여 탄성력을 제공할 수 있는 구성을 취할 수 있다.In addition to the configuration including the elastic member 136 in the form of a compression spring coupled to the guide bar 132 as shown in the drawing, the elastic unit 135 can be changed to various other configurations that can apply elastic force to the support unit 120. It can be. As another exemplary embodiment, the elastic unit 135 may include an elastic member in the form of a tension spring. As another embodiment, the elastic unit 135 may include other types of elastic members that can be elastically deformed according to the linear movement of the support unit 120, in addition to the coil spring-type elastic members. In addition, the elastic unit 135 may have a configuration that provides elastic force using pneumatic or hydraulic pressure in addition to including an elastic member that is elastically deformed.
스토퍼 유닛(140)은 작업 위치(P)에 위치하는 피가공물(W)의 표면에 접하여 디버링 툴(110)과 피가공물(W) 간의 상호 접근 방향 움직임을 구속할 수 있다. 즉 스토퍼 유닛(140)이 피가공물(W)의 표면에 접할 때, 디버링 툴(110)과 피가공물(W)은 상호 접근하는 방향으로 움직일 수 없고, 디버링 툴(110)과 작업 위치(P)에 놓이는 피가공물(W)의 표면 사이의 거리가 변할 수 없다. 스토퍼 유닛(140)은 디버링 툴(110)에 의해 디버링되는 피가공물(W)의 표면에 접할 수 있도록 서포트 유닛(120)에 결합된다. 스토퍼 유닛(140)은 서포트 유닛(120)에 선형 이동 가능하게 결합되는 캐리지(141)와, 피가공물(W)의 표면에 접할 수 있도록 캐리지(141)에 결합되는 스토퍼(145)를 포함한다.The stopper unit 140 may contact the surface of the workpiece (W) located at the working position (P) and restrict movement in the mutual approach direction between the deburring tool 110 and the workpiece (W). That is, when the stopper unit 140 is in contact with the surface of the workpiece (W), the deburring tool 110 and the workpiece (W) cannot move in the direction of approaching each other, and the deburring tool 110 and the work position (P) The distance between the surfaces of the workpiece (W) placed on cannot be changed. The stopper unit 140 is coupled to the support unit 120 so as to contact the surface of the workpiece W being deburred by the deburring tool 110. The stopper unit 140 includes a carriage 141 coupled to the support unit 120 to enable linear movement, and a stopper 145 coupled to the carriage 141 so as to contact the surface of the workpiece W.
캐리지(141)는 서포트 유닛(120)의 레일부(124)에 선형 이동 가능하게 결합된다. 캐리지(141)는 레일부(124)를 따라 전진 방향 또는 후퇴 방향으로 움직일 수 있다. 캐리지(141)의 일단에는 조정부재(152)가 삽입될 수 있는 캐리지 홀(142)이 형성된다. 그리고 캐리지(141)의 일측에는 지지축(143)이 구비된다.The carriage 141 is coupled to the rail portion 124 of the support unit 120 to enable linear movement. The carriage 141 may move in a forward or backward direction along the rail portion 124. A carriage hole 142 into which the adjustment member 152 can be inserted is formed at one end of the carriage 141. And a support shaft 143 is provided on one side of the carriage 141.
스토퍼(145)는 지지축(143)에 회전 가능하게 결합된다. 스토퍼(145)는 지지축(143)을 중심으로 회전함으로써 피가공물(W)의 표면에 접하여 구름 운동할 수 있다.The stopper 145 is rotatably coupled to the support shaft 143. The stopper 145 may rotate around the support shaft 143 to roll in contact with the surface of the workpiece W.
스토퍼 유닛(140)은 피가공물(W)의 표면에 접하여 디버링 툴(110)과 피가공물(W) 간의 상호 접근 방향 움직임을 구속함으로써 디버링 툴(110)에 의한 피가공물(W)의 절삭량을 제한할 수 있다.The stopper unit 140 is in contact with the surface of the workpiece W and restricts the movement in the mutual approach direction between the deburring tool 110 and the workpiece W, thereby limiting the cutting amount of the workpiece W by the deburring tool 110. can do.
예를 들어, 스토퍼(145)의 외주면이 툴 헤드(112)의 외주면보다 돌출되도록 스토퍼 유닛(140)이 전진 방향으로 이동하여 고정되는 경우, 스토퍼(145)가 작업 위치(P)에 위치하는 피가공물(W)에 접할 때 툴 헤드(112)가 피가공물(W)의 표면으로부터 이격된다. 여기에서, 하나의 외주면이 더욱 돌출된다는 것은 해당 외주면이 다른 하나의 외주면에 비해 작업 위치(P)에 위치하는 피가공물(W)에 접근하는 방향으로 더욱 돌출된다는 의미이다. 이 경우, 피가공물(W)의 표면에 형성된 버(B)의 돌출 높이가 피가공물(W)의 표면으로부터 툴 헤드(112)가 이격되는 높이보다 크다면 디버링 툴(110)이 피가공물(W)의 표면에 접하지 않으면서 버(B)를 부분적으로 제거할 수 있다.For example, when the stopper unit 140 is moved in the forward direction and fixed so that the outer peripheral surface of the stopper 145 protrudes from the outer peripheral surface of the tool head 112, the stopper 145 is positioned at the working position (P). When contacting the workpiece W, the tool head 112 is spaced apart from the surface of the workpiece W. Here, the fact that one outer peripheral surface protrudes more means that the outer peripheral surface protrudes more in a direction approaching the workpiece (W) located at the work position (P) compared to the other outer peripheral surface. In this case, if the protrusion height of the burr (B) formed on the surface of the workpiece (W) is greater than the height at which the tool head 112 is spaced from the surface of the workpiece (W), the deburring tool 110 is used on the workpiece (W). ) can be partially removed without contacting the surface of the burr (B).
