JPH045242Y2 - - Google Patents

Description

[Detailed Description of the Invention] A. Purpose of the Invention (Field of Industrial Application) The present invention relates to a holder for a tool for polishing, deburring, etc., or a holder for the above-mentioned workpiece.

<Prior art> Surface polishing of parts with complex-shaped surfaces, surface preparation for plating, deburring of cast products, etc. have traditionally not been adapted to automated machining, and have been done manually by cloth polishing, polishing, or chipping. However, due to various reasons such as poor working environment, lack of manpower, and skyrocketing wages, recently, attempts have been made to gradually introduce robots for tasks such as painting and welding.

By the way, to polish the surface of a workpiece with a complex curved surface, it is necessary to move the tool along the curved surface, so this process is taught to a robot, but in general, it is necessary to move the tool along the curved surface. Due to errors and setting errors, there are problems such as excess or deficiency in the amount of processing, forcing the equipment, causing scratches on the finished surface, or leaving areas that are not polished enough. In particular, the forming accuracy of cast parts or the dimensional forming accuracy of weld beads has a wide range of variation, and it is difficult to standardize the polishing finish using only robot teaching based on processing within a certain dimensional range.

In order to solve the above-mentioned problems, for example, a three-dimensional robot can operate a polishing tool that uses the attractive force of a permanent magnet built into the grinding wheel to generate polishing pressure on the machined surface, or A deburring means has been proposed that has a mechanism that allows the tool to escape when a load greater than a set pressure is applied in a direction perpendicular to the axis of rotation of the tool between the robot arm and the robot arm. Automatic machines are being put into practical use that simplify the robot system introduced for processing and can process curved surfaces of various shapes and obtain good finished surfaces.

<Problems to be solved by the invention> Therefore, the present invention further develops the above-mentioned means and uses mechanical means to maintain the machining surface of the tool at a constant position while creating a plane perpendicular to the rotational axis direction and the same axis of the tool. A tool holder or workpiece holder that supports any of the above directions and allows the tool to escape in that direction when a load exceeding a specified pressure is applied to the machined surface.If necessary, the tool holding pressure can be easily reduced. The purpose of the present invention is to provide a holder that can be adjusted to automate surface polishing and polishing of various deformed workpieces.

B. Structure of the invention (Means for solving the problems) In order to achieve the above purpose, the invention has the following constituent elements.

(1) A hollow case with a ball bearing at one end, a sphere swingably supported by the bearing, and a hollow case penetrating the center of the sphere and slidably supported in its diametrical direction. a holder extending inwardly, the holder is provided with a stopper for the sphere to prevent the holder from slipping out of the case, and a stopper for the sphere is provided between the inner end of the holder and the inner wall of the case. By symmetrically interposing the elastic members to balance each biasing force with respect to the central axis of the holder, and constantly biasing the holder to push it in the axial direction and toward the outside of the case, the holder is pushed against the case. A tool holder characterized by being assembled so as to maintain a fixed position.

(2) A grooved roller is pivotally supported in at least three directions on the inner wall of the hollow case, and the same number of flexible wires and springs connected to the inner end of the holder are hung there, and the other ends of the springs are tied together. The tool holder according to item (1) above, which is connected to a spring adjuster provided on the case side.

(3) A rubber or other elastic material is interposed between the inner end of the holder and the inner wall of the case to create resistance in the swinging direction and sliding direction of the holder, respectively. The tool holder described in paragraph (1).

(4) The outer part of the holder is a table for placing a workpiece with a flat surface perpendicular to the holder sliding axis direction, and the hollow case side is a fixing stand. Tool holder described in paragraph (2) or (3).

<Function> The tool holder of this invention is used with the case side held by the arm of the robot and the holder side holding the tool, and usually the central axis of the holder in the sliding direction and the rotational axis of the tool are aligned. The tool shall be held in the holder with the At this time, the machining surface of the tool is maintained in a fixed position in the direction of the rotation axis of the tool and in the 360° direction of a plane perpendicular to the coaxial line by the ball bearing and the elastic member installed inside the hollow case. However, if a load exceeding a set value is applied to the machined surface, the load will escape in the direction of the rotation axis of the tool against the bias of the elastic member, for example. At this time, mutual sliding occurs between the outer peripheral surface of the holder and the bearing surface provided on the sphere, but when the load applied to the tool is reduced or eliminated, the tool, that is, the holder, is pushed out by the elastic member, and the stopper is pushed out. It moves forward until it comes into contact with the sphere, and then returns to its normal position.

Additionally, when a load exceeding the set value is applied in a plane perpendicular to the tool rotation axis, the holder swings around the sphere, and its inner end pushes the elastic body installed inside the case in the opposite direction. As a result, the tool escapes in that direction depending on the load. Of course, as described above, if the load falls below a predetermined value for some reason, the tool machined surface immediately returns to its old position.

