JP2013043266A - Deburring device, deburring method, and method of manufacturing parts for automobile - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a deburring device and a deburring method capable of deburring, preventing outbreaks of unnecessary sliding damages, and to provide a method of manufacturing parts for an automobile.SOLUTION: The deburring device 10 includes a deburring tool 70, which projects toward one side from a tip part of a rotary shaft 71, in a cutter part 80 thereof. The deburring tool 70 is controlled in position thereof in the axial direction of the rotary shaft 71 by a servo motor 25 for a V-shaft, and is controlled in position thereof around the center of the rotary shaft 71 by a servo motor 26 for a J4 shaft. With this structure, the cutter part 80 can be moved along a non-circular opening edge, and deburring can be performed, preventing outbreaks of unnecessary sliding damages.

Description

  The present invention relates to a deburring device, a deburring method, and a method of manufacturing an automobile part, which use a deburring tool having a structure in which a cutter part for removing deburring of a workpiece protrudes from a tip side to one side. About.

  Conventionally, in this type of deburring apparatus, when removing the burr at the circular opening edge in the round hole formed in the workpiece, the central axis of the deburring tool is made to coincide with the central axis of the round hole and the cutter portion The linear movement position is arranged at the edge of the circular opening and rotated (for example, see Patent Document 1). Further, as shown in FIG. 14B, when removing the burr of the non-circular opening edge 4B formed by the intersection of the first and second round holes 3 and 4, the first and second round holes are removed. The deburring tool 1 was inserted into one of the holes 3 and 4 (see FIG. 14A), moved forward in a direction rotated in one direction, and then moved back in a state rotated in the other direction.

JP 2007-216359 A (paragraphs [0018], [0019], FIG. 4)

  However, in the conventional deburring device described above, when removing the burr of the non-circular opening edge 4B, the cylindrical inner surface arranged at the same position as the opening edge in the axial direction of the central axis in the round hole is also a cutter. There was a problem in that it was processed by the portion 5 and an unnecessary sliding contact was made.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a deburring apparatus, a deburring method, and a method for manufacturing an automobile part that can perform a deburring process that suppresses the occurrence of unnecessary sliding contact scratches.

  In order to achieve the above object, the deburring device according to the first aspect of the present invention has a workpiece jig for holding a workpiece and a cutter portion for removing the workpiece burrs on one side from the tip of the rotating shaft. A deburring tool having a structure protruding in the direction, a first motor for rotationally driving the deburring tool, and a second motor for linearly moving the deburring tool in the axial direction of the central axis of the rotating shaft with respect to the workpiece, A deburring apparatus that can remove the deburring by changing the linear movement position of the deburring tool while rotationally driving the deburring tool, wherein the first and second motors are replaced by the first and second servomotors. As described above, the cutter unit is characterized in that the position of the cutter unit can be controlled at both the rotational position and the linear motion position.

  According to a second aspect of the present invention, in the deburring device according to the first aspect, the cutter portion includes a hemispherical contact portion at the distal end portion, and extends from the distal end portion to the proximal end portion of the outer peripheral surface of the hemispherical contact portion. It is characterized in that a deburring blade is formed.

  According to a third aspect of the present invention, in the deburring device according to the first or second aspect, the deburring tool is driven to rotate at a preset rotational speed, and the It is possible to switch between a one-dimensional position control mode in which the position of the moving position can be controlled to a preset linear position and a two-dimensional position control mode in which the position of the cutter unit can be controlled by both the rotational position and the linear position. However, it has characteristics.

  According to a fourth aspect of the present invention, in the deburring device according to any one of the first to third aspects, at least a part of the round hole intersects the curved surface in the workpiece, or at least the round hole A part of it intersects the plane diagonally and a non-circular opening is formed at the end of the round hole, and the cutter rotates while the deburring tool is rotated once by making the center axis of the round hole coincide with the center axis of the rotary shaft. The unit is equipped with data storage means for storing control data for drawing a non-circular locus slidingly contacting the opening edge of the non-circular opening, and the position of the cutter unit can be controlled based on the control data Have

  According to a fifth aspect of the present invention, in the deburring device according to any one of the first to fourth aspects, the work has a second round hole communicating with the workpiece in the middle in the longitudinal direction of the first round hole. Thus, a non-circular opening of the second round hole is formed on the inner surface of the first round hole, and the deburring tool is linearly moved by aligning the central axis of the first round hole with the central axis of the rotary shaft. Data storage means for storing control data for causing the cutter portion to draw a locus meandering along the opening edge while abutting across the opening edge of the non-circular opening, and based on the control data The position of the cutter part can be controlled.