반면, 스토퍼(145)의 외주면이 툴 헤드(112)의 외주면으로부터 돌출되지 않도록 스토퍼 유닛(140)이 후퇴 방향으로 이동하여 고정되는 경우, 툴 헤드(112)가 피가공물(W)의 표면에 접할 수 있다. 이 경우, 디버링 툴(110)이 피가공물(W) 표면의 버(B)를 완전히 제거하고 피가공물(W)의 표면도 부분적으로 절삭하는 것이 가능하다.On the other hand, when the stopper unit 140 is moved in the retreat direction and fixed so that the outer peripheral surface of the stopper 145 does not protrude from the outer peripheral surface of the tool head 112, the tool head 112 may contact the surface of the workpiece (W). You can. In this case, it is possible for the deburring tool 110 to completely remove the burr (B) on the surface of the workpiece (W) and also partially cut the surface of the workpiece (W).
한편, 툴 헤드(112)의 외주면이 스토퍼(145)의 외주면보다 돌출되는 상태로 스토퍼 유닛(140)이 후퇴 방향으로 더욱 이동하여 고정되는 경우, 툴 헤드(112)가 피가공물(W)의 표면을 파고들 수 있다. 이 경우, 디버링 툴(110)이 피가공물(W) 표면의 버(B)를 완전히 제거하고, 피가공물(W)의 표면을 절삭하여 피가공물(W) 속으로 파고들 수 있다.On the other hand, when the stopper unit 140 moves further in the retreat direction and is fixed in a state in which the outer peripheral surface of the tool head 112 protrudes from the outer peripheral surface of the stopper 145, the tool head 112 is positioned on the surface of the workpiece (W). You can dig into. In this case, the deburring tool 110 can completely remove the burr (B) on the surface of the workpiece (W) and cut into the workpiece (W) by cutting the surface of the workpiece (W).
스토퍼 유닛(140)의 위치는 조정 유닛(150)에 의해 조정될 수 있다. 조정 유닛(150)은 사용자에 의해 조작될 수 있도록 서포트 유닛(120)에 설치된다. 조정 유닛(150)은 스토퍼 유닛(140)이 작업 위치(P)에 놓이는 피가공물(W)로부터 멀어지는 후퇴 방향으로 움직이지 않도록 스토퍼(145)의 움직임을 구속할 수 있다.The position of the stopper unit 140 can be adjusted by the adjustment unit 150. The adjustment unit 150 is installed on the support unit 120 so that it can be operated by the user. The adjustment unit 150 may restrain the movement of the stopper 145 so that the stopper unit 140 does not move in a retreat direction away from the workpiece (W) placed at the working position (P).
조정 유닛(150)은 캐리지(141)에 접하여 캐리지(141)의 후퇴 방향 움직임을 구속할 수 있는 돌출부재(151)와, 캐리지(141)를 움직일 수 있도록 캐리지(141)에 나사 운동 가능하게 결합되는 조정부재(152)를 포함한다.The adjustment unit 150 includes a protruding member 151 that contacts the carriage 141 and can constrain the backward movement of the carriage 141, and is coupled to the carriage 141 so that the carriage 141 can be moved. It includes an adjustment member 152 that is.
돌출부재(151)는 서포트 유닛(120)의 삽입 홀(125)에 삽입되어 나사 운동할 수 있다. 이를 위해 돌출부재(151)는 수나사산을 갖는 볼트 형태로 이루어지고, 삽입 홀(125)은 암나산이 형성된 나사 홀 형태로 이루어질 수 있다. 돌출부재(151)는 사용자에 의해 조작되어 나사 운동함으로써 캐리지(141)에 접하는 끝단의 위치가 변할 수 있다.The protruding member 151 can be inserted into the insertion hole 125 of the support unit 120 and perform a screw movement. For this purpose, the protruding member 151 may be formed in the form of a bolt having a male thread, and the insertion hole 125 may be formed in the form of a screw hole having a female thread. The protruding member 151 may be manipulated by the user to change the position of the end in contact with the carriage 141.
예를 들어, 사용자가 돌출부재(151)를 시계 방향으로 회전시키면 돌출부재(151)의 끝단이 작업 위치(P)에 놓이는 피가공물(W) 쪽으로 전진할 수 있다. 한편, 사용자가 돌출부재(151)를 반시계 방향으로 회전시키는 경우, 돌출부재(151)의 끝단이 후퇴 방향으로 움직일 수 있다. 따라서 사용자는 스토퍼 유닛(140)을 레일부(124)를 따라 움직여 스토퍼 유닛(140)의 위치를 조정한 후, 돌출부재(151)를 움직여 스토퍼 유닛(140)이 조정된 위치에서 후퇴하지 않도록 할 수 있다.For example, when the user rotates the protruding member 151 clockwise, the end of the protruding member 151 may advance toward the workpiece (W) placed at the working position (P). Meanwhile, when the user rotates the protruding member 151 counterclockwise, the end of the protruding member 151 may move in the retreat direction. Therefore, the user moves the stopper unit 140 along the rail portion 124 to adjust the position of the stopper unit 140, and then moves the protruding member 151 to prevent the stopper unit 140 from retreating from the adjusted position. You can.
