JP2007223003A - Robot arm drive tape wrap device - Google Patents

Abstract

A work piece to be pre-processed is tape-wrapped with a cassette-type tape wrap device at the arm tip of an industrial robot as it is while being centered and supported by a headstock and a tailstock in the pre-processing step. A machine that can be processed and can be processed with a separate film wrap device.
An arm covering tip of an arm of an industrial robot, an abrasive covering tape, a shoe assembly for pressing an abrasive covering surface of the tape against a workpiece surface, and a shoe assembly. Tape holder integrated cassette shoe assembly in which a pair of opening and closing arms 15 and 15 supporting 2, arm opening and closing device 46, tape unwinding holder 6 and tape winding holder 7 are assembled as an integrally replaceable cassette 11 is attached to the tool support surface 63 of the wrist 62 attached to the tip 62 of the arm 61 of the robot 60 via the attachment plate 12.
[Selection] Figure 1

Description

  The present invention relates to a relatively incompressible abrasive-coated tape, and a relatively rigid material that contacts and presses the surface of a workpiece such as a steel pipe or automobile part having a processed surface that is rotated. A tape wrap device comprising a shoe assembly having a plurality of surfaces and for microfinishing the surface of a workpiece using an abrasive-coated tape, with a tape holder integrated cassette shoe assembly particularly at the arm tip of an industrial robot The present invention relates to a robot arm drive tape wrap device equipped with a solid body.

It consists of a conventional relatively incompressible abrasive-coated tape and a pair of shoe assemblies having a rigid concave surface that presses the tape-coated surface in contact with the workpiece surface. An example of a tape wrap device that microfinishes the surface of a workpiece extremely precisely is disclosed in Patent Document 1, for example. This is a honing grindstone that uses polyester tape as the abrasive covering tape, and the concave surface of the shoe assembly is relatively rigid (the rigid surface has a hardness exceeding the value of 90 durometer A) and is precisely processed. It is known to use an insert stone made of a material and precisely transfer a stone arc surface processed with a jig borer to the surface of the workpiece with high precision. As an articulated industrial robot, for example, Patent Document 2 discloses an articulated industrial robot having six degrees of freedom.
Japanese Patent No. 3558917, FIG. 7, FIG. Japanese Patent No. 2668336

  Each stone forming the rigid concave surface of the shoe assembly of such a conventional film wrap apparatus is manufactured according to the work piece shaft diameter or shaft width, and the interval between the adjacent work piece shafts. Since it is limited to machining only the shaft diameter or shaft width and the distance between adjacent workpiece axes, if the workpiece shaft diameter or shaft width and the distance between the axes are different, it is extremely large It is necessary to change the position of the shoe assembly to replace the shoe assembly having a stone which forms a plurality of rigid concave surfaces. Further, the shaft diameter or the shaft width of the workpiece and the distance between the shafts are different. When processing different kinds of workpieces at random, it was necessary to add a dedicated processing arm or processing station. A tapered surface or flat surface including a part having a sheave surface with which a metal belt of a belt-driven continuously variable transmission contacts, or a workpiece of a shaft object such as a crankshaft, has many pre-processing steps. It is centered on and supported by the headstock and tailstock, and pre-processing is performed. However, as disclosed in, for example, Patent Document 1, the conventional tape wrap device is a dedicated and extremely large space and cannot be mounted on the arm tip of an industrial robot. For example, as disclosed in Patent Document 2 None of the conventional articulated industrial robots are equipped with a cassette type tape wrap device at the arm tip of the industrial robot.

  An object of the present invention is to provide a cassette-type tape wrapping device at the tip of an arm of an industrial robot as it is in a state where a workpiece to be pre-processed is centered and supported by, for example, a headstock and a tailstock in the pre-processing step. It is an object of the present invention to provide a robot arm drive tape wrap device which can be tape-wrapped and can be processed flexibly without using a separate film wrap device.

  For this reason, the present invention provides a shoe having a relatively incompressible abrasive-coated tape at the tip of an arm of an industrial robot, and a relatively rigid surface that contacts and presses the abrasive-coated surface of the tape against the workpiece surface. To provide a robot arm drive tape wrap device equipped with a tape holder-integrated cassette shoe assembly in which an assembly, a tape unwinding holder and a tape winding holder are assembled as an integrally replaceable cassette. The above-mentioned problems of the conventional products have been solved.