  According to a sixth aspect of the present invention, in the deburring device according to any one of the first to fifth aspects, the work has a second round hole communicating with the workpiece in the middle in the longitudinal direction of the first round hole. Thus, a non-circular opening of the second round hole is formed on the inner surface of the first round hole, and the deburring tool is linearly moved by aligning the central axis of the first round hole with the central axis of the rotary shaft. Control data for causing the cutter unit to draw a locus meandering along the axial direction of the first round hole while alternately contacting the opposite position of the opening edge across the non-circular opening. The data storage means is provided, and the position of the cutter unit can be controlled based on the control data.

  The deburring method according to the invention of claim 7 includes a work jig for holding a work, and a deburring tool having a structure in which a cutter part for removing deburring of the work protrudes from the tip of the rotating shaft to one side. A deburring device comprising a first motor for rotationally driving the deburring tool and a second motor for linearly moving the deburring tool relative to the workpiece in the axial direction of the central axis of the rotary shaft. In the deburring method for removing the burrs by changing the linear motion position of the deburring tool while rotationally driving the deburring tool, the first and second motors are set as the first and second servo motors, It is characterized in that burrs are removed by controlling the position of the cutter unit at both the rotational position and the linear movement position.

  The method of manufacturing an automobile part according to the invention of claim 8 uses the deburring device according to any one of claims 1 to 6 as a work having a round hole as a lubricating oil flow path. It has a feature in removing burrs from automobile parts.

  According to the deburring device and the deburring method of claims 1 and 7, since the position of the cutter unit is controlled at both the rotation position and the linear movement position, even if the opening edge where the burr can occur is non-circular. The cutter portion can be moved along the non-circular opening edge. Thereby, the deburring process which suppressed generation | occurrence | production of the unnecessary sliding contact is attained.

  Specifically, at least part of the round hole formed in the workpiece intersects the curved surface, or at least part of the round hole obliquely intersects the plane and is non-circular at the end of the round hole. When the opening is formed, the non-circular opening is formed in the cutter portion while the deburring tool is rotated once by making the round hole and the central axis of the rotating shaft coincide with each other as in the invention of claim 4. By drawing a non-circular locus that slidably contacts the opening edge, it is possible to perform a deburring process that suppresses the occurrence of unnecessary sliding contact scratches.

  The second round hole communicates with the middle of the first round hole formed in the workpiece in the longitudinal direction, and a non-circular opening of the second round hole is formed on the inner surface of the first round hole. In the case where the deburring tool is linearly moved while matching the center axis of the first round hole and the center axis of the rotary shaft as in the invention of claim 5, the cutter portion is non-circular. A trajectory of meandering along the opening edge is drawn while abutting across the opening edge of the opening, or the center axis of the first round hole and the center axis of the rotating shaft are coincident as in the invention of claim 6 While the deburring tool is linearly moved, a trajectory that meanders along the axial direction of the first round hole while abutting alternately with the opposing position of the opening edge across the non-circular opening on the cutter portion. This makes it possible to perform deburring while suppressing the occurrence of unnecessary sliding contact.

  In the invention of claim 2, the chamfering angle by the deburring blade can be changed as appropriate by appropriately changing the position of the hemispherical contact portion provided with the deburring blade of the cutter portion.

  According to invention of Claim 3, when removing the burr | flash of a circular opening edge, it is set to one-dimensional position control mode, and rotational position of a cutter part is rotated while rotationally driving a deburring tool at a preset rotational speed. Regardless of the position, only the linear movement position of the cutter part is controlled, and when removing the burr of the non-circular opening edge, the two-dimensional position control mode is set, and the cutter part is set to both the rotational position and the linear movement position. The position can be controlled with. Thereby, when removing the burr | flash of a circular opening edge, a control load is reduced.

  According to the eighth aspect of the present invention, it is possible to perform a deburring process that suppresses the occurrence of unnecessary sliding contact scratches in the flow path of the lubricating oil of the automobile part. This makes it possible to manufacture automobile parts through which lubricating oil flows smoothly.