조정부재(152)는 지지 프레임(123)의 관통 홀(126)에 삽입되어 캐리지(141)에 나사 운동 가능하게 결합될 수 있다. 조정부재(152)는 캐리지(141)에 맞물릴 수 있도록 캐리지(141)의 캐리지 홀(142)에 삽입된다. 이를 위해 조정부재(152)는 수나사산을 갖는 볼트 형태로 이루어지고, 캐리지 홀(142)은 암나산이 형성된 나사 홀 형태로 이루어질 수 있다. 조정부재(152)는 나사 운동함으로써 캐리지(141)를 전진 방향 또는 후퇴 방향으로 움직일 수 있다.The adjustment member 152 may be inserted into the through hole 126 of the support frame 123 and coupled to the carriage 141 to enable screw movement. The adjustment member 152 is inserted into the carriage hole 142 of the carriage 141 so as to engage with the carriage 141. For this purpose, the adjustment member 152 may be in the form of a bolt with a male thread, and the carriage hole 142 may be in the form of a screw hole with a female thread. The adjustment member 152 can move the carriage 141 in the forward or backward direction by screwing.
조정 유닛(150)을 이용하여 스토퍼 유닛(140)의 위치를 조정하는 구체적인 방법은 도 7 내지 도 10에 나타낸 것과 같다.A specific method of adjusting the position of the stopper unit 140 using the adjustment unit 150 is as shown in FIGS. 7 to 10.
먼저, 도 7에 나타낸 것과 같이, 조정부재(152)가 스토퍼 유닛(140)에서 분리된 상태에서 사용자는 디버링 대상이 되는 피가공물(W)의 크기나, 피가공물(W)에 형성되는 버(B)의 크기 또는 위치에 따라 서포트 유닛(120)의 위치를 조정한다. 도 8에 나타낸 것과 같이, 사용자는 조정부재(152)를 캐리지(141)에 결합하고 조정부재(152)를 조작하여 스토퍼 유닛(140)의 위치를 디버링 대상이 되는 피가공물(W)에 맞춰 미세 조정한다. 스토퍼 유닛(140)의 위치가 미세 조정된 후, 사용자는 도 9에 나타낸 것과 같이, 돌출부재(151)를 회전시켜 돌출부재(151)의 끝단이 위치 조정된 캐리지(141)에 접하도록 돌출부재(151)의 위치를 조정한다. 돌출부재(151)의 위치가 조정된 후, 사용자는 도 10에 나타낸 것과 같이, 조정부재(152)를 캐리지(141)에서 맞물림 해제시킨다. 이 상태에서, 스토퍼 유닛(140)은 위치 조정된 돌출부재(151)에 의해 후퇴 방향 움직임이 구속된다.First, as shown in FIG. 7, in a state where the adjustment member 152 is separated from the stopper unit 140, the user determines the size of the workpiece W to be deburred or the burr formed on the workpiece W ( Adjust the position of the support unit 120 according to the size or position of B). As shown in Figure 8, the user couples the adjustment member 152 to the carriage 141 and manipulates the adjustment member 152 to finely adjust the position of the stopper unit 140 to the workpiece (W) to be deburred. Adjust. After the position of the stopper unit 140 is finely adjusted, the user rotates the protruding member 151 so that the end of the protruding member 151 comes into contact with the position-adjusted carriage 141, as shown in FIG. 9. Adjust the position of (151). After the position of the protruding member 151 is adjusted, the user disengages the adjusting member 152 from the carriage 141, as shown in FIG. 10. In this state, the stopper unit 140 is restricted from moving in the retreat direction by the position-adjusted protruding member 151.
조정 유닛(150)에 의해 위치 조정된 스토퍼 유닛(140)은 스토퍼(145)가 작업 위치(P)에 위치하는 피가공물(W)의 표면에 접함으로써 디버링 툴(110)과 피가공물(W) 간의 상호 접근 방향 움직임을 구속할 수 있다. 그리고 스토퍼 유닛(140)의 위치에 따라 디버링 툴(110)에 의한 피가공물(W)의 절삭량이 다양하게 변할 수 있다.The stopper unit 140, whose position is adjusted by the adjustment unit 150, has the stopper 145 in contact with the surface of the workpiece (W) located at the working position (P), so that the deburring tool 110 and the workpiece (W) The mutual approach direction movement between the two can be restricted. And the amount of cutting of the workpiece (W) by the deburring tool 110 may vary depending on the position of the stopper unit 140.
예를 들어, 도 11의 (a)에 나타낸 것과 같이, 스토퍼(145)의 외주면이 툴 헤드(112)의 외주면과 거의 동일한 위치에 놓이도록 스토퍼 유닛(140)의 위치가 조절되는 경우, 툴 헤드(112)가 작업 위치(P)에 놓이는 피가공물(W)의 표면에 미세하게 접하거나, 또는 접하지 않을 수 있다. 이 경우, 디버링 툴(110)이 피가공물(W) 표면의 버(B)를 완전히 제거하는 것이 가능하다.For example, as shown in (a) of FIG. 11, when the position of the stopper unit 140 is adjusted so that the outer peripheral surface of the stopper 145 is placed at approximately the same position as the outer peripheral surface of the tool head 112, the tool head (112) may or may not slightly contact the surface of the workpiece (W) placed at the working position (P). In this case, it is possible for the deburring tool 110 to completely remove the burr (B) on the surface of the workpiece (W).
한편, 도 11의 (b)에 나타낸 것과 같이, 스토퍼(145)의 외주면이 툴 헤드(112)의 외주면보다 돌출되도록 스토퍼 유닛(140)의 위치가 조절되는 경우, 스토퍼(145)가 작업 위치(P)에 위치하는 피가공물(W)에 접할 때 툴 헤드(112)가 피가공물(W)의 표면으로부터 이격된다. 이 경우, 디버링 툴(110)이 피가공물(W)의 표면에 접하지 않으면서 버(B)를 부분적으로 제거할 수 있다.Meanwhile, as shown in (b) of FIG. 11, when the position of the stopper unit 140 is adjusted so that the outer peripheral surface of the stopper 145 protrudes from the outer peripheral surface of the tool head 112, the stopper 145 is moved to the working position ( When contacting the workpiece (W) located at P), the tool head 112 is spaced apart from the surface of the workpiece (W). In this case, the deburring tool 110 can partially remove the burr (B) without contacting the surface of the workpiece (W).