  With this configuration, a relatively incompressible abrasive-coated tape, a shoe assembly having a relatively rigid surface that contacts and presses the abrasive-coated surface of the tape against the workpiece surface, a tape unwinding holder, and a tape winding Since the tape holder integrated cassette shoe assembly is assembled as a cassette that can be replaced as a single unit, the assembly body material can be reduced to, for example, less than 10 kg by using aluminum, etc. Since the cassette shoe assembly integrated with the tape holder can be mounted on the tip of the robot arm, the workpiece to be pre-processed is centered and supported by the headstock and tailstock in the pre-processing step. It is possible to tape wrap at the tip of an industrial robot arm with a cassette-type tape wrap device and not with a separate film wrap device. In addition, a robot arm drive tape wrap device that can be processed flexibly is provided.

  An example of an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram showing an entire robot arm driving tape wrap apparatus showing a state in which a tape shoe integrated cassette shoe assembly is attached to an arm tip of an industrial robot according to a first embodiment of the present invention. FIG. 2 is an enlarged perspective view of an essential part showing an enlarged mounting plate attached to a tool support surface of a wrist attached to the arm tip of the robot of FIG. 1, and FIG. 3 is attached to the arm tip of the robot of FIG. FIG. 4A is an enlarged perspective view of a main part shown with the tape holder-integrated cassette shoe assembly removed, and FIG. 4A is a perspective view of the internal structure of the integrated cassette shoe assembly shown in FIG. FIG. 5B is a perspective cross-sectional view in which a portion showing the internal structure on the back side of FIG. 5A is cut out, and FIG. 5 is a tape holder integrated type mounted on the tip of an arm of the industrial robot of the second embodiment of the present invention. Ttoshu set enlarged perspective view showing an enlarged three-dimensional in the detached state, FIG. 6 is a right side view seen from the A direction in FIG. The industrial robot 60 shown in FIG. 1 has six axes of freedom a to f.

  The robot arm drive tape wrap device of the first embodiment of the present invention has a relatively incompressible abrasive-coated tape 5 shown in FIG. 2 on the arm 61 tip 62 of the industrial robot 60 shown in FIG. A shoe assembly 2 having a relatively rigid concave surface 17 fixed to a pair of opening and closing arms 15 and 15 for contacting and pressing an abrasive covering surface of the tape 5 against a surface of a workpiece such as a crankshaft (not shown); The tape holder integrated cassette in which the pair of opening / closing arms 15 and 15 for supporting the shoe assembly 2 and the arm opening / closing device 46, the tape unwinding holder 6 and the tape winding holder 7 are assembled as an integrally replaceable cassette. The shoe assembly 11 is attached to the tool support surface 63 of the wrist 62 attached to the tip 62 of the arm 61 of the robot 60 via the attachment plate 12.

  With such a configuration, the tape holder-integrated cassette shoe assembly 11 according to the first embodiment of the present invention has a relatively incompressible abrasive-coated tape 5 and the abrasive-coated surface of the tape 5 in contact with the workpiece surface. Since the shoe assembly 2 has a relatively rigid surface to be pressed, the tape unwinding holder 6 and the tape unwinding holder 7 are integrally assembled as a cassette that can be exchanged as a cassette holder integrated cassette shoe assembly 11. By using aluminum as the assembly body material, the weight can be reduced to less than 10 kg, for example, and the tape holder integrated cassette shoe assembly can be mounted on the arm tip of an industrial robot. In the state that the workpiece is centered and supported by the headstock and tailstock, for example, in the pre-processing step, the cassette taper is directly applied to the arm tip of the industrial robot. Possible tape lapping in-flop device, without processing by another film wrap apparatus, and was intended to provide a robot arm driving tape wrap system can be processed flexibly.