The side view of the deburring apparatus which concerns on 1st Embodiment of this invention. (A) Side view of deburring tool, (B) Partial enlarged side sectional view Block diagram showing the electrical configuration of the deburring device Deburring program flowchart Conceptual diagram of work The perspective view which showed the 1st round hole and 2nd round hole of the workpiece | work Side sectional view of the workpiece before the deburring tool is inserted into the second round hole Side cross-sectional view of workpiece with burr removed from circular opening edge with deburring tool Side view of workpiece with burrs removed from non-circular opening edge with deburring tool (A) Side view of deburring tool according to second embodiment, (B) Perspective view Side view of a deburring tool according to the third embodiment Perspective view of workpiece according to modification Perspective view of deburring tool according to modification (A) Side view of deburring tool when removing burr with conventional deburring device, (B) perspective view

[First Embodiment]
Hereinafter, an embodiment of the present invention will be described with reference to FIGS. As shown in FIG. 1, the deburring device 10 of this embodiment includes a work jig 12 in front of the deburring device body 13 in the horizontal direction. Hereinafter, the horizontal direction in which the deburring device body 13 and the work jig 12 face each other is referred to as “front-rear direction”, and the horizontal direction orthogonal to the front-rear direction is referred to as “left-right direction”. Further, in the deburring device main body 13, the workpiece jig 12 side is referred to as “front side”, and the opposite side is referred to as “rear side”. Furthermore, in the three-dimensional coordinates set in the deburring device body 13, the front-rear direction is the X-axis direction, the left-right direction is the Y-axis direction, and the up-down direction is the Z-axis direction.

  The deburring device main body 13 includes a horizontal guide 14 provided between a pair of support bases 11A and 11B arranged in the front-rear direction, and a slide mechanism portion 15 is slidably engaged with the horizontal guide 14. Then, the position of the slide mechanism unit 15 is controlled in the X-axis direction (front-rear direction) by the X-axis servomotor 21 (see FIG. 3). Further, the slide mechanism portion 15 has a shape extending vertically above the horizontal guide 14, and the first arm 16 extends horizontally from the lower end portion of the slide mechanism portion 15 disposed below the horizontal guide 14. The first arm 16 and the linear motion shaft (not shown) extending from the end of the first arm 16 into the slide mechanism 15 are moved in the Z-axis direction (up and down) by the Z-axis servomotor 22 (see FIGS. 1 and 3). The position is controlled around the vertical axis J1 at the center of the slide mechanism section 15 by the J1-axis servomotor 23 (see FIG. 3).

  A second arm 17 is rotatably connected to the distal end portion of the first arm 16 and extends in the horizontal direction. The position of the second arm 17 is controlled around the vertical axis J2 by a J2-axis servomotor 24 (see FIGS. 1 and 3). Further, the rotation support wrist 18 is engaged with the second arm 17 so as to be slidable in the longitudinal direction of the second arm 17. The position of the rotation support list 18 is controlled in the V-axis direction, which is the longitudinal direction of the second arm 17, by a V-axis servomotor 25 (see FIGS. 1 and 3).

  One end portion of the rotation support list 18 in the linear movement direction is provided with a rotation output unit that rotates about a rotation axis parallel to the linear movement direction, and a deburring tool 70 is attached thereto. The deburring tool 70 is rotationally driven by the J4-axis servomotor 26 (see FIGS. 1 and 3).

  As shown in FIG. 2A, the deburring tool 70 has a configuration in which the cutter unit 80 is assembled to the rotating shaft 71. The rotating shaft 71 has a circular shaft portion 72 having a uniform outer diameter from the proximal end portion to the tip end position, and a distal end head portion 73 on the distal end side of the circular shaft portion 72. The distal end head portion 73 has a tapered shape in which the proximal end portion is gradually reduced in diameter toward the circular shaft portion 72, and the distal end side from the tapered portion is a cylindrical shape having a substantially uniform outer diameter.

  As shown in FIG. 2B, the distal end head portion 73 is formed with a cutter receiving hole 74 by closing one end of a hole penetrating in the radial direction with a plug 74T, and the cutter receiving hole 74 has a cutter portion. 80 is received so that it can move linearly. The cutter unit 80 has a structure in which a hemispherical contact portion 82 is provided at the tip of a cylindrical body 81. The hemispherical contact portion 82 is formed with a deburring blade 83 along a latitude line extending from the apex to the hem portion.

  In the present embodiment, the deburring blade 83 is formed at the apex of the hemispherical contact portion 82, but the hemispherical shape is formed so that the apex of the hemispherical contact portion 82 is a curved surface on which the deburring blade 83 is not formed. When the apex of the contact portion 82 comes into sliding contact with the inner surface of a round hole 90 </ b> A of the work 90 to be described later, it may be difficult to make a sliding contact.

  A compression coil spring 75 is provided between the cutter unit 80 and the inner surface 74M of the cutter receiving hole 74. The cutter portion 80 is urged toward the outside of the cutter receiving hole 74 by the compression coil spring 75. Further, the flange 81F projects laterally from the peripheral surface of the body 81, and the cutter portion 80 is positioned at the origin position by the flange 81F coming into contact with a stepped portion 74D provided in the middle of the cutter receiving hole 74. Normally, the hemispherical contact portion 82 protrudes outward from the cutter receiving hole 74.