이와 같이, 본 발명의 일실시예에 따른 디버링 장치(100)는 스토퍼 유닛(140)을 이용함으로써 디버링 툴(110)에 의한 피가공물(W)의 절삭량을 다양하게 조절할 수 있고, 피가공물(W)을 다양한 표면 거칠기를 갖도록 디버링할 수 있다.In this way, the deburring device 100 according to an embodiment of the present invention can variously adjust the cutting amount of the workpiece (W) by the deburring tool 110 by using the stopper unit 140, and the workpiece (W) ) can be deburred to have various surface roughnesses.
스토퍼 유닛(140)이나 조정 유닛(150)은 도시된 형태 이외에 다양한 다른 형태로 변경될 수 있다. 예를 들어, 도 12에 나타낸 스토퍼 유닛(170)은 서포트 유닛(120)에 선형 이동 가능하게 결합되는 캐리지(141)와, 피가공물(W)의 표면에 접할 수 있도록 캐리지(141)에 결합되는 스토퍼(171)를 포함한다. 스토퍼(171)는 앞서 설명한 롤러 형태의 스토퍼(145)와 달리 돌기형, 또는 막대형 형태로 이루어진 것이다. 피가공물(W)의 표면에 접하는 스토퍼(171)의 끝단은 피가공물(W)과의 마찰을 줄일 수 있도록 그 표면이 라운딩 처리될 수 있다. 또한 스토퍼는 다양한 다른 형태로 이루어질 수 있다. 또한 스토퍼는 피가공물(W)의 표면에 접하는 부분이 피가공물(W)보다 무른 소재로 이루어질 수 있다. 조정 유닛(150)은 도시된 것과 같이, 한 쌍의 돌출부재(151)와 캐리지(141)에 나사 결합될 수 있는 조정부재(152)를 포함하는 구성 이외에, 스토퍼 유닛(140)의 위치를 조정하거나, 스토퍼 유닛(140)의 후퇴 방향 이동을 제한할 수 있는 다양한 다른 구성으로 변경될 수 있다.The stopper unit 140 or the adjustment unit 150 may be changed into various other forms other than those shown. For example, the stopper unit 170 shown in FIG. 12 includes a carriage 141 coupled to the support unit 120 to enable linear movement, and a carriage 141 coupled to the carriage 141 so as to contact the surface of the workpiece W. Includes a stopper (171). The stopper 171, unlike the roller-shaped stopper 145 described above, has a protruding or rod-shaped shape. The end of the stopper 171 in contact with the surface of the workpiece W may be rounded to reduce friction with the workpiece W. Additionally, the stopper can be made in a variety of different forms. Additionally, the part of the stopper that is in contact with the surface of the workpiece (W) may be made of a material that is softer than the workpiece (W). As shown, the adjustment unit 150 adjusts the position of the stopper unit 140 in addition to including a pair of protruding members 151 and an adjustment member 152 that can be screwed to the carriage 141. Alternatively, it can be changed to various other configurations that can limit the movement of the stopper unit 140 in the retreat direction.
그리퍼(155)는 피가공물(W)을 작업 위치(P)에 위치시킨다. 그리퍼(155)는 피가공물(W)을 파지하거나, 지지하여 작업 위치(P)에 위치시킬 수 있는 다양한 형태로 이루어질 수 있다. 그리퍼(155)는 이송 유닛(160)에 의해 움직일 수 있다. 이송 유닛(160)은 제어부(165)에 의해 제어됨으로써 그리퍼(155)가 피가공물(W)을 작업 위치(P)로 운반하도록 그리퍼(155)에 이동력을 제공할 수 있다. 또한 이송 유닛(160)은 피가공물(W)이 작업 위치(P)에 위치한 상태에서 디버링 툴(110)에 대한 피가공물(W)의 상대 위치가 변하도록 그리퍼(155)를 사전 설정된 방향으로 이동시킬 수 있다. 예를 들어, 그리퍼(155)는 피가공물(W)을 작업 위치(P)로 이동시켜 피가공물(W)의 버(B)를 디버링 툴(110)에 접촉시킨 후, 피가공물(W)을 탄성 유닛(135)이 서포트 유닛(120)에 탄성력을 인가하는 방향과 교차하는 방향으로 움직일 수 있다. 도 1을 기준으로, 그리퍼(155)가 작업 위치(P)에 위치한 피가공물(W)을 이동시키는 방향은 X축 방향이다.The gripper 155 positions the workpiece (W) at the working position (P). The gripper 155 may have various forms that can grip or support the workpiece W and position it at the working position P. The gripper 155 can be moved by the transfer unit 160. The transfer unit 160 is controlled by the control unit 165 to provide a moving force to the gripper 155 so that the gripper 155 transports the workpiece W to the working position P. In addition, the transfer unit 160 moves the gripper 155 in a preset direction so that the relative position of the workpiece (W) with respect to the deburring tool 110 changes while the workpiece (W) is located at the working position (P). You can do it. For example, the gripper 155 moves the workpiece W to the working position P, brings the burr B of the workpiece W into contact with the deburring tool 110, and then moves the workpiece W to the working position P. The elastic unit 135 may move in a direction crossing the direction in which elastic force is applied to the support unit 120. Based on Figure 1, the direction in which the gripper 155 moves the workpiece (W) located at the working position (P) is the X-axis direction.
