JPH087961Y2 - Deburring device for cores - Google Patents

Description

[Detailed description of the device]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device suitable for deburring a core using an industrial robot.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG. 3 as an apparatus for deburring a core using an industrial robot, a support member 32, a bar 33, and a support member 32 are attached to the tip of an arm 31 of the robot.
There is a configuration in which a tool 35 is attached via a chuck 34 or the like, and the tool 35 is moved along the outer shape of the core C by the arm 31 of the robot to scrape off burrs.

[0003]

However, in the device constructed as described above, the tool 35 can be accurately guided along the outer shape of the core by helping the difficulty of fixing the core C at a predetermined position with high accuracy. Since it is difficult to move the tool, the tool 35 bites into the core body, damaging the core, or leaving burrs. The present invention has been made to solve the above problems.

[0004]

To achieve the above object, the core deburring device of the present invention has an inverted L-shaped support member attached to the tip of the arm of a robot, and the tip of the upper part of the support member. A cylindrical bracket that is oriented vertically is fixedly attached to the bracket, and one ends of three coil springs that are oriented horizontally are fixed to the inner surface of the bracket at substantially equal intervals. One end of the first link is horizontally rotatably mounted in the vicinity, and one end of the second link is horizontally rotatably mounted to the other end of the first link.
A rod member oriented vertically is fixed to the other end of the link, the other ends of the three coil springs are fixed to the upper end of the rod member, and a tool is attached to the lower end of the rod member via a chuck. It is characterized by being detachably attached.

[0005]

The operation of the deburring device constructed as described above is as follows.
When the robot moves the first and second links, the coil spring, the tool, etc. along the outer shape of the core, the tool is
The second link allows two-dimensional movement in a horizontal plane and is elastically supported by three coil springs to absorb the deviation between the outer shape of the core and the movement of the tool by the robot.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. An inverted L-shaped support member 2 is attached to the tip of an arm 1 of an industrial robot, and a cylindrical bracket 3 is vertically oriented and fixed to the upper end of the support member 2, and is fixed to the inner surface of the bracket 3. Has three coil springs 4 and 4 oriented in the horizontal direction and fixed at regular intervals. Further, protrusions 2a and 2b protruding rightward are formed on the middle and lower ends of the support member 2, respectively.
A left side portion of a plate-shaped first link 5 which is oriented in the vertical direction is mounted between the protrusions 2a and 2b so as to be horizontally rotatable via a first joint pin 6.

Further, protrusions 5a and 5b protruding rightward are formed on the upper and lower portions of the right side of the first link 5, respectively, and between the protrusions 5a and 5b, the left side of the second link 7 oriented vertically. The portion is mounted so as to be horizontally rotatable via the second joint pin 8. Further, a protrusion 7a protruding rightward is formed on the upper right side of the second link 7, and a rod 9 oriented vertically is penetrated through the protrusion 7a.
Has the other ends of the coil springs 4 and 4 fixed to the upper ends thereof,
A tool 11 is removably attached to the lower end through the chuck 10 at the upper end.

Next, the operation of the thus constructed device will be described. After teaching the robot so that the tool 11 moves along the outer shape of the core C in which burrs are generated, the core C to be deburred is fixed to a device (not shown). If the robot is operated under this condition, the tool 11
Is the first and second links 5, 7 Bracket 3 Coil spring 4,
It is moved along the outer shape of the core C with 4 and the like. Then, in the middle of this movement, there is a deviation between the locus of the tool 11 and the outer shape of the core C due to the arm 1, and the tool 11 receives more force. The tool 11 is two-dimensionally moved in a horizontal plane while being supported by the first and second links 5 and 7, and at the same time elastically supported by the three coil springs 4 and 4 so as to be constantly returned to a predetermined position. Be moved. As a result, the deviation between the trajectory of the tool 11 and the outer shape of the core C is absorbed by the coil spring, and the tool 11 is moved along the outer shape of the core C without cutting into the main body of the core C. Burr will be removed.

[0009]

As is apparent from the above description, according to the present invention, the tool is attached to the tip of the arm of the robot via the first and second links, so that the tool can be moved two-dimensionally. Moreover, since the other ends of the three coil springs attached to the tip of the arm are attached to the tool via the rod, the tool can always be returned to the predetermined position. As a result, it is possible to accurately and easily move the tool moved by the arm along the outer shape of the core while absorbing the deviation between the trajectory of the tool 11 and the outer shape of the core C by the coil springs 4 and 4. Therefore, it has an excellent practical effect such that it does not bite into the core body to damage the core body or leave burrs.

[Brief description of drawings]

FIG. 1 is a partially sectional front view showing an embodiment of the present invention.

FIG. 2 is a plan view of FIG.

FIG. 3 is a front view showing a conventional device.

[Explanation of symbols]

 1 Robot arm 2 Support member 3 Bracket 4 Coil spring 5 1st link 7 2nd link 9 Bar material 10 Chuck 11 Tool

Claims (1)

[Scope of utility model registration request] 1. An inverted L is attached to a tip of an arm 1 of an industrial robot.
A character-shaped support member 2 is attached, a cylindrical bracket 3 oriented vertically is fixed to the top end of the support member 2, and an inner surface of the bracket 3 oriented horizontally 3
One ends of the coil springs 4 and 4 are fixed at substantially equal intervals, and further, the first link 5 is provided near the middle stage of the support member 2.
One end of the second link 7 is horizontally rotatably mounted, and one end of the second link 7 is horizontally rotatably mounted to the other end of the first link 5, and the other end of the second link 7 is vertically oriented. The rod member 9 is fixed, the other ends of the three coil springs 4 and 4 are fixed to the upper end of the rod member 9, and the tool 11 can be attached to and detached from the lower end of the rod member 9 via the chuck 10. The deburring device for the core, which is characterized by being attached to the.