  In the present embodiment, the position of the cutter unit 80 is controlled around the rotation center of the rotary shaft 71 by the J4 axis servomotor 26 described above, and the rotation support list 18 is used together with the rotation support list 18 by the V axis servomotor 25 described above. Position control. That is, in this embodiment, the J4 axis servomotor 26 corresponds to the “first motor” and “first servomotor” of the present invention, and the Vaxis servomotor 25 corresponds to the “second motor” of the present invention. And “second servo motor”. In addition, when the position of the cutter unit 80 is controlled in the V-axis direction, the case where the rotation support list 18 linearly moves with the deburring tool 70 side at the top is referred to as “the cutter unit 80 moves forward” as appropriate. A case where the cutter unit 80 moves linearly on the opposite side is referred to as “the cutter unit 80 moves backward”.

  Further, in order to control the position of the cutter unit 80, the following reference points and the like are set in the deburring tool 70. That is, for example, as shown in FIG. 7, the center point of the tip surface of the rotating shaft 71 of the deburring tool 70 is set as the tool reference point 71P, and from the center axis of the rotating shaft 71 of the hemispherical contact portion 82. The farthest vertex is set as the cutter reference point PK1, and a line passing through the cutter reference point PK1 and orthogonal to the central axis of the rotary shaft 71 is set as the rotation reference line K1. Further, the position where the cutter unit 80 is most retracted is set as the linear motion origin that is the origin of the linear motion direction of the cutter unit 80, and the position where the cutter reference point PK1 is arranged right above the central axis of the rotary shaft 71 is The rotation origin that is the origin in the rotation direction of the cutter unit 80 is set.

  As shown in FIG. 1, the work jig 12 has a pair of work support portions 19 </ b> A and 19 </ b> A on opposed surfaces of a pair of opposed support walls 19 and 19 that face each other in the Y-axis direction (left and right direction) of the deburring device 10. (Only one opposing support wall 19 and workpiece support portion 19A are shown in FIG. 1), and the workpiece support portions 19A and 19A rotate around a rotation axis J3 parallel to the Y-axis direction. It is like that. A workpiece 90 described below is sandwiched between a pair of workpiece support portions, and the position of the workpiece 90 is controlled around the rotation axis J3 by the J3-axis servomotor 27.

  The workpiece 90 is, for example, a crankshaft as an automobile part. In FIG. 5, the appearance of the crank structure portion 90K excluding the rotating shaft portions 90J and 90J at both ends of the crankshaft is omitted in a rectangular parallelepiped shape. Is shown. Then, the centers of the rotation shaft portions 90J and 90J of the workpiece 90 are centered on the rotation centers of the workpiece support portions 19A and 19A of the workpiece jig 12, and the reference coordinates set on the workpiece 90 and the workpiece support portion 19A are set. The workpiece 90 is attached between the workpiece support portions 19A and 19A in a state where the predetermined reference coordinates are matched.

  In FIG. 5, a plurality of round holes 90 </ b> A formed in the workpiece 90 are highlighted. These round holes 90A are flow paths for supplying lubricating oil to bearing portions assembled to the crankshaft, and the deburring device 10 is used to remove burrs that may be generated at the opening edges of the end portions of the round holes 90A. Is used. In addition to the circular opening edge in which the workpiece 90 is orthogonal to the plane, the round holes 90A and 90A intersect each other at the opening edge of the round hole 90A, or the end of the round hole 90A is oblique to the plane. A non-circular opening edge formed by intersecting or intersecting with a curved surface is also included.

  FIG. 3 shows the controller 11 of the deburring device 10. The controller 11 includes a main control circuit 11C connected to servo amplifiers 21A to 27A corresponding to the servo motors 21 to 27, a data storage unit 11M, and a console 11E. When the deburring device 10 is operated, the main control circuit 11C calculates the target positions of the servomotors 21 to 27 for each predetermined cycle based on the control data stored in the data storage unit 11M, and according to the target positions. Each command value is given to each servo amplifier 21A-27A. Then, the servo amplifiers 21A to 27A rotate the servo motors 21 to 27 based on the command values and the detection values of the position detectors 21S to 27S (for example, encoders, resolvers, etc.) of the servo motors 21 to 27. The position of the output unit is feedback controlled. Thereby, position control of the above-mentioned slide mechanism part 15, the 1st arm 16, the 2nd arm 17, the cutter part 80, the workpiece | work 90, etc. is performed.