구체적으로, 도 6의 (a)에 나타낸 것과 같이, 그리퍼(155)는 피가공물(W)을 지지한 상태에서 서포트 유닛(120)에 대한 탄성 유닛(135)의 탄성력 인가 방향과 반대 방향(화살표 A 방향)으로 움직여 피가공물(W)을 작업 위치(P)에 위치시킬 수 있다. 작업 위치(P)는 도 6의 (b)에 나타낸 것과 같이, 서포트 유닛(120)이 그리퍼(155)의 이동력에 의해 탄성부재(136)를 탄성 변형시키도록 일정 거리 후퇴한 상태에서 피가공물(W)의 버(B)가 디버링 툴(110)에 접할 수 있는 위치이다. 그리퍼(155)는 피가공물(W)을 탄성 유닛(135)의 탄성력 인가 방향과 반대 방향으로 움직여 탄성부재(136)가 탄성 변형되도록 서포트 유닛(120)을 후퇴시킴으로써 피가공물(W)을 작업 위치(P)에 위치시킬 수 있다. 따라서 피가공물(W)이 작업 위치(P)에 위치할 때 탄성 유닛(135)의 탄성력이 디버링 툴(110)에 작용하게 되며, 탄성 유닛(135)이 디버링 툴(110)을 피가공물(W)에 접근하는 방향으로 밀 수 있다. 따라서 디버링 툴(110)이 피가공물(W) 쪽으로 가압되는 상태에서 디버링 툴(110)이 피가공물(W)의 버(B)에 접하여 버(B)를 절삭할 수 있다.Specifically, as shown in (a) of FIG. 6, the gripper 155 moves in a direction opposite to the direction of applying the elastic force of the elastic unit 135 to the support unit 120 while supporting the workpiece W (arrow) The workpiece (W) can be moved to the working position (P) by moving in direction A. As shown in (b) of FIG. 6, the working position (P) is the workpiece in a state in which the support unit 120 is retreated a certain distance to elastically deform the elastic member 136 by the moving force of the gripper 155. This is a position where the burr (B) of (W) can come into contact with the deburring tool 110. The gripper 155 moves the workpiece W in the direction opposite to the direction of application of the elastic force of the elastic unit 135 and retracts the support unit 120 so that the elastic member 136 is elastically deformed, thereby moving the workpiece W to the working position. It can be placed at (P). Therefore, when the workpiece (W) is located at the working position (P), the elastic force of the elastic unit 135 acts on the deburring tool 110, and the elastic unit 135 moves the deburring tool 110 to the workpiece (W). ) can be pushed in the direction approaching. Therefore, in a state in which the deburring tool 110 is pressed toward the workpiece (W), the deburring tool 110 can cut the burr (B) by contacting the burr (B) of the workpiece (W).
그리퍼(155)는 피가공물(W)을 작업 위치(P)에 위치시킨 상태에서 도 6의 (b)에 나타낸 것과 같이, 탄성 유닛(135)의 탄성력 인가 방향과 교차하는 방향(화살표 B 방향)으로 피가공물(W)을 움직인다. 따라서 디버링 툴(110)이 작동하는 중에 피가공물(W)이 움직여 피가공물(W)의 버(B)가 디버링 툴(110)에 의해 절삭될 수 있다.The gripper 155 moves in a direction (direction of arrow B) that intersects the elastic force application direction of the elastic unit 135, as shown in (b) of FIG. 6 with the workpiece (W) positioned at the working position (P). Move the workpiece (W). Therefore, while the deburring tool 110 is operating, the workpiece W moves and the burr B of the workpiece W may be cut by the deburring tool 110.
그리퍼(155)가 피가공물(W)을 화살표 B 방향으로 움직이는 속도는 다양하게 변화될 수 있으며, 그리퍼(155)에 의한 피가공물(W)의 이동 속도에 따라 디버링 툴(110)에 의한 피가공물(W)의 절삭량이 다양하게 조절될 수 있다. 예를 들어, 그리퍼(155)에 의한 피가공물(W)의 이동 속도를 상대적으로 느리게 하면 피가공물(W)이 디버링 툴(110)에 접하는 시간이 상대적으로 길어져 디버링 툴(110)에 의한 절삭량이 증가하게 된다. 반면, 그리퍼(155)에 의한 피가공물(W)의 이동 속도를 상대적으로 빠르게 하면 피가공물(W)이 디버링 툴(110)에 접하는 시간이 상대적으로 줄어들어 디버링 툴(110)에 의한 절삭량이 감소하게 된다.The speed at which the gripper 155 moves the workpiece (W) in the direction of arrow B may vary, and the workpiece (W) is moved by the deburring tool 110 according to the moving speed of the workpiece (W) by the gripper 155. The cutting amount of (W) can be adjusted in various ways. For example, if the moving speed of the workpiece W by the gripper 155 is relatively slow, the time the workpiece W is in contact with the deburring tool 110 becomes relatively long, and the cutting amount by the deburring tool 110 increases. It increases. On the other hand, if the moving speed of the workpiece (W) by the gripper 155 is relatively fast, the time that the workpiece (W) is in contact with the deburring tool 110 is relatively reduced, thereby reducing the amount of cutting by the deburring tool 110. do.
그리퍼(155)는 피가공물(W)의 크기나 피가공물(W)에 형성되는 버(B)의 돌출 높이나 길이 등에 따라 제어부(165)에 의해 다양한 위치로 움직이도록 제어될 수 있다.The gripper 155 may be controlled to move to various positions by the control unit 165 depending on the size of the workpiece W or the protrusion height or length of the burr B formed on the workpiece W.
