JPH0567384B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a grinding device, and more particularly, a grinding tool that rotates under the action of a rotational drive source is attached to a main body, and a grinding tool is provided to suitably guide the tool to a workpiece. The present invention relates to a grinding device in which a guide roller is disposed coaxially with the tool, and the main body portion is displaceably attached to a hand portion of a robot via an elastic body.

Generally, welding is performed when joining multiple works made of metal materials. In this welding process, the welded workpiece is transferred to a grinding process in order to remove the solvent remaining in the welded area and form a smooth surface. In particular, if the workpiece is required to have a beautiful appearance as a product, the welded parts of the workpiece must be subjected to extremely careful external surface treatment to produce a product with an excellent surface appearance. .

Normally, a grinding machine is used for this kind of grinding work, but the grinding machine cannot adequately handle the grinding of welded parts of large workpieces such as automobile bodies, for example. . Conventionally, this problem has been solved by equipping a robot with a grinding device for workpieces such as automobile bodies. That is, a grinding device having a grindstone is attached to the hand portion of the robot, and the grindstone is rotated to automatically grind and finish the welding part of the workpiece.

By the way, among the various workpieces that undergo grinding in this way, there are variations in quality,
Alternatively, distortion or deformation may occur due to the influence of welding heat during welding.
Therefore, when attempting to grind a welded part of a workpiece according to a predetermined program by automatic operation of a robot, if extremely large variations such as those mentioned above exist, the grinding wheel of the grinding device will be applied to the workpiece more than necessary. the grinding wheel in contact with, or
There is a risk of damaging the workpiece. If this happens, the grindstone must be replaced frequently, and the workpiece will suffer from poor grinding, reducing work efficiency and resulting in extremely poor yields for finished products. arise.

Therefore, in order to eliminate such inconveniences, efforts are being made to position and fix the workpiece to the equipment extremely accurately each time machining is performed, but positioning is not easy, and even if it is positioned in this way, grinding The process becomes quite complicated. Therefore, the work becomes complicated and takes time, and it is not possible to suitably improve the efficiency of work in the factory.

The present invention has been made in order to overcome the above-mentioned disadvantages, and includes a main body equipped with a grindstone that rotates under the action of a drive source, and a grindstone that is mounted on both ends of the grindstone to suitably hold the workpiece. By providing a guide roller for guiding and attaching the main body to the hand of the robot so that it can be displaced by a predetermined amount via an elastic body, it is possible to easily deal with variations in the quality of the work, and it is extremely simple and It is an object of the present invention to provide a grinding device that can suitably perform grinding processing and can be manufactured at low cost.

In order to achieve the above object, the present invention provides a rotating shaft that is rotated under the action of a rotational drive source, and a rotary shaft that is fixed integrally with the rotational drive source, and that the rotational shaft is rotatable via a bearing. a holding member that is supported by the rotating shaft; a rotating tool that is attached to the rotating shaft and rotates integrally with the rotating shaft; and a rotating tool that is disposed between at least one side of the rotating tool and the bearing and that is attached to the rotating shaft. a guide roller that is rotatably supported; and a holding member that is attached to the hand portion of the robot so as to be displaceable in a direction in which the rotary tool presses the workpiece, and the holding member is constantly pressed against the workpiece side. It is characterized by comprising an elastic body for doing so.

Next, preferred embodiments of the grinding apparatus according to the present invention will be described in detail with reference to the accompanying drawings.

In FIGS. 1 and 2, reference numeral 10 indicates a main body portion constituting a grinding device according to the present invention.
At one end edge of the main body part 10, holding parts 12a and 12b are formed by bulging outward from both sides, and each holding part 12a and 12b has a mounting means 1 including an elastic body.
4, and the main body part 10 is attached to the hand part 16 of the robot so that it can be displaced by a predetermined amount. Further, a rotational drive source 18 such as an air motor, for example, is fixed in the main body 10, and a rotational force transmission mechanism 20 is engaged with one end of the rotational drive source 18. moreover,
A first tool member (holding member) 24 including a rough machining grindstone (rotary tool) 22 and guide rollers 23a and 23b is mounted at one end of the main body 10, for example.
Attach via bolt. In this case, the first tool member 24 and the transmission mechanism 20 can be interlocked via a belt 26. On the other hand, on the other end side of the main body 10, there is a second grindstone including a disc-shaped grindstone 28 for finishing.
The tool member 30 is attached via a bolt, for example, and the grindstone 28 is engaged with the other end of the rotational drive source 18.

