JP2508051B2 - Processing device with correction function - Google Patents

Description

TECHNICAL FIELD The present invention relates to a machining apparatus with a correction function used for machining.

(Prior art) A grinding tool for grinding a work piece wears due to use. Therefore, the grinding tool is regularly replaced, or the grinding tool is pushed by monitoring the drive current of the drive motor that drives the grinding tool. The pressure is corrected. As a device of this type, there is a tool pressing force control device disclosed in Japanese Utility Model Laid-Open No. 61-39345. In this device, a base 2 is attached to an industrial robot 1 via a shaft 3 as shown in FIG.
A motor 4 is attached to the base 2 and the motor 4
The blade 5 is connected to the. The industrial robot 1 has
The cutting tool position detector 6 is built in so that the position of the cutting tool 5 can be detected. Further, a current detection device 7 is provided so as to compare a machining drive current of the motor 4 with a set current, and the motor 4 is driven according to signals from the current detection device 7 and the cutting tool position detector 6. Since the control device body 8 for driving the tool is provided, it is determined whether or not the pressing force of the cutting tool 5 on the workpiece 9 is appropriate, and the pressing force is corrected.

(Problems to be Solved by the Invention) However, in the apparatus having the above-described configuration, since the correction is performed in only one direction with respect to the workpiece, when the workpiece has a plurality of processing surfaces, the processing steps are divided. , Process one machined surface first and then machine the other machined surface collectively, or
For example, when the number of workpieces is small, the orientation of the workpieces is changed and the workpiece is processed while being corrected. For this reason, the number of processing steps is large, and there is a problem in productivity. Especially, it is not appropriate to replace the rotary tool.

Therefore, the present invention has been made in order to solve the above-mentioned problems, in which a grinding tool corresponding to a plurality of machined surfaces of a workpiece is arranged, and furthermore, a wear state is detected for each grinding tool. By providing a reference jig with a wear detection reference surface, it is possible to accurately indicate when to replace the rotary processing tool and to correct the size of the grinding tool for multiple processing surfaces in the same process. An object of the present invention is to provide a processing apparatus with a correction function that can process a plurality of processing surfaces in the same process without moving an object.

(Means for Solving the Problems) A feature of the present invention for achieving the above object is that a single electric motor provided in an arm of an electric robot and a workpiece having a plurality of processing surfaces facing different directions. Grinding tools driven by electric motors that are arranged in multiple numbers corresponding to the desired machining surface of the workpiece, reference jigs that are provided and pressed corresponding to each grinding tool, and reference jigs The position control device of the grinding tool that presses the grinding tool to detect the amount of displacement in the pressing direction, the current detection unit that detects the drive current of the electric motor, and the drive current value of the electric motor that is detected by the current detection means in advance. The amount of displacement in the pressing direction at the time when it becomes equal to the set drive reference current is received from the position control device of the grinding tool, the wear state of the grinding tool is detected, the correction value is calculated, and the correction value and the wear base are calculated. And a correction control unit having a calculation unit for comparing a quasi value.

(Operation) When using the processing apparatus having the above-described configuration, the same process is performed without moving the workpiece by using a plurality of grinding tools arranged in different directions on a single electric motor provided on the arm of the electric robot. It is possible to machine a plurality of machined surfaces inside.

When detecting the wear state of a predetermined one of the grinding tools, the control unit presses the grinding tool against the corresponding reference surface of the reference jig, and the drive current of the electric motor at this time is detected by the current detection unit. . When the amount of displacement in the pressing direction at the time when the drive current value of the electric motor becomes equal to the preset drive reference current is received from the position control device of the grinding tool, the calculation unit detects the wear state of the grinding tool and corrects it. Is calculated, and the correction value and the wear reference value are compared to determine the necessity of exchanging the grinding tool.