  Further, the data storage unit 11M stores a deburring program PG1 for removing burrs at the opening edge of the round hole 90A in the work 90. Then, when the main control circuit 11C executes the deburring program PG1, as shown in FIG. 4, the original position movement process (S1) is executed first, and the cutter unit 80 is arranged at the linear motion origin and the rotational origin. In this state, the deburring device main body 13 is moved to the original position where it does not interfere with the workpiece 90.

  Next, a hole data file reading process (S2) is executed. Here, in the data storage unit 11M, for example, a plurality of hole data files are stored in order corresponding to the respective round holes 90A of the workpiece 90. The main control circuit 11C reads one hole data file in order every time the hole data file reading process (S2) is executed. The hole data file includes standby position data and trajectory data. The standby position data includes center position data of the outer surface opening at one end of the round hole 90A on the reference coordinates set for the workpiece 90, and vector data for specifying the axial direction of the central axis of the round hole 90A. It is. On the other hand, the trajectory data includes a mode switching command for switching between a two-dimensional position control mode for controlling both the rotational position and the linear motion position of the cutter unit 80 and a one-dimensional control mode for controlling only the linear motion position, and one-dimensional A rotation speed command for changing the rotation speed of the deburring tool 70 in the position control mode, a one-dimensional movement command for moving the cutter unit 80 to an arbitrary linear movement position in the one-dimensional position control mode, and two-dimensional position control In command mode, a command group such as a two-dimensional movement command for moving the cutter unit 80 to an arbitrary linear movement position and rotation position, and position data, rotation speed data, movement speed data, etc. of the movement target included in these command groups are included. It is.

  After completion of the hole data file reading process (S2), a standby position movement process (S3) is executed. Then, the outer surface opening of the round hole 90A corresponding to the hole data file read in the hole data file reading process (S2) of the workpiece 90 faces the deburring device main body 13 side, and the central axis of the round hole 90A becomes horizontal. Thus, the rotational position of the workpiece 90 is controlled in the workpiece jig 12. Further, in the deburring device body 13, the tool reference point 71P at the tip of the deburring tool 70 is located at the center position of the outer surface opening of the round hole 90A while maintaining the state where the cutter unit 80 is disposed at the rotation origin and the linear motion origin. The position is controlled so that the deburring tool 70 and the round hole 90 </ b> A are arranged at a standby position that is separated by a predetermined distance from the center and the center of the deburring tool 70 is the same. In this state, the locus movement process (S4) is executed. Then, with the rotation output portions of all servo motors other than the V-axis servo motor 25 and the J4-axis servo motor 26 held at the current positions, the V-axis servo motor 25 and the J4 axis The servo motor 26 is operated to move the cutter unit 80, and the burrs at the opening edge of the round hole 90A are removed.

  Here, when the first round hole 91 and the second round hole 92 included in the round hole 90A group of the workpiece 90 shown in FIG. 5 are orthogonal to each other as shown in FIG. Taking the hole data file of the round hole 92 as an example, the trajectory movement process (S4) will be specifically described. The second round hole 92 is smaller in diameter than the first round hole 91 and has one end perpendicular to the intermediate portion of the first round hole 91 in a T-shape and the other end is flat to the outer surface of the workpiece 90. ing. By this. A non-circular opening edge 92B is formed at one end on the first round hole 91 side, while a circular opening edge 92A is formed at the other end of the second round hole 92. When the hole data file of the second round hole 92 is read in the hole data file reading process (S2) and the standby position movement process (S3) is executed, the work jig 12 and the deburring device main body 13 are moved. By operating, as shown in FIG. 7, the deburring tool 70 and the second round hole 92 are centered, and the deburring tool 70 is in a standby state outside the second round hole 92.

  When the trajectory movement process (S4) is executed in this state, on the basis of the trajectory control data, for example, in order to first remove the burr of the circular opening edge 92A in the outer surface opening of the second round hole 92, 1 In the dimensional position control mode, the deburring tool 70 rotates at a constant speed, and as shown in FIG. 8, the cutter unit 80 (specifically, the rotation reference line K1) is positioned at a predetermined linear motion position in the V-axis direction. The deburring tool 70 rotates a plurality of times while being controlled and a part of the cutter unit 80 near the cutter reference point PK1 is pressed against the opening edge 92A by the elastic force of the compression coil spring 75 (see FIG. 2). Until it is held. Accordingly, the cutter unit 80 moves so as to draw a circular locus along the second round hole 92 to remove the burrs of the entire opening edge 92A and chamfer the entire opening edge 92A.