제어부(165)는 드라이브 유닛(115)의 동작과, 이송 유닛(160)의 동작 등 디버링 장치(100)의 전반적인 동작을 제어한다. 특히, 제어부(165)는 그리퍼(155)가 피가공물(W)을 작업 위치(P)로 운반하고, 피가공물(W)이 작업 위치(P)에 위치한 상태에서 그리퍼(155)가 피가공물(W)을 탄성 유닛(135)의 탄성력 인가 방향과 교차하는 방향으로 움직이도록 그리퍼(155)를 제어한다.The control unit 165 controls the overall operation of the deburring device 100, including the operation of the drive unit 115 and the transfer unit 160. In particular, the control unit 165 allows the gripper 155 to transport the workpiece (W) to the work position (P), and when the workpiece (W) is located at the work position (P), the gripper 155 moves the workpiece (W) to the work position (P). The gripper 155 is controlled to move W) in a direction intersecting the direction of application of the elastic force of the elastic unit 135.
상술한 것과 같이, 본 발명의 일실시예에 따른 디버링 장치(100)는 탄성 유닛(135)의 탄성력에 의해 디버링 툴(110)이 작업 위치(P)에 위치하는 피가공물(W) 쪽으로 가압됨으로써 피가공물(W)의 버(B)에 안정적으로 접하여 회전할 수 있다. 따라서 피가공물(W)을 정밀하게 위치 제어하여 이동시키지 않고도 디버링 툴(110)에 의한 디버링 작업이 원활하고 안정적으로 이루어질 수 있다. 도면에 나타낸 실시예의 경우, 디버링 장치(100)는 작업 위치(P)에 위치하는 피가공물(W)을 하나의 포인트에서 다른 하나의 포인트로 위치 이동시키는 것으로 디버링 작업을 완료할 수 있다.As described above, the deburring device 100 according to an embodiment of the present invention presses the deburring tool 110 toward the workpiece W located at the working position P by the elastic force of the elastic unit 135. It can rotate by stably contacting the burr (B) of the workpiece (W). Therefore, deburring work by the deburring tool 110 can be performed smoothly and stably without moving the workpiece (W) by precisely controlling its position. In the case of the embodiment shown in the drawing, the deburring device 100 can complete the deburring work by moving the workpiece (W) located at the work position (P) from one point to another point.
또한 본 발명의 일실시예에 따른 디버링 장치(100)는 작업 위치(P)에 놓이는 피가공물(W)에 접할 수 있는 스토퍼 유닛(140)을 이용하여 디버링 툴(110)과 피가공물(W) 간의 상호 접근 방향 움직임을 제한할 수 있다. 따라서 디버링 툴(110)에 의한 피가공물(W)의 절삭량을 다양하게 변화시킬 수 있다.In addition, the deburring device 100 according to an embodiment of the present invention uses a stopper unit 140 that can contact the workpiece (W) placed at the working position (P) to deburr the deburring tool 110 and the workpiece (W). Movement in the direction of mutual access between the two can be restricted. Therefore, the amount of cutting of the workpiece (W) by the deburring tool 110 can be varied.
또한 본 발명의 일실시예에 따른 디버링 장치(100)는 스토퍼 유닛(140)을 이용함으로써 디버링 툴(110)이나 피가공물(W)을 정밀하게 위치 제어하여 이동시키지 않고도 디버링 툴(110)에 의한 디버링 작업이 원활하고 안정적으로 이루어질 수 있다.In addition, the deburring device 100 according to an embodiment of the present invention uses the stopper unit 140 to precisely control the position of the deburring tool 110 or the workpiece (W) by using the deburring tool 110 without moving it. Deburring work can be performed smoothly and stably.
이상 본 발명에 대해 바람직한 예를 들어 설명하였으나 본 발명의 범위가 앞에서 설명되고 도시되는 형태로 한정되는 것은 아니다.Although the present invention has been described above with preferred examples, the scope of the present invention is not limited to the form described and shown above.
예를 들어, 디버링 툴(110)의 형태에 따라 디버링 툴(110)의 설치 방향은 다양하게 변경될 수 있다. 도면에는 디버링 툴(110)이 탄성 유닛(135)의 탄성력 인가 방향과 수직 교차하는 가상의 회전 중심축(C)을 중심으로 회전하는 것으로 나타냈으나, 디버링 툴은 탄성 유닛(135)의 탄성력 인가 방향과 평행한 가상의 회전 중심축, 또는 다른 방향으로 배치되는 가상의 회전 중심축을 중심으로 회전할 수 있다.For example, the installation direction of the deburring tool 110 may vary depending on the shape of the deburring tool 110. In the drawing, the deburring tool 110 is shown to rotate around a virtual central axis of rotation (C) that perpendicularly intersects the elastic force application direction of the elastic unit 135, but the deburring tool applies the elastic force of the elastic unit 135. It can rotate around a virtual central axis of rotation that is parallel to the direction, or a virtual central axis of rotation that is located in another direction.
또한 도면에는 스토퍼(145)가 서포트 유닛(120)에 선형 이동 가능하게 결합되는 것으로 나타냈으나, 스토퍼는 서포트 유닛에 고정 설치될 수 있다.Additionally, the drawing shows that the stopper 145 is coupled to the support unit 120 in a linearly movable manner, but the stopper may be fixedly installed on the support unit.
또한 앞서서는 피가공물(W)이 작업 위치(P)에 위치한 상태에서 그리퍼(155) 또는 베이스(130)가 탄성 유닛(135)의 탄성력 인가 방향과 수직 교차하는 방향으로 움직여 디버링 툴(110)과 피가공물(W) 간의 상대 위치를 변화시키는 것으로 설명하였으나, 그리퍼(155) 또는 베이스(130)의 이동 방향은 다양하게 변경될 수 있다.In addition, previously, with the workpiece (W) located at the working position (P), the gripper 155 or the base 130 moves in a direction perpendicular to the direction of elastic force application of the elastic unit 135 to form the deburring tool 110 and the deburring tool 110. Although it has been explained that the relative positions between the work pieces (W) are changed, the movement direction of the gripper 155 or the base 130 can be changed in various ways.