(Example) Below, the Example of this invention is described based on drawing. FIG. 1 shows an embodiment of a processing apparatus 10 with a correction function of the present invention. This processing device 10 with a correction function is installed on a floor surface 11, and on its drive side, an electric robot 14 is mounted on a machine base 12 together with a control device 13. An orthogonal triaxial type is used here, and as shown in FIG.
The rotary brush 19 as a rotary processing tool that rotates about the vertical axis via the reduction gear 18 and the rotary brush 20 that rotates about the horizontal axis rotate separately. At the location of the speed reducer 18, as shown in detail in FIG. 3, the rotary shaft 21 of the electric motor 17 is connected to the head portion 16 of the arm 15.
It is connected to a vertical drive shaft 23 by a coupling 22 therein, the vertical drive shaft 23 is supported by a bearing 24, and a bevel gear 25 is fixedly attached to an intermediate portion thereof. The vertical drive shaft 23 penetrates below the head portion 16, and a rotary brush 19 is axially attached to the tip thereof. On the other hand, the above bevel gear
The same bevel gear 26 meshes with 25,
A horizontal drive shaft 27 is fixed to the shaft 26, supported by a bearing 28, and protrudes laterally from the head portion 16. Lateral drive shaft 27
A rotary brush 20 is axially attached to the tip of the rotary brush 20, and faces the above-mentioned rotary brush 19 in a plane forming a right angle with each other.

On the machine stand 12 side, a work table is provided so that the workpiece 9 can be placed.
29 are installed. On the side of the worktable 29, the cylinder 30
A clamp 31 that is operated by the
Is fixed on the processing table 29. At the upper part of the processing table 29, a support rod 32 projects from the inside to the upper surface of the processing table 29 so as to maintain a constant posture of the processing object 9, so that various shapes of the processing object 9 can be accommodated. The upper surface of the processing table 29 can be moved back and forth, and at a fixed position. The workpiece 9 has at least a vertical processing surface 33 and a horizontal processing surface 34 as processing surfaces, and here, “burrs” after cutting are left on the respective processing surfaces.

As shown in FIG. 2, a bar base 35 made of steel is installed on the side of the processing table 29. The bar base 35 has a reference surface 36 for detecting wear for the vertical rotating brush 19. The reference jig 37 provided and the reference jig 39 provided with the reference surface 38 for the horizontal rotating brush 20 are attached to the attachment body 40 at right angles to each other. Each of the reference jigs 37, 39 is made of a material having a high hardness, and it is desirable that the reference jigs 37, 39 do not wear even if they are pressed while rotating the rotating brushes 19, 20.

A control plate 41 is further arranged on the side of the processing table 29 so that it can be operated by a re-builder, and a safety door 42 is attached so as to be openable and closable so that an operator can see the processing state. It is like this.

In FIG. 2, the correction control unit 43, which constitutes the correction control device together with the control panel 41 described above, is schematically shown. The correction control unit 43 may be built in the control panel 41 described above, or may be attached separately. The correction control unit 43 compares the current detection unit 44 that detects the drive current of the electric motor 17 with the detected drive current and a preset reference current for rotating the normal rotating brushes 19 and 20. Then, when the drive current is lower than the reference current, "burr" of the work piece 9
And a calculation unit 45 that calculates a correction dimension value that advances the rotary brushes 19, 20 to the machining surfaces 33, 34 by the electric robot 14 so as to rotate the rotary brushes 19, 20 with a reference current in order to remove A vertical axis direction correction register 46 that stores the correction dimension value due to wear of the rotating brush 19 in the vertical axis direction calculated by the unit 45, and a horizontal axis direction that stores the correction dimension value due to wear of the rotating brush 20 in the horizontal axis direction. A correction register 47,
Vertical axis correction register 46 and horizontal axis correction register 47
And an input / output unit 48 for instructing the control panel 41 to replace the rotating brushes 19 and 20, and the control unit 13 for the electric robot 14
Operates the electric robot in accordance with the corrected dimension value transmitted from the input / output unit 48 so that when any one of the rotating brushes 19 and 20 performs a machining operation, each of them advances.