  Next, the rotation of the deburring tool 70 is stopped and the mode is switched to the two-dimensional position control mode. For example, the deburring tool 70 moves toward the second round hole 92 in a state where the cutter unit 80 is disposed at the rotation origin. Advance. 9A, the cutter reference point PK1 of the cutter unit 80 passes through the opening edge 92B, and a part of the cutter unit 80 near the cutter reference point PK1 is caused by the elastic force of the compression coil spring 75. Both the rotational position and the linear movement position of the cutter unit 80 are maintained so that the cutter unit 80 moves while drawing a non-circular locus along the non-circular opening edge 92B while maintaining the state pressed against the opening edge 92B. Is controlled (see FIG. 9B).

  Specifically, a plurality of typical passing points when the cutter unit 80 draws the non-circular locus described above are two-dimensional positions of the rotational position and the linear motion position of the cutter unit 80 (specifically, the rotation reference line K1). Is included in the trajectory control data and stored in the data storage unit 11M. Specifically, a linear motion position where a part of the cutter unit 80 near the cutter reference point PK1 is pressed against the opening edge 92B at each rotation position obtained by dividing one rotation of the cutter unit 80 by, for example, 8 to 16 will be described in detail later. Thus, it is obtained by CAD and stored in the data storage unit 11M as a plurality of two-dimensional passing point position data.

  The main control circuit 11C sequentially reads the two-dimensional passing point position data, and moves the cutter unit 80 along a trajectory that smoothly communicates the two-dimensional passing point position data. The two-dimensional passing point position data of the unit 80 is calculated and applied to the servo amplifiers 25A and 26A. Accordingly, the rotation position of the cutter unit 80 is changed so that the linear movement position of the cutter unit 80 changes according to the rotation angle of the cutter unit 80 while the cutter unit 80 makes one rotation around the central axis of the deburring tool 70. Both of the linear motion positions are controlled, and the cutter unit 80 moves along a non-circular locus along the opening edge 92B. Then, the deburring tool 70 rotates a predetermined number of times in a state where the cutter unit 80 is moved along the deformed opening edge 92B, and the cutter unit 80 removes the burr of the entire opening edge 92B. The entire opening edge 92B is chamfered. Further, when the deburring tool 70 rotates a predetermined number of times, the deburring tool 70 is stopped, the trajectory moving process (S4) is terminated, and the retreating process (S5) is performed as shown in FIG. The deburring tool 70 is returned to the standby position outside the second round hole 92 described above.

  6 conceptually shows the locus L1 of the cutter reference point PK1 when the cutter unit 80 is fixed at the origin position of the cutter receiving hole 74 (see FIG. 2B). .

  After the reverse processing (S5) is finished, the main control circuit 11C checks whether or not there is an unread hole data file in the data storage unit 11M (S6), and if there is an unread hole data file ( (S6: YES), returning to the above-described original position movement process (S1), the same process as the case of removing the burr of the second round hole 92 is performed. If there is no unread hole data file (S6: NO), the deburring program PG1 is terminated. As described above, burrs at the opening edge of each round hole 90A of the workpiece 90 are removed.

  The trajectory data such as the linear motion position of the cutter unit 80 in the one-dimensional position control mode and the two-dimensional passing point position data of the cutter unit 80 in the two-dimensional position control mode are, for example, two-dimensional CAD or three-dimensional CAD. Can be created using. Specifically, in the case of two-dimensional CAD, the rotation reference line K1 of the cutter unit 80 and the round hole 90A in a state where the deburring tool 70 is arranged at the above-described standby position for each round hole 90A of each workpiece 90. The drawing data of the dividing plane including the center axis of the image is created in advance. Also, a plurality of rotation positions of the cutter unit 80 are set, and for each rotation position of the cutter unit 80, drawing data of a divided surface including the rotation reference line K1 of the cutter unit 80 and the central axis of the round hole 90A is created. deep. For each drawing data of the plurality of divided surfaces, the cutter unit 80 is translated in the V-axis direction to create a drawing in contact with the opening edge of the round hole 90A, and the linear motion distance from the standby position is set. Obtained by CAD. In this manner, the trajectory data described above can be created using a two-dimensional CAD.

  In the case of three-dimensional CAD, a drawing of the state of the cutter unit 80 in which the cutter unit 80 abuts against the opening edge of the round hole 90A while changing the rotational position of the cutter unit 80 is created on the CAD, and the cutter in that state is created. The linear motion distance and the rotation angle from the standby position in the unit 80 are obtained by CAD. As a result, the trajectory data described above can be created using a three-dimensional CAD.