또한 도면에 나타낸 디버링 장치(100)는 이송 유닛(160)이 그리퍼(155)를 움직임으로써 디버링 툴(110)과 피가공물(W) 간의 상대 위치를 변화시키는 것으로 나타냈으나, 이송 유닛이 베이스(130)를 움직임으로써 디버링 툴(110)과 피가공물(W) 간의 상대 위치를 변화시키는 것도 가능하다. 이 경우, 그리퍼(155)가 피가공물(W)을 고정한 상태에서 베이스(130)가 움직여 디버링 툴(110)을 피가공물(W)의 버(B)에 접촉시킬 수 있다. 그리고 디버링 툴(110)이 피가공물(W)의 버(B)에 접한 후, 이송 유닛이 베이스(130)를 움직임으로써 디버링 툴(110)이 피가공물(W)의 버(B)를 따라 움직이면서 버(B)를 절삭할 수 있다.In addition, the deburring device 100 shown in the drawing shows that the transfer unit 160 changes the relative position between the deburring tool 110 and the workpiece (W) by moving the gripper 155, but the transfer unit is based on the base ( It is also possible to change the relative position between the deburring tool 110 and the workpiece (W) by moving 130). In this case, while the gripper 155 is fixing the workpiece W, the base 130 can move to bring the deburring tool 110 into contact with the burr B of the workpiece W. And after the deburring tool 110 comes into contact with the burr B of the workpiece W, the transfer unit moves the base 130 so that the deburring tool 110 moves along the burr B of the workpiece W. The burr (B) can be cut.
이상, 본 발명을 본 발명의 원리를 예시하기 위한 바람직한 실시예와 관련하여 도시하고 설명하였으나, 본 발명은 그와 같이 도시되고 설명된 그대로의 구성 및 작용으로 한정되는 것이 아니다. 오히려 첨부된 청구범위의 사상 및 범위를 일탈함이 없이 본 발명에 대한 다수의 변경 및 수정이 가능함을 당업자들은 잘 이해할 수 있을 것이다.Although the present invention has been shown and described in connection with preferred embodiments for illustrating the principles of the invention, the invention is not limited to the construction and operation as shown and described. Rather, those skilled in the art will understand that numerous changes and modifications can be made to the present invention without departing from the spirit and scope of the appended claims.
Claims (9)
- 피가공물의 표면에서 돌출되는 버를 제거하기 위한 디버링 장치에 있어서,In the deburring device for removing burrs protruding from the surface of the workpiece,상기 피가공물의 버를 절삭하기 위한 디버링 툴;A deburring tool for cutting burrs of the workpiece;상기 디버링 툴에 회전력을 제공하는 드라이브 유닛;A drive unit that provides rotational force to the deburring tool;상기 드라이브 유닛을 지지하는 서포트 유닛;a support unit supporting the drive unit;상기 피가공물의 버가 상기 디버링 툴과 접촉할 수 있는 작업 위치에 상기 피가공물을 위치시키기 위한 그리퍼; 및A gripper for positioning the workpiece in a working position where a burr of the workpiece can contact the deburring tool; and상기 서포트 유닛에 결합되고, 상기 작업 위치에 놓이는 상기 피가공물의 표면에 접하여 상기 디버링 툴과 상기 피가공물 간의 상호 접근 방향 움직임을 제한할 수 있는 스토퍼;를 포함하는 것을 특징으로 하는 디버링 장치.A stopper coupled to the support unit and in contact with the surface of the workpiece placed at the working position to limit movement in the mutual approach direction between the deburring tool and the workpiece. Deburring device comprising a.
- 제 1 항에 있어서,According to claim 1,상기 드라이브 유닛은 상기 드라이브 유닛의 이동 방향에 대해 수직인 회전 중심축(C)을 중심으로 상기 디버링 툴을 회전시키는 것을 특징으로 하는 디버링 장치.The drive unit is a deburring device characterized in that it rotates the deburring tool around a rotation center axis (C) perpendicular to the moving direction of the drive unit.
- 제 1 항에 있어서,According to claim 1,상기 스토퍼는 상기 디버링 툴에 대한 상대 위치가 변할 수 있도록 상기 서포트 유닛에 위치 조절 가능하게 설치되는 것을 특징으로 하는 디버링 장치.The stopper is a deburring device, characterized in that the position is adjustable in the support unit so that the relative position with respect to the deburring tool can be changed.
- 제 3 항에 있어서,According to claim 3,상기 스토퍼가 상기 작업 위치에 놓이는 상기 피가공물로부터 멀어지는 후퇴 방향으로 움직이지 않도록 상기 스토퍼의 움직임을 구속하기 위해 상기 서포트 유닛에 설치되는 조정 유닛;을 포함하는 것을 특징으로 하는 디버링 장치.A deburring device comprising: an adjustment unit installed on the support unit to restrain the movement of the stopper so that the stopper does not move in a retreating direction away from the workpiece placed in the working position.
- 제 4 항에 있어서,According to claim 4,상기 조정 유닛은,The adjustment unit is,상기 스토퍼의 후퇴 방향 움직임을 구속할 수 있도록 상기 서포트 유닛에 나사 운동 가능하게 결합되는 돌출부재를 포함하는 것을 특징으로 하는 디버링 장치.A deburring device comprising a protruding member that is screwably coupled to the support unit so as to constrain the movement of the stopper in the retreating direction.
- 제 5 항에 있어서,According to claim 5,상기 서포트 유닛에 이동 가능하게 결합되어 상기 스토퍼를 지지하는 캐리지;를 포함하고,It includes a carriage movably coupled to the support unit to support the stopper,상기 돌출부재는 상기 캐리지에 접하여 상기 캐리지의 후퇴 방향 움직임을 구속할 수 있는 것을 특징으로 하는 디버링 장치.The protruding member is a deburring device, characterized in that it is in contact with the carriage and can constrain the movement of the carriage in the retreat direction.