Although there is a method of stuffing rubber or the like as an elastic member that achieves the above-mentioned effect, the inner end of the holder is pulled and held from three sides by a flexible wire and a spring, and the holder is biased in the direction of its sliding axis. Using an elastic member, connect the other end of the spring to
If all of them are connected to the adjuster mounted on the case, just by adjusting one adjuster, the relief (push) pressure of the machined surface against the holder, that is, the rotation axis direction of the tool machined surface and the plane perpendicular to the same axis, can be reduced. A feature arises in that the set pressure can be adjusted at the same time.

This allows one holder to be easily adapted to the setting and machining of various types of tools or the surface treatment of workpieces.

Therefore, the ability to follow the workpiece surface is improved, and overload machining is not performed, so defects such as chatter do not occur on the machined surface, extending the service life of cutting tools and cutting tools, and making teaching easier for robots. It is possible to expect special effects compared to conventional surface treatment processing methods, such as simplification.

Of the above, since the relationship between the machining surface of the tool and the surface of the workpiece is relative, even if the workpiece is held on the tool holder of the present invention instead of setting the tool on the holder, the result will be approximately the same as described above. Effects and effects can be obtained. In that case, if the outer end of the holder is required to be shaped like a table, a T-groove or the like can be bored on its surface to fix the workpiece, while the hollow case side can be fixed to the floor. At first glance, the leg support structure is formed to look like a workbench or worktable. Its operation is basically the same as that described above.

(Embodiment) Part 1 FIG. 1 is a sectional view of an embodiment of the holder of the present invention, and this embodiment shows the holder in which an air tool is replaced.

In the figure, reference numeral 1 denotes a tool holder frame, into which a ball bearing 3 is fitted and fixed in an open end 2, and a closed rear end 4.
is the insertion hole 6 of the spring pressure adjusting rod (adjuster) 5.
is bored so that the central axis of the hole 6 extends through the center of the spherical bearing 3. A hollow case is formed by putting together the above structure. Reference numeral 7 designates a mounting seat protruding from the circumferential surface of the frame 1 for attachment to the robot hand. Reference numeral 8 denotes a cylindrical part (referred to as a holder) that penetrates through the center of the ball bearing 3 and is slidably supported in the diametrical direction. It holds processing tools removably, but in order to simplify the structure,
In this example, the holder is replaced with an air motor, and a grinding wheel 9 is provided at the tip of its output shaft. The cylindrical part 8 of the holder, in this example the air motor body, has a different diameter in the middle, and that part acts as a stopper to prevent the part 8 from slipping out from the ball bearing 3. It is pivoted on one side so that it can slide. 10
is a pulley that is pivotally supported at at least three locations on the inner wall in the direction of the open end of the frame, and the flexible wire 1
1 and a coil spring 12 connected in series, one end of the elastic member is connected to the rear end of the cylindrical part 8, this is stretched around the pulley 10, and the other end is connected to the inner end of the spring pressure adjusting rod 5. The tension of the coil spring 12 urges the cylindrical portion (air motor) 8 toward the outside of the holder frame (downward in the figure) along its diameter direction and central axis.

To prevent the spring pressure adjustment rod (adjuster) 5 from falling into the frame due to the tension of the spring 12,
By inserting and removing the rod 5 from the frame, the spring pressure can be adjusted and the force applied to the cylindrical portion 8 can be increased or decreased.
Cut a thread on the outer side of the nut 13 and screw it into the nut 13.

The aforementioned stopper of the cylindrical portion 8 is necessary in order to prevent the cylindrical portion from slipping outward from the ball bearing 3 due to the force applied thereto.

14 is a workpiece.

Since this embodiment has the above-described configuration, the mounting seat 7 is held down by the hand of the robot, and the grinding wheel 9, which is rotated by driving the air motor 8, is aligned along the surface of the workpiece 14. When machining while moving the workpiece 14, a large load is applied to the grinding wheel 9 due to irregularities in the outer shape of the workpiece 14 or mounting errors that cause a difference greater than the set value between the normal copying and the reality. The whetstone 9 resists the biasing force of the spring 12 and swings around the center of the ball bearing 3 as shown by the arrow and escapes, or retreats and is displaced in the direction of the rotation axis.
A load exceeding a predetermined value based on the spring pressure is not applied to the grindstone 9. At that time, if it is necessary to change the magnitude of the predetermined load applied to the grinding wheel 9, turn the nut 13 to move the adjustment rod 5 in and out of the frame 1 to change the distance between the rod 5 and the pulley 10. The tension of the coil spring 12 is changed by changing the tension of the coil spring 12. Thereby, the swinging strength of the grindstone 9 around the ball bearing 3 and the bending strength in the direction of the rotation axis can be adjusted simultaneously.