  As described above, according to the deburring device 10 and the deburring method of the present embodiment, the position of the cutter unit 80 of the deburring tool 70 is controlled at both the rotational position and the linear motion position. Even if the opening edge that can be generated is non-circular, the cutter unit 80 can be moved along the non-circular opening edge. This makes it possible to perform deburring while suppressing the occurrence of unnecessary sliding contact, and it is possible to manufacture automobile parts such as a crankshaft in which lubricating oil flows smoothly into the round hole 90A.

  Further, since the cutter unit 80 has a structure in which the hemispherical contact portion 82 is provided with the deburring blade 83, the position of the hemispherical contact portion 82 that is in contact with the workpiece 90 is set to the cutter reference point PK1 side. The chamfering angle by the deburring blade 83 can be appropriately changed depending on whether it is arranged or at a position away from the cutter reference point PK1. For example, the chamfer angle can be varied for each round hole 90A, or the chamfer angle can be varied according to the position along the opening edge of the round hole 90A.

  Furthermore, since the deburring apparatus 10 of this embodiment can be switched between the one-dimensional position control mode and the two-dimensional position control mode, when removing the burr on the circular opening edge, the one-dimensional position control mode is set. The control load is reduced, and the rotation speed of the deburring tool 70 can be increased accordingly.

[Second Embodiment]
In the first embodiment, one end of the second round hole 92 is opened on the inner surface of the first round hole 91 in which the first round hole 91 and the second round hole 92 are orthogonal to each other in a T-shape. In the present embodiment, the deburring tool 70 is inserted into the second round hole 92 side to remove the burrs from the opening edge 92B of the second round hole 92. The example which inserts the deburring tool 70 in the round hole 91 side of is shown. The deburring device 10 of this embodiment differs from the deburring device 10 of the first embodiment only in the contents of the hole data file, and as shown in FIG. A hole data file is stored in the data storage unit 11M so that the deburring tool 70 is inserted. And while aligning the center axis of the first round hole 91 and the center axis of the rotating shaft 70 and moving the deburring tool 70 linearly, the opening edge is brought into contact with the cutter portion 80 across the opening edge 92B. The trajectory data described above is set so as to draw a trajectory meandering along 92B.

  Specifically, as shown in FIG. 10 (A), the cutter unit 80 moves from one side adjacent position P2 to the opening edge 92B with respect to the front end position P5 in the linear motion direction of the deburring tool 70 in the opening edge 92B. So as to meander backward along the opening edge 92B, pass through the rear end position P3 of the opening edge 92B, and advance forward while meandering along the opening edge 92B to the position P4 next to the front end position P5 of the opening edge 92B. Trajectory data is set.

  The deburring device 10 and the deburring method of the present embodiment also enable deburring processing that suppresses the occurrence of unnecessary sliding contact scratches.

[Third Embodiment]
Similar to the deburring device 10 of the second embodiment, the deburring device 10 of the present embodiment differs from the deburring device 10 of the first embodiment only in the content of the hole data file, and the first round hole 91. A hole data file is stored in the data storage unit 11M so that the deburring tool 70 is inserted. And as shown in FIG. 11, the cutter part 80 moves across the whole opening 92K of the 2nd round hole 92 from the part which passed the front-end position P5 of the opening edge 92B, and opposes the opening edge 92B. The trajectory data described above is set so as to draw a trajectory meandering along the opening edge 92B at the rear end portion of the opening edge 92B in the same manner as in the second embodiment while retreating while alternately contacting the position. The deburring device 10 and the deburring method of the present embodiment also enable deburring processing that suppresses the occurrence of unnecessary sliding contact scratches.

[Other Embodiments]
The present invention is not limited to the above-described embodiment. For example, the embodiments described below are also included in the technical scope of the present invention, and various modifications are possible within the scope of the invention other than the following. It can be changed and implemented.

  (1) In the above embodiment, the cutter unit 80 is configured to be movable in the radial direction of the rotating shaft 71, but may be fixed to the rotating shaft 71. Specifically, the tip of the rotating shaft 71 may be bent sideways like the tip of the earpick, and the tip of the bent portion may be the cutter part.

  (2) Although the second round hole 92 described in the first embodiment has a smaller diameter than the first round hole 91, the first and second round holes as shown in FIG. 91 and 92 may have the same diameter. Moreover, although the 1st round hole 91 demonstrated in the said 1st Embodiment and the 2nd round hole 92 were orthogonally crossed, as shown to FIG. 12 (B), the 1st and 2nd round hole 91 is. , 92 may intersect diagonally. Furthermore, as shown in FIG. 12C, the center axis of the second round hole 92 may be offset so as not to intersect the center axis of the first round hole 91, or FIG. ), The sides of the first and second round holes 91 and 92 may intersect each other. Further, one or both of the first and second round holes 92 intersecting each other may be a tapered hole.