  As shown in FIGS. 3 and 4, in the first embodiment of the present invention, the tape holder integrated cassette shoe assembly 11 includes an arm opening / closing clamp shaft 45 and an arm opening / closing device 46 connected to the clamp shaft 45. The arm opening / closing clamp shaft 45 is pushed outwardly in the direction of the arrow 19 (FIG. 4A) by a drive shaft 35 having a clamp cam 37 and being driven by a device (not shown) built in the mounting plate 12. Then, the clamp cam 37 pushes the bases 47 and 47 of the pair of arms, rotates around the shaft 42 and closes the arms 15 and 15, and the clamp shaft 45 is clamped when the drive shaft 35 is retracted. The cam 37 is pushed by the spring 26 and pulled inward in the direction of the opposite arrow 19 so that the base portions 47 and 47 of the pair of arms reverse around the shaft 42 to open the pair of arms 15 and 15; and At the same time, automatically interlocking with the pull-in of the clamp cam 37 The tape 5 of a predetermined length is unwound from the loop unwinding holder 6 in the unwinding direction 34 (FIG. 4A), and the tape winding holder 7 unwinds the tape 5 of a predetermined length 32 (FIG. 4). (A)). 4 is an insert stone formed of a honing grindstone material forming the concave surface 17, and 20 in FIG. 3 is a cassette body that houses an arm opening / closing device 46, a tape unwinding holder 6 and a tape winding holder 7. As a device for the mounting plate 12 for driving the drive shaft 35, a cassette shaft assembly integrated with the tape holder 11 mounted on the end of the robot arm with a drive shaft pushed by a spring stopped by a trigger is not shown. When it reaches the position where the workpiece surface of a shaft such as a shaft is gripped, the trigger is removed by a trigger drive device (not shown), and the drive shaft is pushed forward by the spring to open the pair of arms. In conjunction with the retraction of the robot arm tip, the drive shaft pushed by the spring may be returned to its original position, or an electric or hydraulic cylinder may be used.

  As shown in FIGS. 3 and 4, the tape holder-integrated cassette shoe assembly 11 according to the first embodiment of the present invention has a base 47, 47 of a pair of arms 15 and 15 attached to a clamp cam 37 (a clamp cam 37). The upper side of 37 is FIG. 3 (b), the lower side is FIG. 3 (a), the first connecting pin 31, the first link 30 connected to the first connecting pin 31, and the second connected to the first link 30. As shown in FIG. 3 (b), the tape take-up holder 7 is connected to the lower side of the clamp cam 37 by drivingly connecting via the connecting pin 40 so that the base portions 47 and 47 are interlocked with the clamp cam 37. The second connecting pin 90, the second link 70 connected to the second connecting pin 90, the take-up holder shaft 92 connected to the second link 70, and the anti-reverse device 94 (not shown) are connected to the tape. The holder 6 automatically unwinds the tape of a predetermined length wound by the tape take-up holder 7 through the unwind holder shaft. Has been.

  FIG. 7 shows a workpiece of a shaft including a crankshaft having a plurality of workpiece shafts of the same diameter, which is supported by a headstock and a tailstock arranged on a guide base and rotated by a drive device of the headstock. FIG. 8 is a schematic plan view showing a state before tape wrap processing of a tape wrap apparatus that uses two axially linear transfer processing units, and FIG. 8 is a work that is adjacent to a workpiece by the tape wrap apparatus of FIG. It is the principal part partial enlarged view which shows the state in the tape wrap process of crankshaft (a), (b) from which the distance between the center point positions of axial width is the same, and axial widths differ a little. Many crankshafts have two types of shafts to be machined having the same diameter. In FIG. 7, a workpiece 2 ′ of a shaft object that is a crankshaft is supported by a head stock 18 and a tail stock 19 arranged on a guide table 20, and is rotated by a drive motor 21 of the head stock 18. In FIG. 7, a bed 20 ′ equipped with two types of tape holder integrated cassette shoe assemblies 11, 11 so as to process a plurality of processing shafts 3 having two types of diameters of a plurality of processing shafts 3 having the same diameter. Machining is performed using the two X-axis direction linear transfer processing units 10 and 10 that can be moved by the X-axis movement drive devices 8 and 8 in the axial direction (X-axis direction) of the workpiece axis 2 ′. Instead of the X-axis linear motion transfer units 10 and 10, the industrial robot 60 shown in FIG. 1 is used, and one type of tape holder integrated cassette shoe assembly 11 and 11 is mounted on the tip 62 of the arm 61. By teaching an industrial robot, a single type of tape holder integrated cassette shoe assembly 11 can be used to machine a plurality of workpiece shafts 3 having the same diameter. Since the industrial robot 60 has a six-axis degree of freedom compared to the X-axis direction linear transfer processing units 10 and 10, the industrial robot 60 has a high degree of freedom in the installation location, so that the work to be pre-processed is performed. In a state where the object is centered and supported by the headstock and tailstock in the pre-processing step, tape wrap processing can be performed with the cassette type tape wrap device at the tip of the arm of the industrial robot as it is, another film wrap device Thus, a tape wrap device that can be processed flexibly without being processed by the machine is provided. The processing time for tape lapping one workpiece shaft 3 is about 10 seconds. The shaft diameter or shaft width of different workpieces, the dedicated shoe assembly between the shafts, and for exchanging workpieces Compared with the time required for setup change of several tens of minutes, the processing time saving effect by using an industrial robot is extremely large.

