JPH08267350A - Deburring method - Google Patents

Abstract

PURPOSE: To capacitate it for deburring in an efficient manner by performing a job for finish deburring by manual operation by means of remote control after the rough deburring of a surface is carried out up to more than the specified height by means of a teaching playback. CONSTITUTION: A workpiece 14 is set up on a workpiece setup block 15 existing in an operation effective range of a multidegree-of-freedom manipulator 11. Next, an operator performs a teaching for automtic operation by means of teaching playback operation. Then this multidegree-of-freedom manipulator 11 is operated by this teaching playback, performing a job for 'rough deburring' by automatic operation. In succession, it is switched to manual operation, namely, the operator grasps a state of burr by his own eyes, controlling the position of a disklike stone as operating a joy stick controller and thus 'finish deburring operation' is carried out.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for removing a surplus material portion (hereinafter, simply referred to as "burr") such as burrs, weir traces and the like generated in a manufacturing process of castings or pressed products.

[0002]

2. Description of the Related Art It is common practice to attach a grinder to a robot to remove burrs. When using a teaching playback robot as this robot, the grindstone only moves along the path taught in advance, so it is safe from the trade-offs of the robot's motion path accuracy, grindstone wear, and dimensional variation of the material being ground. It was usual that only rough finishing accuracy could be obtained in consideration of the property. Therefore,
As described in Japanese Patent Application Laid-Open No. 63-288658, a grinder and a sensor for detecting the pressing force of the grindstone of the grinder are attached to the wrist at the tip of the robot arm so that the pressing force applied to the grindstone becomes constant. A method of controlling a robot and a method of detecting a position of a burr to be ground by a detector such as a laser sensor and sequentially correcting a teaching point of the robot to perform a deburring process with high accuracy have been proposed.

[0003]

However, in the method for detecting the pressing force of the grinding wheel of Granida, since the control circuit is constituted by a completely closed loop, the control tends to diverge, making it difficult to set a high gain. As a result, there is a problem that the work efficiency cannot be improved because there is no choice but to operate at low speed. In addition, a device that sequentially corrects the teaching point of the robot while measuring the height of the burr to be ground with a measuring device makes it difficult to set the burr shape, and if the shape of the burr is not grasped correctly, the product is scraped. However, as a result, there is a problem that it is difficult to automatically and accurately perform deburring. Therefore, when the device described in the above publication is operated at high speed, in order to stabilize the control, it is necessary to use a drive device and a control device having high responsiveness, which causes a problem of high cost. The present invention has been made in view of the above circumstances, and provides a method for efficiently performing deburring with a simple method, by effectively utilizing the accurate operation of a machine and the advanced confirmation and judgment ability of a human. The purpose is to

[0004]

A method according to the above-mentioned object.
The deburring method described is a deburring method for removing burrs generated in the manufacturing process on the surface of a pressed product or a cast product by a grinder process, and a predetermined operation is performed by automatic operation by teaching playback using a multi-degree-of-freedom manipulator. After deburring the surface to a height or less, finishing deburring is done manually by remote control. Further, in the deburring method according to claim 2, in the method according to claim 1, the automatic operation by the teaching playback only teaches a few reference points, and a grinder attached to the multi-degree-of-freedom manipulator is operated. The motion locus is automatically generated.

[0005]

In the deburring method according to the first and second aspects, the surface is roughly deburred up to a predetermined height or less by a teaching playback method using a multi-degree-of-freedom manipulator. Therefore, even if there is a motion locus accuracy of the robot, wear of the grindstone, and dimensional variation of the material to be ground, deburring can be performed without cutting the product. After removing a certain amount of burrs, the finishing burrs are removed by a manual operation by a remote control using human's advanced confirmation and judgment ability, so that the remaining burrs can be removed by this. In particular, in the deburring method according to the second aspect, the operation trajectory of the gran lidar is automatically generated by teaching several reference points on the product, so that the teaching work can be simplified.

[0006]

Embodiments of the present invention will now be described with reference to the accompanying drawings to provide an understanding of the present invention. 1 is a perspective view showing a state of implementation of a deburring method according to an embodiment of the present invention, FIG. 2 is a schematic explanatory view of the method, FIG. 3 is a perspective view of an operation panel used in the method, and FIG. , Fig. 5
Is an explanatory diagram of an operation state of the method, and FIG. 6 is a work flow diagram of the method.