The above is a general description of the configuration of the grinding device according to the present invention, and the details thereof will be described next.

That is, from both ends of the rotary drive source 18 fixed to the main body 10, the rotary drive shafts 3 of the long axis are connected to each other.
A rotation drive shaft 32b having a short axis extends from the rotation drive shaft 2a, and splines 34a and 34b each having a plurality of grooves are formed on the rotation drive shafts 32a and 32b, respectively. Furthermore, bearings 36a and 36b are fitted onto the rotational drive shafts 32a and 32b, respectively, and
6a, 36b are supported by the main body 10 via sleeves 38a, 38b. Therefore, the rotational drive shaft 3
2a and 32b are rotatably held relative to the main body 10. Furthermore, a first bevel gear 40 is attached to the tip of the rotary drive shaft 32a. in this case,
The first bevel gear 40 is provided with a hole 42 having a shape corresponding to the spline 34a, and the hole 4
2 to engage the spline 34a. Therefore,
The first bevel gear 40 meshes with the rotational force transmission mechanism 20.

A first rotating shaft 44 that constitutes the transmission mechanism 20
is rotatably held in the main body 10 via a bearing 46, and its axis is aligned with the rotary drive shaft 3.
It is oriented in a direction perpendicular to the axis of 2a. A first belt pulley 48 is attached to the lower end of the first rotating shaft 44 via a bolt 47.
8 is brought into contact with the bearing 46. Also,
A second bevel gear 5 is attached to the upper end of this bearing 46.
2 are brought into contact with each other, and the second bevel gear 52 is mounted on the first rotating shaft 44 via the half-moon key 54. and,
The second bevel gear 52 is meshed with the first bevel gear 40 mounted on the rotary drive shaft 32a. On the other hand, one end of the belt 26 is stretched around the first belt pulley 48, and the other end of the belt 26 is stretched around the first tool member 24.

A mounting member 56 constituting the first tool member 24
A support portion 58 that bulges out in the horizontal direction is formed at the lower end of the support portion 58 . Further, a support member 60 having the same shape as the support portion 58 is fixed to the upper end of the mounting member 56 via bolts 62a and 62b. Therefore, bearing rigs 64 are installed inside the support portion 58 and the support member 60, respectively.
a and 64b, and the second rotating shaft 66 is rotatably mounted. A large diameter portion 67 is formed approximately in the middle of the second rotating shaft 66, and screw grooves 68 are formed at one end of the large diameter portion 67 at predetermined intervals.
A bearing 64a is disposed on the other end side of the large diameter portion 67, and this bearing 64a
A second belt pulley 70 is disposed at the other end, and the second belt pulley 70 is attached to the second rotating shaft 66 via bolts 71. Note that the other end side of the belt 26 is stretched over the belt pulley 70.

Furthermore, the large diameter portion 67 of the second rotating shaft 66 has a first
A spacer 74 is provided at the other end of the first guide roller 23a. In this case, a bearing member 72a is fixed inside the first guide roller 23a, and the first guide roller 23a is rotatably supported with respect to the second rotating shaft 66. Further, the second rotating shaft 66 is provided with a rough machining grindstone 2 in contact with the other end of the spacer 74.
A spacer 78 and a second guide roller 23b are disposed at the upper end of the grindstone 22. Here, the stop member 82 is screwed into the screw groove 68 to integrally attach the grindstone 22 to the second rotating shaft 66, and to rotatably support the respective guide rollers 23a and 23b. In this case, the second guide roller 23b has a bearing member 72b therein similarly to the first guide roller 23a, and each guide roller 23a, 23b is formed to have a slightly larger diameter than the grindstone 22.