  In FIG. 7, a workpiece including a crankshaft having a plurality of types of workpiece shafts 3 having the same diameter and supported by a headstock and a tailstock arranged on a guide base and rotated by a headstock driving device. In 2 ', two industrial robots 60, 60 each equipped with two types of tape holder integrated cassette shoe assemblies can be taught to machine two types of shafts 3 of the same diameter each. it can. Instead, a plurality of shafts 3 having the same diameter are machined by teaching one industrial robot 60 equipped with the first tape holder integrated cassette shoe assembly 11, and then the second tape holder 1 A second plurality of workpiece shafts 3 having the same diameter may be machined by tool change to the body cassette shoe assembly 11.

  In FIG. 7, it has a plurality of processed shafts 3 which are supported by a head stock and a tail stock arranged on a guide base and are rotated by a head stock driving device but have the same diameter but different axial widths. In the work shaft 3 of the work 2 'including the crankshaft, the industrial robot 60 is taught to teach the work piece shaft 3 by the tape holder integrated cassette shoe assembly 11 having the first narrow shoe assembly. After processing with the narrow shoe assembly 50 and the abrasive-coated tape 51 during the tape wrap processing (FIG. 8B), if there is an unprocessed rotating shaft surface 40 of the rotating shaft, the narrow shoe assembly 50 Then, the abrasive-coated tape 51 is moved in the axial direction of the workpiece to process the raw rotary shaft surface 40 of the rotary shaft (FIG. 8A).

  In the second embodiment of the present invention, the relatively incompressible abrasive-coated tape 5 shown in FIGS. 5 and 6 and the abrasive-coated surface of the tape 5 are in contact with the metal belt of the belt-driven continuously variable transmission. Shoe assembly 5 'having a relatively rigid taper surface 4 (which may be flat) that contacts and presses a taper surface 3' (which may be flat) including a part 3 having a sheave surface, tape The tape holder integrated cassette shoe assembly 11 'in which the unwinding holder 6' and the tape take-up holder 7 'are assembled as an integrally replaceable cassette is installed in the industry as shown in FIG. This is attached to the tool support surface 63 of the wrist 62 attached to the tip 62 of the arm 61 of the robot 60 for use. With this configuration, the same effects as those of the robot arm drive tape wrap device according to the first embodiment of the present invention can be obtained.

1 is a schematic perspective view of a main part of a robot arm drive tape wrap apparatus showing a state where a tape shoe integrated cassette shoe assembly is attached to an arm tip of an industrial robot according to a first embodiment of the present invention. Indicates. The principal part expansion perspective view which expands and shows the attachment board attached to the tool support surface of the list | wrist attached to the arm front-end | tip of the robot of FIG. 1 is shown. FIG. 2 is an enlarged perspective view of a main part enlarged and shown in a state where a tape shoe integrated cassette shoe assembly attached to the tip of the arm of the robot of FIG. 1 is removed. (A) is the perspective cross section which notched the part which shows the internal structure of the integrated cassette shoe assembly of FIG. 3, (b) is the perspective cross section which notched the part which shows the internal structure of the back side of (a). The principal part expansion perspective view expanded and shown in the state which removed the tape holder integrated cassette shoe assembly mounted in the arm tip of the industrial robot of the 2nd Embodiment of this invention is shown. It is a right view seen from the A direction of FIG. X-axis direction linear movement of workpieces including a crankshaft supported by a headstock and a tailstock arranged on a guide table having a plurality of workpiece shafts of the same diameter and rotated by a headstock drive device The schematic plan view which shows the state before the tape wrap process of the tape wrap apparatus processed using two process units. In the tape wrap apparatus of FIG. 7, the distance between the center point positions of the adjacent workpiece shaft widths of the workpiece is the same, and the crankshafts (a) and (b) having slightly different shaft widths are in the tape wrap processing. It is a principal part partial enlarged view which shows a state.

