JPS63501551A - Tool rotation drive device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] name of invention Tool rotation drive device Detailed description of the invention Industrial applications This invention can be used by attaching it to the arm of an industrial robot, etc., which rotates the burr of a workpiece several times. especially air motors for operating tools such as files or milling cutters. The present invention relates to a drive device having a casing equipped with a motor.

Conventional technology Using an industrial robot to remove debris from a workpiece is a special task for the robot. It is a new and difficult application task that requires something different. Such robots are colored At the same time, the constantly fluctuating power is transmitted from the scraping tool to the robot's arm, and at the same time a large For a wide range of applications where displacement must follow the contour of the workpiece with speed and precision Whether industrial robots are used for pick-up operations depends on reducing cycle time. and due to increased flexibility. Current robots work at high speeds, but the robot's arms When using large and heavy tools mounted on lower than the level. Similar to the improved servo system, it is even more rigid and Even lighter robot structures are being developed so that the robot has to move. It is necessary to reduce the mass of tools that are not used.

When using a robot at a given time and for a special purpose, Regarding the inaccuracy of workpieces and their fixation relative to the programmed movement path Problems arise.

In connection with milling and deburring, there is flexibility between the robot and the workpiece. It is necessary to compensate for such inaccuracies by introducing a motion that centre Changes in geometry for the same intended use due to wear and tear of the rice However, it becomes necessary to compensate for such wear and damage.

In principle, a constant or adjustable force is generated between the milling cutter and the workpiece; There are three distinct methods used to maintain (a) Flexible servo...The robot's servo (power feedback) is and used.

(b) A flexible tool...a spring-suspended tool is provided, and (c) a flexible applied Workpiece: The workpiece is suspended in a spring device, and the tool is used by a robot or If the robot is supported by a workpiece, it is attached to a support device.

For deburring and chamfering work and equivalent work, use the above method. (b) has been largely proven to be valid. Using this method, the entire tool or parts of the tool are damped by springs. The tool passes through the irregular surface at high speed In this case, it is important that the mass of the spring is as small as possible.

When outer and inner arcs or sharp contours are cut out, the tool will The center of gravity of the tool should be placed as close as possible to the central axis of the arc. It is. This distance is referred to in this context as the center of gravity position.

The problem that the invention aims to solve The tools used so far for deburring are It has a direction perpendicular to the rotation axis of the tool.

All tools used for deburring should be spring cushioned. What are the characteristics? A spring-loaded rubber suspension system It is characterized by acting in the direction. This can lead to problems with vibration in the deburring tool. wake up

The constraint is that only the tool is tilted about one axis perpendicular to the axis of rotation. It is being said. This force has a largely linear characteristic and is therefore approximately constant in contact with the workpiece. provided by a mechanical spring arranged to produce a constant force. The lack of this method The points are as follows.

(a) The tool not only has to follow the ladder, but also extends in one plane. The direction of the axis of rotation can be changed to cut out curved arcs or bow-shaped contours. It is necessary to This means that the robot has an additional degree of freedom ( servo). Adding the outermost part of the robot arm Servos have a very large negative impact on the robot's dynamic properties. .

(b) To prevent the weight of the tool from being affected by contact forces in various directions within the space. First, the tilt axis must be positioned to pass through the center of gravity of the abrasive tool. this This makes the support device large and heavy.

(c) The geometry of the tool results in a large center of gravity distance.

(d) The large internal mass of the abrasive tool prevents high speed action on the coarse burrs (large (due to the large cushioning mass).

The purpose of this invention is to provide an industrial robot for removing processed workpieces. a drive for a tool, such as a file or milling cutter, for attachment to the arm of a person It is to propose.

Avoids giving the robot additional degrees of freedom and avoids inaccuracies in the workpiece. The mass of parts that must be moved for adaptation is minimal and The center distance can be made as small as possible.

Another object of the invention is to provide a device of the above type characterized in that: achieved.

Means to solve problems A tool with a conical cutting edge with an angle between 60° and 120°, preferably 90°, is A predetermined outward acting force of the drive device is always applied to the drive device. Ru.

According to another aspect of the invention, the contact force is equal regardless of the orientation of the device during the operation. stomach.

According to another aspect of the invention, the slide the sleeve has a tool shaft rigidly connected to its free end, the tool shaft being on the outside of said sleeve. , rotatably mounted within a coaxially arranged sleeve-shaped piston; The cylinder is rotatable within the cylinder in the casing and arranged so as to be movable in the axial direction. and an air conductor supplying compressed air to said cylinder for actuating said cylinder. It is characterized by a road.

Example The invention will now be described in detail with reference to the drawings, which illustrate one embodiment of the invention.

FIG. 1 is a front view of a drive device according to the invention attached to the end of a robot arm; , FIG. 2 is a partially cutaway front view of an embodiment of the present invention, and FIG. 3 shows workpieces of various shapes. It is a front view of the said Example which is carrying out the cut-off process.

In FIG. 1, reference numeral 1 denotes a drive device according to the present invention, which rotates or tilts around an axis 3. It is attached to the end of the robot's arm using a tiltable mounting support member 2. child The apparatus is shown processing a workpiece 4 having a knurled surface 5.

During puffing, the device 1 is moved by the robot in the direction of arrow 6. This covering The tool 7 is moved in the direction of the arrow 8 in the device 1 in order to adapt to the irregular surface on the workpiece 4. It is possible to move in the backward direction.