On the other hand, the second tool member 30 is engaged with the rotational drive shaft 32b extending from the other end side of the rotational drive source 18. That is, the spline 34b of the rotary drive shaft 32b is engaged with the hole 86 of the connecting member 84, and the bearing 88 is further attached to the other end of the connecting member 84.
to be fitted externally. Further, a holding member 92 is fixed to the distal end portion 90 of the connecting member 84, and the distal end portion 90
In addition, a disc-shaped grindstone 2 for finishing is attached to the holding member 92.
8 and fix this grindstone 28 to the holding member 92 via bolts 96a and 96b.

The main body section 10 configured in this manner is attached to the hand section 16. That is, as shown in FIG.
b, and nuts 100a, 100b and 1
00c and 100d are attached to the respective holding parts 12a and 12b.
are screwed onto the support rods 98a, 98b from both sides. On the other hand, the support rods 98a and 98b are loosely fitted into holes 102a and 102b formed in the hand portion 16, and nuts 104a and 104 are inserted into the ends of the holes 102a and 102b, respectively.
Screw on b. Then, the respective holding parts 12a, 1
Spring members (elastic bodies) 106a and 106b made of coil springs are interposed between 2b and the hand portion 16. The other end of the hand portion 16 is connected to a robot device (not shown), and the hand portion 16 is connected to the robot device (not shown) under the action of the robot device (not shown).
can be displaced in a predetermined direction.

The grinding device according to the present invention is basically constructed as described above, and its operation and effects will be explained next.

First, when the rotary drive source 18 is driven to rotate these extending rotary drive shafts 32a and 32b, the first bevel gear 40 that engages with the tip of the rotary drive shaft 32a rotates and is further meshed with the first bevel gear 40. The second bevel gear 52 begins to rotate. Therefore, the first rotating shaft 44 to which the second bevel gear 52 is attached rotates with their respective axes perpendicular to the rotary drive shaft 32. Next, when the first rotating shaft 44 rotates, the belt pulley 70 rotates via the belt 26 stretched over the belt pulley 48, and the second rotating shaft 66 to which the belt pulley 70 is mounted rotates with both end edges of the belt pulley 70 rotated. bearing 6 each
It is supported by 4a and 64b and rotates suitably. Further, the rotation of the second rotating shaft 66 is performed by the rough machining grindstone 2.
2 can be conveyed.

On the other hand, the rotation of the rotary drive shaft 32b is controlled by the connecting member 84.
is transmitted to the holding member 92 via. A disk-shaped grindstone 28 is fixed to the holding member 92, and therefore, the grindstone 28 rotates coaxially with the rotation drive shaft 32b under the rotational drive action of the rotation drive source 18.

Therefore, by driving a robot device (not shown),
First, the hand portion 16 connected to this is moved close to the workpiece W that has been overlaid by welding, and
A rotating grindstone 22 is brought into contact with the welding part of the workpiece W to grind it. Further, by displacing the hand portion 16 of the robot in a predetermined direction along the welding part of the workpiece W, the welding part is roughly ground by the grindstone 22.

In this way, the grindstone 2 is placed on the welding part of the workpiece W.
After the rough grinding process in step 2 is completed, the hand part 16
is rotated so that the disc-shaped grindstone 28 for finish grinding faces the workpiece W. Next, similarly to the rough grinding described above, the welding portion of the workpiece W is subjected to finish grinding using the grindstone 28, and the grinding process for the workpiece W is completed. Therefore, after the workpiece W after the grinding process has been completed is transferred to a predetermined location and a new workpiece W is positioned, rough grinding process is first performed using the grindstone 22 according to the process described above, and then,
Finish grinding using a grindstone 28 may be performed.

By the way, in the grinding apparatus according to the present invention, even if the workpiece W has variations in quality, distortion during welding, deformation, etc., it is possible to suitably deal with these inconveniences.