  (3) Like the deburring tool 70V shown in FIG. 13, the structure provided with two or more cutter parts 80V in the circumferential direction of the rotating shaft 71V may be sufficient. The deburring tool 70V is inserted into a round hole 94 having a larger diameter than the deburring tool 70V, and the non-circular opening of the round hole 95 that is obliquely intersected with the round hole 94 and opened on the inner surface of the round hole 94. Used to remove burrs on the edge 95A. Note that the tip shapes of the plurality of cutter portions 80V may be different, and the cutter portion 80V that is in sliding contact with the opening edge 95A may be appropriately selected from among the plurality of cutter portions 80V.

10 Deburring device 12 Work jig 25 V-axis servo motor (second servo motor)
26 J4 axis servo motor (first servo motor)
70, 70V Deburring tool 71, 71V Rotating shaft 80, 80V Cutter part 82 Hemispherical contact part 83 Deburring blade 91 First round hole 92 Second round hole

Claims (8)

A work jig for holding a work, a deburring tool having a structure in which a cutter part for removing deburring of the work protrudes from one end of a rotating shaft to one side, and a rotational drive for driving the deburring tool A first motor and a second motor for linearly moving the deburring tool with respect to the workpiece in the axial direction of the central axis of the rotary shaft, and driving the deburring tool while rotating the deburring tool. In a deburring device that can remove burrs by changing the linear motion position of the tool,
The deburring apparatus according to claim 1, wherein the first and second motors are used as first and second servomotors, and the position of the cutter unit can be controlled in both a rotational position and a linear motion position.   The said cutter part is provided with the hemispherical contact part in the front-end | tip part, The deburring blade was formed ranging from the front-end | tip part of the outer peripheral surface of the said hemispherical contact part to the base end part. The deburring device according to 1.   While the deburring tool is rotationally driven at a preset rotational speed, the linear motion position of the cutter portion can be controlled to a preset linear motion position regardless of the rotational position of the cutter portion. The one-dimensional position control mode and the two-dimensional position control mode capable of controlling the position of the cutter unit at both the rotational position and the linear motion position can be switched. Deburring device. In the work, at least a part of the round hole intersects the curved surface, or at least a part of the round hole obliquely intersects the plane and a non-circular opening is formed at the end of the round hole,
While making the center axis of the round hole coincide with the center axis of the rotary shaft and rotating the deburring tool once, a non-circular locus that slides on the opening edge of the non-circular opening is drawn on the cutter portion. 4. The varistor according to claim 1, further comprising a data storage unit that stores control data for controlling the position of the cutter unit based on the control data. 5. Take-off device. A second circular hole communicates with the workpiece in the middle in the longitudinal direction of the first circular hole, and a non-circular opening of the second circular hole is formed on the inner surface of the first circular hole. ,
While the central axis of the first round hole and the central axis of the rotary shaft are aligned and the deburring tool is linearly moved, the cutter unit abuts across the opening edge of the non-circular opening. A data storage means for storing control data for drawing a meandering locus along the opening edge is provided, and the position of the cutter unit can be controlled based on the control data. The deburring apparatus according to claim 1. A second circular hole communicates with the workpiece in the middle in the longitudinal direction of the first circular hole, and a non-circular opening of the second circular hole is formed on the inner surface of the first circular hole. ,
While the central axis of the first round hole coincides with the central axis of the rotary shaft and the deburring tool is moved directly, the cutter portion is opposed to the opening edge across the non-circular opening. Data storage means for storing control data for drawing a meandering locus along the axial direction of the first round hole while alternately contacting the position is provided, and the position of the cutter unit is controlled based on the control data The deburring device according to any one of claims 1 to 5, wherein the deburring device is possible. A work jig for holding a work, a deburring tool having a structure in which a cutter part for removing deburring of the work protrudes from one end of a rotating shaft to one side, and a rotational drive for driving the deburring tool A deburring device comprising a first motor and a second motor for linearly moving the deburring tool relative to the workpiece in the axial direction of the central axis of the rotary shaft, In the deburring method for removing burrs by changing the linear movement position of the deburring tool while rotating,
The first and second motors are used as first and second servo motors, and the burr is removed by controlling the position of the cutter unit at both the rotational position and the linear motion position. Method.   A method of manufacturing an automobile part using the deburring device according to any one of claims 1 to 6, wherein the burrs of the automobile part as a work having a round hole as a lubricating oil flow path are removed.

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