As shown in FIGS. 1 and 2, a deburring apparatus 10 to which the method according to the embodiment of the present invention is applied is a multi-degree-of-freedom manipulator 11 which is an articulated robot (a 6-axis articulated robot in this embodiment). And a large grinding tool 13 attached to the tip of the arm 12 of the multi-degree-of-freedom manipulator 11,
An object-to-be-grounded table 15 on which a stave cooler 14 which is an example of a material to be ground is placed, a controller 17a for the manipulator controller 16 and the large-scale grinding tool 13, and a joystick controller 17 which is an example of an operation panel connected to the manipulator controller 16. And have. Less than,
These will be described in detail.

The multi-degree-of-freedom manipulator 11 has a well-known structure and is capable of moving a large-scale grinding tool 13 attached to the tip of an arm 12 in the X-axis, Y-axis, and Z-axis directions, and at the same time large-scale grinding. Move the tool 13 to the Z-X plane (Z
Rotation independently in the Z-Y plane (refers to the plane including the Z-axis and the Y-axis) and the XY plane (refers to the plane including the X-axis and the Y-axis). By moving it, the direction of the disk-shaped grindstone 18 therebelow can be freely changed. Further, the multi-degree-of-freedom manipulator 11 has a payload of 100 to 400 kg from the viewpoint of grinding workability, and has a robot rigidity of 500 to 2000 N / from the viewpoint of suppressing grinding vibration.
It is min.

The large grinding tool 13 has a width of 3 to 11 kw.
The electric motor 19 and the disc-shaped grindstone 18 attached to the output shaft thereof are provided, and the disc-shaped grindstone 18 is rotated at high speed by the rotation of the electric motor 19 to perform efficient grinding. Therefore, the large-scale grinding tool 13 is fixed to the arm 12 via the mounting flange 21.

The object-to-be-grounded table 15 is a flat table on which the stave cooler 14 is placed. The stave cooler 14 is a cast product, and the product immediately after casting has dam marks and cast burrs on the surface.

The manipulator controller 16 has a well-known computer inside, and has means for automatically operating the multi-degree-of-freedom manipulator 11 by a teaching playback operation and means for manually operating the joystick controller 17. are doing. Each of these means alone is well known and used in the fields of welding and polishing. In addition, the control device 17a
Is mainly provided with control means for controlling the electric motor 19 of the large-scale grinding tool 13 and other power supply means.

As shown in FIG. 3, the joystick controller 17 has a wrist position operating lever 22 and a wrist posture operating lever 23. By tilting the wrist position operating lever 22 back and forth and left and right, a multi-degree of freedom is obtained. The disk-shaped grindstone 18 attached to the tip of the arm 12 of the manipulator 11 moves back and forth (X axis direction) and left and right (Y axis direction), and is further attached to the side surface of the wrist position operating lever 22. By moving the switch 24 up and down, the disk-shaped grindstone 18 moves up and down (Z-axis direction).

On the other hand, when the wrist posture operating lever 23 is tilted back and forth, the disc-shaped grindstone 18 rotates in the YZ plane due to the overall operation of the multi-degree-of-freedom manipulator 11 (this is indicated as Tx). ). In addition, the wrist posture operation lever 23
The disk-shaped grindstone 18 rotates in the X-Z plane (indicated as Ty) when tilted right and left, and the disk-shaped grindstone 18 rotates in the XY plane when the wrist posture operation lever 23 is rotated. (Tz
Is displayed). By this operation, the solid angle of the disk-shaped grindstone 18 that contacts the surface of the stave cooler 14 can be freely changed by manual operation.

The manual operation method using the joystick controller 17 includes one that issues an absolute position command in proportion to the operation amount of each operation lever 22 and 23 and one that issues a speed command in accordance with the operation amount. However, in this embodiment, the latter can be adopted and the former can be adopted if necessary. The latter speed command includes proportional control, multistage proportional control, and quadratic function proportional control, and these selections are properly used according to the content of the grinding work. Further, the joystick controller 17 has an interface button 24a for recognizing a work step such as completion of manual operation and a lamp 25 for displaying an operation.

The manipulator controller 16 has a teaching box 26 for teaching playback. The teaching box 26 is provided with a teaching function and a program editing function when the multi-degree-of-freedom manipulator 11 is used as a conventional teaching playback robot. Regarding the teaching playback method, for example,
Since it is described in JP-A-62-60007,
Detailed explanation is omitted. It is also effective to add a teaching function to the joystick controller 17.