Explanation of symbols

2, 2 ': Shoe assembly, 3, 3': Work piece, 5, 5 ': Abrasive coating tape 6: Tape unwinding holder, 7: Tape winding holder, 11, 11': Integrated cassette shoe Assembly, 12, 12 ': Mounting plate, 14: Back guide part, 15: Opening / closing arm, 16: Upper guide part
17: relatively rigid concave surface, 35: drive shaft, 37: clamp cam, 42: shaft, 45: clamp shaft
46: Arm opening and closing device, 47, 47: Base of a pair of arms, 60: Machine body

Claims (7)

  A relatively incompressible abrasive-coated tape at the tip of an industrial robot arm, a shoe assembly having a relatively rigid surface that contacts and presses the abrasive-coated surface of the tape against the workpiece surface, tape unwinding A robot arm drive tape wrap apparatus comprising a tape holder integrated cassette shoe assembly in which a holder and a tape take-up holder are assembled as an integrally replaceable cassette.   Tapered surface including a relatively incompressible abrasive-coated tape at the tip of an industrial robot arm, and a part having a sheave surface with which the abrasive-coated surface of the tape contacts a metal belt of a belt-driven continuously variable transmission Or a tape holder integrated cassette shoe assembly in which a shoe assembly having a relatively rigid taper surface or flat surface to be pressed against a flat surface or a flat surface, a tape unwinding holder and a tape winding holder are assembled as an integrally replaceable cassette A robot arm drive tape wrap device characterized by mounting.   At the tip of an arm of an industrial robot, a relatively incompressible abrasive-coated tape was fixed to a pair of open / close arms that pressed the abrasive-coated surface of the tape into contact with the workpiece surface of a shaft including a crankshaft. Tape assembly having a relatively rigid concave surface, a pair of opening and closing arms that support the shoe assembly, an arm opening and closing device, a tape unwinding holder, and a tape winding holder assembled as an integrally replaceable cassette A robot arm drive tape wrap device, wherein an integral cassette shoe assembly is attached to a tool support surface of a wrist attached to an end of an arm of the robot via an attachment plate.   The tape holder integrated cassette shoe assembly has an arm opening / closing clamp shaft and a clamp cam connected to the clamp shaft, and the clamp shaft is clamped when pushed by a drive shaft built in the mounting plate. A cam pushes the base of the pair of arms and pivots about the shaft to close the arm, and the clamp shaft is pushed by the clamp cam spring when the drive shaft is retracted. Pulled inward, the base of the pair of arms reverses around the axis to open the pair of arms, and at the same time automatically interlocks with the clamp cam to unwind the tape 4. The robot arm drive taper according to claim 3, wherein the tape of a predetermined length is unwound from the holder, and the tape take-up holder winds up the tape of a predetermined length. Flop arrangement.   In a workpiece of a shaft including a crankshaft having a plurality of workpiece shafts of the same diameter, which is supported by a headstock and a tailstock arranged on a guide base and rotated by a headstock driving device, 4. The robot arm drive tape wrap apparatus according to claim 3, wherein the plurality of workpiece shafts having the same diameter are machined by teaching the robot by one cassette holder integrated cassette shoe assembly. .   In a workpiece of a shaft object including a crankshaft, which is supported by a headstock and a tailstock arranged on a guide stand, and is rotated by a headstock drive device, and there are a plurality of types of a plurality of workpiece axes of the same diameter, By teaching a plurality of industrial robots each equipped with a plurality of types of tape holder-integrated cassette shoe assemblies, a plurality of types of processing axes each having the same diameter are processed. 4. The robot arm drive tape wrap device according to claim 3, wherein the robot arm drive tape wrap device is provided. In a workpiece of a shaft including a crankshaft having a plurality of workpiece shafts of the same diameter, which is supported by a headstock and a tailstock arranged on a guide base and rotated by a headstock driving device, The tape holder integrated cassette having one narrow shoe assembly by teaching the robot, and the tape holder integrated cassette having the narrow shoe assembly during tape lap processing of the shaft to be processed by the tape holder integrated cassette shoe assembly. After processing with the shoe assembly and the abrasive-coated tape, if there is an unprocessed shaft surface of the processed shaft, the tape holder-integrated cassette shoe assembly having the narrow shoe assembly together with the abrasive-coated tape The plurality of machining shafts having the same diameter are machined by moving in the axial direction of the machining shaft to machine the surface of the machining shaft. Robot arm driving the tape wrap system as claimed in claim 3, wherein a.

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