- 제 6 항에 있어서,According to claim 6,상기 조정 유닛은,The adjustment unit is,상기 캐리지에 나사 운동 가능하게 결합되고, 사용자에 의해 나사 운동하여 상기 캐리지의 위치를 조정할 수 있도록 상기 서포트 유닛에 설치되는 조정부재를 포함하는 것을 특징으로 하는 디버링 장치.A deburring device coupled to the carriage to enable screw movement and comprising an adjustment member installed on the support unit so that the position of the carriage can be adjusted by screw movement by a user.
- 제 1 항에 있어서,According to claim 1,상기 스토퍼는 상기 피가공물의 표면에 접하여 구름 운동할 수 있는 롤러 형태로 이루어지는 것을 특징으로 하는 디버링 장치.The stopper is a deburring device, characterized in that it is formed in the form of a roller capable of rolling movement in contact with the surface of the workpiece.
- 제 1 항에 있어서,According to claim 1,상기 디버링 툴을 상기 작업 위치에 놓이는 상기 피가공물에 접근하는 방향으로 밀 수 있도록 상기 상기 서포트 유닛에 탄성력을 제공하는 탄성 유닛;을 포함하는 것을 특징으로 하는 디버링 장치.An elastic unit that provides elastic force to the support unit so that the deburring tool can be pushed in a direction approaching the workpiece placed in the working position. Deburring device comprising a.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020220037672A KR102628493B1 (en) | 2022-03-25 | 2022-03-25 | Deburring apparatus |
KR10-2022-0037672 | 2022-03-25 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2023182711A1 true WO2023182711A1 (en) | 2023-09-28 |
Family
ID=88101441
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2023/003310 WO2023182711A1 (en) | 2022-03-25 | 2023-03-10 | Deburring device |
Country Status (2)
Country | Link |
---|---|
KR (1) | KR102628493B1 (en) |
WO (1) | WO2023182711A1 (en) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0636741U (en) * | 1992-04-08 | 1994-05-17 | 有限会社生産技術研究所 | Unmanned deburring device |
JPH079294A (en) * | 1993-06-25 | 1995-01-13 | Synx Kk | Workpiece setting ruler in edge preparation machine |
JP2002370116A (en) * | 2001-06-13 | 2002-12-24 | Denso Corp | Copying device for work |
JP2004017274A (en) * | 2002-06-14 | 2004-01-22 | Hitohiro Matsuba | Chamfering machine |
CN204584379U (en) * | 2015-03-25 | 2015-08-26 | 南京工业职业技术学院 | A kind of self adaptation beveler |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR200203134Y1 (en) | 1997-12-11 | 2000-12-01 | 최제경 | Auto-finishing unit to shave burr of shaping matter |
KR101220167B1 (en) | 2011-02-11 | 2013-01-11 | (주)나래에프에이씨 | Apparatus for deburring annular material |
-
2022
- 2022-03-25 KR KR1020220037672A patent/KR102628493B1/en active IP Right Grant
-
2023
- 2023-03-10 WO PCT/KR2023/003310 patent/WO2023182711A1/en unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0636741U (en) * | 1992-04-08 | 1994-05-17 | 有限会社生産技術研究所 | Unmanned deburring device |
JPH079294A (en) * | 1993-06-25 | 1995-01-13 | Synx Kk | Workpiece setting ruler in edge preparation machine |
JP2002370116A (en) * | 2001-06-13 | 2002-12-24 | Denso Corp | Copying device for work |
JP2004017274A (en) * | 2002-06-14 | 2004-01-22 | Hitohiro Matsuba | Chamfering machine |
CN204584379U (en) * | 2015-03-25 | 2015-08-26 | 南京工业职业技术学院 | A kind of self adaptation beveler |
Also Published As
Publication number | Publication date |
---|---|
KR102628493B1 (en) | 2024-01-24 |
KR20230139260A (en) | 2023-10-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP0047938A2 (en) | A robot hand of an industrial robot | |
JPH0947992A (en) | Clamp device | |
WO2023182711A1 (en) | Deburring device | |
WO2023182710A1 (en) | Deburring device | |
CN212704093U (en) | Feeding device for numerical control turret punch press | |
JP2004188554A (en) | Tool changing device, and tool | |
EP0100283A2 (en) | Universal sheet metal holder | |
JP3558663B2 (en) | Punching equipment | |
CN111230420B (en) | Machining method for coupler cavity for communication | |
CN114951401B (en) | Reinforcement punching device | |
CN111261993B (en) | Coupler cavity machining system for communication | |
CN111261994B (en) | Coupler cavity processing equipment for communication | |
KR102510464B1 (en) | Auto adjustable width device for gripper of component | |
CN220680827U (en) | Self-adaptive variable robot paw | |
JP3240111B2 (en) | Positioning and mounting device | |
KR102620814B1 (en) | self centering vise | |
CN217453152U (en) | Engraving and milling machine with automatic lifting and closing jig | |
CN212095174U (en) | Put and get pressure axle sleeve device and pressure equipment of pressure axle sleeve | |
CN220388684U (en) | High-precision positioning device for processing mold parts | |
CN219026781U (en) | Feeding mechanism for numerical control machining center | |
CN217552208U (en) | Positioning and clamping mechanism | |
JPH0724879B2 (en) | Method of changing the processing range in plate processing machine | |
WO2023182712A1 (en) | Deburring tool and deburring device including same | |
CN210499251U (en) | Digit control machine tool is with accurate appearance parallel control workstation of transferring | |
JPH07272B2 (en) | Work input robot device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 23775209 Country of ref document: EP Kind code of ref document: A1 |