Next, a deburring method according to an embodiment of the present invention will be described while explaining the operation of the deburring apparatus 10. A stave cooler 14 which is an example of a material to be ground is installed on an object installation base 15 in the operation effective range of the multi-degree-of-freedom manipulator 11. The worker
Judge whether the burr shape of the stave cooler 14 is simple or the burr (including weir traces) has a large volume and is complicated, and if the burr shape is complicated, visually check the deburring location suitable for automatic operation. Judgment is made, and teaching for automatic operation is performed by teaching playback operation.

Here, since teaching work is troublesome if all the moving trajectories of the large-scale grinding tool 13 are taught as a teaching method, a method of automatically generating a trajectory by reference point teaching is used. Automatic trajectory generation by the reference point teaching is performed as follows. As shown in FIG. 5, by operating the joystick controller 17, the disc-shaped grindstone 18 is brought into contact with the upper grinding surface of the stave cooler 14, and then the memory button is pressed to make three points (for example, the upper surface). Corners) P ₁ , P ₂ , P ₃
Are sequentially read as position variables by the programming language of the manipulator controller 16. P ₁ ,
The control points P _i are calculated from the position variables so as to be parallel to the axis X _P passing through P ₂ and the axis Y _P passing through P ₁ and P ₃ , respectively, and stored in the position variables. Then, a position which does not exceed the point P ₃ is set as the final control point P _E. The trajectory program is determined so that the calculated position variable data can be operated sequentially. The locus pitch t and its moving speed are determined in advance in consideration of the shape and grinding ability of the disk-shaped grindstone 18.

With the above operation, as shown in FIG. 4, the reference point teaching process and the trajectory automatic generation process in the manipulator controller 16 are completed. Therefore, if necessary, after confirming the deburring range, , The multi-degree-of-freedom manipulator 11 is operated to start automatic rough deburring. The grinding accuracy (the amount of remaining burr) for rough deburring is set to about 0.5 to 3.0 mm in this embodiment. Therefore,
In the classification of rough deburring by automatic operation and finish deburring by manual operation, the amount of remaining burr is optimally 0.5 to 3.0 mm. Next, by switching to manual operation, the operator visually recognizes the burr condition, and while operating the joystick controller 17, the disk-shaped grindstone 18
The position of is controlled and finishing deburring work is performed. In this case, the XY plane may be determined with reference to the XYZ axes for moving the multi-degree-of-freedom manipulator 11, or when the reference point teaching is performed, the inclination angle of the surface to be ground is detected and this plane is determined. The work may be performed by determining the coordinates so that the plane becomes the XY plane. Although the above work flow is shown in FIG. 6 for reference, the operation mode includes a manual operation mode, a reference point teaching mode, a deburring range confirmation mode, and an automatic deburring operation mode. Switch to work.

[0019]

As is apparent from the above description, the deburring method according to the first and second aspects of the present invention enables efficient deburring without using an expensive detector or control device whose control system easily diverges. It can be carried out. Further, since the worker removes the burr while performing the finish inspection, an independent inspection process is not required, and there is no waste in conveying the material to be ground and securing the inspection personnel.

[Brief description of drawings]

FIG. 1 is a perspective view showing an implementation state of a deburring method according to an embodiment of the present invention.

FIG. 2 is a schematic explanatory diagram of the same method.

FIG. 3 is a perspective view of an operation panel used in the method.

FIG. 4 is an explanatory diagram of an operating state of the method.

FIG. 5 is an explanatory diagram of an operating state of the method.

FIG. 6 is a work flow diagram of the method.

[Explanation of symbols]

 10 Deburring device 11 Multi-degree-of-freedom manipulator 12 Arm 13 Large-scale grinding tool 14 Stave cooler 15 Workpiece installation stand 16 Manipulator controller 17 Joystick controller 17a Control device 18 Disc-shaped grindstone 19 Electric motor 21 Mounting flange 22 Wrist position operating lever 23 Wrist posture operation lever 24 Switch 24a Interface button 25 Lamps 26 Teaching box

Front Page Continuation (72) Inventor Eiji Sasaki 2-5-10-308 Ichie Tobata-ku, Kitakyushu, Fukuoka

Claims (2)

[Claims] 1. A deburring method for removing burrs generated in a manufacturing process on a surface of a pressed product or a cast product by a grinder processing, which has a predetermined height by automatic operation by teaching playback using a multi-degree-of-freedom manipulator. A deburring method characterized by performing rough deburring on the surface up to the following and then performing manual deburring by remote control. 2. The automatic operation by the teaching playback only teaches several reference points,
The deburring method according to claim 1, wherein an operation locus of a grinder attached to the multi-degree-of-freedom manipulator is automatically generated.