As shown in FIG. 2, this device has a casing 9 as its main component. A motor 10 is installed inside. The sleeve 12 is connected to the motor shaft by splines. 11, and the outer free end of the sleeve 12 is provided with a conical file or The spindle 13 of the milling cutter is attached using a screw connection. fixie A further sleeve 15, which acts as a connector, is arranged on the outside of the sleeve 12 and coaxially therewith. and is axially movable within the sleeve-like extension 16 of the casing 9. Spicy The handle 13 is attached to the inside of the sleeve-shaped piston 15 via a bearing 18. It is. The sleeve-shaped cylinder 16 has a step 19 so that it faces inwardly. A circular edge 20 is formed. The piston 15 has a flange 21 on its inner edge. The outer edge of the flange 21 cooperates with the edge 20 to control the axial movement of the piston 15. Restrict. An air conduit 22 extends through the rotor of the motor 10 and connects the motor shaft 11. It opens at the outer end of. The compressed air supplied through the conduit 22 enters the sleeve. The flow passes through the gap in the spline formed on the motor shaft 11, and the piston 15 It flows into a cavity 23 formed at the back of the. Sleeve 12 and piston 15 are small A predetermined gap is formed between each other such that an amount of air can leak into the slot between said devices. has been completed. This gap lubricates and cools the bearing and prevents cutting while using this tool. Prevent debris and dirt from entering equipment or bearings.

FIG. 3 shows that the device according to the invention adapts to variations in size and position of the workpiece. We will show you how to do it. The one shown in Figure a.

Indicates when the position of the workpiece is equal to the nominal position set by the robot's program . The figure shows the case where the workpiece moves in the axial direction. It is also possible that the tool 7 is automatically moved somewhat forward by constant air pressure. will be carried out. What is shown in C in the same figure is the case where the tool fluctuates in the negative axial direction, and the tool It is pulled further into the device. Figure d shows the radial outward displacement of the workpiece. If the movement is negative and the inward movement is positive, it indicates a state of radial movement in the negative direction, and approximately Scraping occurs when the tool is pushed out of the equipment and the chipping occurs on the outer part of the cutting surface of the tool. . What is shown in figure e is a case where the workpiece moves in the positive radial direction, and the tool is pushed inward into the device, and the deburring is done at the center of the cutting surface of the tool. It will be done.

As is clear from the above explanation, when there are various slight variations in the workpiece, automatic adaptation of the tool is achieved.

The tool is always guided at the same angle and in the same plane relative to the bevel. It is carried out in a state where Only necessary to adapt the tool to very slight irregularities. In the axial movement of the tool, which is the important movement, a small mass, i.e. the sleeve 12.To move the tool 7 with the spindle 13, the piston 15 and the bearing 18. In a practical example, the device has a total weight of 45 g. This issue The device according to Akira provides an extremely stable structure and allows for direct radial mounting. It is attached to the spindle 13 and is attached to the outermost position in the axial direction. axial movement By using a pneumatic piston for the A certain amount of pressure can be applied to the ingredients.

Piston 15 can freely rotate within cylinder 16. Therefore, static friction and sticking are avoided. I get kicked.

Shin*rell @ Matawaca+-a kPCT/NO8610OG68 11.1-0-^pslcalle++ N・, PCT/NO8610006 8

Claims (10)

[Claims] 1. A tool attached to the arm of an industrial robot to remove burrs from workpieces. A drive device comprising a casing having a motor for rotationally operating the tool. The tool (7) has a cone angle between 60° and 120°, preferably 90°. The cutting edge is movable in the axial direction, and the drive device allows for outward movement. A rotary drive device for a tool, characterized in that it receives utility power. 2. The outward acting force is equal at all longitudinal positions during the same operation. The drive device according to claim 1, characterized in that: 3. A sleeve is attached to the motor shaft via a spline, and the A tool shaft is attached to the outer free end, and the tool shaft is coaxially mounted on the outer side of the sleeve. rotatably mounted within a sleeve-shaped piston disposed in a The pin is movable in the axial direction within a cylinder within the casing, and An air passage for supplying compressed air for operating the cylinder is provided in the cylinder. The drive device according to claim 1 or 2, characterized in that: . 4. The air supply passage may be formed, for example, through a rotor of the motor. It is characterized by being arranged so that it does not come into contact with the cylinder (16) by A drive device according to claim 3. 5. The cylinder is formed as an outwardly open sleeve, with a sleeve at its inner end. is fixed to the casing and faces the motor and prevents the outward movement of the piston. A step is formed on the inner surface of the cylinder with an edge that acts as a stop for the piston. that the stone has at its inner end an annular flange cooperating with said step; The driving device according to any one of claims 1 to 3 characterized by: Place. 6. Claim No. 1, characterized in that a valve for regulating air pressure is provided. The drive device according to item 2 or 3. 7. The tool shaft is connected to the sleeve by a threaded portion. Claims: A drive device according to any one of the above claims. 8. The tool shaft is connected to the piston by bearings that absorb radial and axial forces. Claims characterized in that any of the above claims is The drive device according to item 1. 9. The sleeve (12) has a small gap between it and the piston wall, so that A small amount of air enters through the gap to lubricate and cool the bearing and further improve the operation. The equipment shall be designed to prevent foreign matter generated by the work from entering the equipment. Features: A drive device according to any one of the above claims. 10. The piston (15) can freely rotate within the cylinder (16). The drive according to any one of the claims above, characterized in that: Device.