JPS63196367A - Controlling method for automatic chamfering - Google Patents

Abstract

PURPOSE:To perform good chamfering even if there are dislocation in a workpiece and wear in a tool, by installing a solenoid-operated variable compliance mechanism between a wrist of a robot with a positioning function and a tool holder fitted with a chamfering tool, and setting up a displacement gause and a power sensor in the movable part. CONSTITUTION:A chamfering tool 2 is fed toward a work 5 by a variable compliance mechanism 10, and a contact position between the tool 2 and the work 5 is detected by a power sensor 13, then this contact position is stored in a robot controller 6 via a variable compliance control unit 14. In addition, pressing force (working force) of the tool 2 against the work 5 is detected by the power sensor 13 and thereby the variable compliance mechanism is controlled so as to cause the pressing force FS to become the same as the setting value FP being preset at a setting part 9, then the pressing force of the tool 2 is adjusted. The feed rate of the tool 2 to the work 5 is detected by a displacement gauge 12, and setting the said stored contact position as a criterion, when it reaches the specified chamfering value, tool feed is stopped.

Description

DETAILED DESCRIPTION OF THE INVENTION <Public funds for industrial use> The present invention relates to a method for controlling automatic chamfering when chamfering a workpiece.

<Prior Art> Machine parts and the like are chamfered9 to improve fatigue resistance, improve mechanical performance, improve fit, improve ease of assembly, and improve product appearance. In chamfering work, it is important to control the working force of the chamfering tool and to control the positioning of the workpiece in order to ensure chamfering accuracy.

FIG. 4 is a schematic diagram showing a conventional chamfering device. As shown in this figure, the wrist 1 of the robot for chamfering work is equipped with a tool holder 3 having a chamfering tool 2, and a pressing mechanism 4
is attached, and the chamfering tool 2 is brought into contact with the workpiece 5 to perform chamfering work. FIG. 5 is a block diagram showing the chamfering control method at that time. As shown in this figure, the positioning control unit 7 of the robot controller 6 operates the wrist 1 of the robot based on a command from the program unit 8 to press the chamfering tool 2 against the workpiece 5. At this time, the amount information for pressing the chamfering tool 2 on the workpiece 5, which is preset in the setting unit 9, is inputted to the mechanism (for example, an air cylinder) 4, and the input pressing is based on the amount information. The force with which the workpiece 5 is pressed is controlled.

<Problems to be Solved by the Invention> However, the conventional chamfering control method described above has the following problems.

(1) If the workpiece 50 is misaligned, the amount of chamfering movement will be too much or too little, resulting in variations in quality.

(2) If the chamfering tool 2 is worn, the amount of chamfering will be insufficient and the quality will deteriorate.

(3) Since the pressing force of the chamfering tool 2 is controlled by feedforward control, the pressing force changes depending on the positional shift of the workpiece 5, etc.

The present invention was made to solve the above-mentioned problems, and aims to provide an automatic chamfering control method that can automatically perform a good chamfering operation even when the workpiece is misaligned or the chamfering tool is worn out. It is.

Means for Solving the Problems> In order to solve the above problems, the present invention provides an electromagnetic variable compliance mechanism between the wrist of a robot having a positioning function and a tool holder on which a chamfering tool is attached. A displacement meter and a force sensor are disposed in the section, the variable compliance mechanism sends the chamfering tool in the direction of the workpiece, the force sensor detects the contact position of the chamfering tool with the workpiece, and the contact position is detected by the force sensor. further, the force sensor detects the force of the chamfering tool when it is pressed against the workpiece, and the variable compliance mechanism is configured such that the force of the pressing becomes equal to a preset value. The method is characterized in that the amount of feed to the workpiece is detected by the displacement needle and the feed is stopped when a predetermined amount of chamfering is reached based on the memorized contact position as a reference.

<Example> Hereinafter, the present invention will be explained in detail with reference to illustrated examples.

Incidentally, the same parts as in the prior art are denoted by the same reference numerals, and the explanation thereof will be omitted.

FIG. 1 is a block diagram showing the automatic chamfering control method according to the present invention, and FIG. 2 is a schematic diagram showing the main parts of the method of the present invention.
FIG. 3 is a flow chart of the present invention. As shown in these figures, an electromagnetic variable compliance mechanism 10 is provided between a wrist 1 of a robot (not shown) having a positioning function and a tool holder 3 on which a chamfering tool 2 is attached. , a displacement meter 12 such as a pulse encoder, and a force sensor 13 are provided. Then, the variable compliance mechanism 10 sends the chamfering tool 2 in the direction of the workpiece 5 (in the direction of the arrow) (step 1), and the force sensor 13 detects the contact position of the chamfering machine A2 with the workpiece 5 (step 2). The compliance mechanism 10 is, for example,
It is a combination of a type of voice coil motor and a spring mechanism, and its flexibility can be changed by electromagnetic force. The detected contact position, ie, the reference position of the workpiece 5, is stored in the robot controller 6 via the variable compliance control device 14 (step 3).

Further, the force sensor 13 detects a force (work force) F3 when the chamfering tool 2 is pressed against the workpiece 5 by the feed of the variable compliance mechanism 10, and the detected pressing force is set in advance as the force F6 and the setting section 9. The variable compliance control Vi device 14 compares the set value - (step 4).

Then, when pressing, the variable compliance mechanism IO is controlled by outputting a control signal ξ to the variable compliance mechanism 10 so that the force F3 becomes the same as the set value FP, and when pressing the chamfering tool 2, the force TA! Do 1. Then, the chamfering tool 2 is sent by the variable compliance mechanism 10 (step 5).
,. The amount of feed is detected by the displacement meter 12 and feed amount information is output to the robot controller 6. When the workpiece 5 is moved by a predetermined chamfering amount ΔS from the reference position stored in the robot controller 6, the robot controller 6
A stop signal is output from the controller to the robot's wrist 1, and the feeding of the chamfering tool 2 is stopped (step 6.7).

<Effects of the Invention> As specifically explained above in conjunction with the embodiments, according to the present invention, even if the workpiece is misaligned or the chamfering tool is worn out, it is possible to automatically compensate and perform a good chamfering operation. This makes it possible to improve work efficiency and reduce costs.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the automatic chamfering control method according to the present invention, and FIG. 2 is a schematic diagram showing the main parts of the method of the present invention.
FIG. 3 is a flowchart of the present invention, FIG. 4 is a schematic diagram showing a conventional chamfering device, and FIG. 5 is a block diagram showing a conventional chamfering control method. In the drawing, 11 is the wrist of the robot, 2 is the chamfering tool, 3 is the tool holder, 5 is the workpiece, 6 is the robot mint curver, 9 is the setting section, 10 is the electromagnetic variable compliance mechanism, 12 is the displacement meter, 13 14 is a force sensor, and 14 is a variable compliance control device. Patent applicant Mitsubishi Heavy Industries, Ltd. Agent

Claims (1)

[Claims] An electromagnetic variable compliance mechanism is provided between the wrist of the robot having a positioning function and a tool holder equipped with a chamfering tool, and a displacement meter and a force sensor are disposed in the movable part of the mechanism. Sending a chamfering tool in the direction of the workpiece, detecting a contact position of the chamfering tool with the workpiece with the force sensor and storing this contact position, and further pressing the chamfering tool against the workpiece with the force sensor. detecting the force, controlling the variable compliance mechanism so that the pressing force becomes the same as a preset value, detecting the feed amount to the workpiece with the displacement meter, and determining the memorized contact position. An automatic chamfering control method characterized by stopping feeding when a predetermined chamfering amount is reached as a reference.