Part 2 FIG. 2 shows a sectional view of another embodiment of the present invention. In this embodiment, a cylindrical portion 8 is slidably supported in the diametrical direction through the center of the ball bearing 3. A workpiece 14 mounting table 8' having a plane perpendicular to the longitudinal central axis of the cylinder is fixed to the outer end.

In the figure, 1 is a holder frame, the lower part of which is formed into a leg structure divided into at least three parts, and a cylindrical part 8.
The longitudinal axis of the table 8' is therefore vertically oriented.
It is installed so that the surface occupies a horizontal position. A ball bearing 3 is fitted and fixed in the upper open part 2 of the frame 1, and an insertion hole 6 for a spring pressure adjustment rod 5 is bored in the center of the beam connecting the legs. The extension of the axis is provided so as to pass through the center of the ball bearing 3. Reference numeral 10 denotes a pulley that is disposed and pivoted at at least three locations on the inner wall in the direction of the opening of the frame. and connect this to the pulley 1
0, and the other end is connected to the upper end of the spring pressure adjusting rod 5, and the tension of the coil spring 12 causes the cylindrical part (table 8') to rotate in the diametrical direction and along the central axis of the frame. , upwardly, respectively. The spring pressure is adjusted so that the spring pressure adjustment rod 5 is not pulled into the frame by the tension of the spring 12, and by inserting and removing the rod 5 from the frame, A thread is cut on the outer side of the rod 5, and a nut 13 is screwed therein so as to adjust the strength of the biasing force.

The stopper of the cylindrical portion 8 is necessary in order to prevent the cylindrical portion from slipping out upwardly from the ball bearing 3 due to the force applied thereto. 14 is a workpiece.

The operation and effect of this embodiment can be understood by replacing the grindstone 9 with the workpiece 14 in the first embodiment.

C. Effect of the invention Since the holder of the invention has the above-mentioned configuration, if the holder is installed between the robot device and the tool, or between the workpiece and the fixed base,
The tool (or workpiece) is always held in a fixed position, and if an external force (load) exceeding a set value is applied in any direction, it will displace. , or irregular changes can be correctly followed and traced under uniform processing pressure.

(2) There are no machining omissions on any part of the workpiece surface,
In addition, since excessive machining does not occur within a unit time, no damage to the machined surface due to chatter of mechanisms, tools, etc. occurs.

(3) There is no need for detailed teaching of the shape of the workpiece for the robot equipment. In other words, workpieces with relatively complex shapes can be handled without the need for high-performance robots.

(4) Eliminate the influence of errors in the setting position of the workpiece.

(5) Tools are not subjected to excessive load and their service life can be extended.

etc., it produces special functions and effects that cannot be expected from conventional mechanisms.

[Brief explanation of the drawing]

FIG. 1 is a cross-sectional view of one embodiment of the tool holder of the present invention, and FIG. 2 is a cross-sectional view of another embodiment. 1... Tool holder frame hollow case, 3... Ball bearing, 4... Rear end closing part, 5... Spring pressure adjustment rod, 6
...Insertion hole, 7...Mounting seat, 8...Cylindrical part (holder), 9...Grinding wheel, 10...Pulley, 11
... Flexible wire, 12 ... Coil spring, 13 ...
Natsu, 14... Workpiece.

Claims (1)

[Claims for Utility Model Registration] (1) A hollow case with a ball bearing at one end, a sphere swingably supported by the bearing, and a shaft penetrating the center of the sphere and slidable in the diametrical direction. and a holder that is supported and extends inward of the hollow case, and the holder is provided with a stopper for the sphere to prevent the holder from slipping out of the case, and the inner end of the holder and the inner wall of the case are provided with a stopper for the sphere. Equivalent elastic members are symmetrically interposed between the holder and the holder to balance each biasing force against the central axis of the holder, while always biasing the holder in the axial direction and toward the outside of the case. A tool holder characterized in that the holder is assembled to the case so as to maintain a fixed position. (2) A grooved roller is pivotally supported in at least three directions on the inner wall of the hollow case, and the same number of flexible wires and springs connected to the inner end of the holder are hung there, and the other ends of the springs are tied together. The tool holder according to claim (1), which is connected to a spring adjuster provided on the case side. (3) A practical device in which rubber or other elastic material is interposed as a filling between the inner end of the holder and the inner wall of the case to generate resistance in the swinging direction and sliding direction of the holder, respectively. A tool holder according to claim (1) of patent registration. (4) Utility model registration claim No. 1, which consists of the outside part of the holder being a table for placing a workpiece with a plane orthogonal to the sliding axis direction of the holder, and the hollow case side being a fixing stand. The tool holder described in item 1), item (2), or item (3).