The operation of the processing apparatus 10 with the correction function having the above configuration will be described with reference to FIGS. 4 and 5. FIG. 4 is a flow chart showing the order in which the rotary brushes 19 and 20 are rotated to perform the “burr” removal processing of the workpiece 9 for each processing surface 33 and 34, and FIG. 5 is the rotation in the vertical axis direction. 7 is a flowchart showing the order of giving a correction dimension in each axial direction of a brush 19 and a rotating brush 20 in the horizontal axis direction.

First, in FIG. 4, after the process number counter N is set to 1, it is shown in abbreviated form.
When the operator closes the start switch arranged on the control panel 41, the electric motor 17 is driven and the safety door 42 is closed. In the judgment of "N = 1?", Since it is the first step, the correction program is executed. This correction program is
As shown in the figure, at the “pressing the rotating brush against the horizontal jig for correcting horizontal axis”, the electric robot 14 is operated to press the rotating brush 20 against the reference surface 38 of the reference jig 39. Then, in the “correction amount acquisition by current value monitoring”, when the rotating brush 20 is pressed against the reference surface 38, the electric motor
17 drive current increases. The drive current is increased and transmitted to the current detection unit 44, and the operation unit 45 compares the drive current with a reference current for normally performing brush processing. The rotating brush 20 is pressed against the reference surface 38 until the drive current becomes equal to the reference current.
The moving dimension of the rotary brush 20 measured by the control device 13 of the above is taken into the input / output unit 48, and the arithmetic unit 45 uses this as the corrected dimension value to write the corrected dimension value to the horizontal axis direction correction register. By the way, it is written in the horizontal axis direction correction register 47. This writing is, if the horizontal axis correction register
If a value was stored in 47, it would be added to it. At the same time, in order to determine "correction dimension value ≥ reference value?", In the calculation unit 45, the correction dimension value of the content of the horizontal axis direction correction register 47 and the preset rotary brush 20 must be exchanged. If the corrected dimension value is larger than the standard value, the rotary brush 20 is worn more than the standard value.
In order to replace 20, the input / output unit 48 instructs the control panel 41 to turn on the alarm for replacement.

If the correction dimension value is smaller than the reference value in the judgment of “correction dimension value ≧ reference value?”, The electric robot 14 is operated to separate the horizontal brush 20 from the reference surface 38, and "Rotating brush is pressed against the reference jig for axial correction", the electric robot 14 is operated to press the rotating brush 19 in the vertical direction against the reference surface 36 of the reference jig 37. Then, similarly to the case of the rotating brush 20 in the horizontal axis direction, the drive current of the electric motor 17 increases. The rotating brush 19 is pressed until the driving current increases and becomes equal to the reference current.
Is transmitted to the input / output unit 48 from the control device 13 of
The advanced dimension is written as a corrected dimension value in the vertical axis direction correction register 46 at the "writing of the corrected dimension value in the vertical axis direction correction register". This correction dimension value will be added to the contents of the vertical axis direction correction register 46 if another value is stored. Then, like the rotating brush 20 in the horizontal axis direction, if the corrected dimension value is larger than the reference value, the control panel 41 is instructed to turn on the alarm in order to replace the rotating brush 20.

In this way, the wear state of each rotating brush 19, 20 is detected in the same process before the deburring process is started. Of course, in the case of the new rotary brush 19,20, the correction dimension value is zero or very small, and in the case of the used rotary brush 19,20, the correction dimension value is large and must be replaced. It is close to the standard value.

After the rotary brushes 19 and 20 have been corrected, the electric robot 14 is operated at the "electric robot to reference position" position to return the rotary brushes 19 and 20 to the initial position. afterwards,
Return to Fig. 4 at "Return", and first, at "Run a machining program for vertical machining surface", select the electric robot 14
The control device (13) takes in the correction dimension value stored in the horizontal axis direction correction register (47) and brings the rotating brush (20) closer to the vertical processing surface (33) by the correction dimension value. Then, the rotating brush 20 comes into contact with the vertical processing surface 33 to start deburring processing. The drive current at this time is equal to the reference current for deburring.