That is, guide rollers 23a and 23b, each having a slightly larger diameter than the grindstone 22, are arranged at both ends of the grindstone 22. Therefore, when the surface of the workpiece W is deformed, either or both of the guide rollers 23a and 23b come into contact with the deformed part of the workpiece W, causing the grindstone 22 to come into contact with the workpiece W more than necessary. I won't let you. Moreover, since the main body part 10 is elastically held by the hand part 16 via the spring members 106a and 106b,
For example, as shown in FIG. 3, even if the workpiece W has a curved shape, the workpiece W can be well ground. That is, according to the present invention, when the hand portion 16 is displaced in the direction of the arrow A in the figure, the grindstone 22 is moved in the direction of the arrow B by the curved outer surface of the workpiece W.
Pressed in the direction. Here, each spring member 10
6a and 106b are reduced in the direction of arrow B and the workpiece W
As a result, the main body portion 10 is displaced along the shape of the workpiece W. Therefore, even if variations occur in the shape of the workpiece W, the main body 10 is suitably displaced through the elastic force of the respective spring members 106 and 106b, and there is no excessive weight between the workpiece W and the grindstone 22. No force acts. As a result, even if there is a difference in quality of the work W or deformation during welding, the grindstone 22 and the work W
There is no risk of damage to the

As described above, according to the present invention, guide rollers are provided on both sides of the grindstone to guide the grindstone to the workpiece, and the main body including the grindstone is moved against the hand of the robot by the elastic force of the spring member. It is attached via. Therefore, even if the workpiece W has variations in quality, deformation due to welding, distortion, etc., unnecessary contact between the grinding wheel and the workpiece can be avoided, and moreover, the state of contact between the grinding wheel and the workpiece can be maintained in good condition. It becomes possible to make adjustments. Therefore, there is no damage to the grindstone or the workpiece, which has the advantage of further increasing the rate of non-defective workpieces and allowing the tool to be used for a long time. Moreover, it becomes possible to automate the grinding process for the workpiece very easily, and a grinding device that can be manufactured at a lower cost can be obtained.

Although the present invention has been described above with reference to preferred embodiments, the present invention is not limited to this embodiment. For example, other tools may be used in place of the roughing grindstone and the finishing grindstone. Of course, various improvements and changes in design are possible without departing from the gist of the present invention.

[Brief explanation of the drawing]

Fig. 1 is a partially omitted explanatory diagram of a grinding device according to the present invention, Fig. 2 is a partially omitted vertical sectional view of the grinding device according to the present invention, and Fig. 3 shows a grinding state by the grinding device according to the present invention. It is an explanatory diagram. 10... Main body part, 12, 12b... Holding part, 1
4... Mounting means, 16... Hand portion, 18... Rotation drive source, 20... Transmission mechanism, 22... Grindstone, 2
3a, 23b... Guide roller, 24... Tool member, 26... Belt, 28... Grindstone, 30... Tool member, 32a, 32b... Rotation drive shaft, 40...
...Bevel gear, 44... Rotating shaft, 48... Belt wheel, 52... Bevel gear, 66... Rotating shaft, 70...
...Belt wheel, 84...Connection member, 98a, 98b
...Support rod, 106a, 106b...Spring member.

Claims (1)

[Scope of Claims] 1. A rotating shaft rotated under the action of a rotational drive source; and a holding member to which the rotational drive source is integrally fixed and the rotating shaft is rotatably supported via a bearing. a rotary tool that is attached to the rotary shaft and rotates integrally with the rotary shaft; and a rotary tool that is disposed between at least one side of the rotary tool and the bearing and is rotatably supported with respect to the rotary shaft. an elastic body for constantly pressing the holding member toward the workpiece in a state where the holding member is attached to the hand portion of the robot so as to be displaceable in a direction in which the rotary tool presses the workpiece; A grinding device comprising: . 2. In the device according to claim 1,
The elastic body is a spring member, and a support rod is interposed between the holding member and the hand portion, and extends in a direction in which the rotary tool presses the workpiece and guides the holding member. A grinding device characterized in that the spring member is disposed on the support rod.