When the deburring process on the vertical machining surface 33 is completed, the electric robot 14 operates to move the rotating brush 20 in the horizontal axis direction away from the vertical machining surface 33. The controller 13 of the robot 14
The correction dimension value stored in the vertical axis direction correction register 46 is taken in, and the rotary brush 19 is brought closer to the horizontal processing surface 34 by the correction dimension value. Then, the rotating brush 19 comes into contact with the horizontal processing surface 34 to start deburring, and the drive current at this time is also equal to the reference current for deburring.

When the deburring processing of the vertical processing surface 33 and the horizontal processing surface 34 of the work piece 9 is completed in the same step, the work piece 9 is automatically transferred to the next step, or the safety door 42 is installed. Open it and turn it in the same place depending on the worker. Then, since the process number counter N is the end of one process, it is incremented, and if the processing is not completed, the worker again closes the start switch in the next process, and this time, each rotary brush 1
The 9,20 correction is not performed and the deburring process starts immediately. Then, when the process number counter N becomes “50”, that is, when the deburring process is performed 50 times, “N ≧ 50?”
In this determination, the process number counter N is returned to the initial value “1”, and the above-mentioned correction program is executed to execute the rotation brushes.
Correct 19,20. Therefore, in this embodiment, the number of steps of each rotary brush 19, 20 is corrected every 50 times.

It should be noted that the correction of the rotating brushes 19 and 20 is not limited to the execution of every 50 steps, but the processing accuracy and the rotating brushes
It can be freely selected according to the material of 19,20.

Further, in the present embodiment, the deburring process is taken as an example,
It can also be used in polishing processes.

(Effects of the Invention) From the above, in the processing apparatus with a correction function of the present invention, the grinding tool is made to correspond to a plurality of processing surfaces, and the grinding tool is used as the reference surface for detecting the wear state of each grinding tool. By pressing, the grinding tool can be replaced in a timely manner by the displacement at that time, and it is possible to machine with a uniform machining accuracy on the machined surface, and it is also possible to machine and correct multiple machined surfaces in the same process. Therefore, the problem that the number of processing man-hours is large and the productivity is hindered is solved, the productivity is improved, and a reliable processing device can be realized by timely replacement of the grinding tool.

[Brief description of drawings]

FIG. 1 is a side view showing a processing apparatus with a correction function of the present invention, FIG. 2 is a front view shown by arrow AA in FIG. 1, and FIG. 3 is a detailed view shown by arrow B in FIG. FIG. 4 is a flow chart showing the overall operation of the processing apparatus with a correction function, FIG. 5 is a flow chart showing the operation of the correction function, and FIG. 6 is a schematic view showing a conventional apparatus. 9: Workpiece, 14: Electric robot 17: Electric motor 19,20: Rotary processing tool (rotary brush) 36,38: Reference plane, 37,39: Reference jig 41,43: Correction control device (control panel, Correction control unit)

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Hajime Hajime 1 Toyota-cho, Toyota-shi Ltd. (72) Inventor Katsumi Isoya 1 Toyota-cho, Toyota-shi (56) References Japanese Unexamined Patent Publication No. 51-90092 (JP, A) Actually developed 61-39345 (JP, U)

Claims (1)

(57) [Claims] 1. A single electric motor provided on an arm of an electric robot, and a plurality of electric motors arranged corresponding to arbitrary processing surfaces of a workpiece having a plurality of processing surfaces facing different directions. The driven grinding tools, the reference jigs that are provided and pressed corresponding to the respective grinding tools, and the position of the grinding tool that presses the grinding tools against the reference jigs and detects the pressing direction shift amount. The controller, the current detector for detecting the drive current of the electric motor, and the displacement amount in the pressing direction at the time when the drive current value of the electric motor detected by the current detecting means becomes equal to the preset drive reference current. And a correction control unit having a calculation unit that receives the wear state of the grinding tool, calculates a correction value, and compares the correction value with the wear reference value, from the position control device for the tool. Correcting function processing apparatus characterized.