JPH1128663A - Grinding wheel abrasion correcting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the working efficiency by detecting the abrasion amount without suspending the processing work, as well as correcting the moving passage of a grinder so as to carry out a good processing even though a grinding wheel abrasion is generated. SOLUTION: A work 5 is ground by the grinding wheel 2a of a grinder 2 provided at the tip of a robot 1. The moving passage of the grinder 2 is controlled by a robot controller 3. To the grinding wheel 2a of the grinder 2, plural tag marks are drawn on a concentric circle, and when the abrasion progresses and the tag marks are vanished, the worker inputs that fact to the robot controller 3. As a result, the robot controller 3 controls to shift the moving passage of the grinder 2 as a distance according to the abrasion amount from the edge of the grinding wheel 2a to the tag marks.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grindstone wear compensating device, which is designed to correct a moving path of a grinder caused by abrasion of a grindstone without interrupting a machining operation by a robot so that a good machining can be performed. Therefore, the working efficiency can be improved as much as the processing work is not interrupted.

[0002]

2. Description of the Related Art In the past, burrs of cast products, FRP molded products, and the like have been grinded by an operator holding a grinder in their hands, but recently, as part of labor saving, this deburring operation is automatically performed. A grinder grinding robot has been developed and put into practical use.

Here, an example of a grinder grinding robot will be described with reference to FIG. As shown in the figure, a grinder 2 is mounted on a robot flange 1f provided at the tip of an arm 1a of the robot 1, and the robot 1 is controlled by a robot controller 3. The robot controller 3 controls the operation of the robot 1 in accordance with a given machining program to move the grinder 2, and causes the grinder 2 to grind the burrs of the work 5 placed on the conveyor (machining line) 4.

As the grinding operation is performed by the grinder grinding robot, the grindstone 2a of the grinder 2 is gradually worn. Therefore, a grindstone wear detecting device (described later) that detects the amount of wear of the grindstone 2a is arranged to periodically detect the wear of the grindstone 2a. Then, the moving path of the grinder 2 is corrected according to the wear amount of the grindstone 2a, and the grinding operation is performed.

Next, a conventional grindstone wear detecting device 10 will be described with reference to FIG. This whetstone wear detection device 10
A U-shaped photoelectric switch unit 12 is arranged on a support 11. The photoelectric switch unit 12 includes the light emitting element 1
2a and the light receiving element 12b are opposed to each other.
A switch line L connecting 2a and 12b is connected to an object (grinding stone 2).
When a) is interrupted, a detection signal is output from the photoelectric switch unit 12 to the robot controller 3. The whetstone wear detection device 10 is installed near the robot 1.

To detect the amount of wear of the grindstone 2a, the robot 1 is operated to insert the grindstone 2a of the grinder 2 into the photoelectric switch unit 12 at a low speed, as shown in FIG. When the tip of the grindstone 2a blocks the switch line L, a detection signal is sent to the robot controller 3, and at this time, the robot 1 is momentarily stopped. The coordinates of the robot 1 that has momentarily stopped in this way are read by the robot controller 3, and the difference between the robot position at this time and the normal robot position of the robot 1 (the position when the grinding wheel 2a is not worn at all) is calculated as follows. Detected as the amount of whetstone wear. The subsequent movement path of the grinder 2 is corrected in accordance with the amount of wear (for example, the coordinate origin of the robot 1 is shifted by a distance corresponding to the amount of wear), and the subsequent grinding work is proceeding.

[0007]

By the way, conventionally,
In order to detect the amount of wear of the grindstone, the grinding operation is temporarily stopped, and the robot 1 is operated to move the grindstone 2a of the grinder 2
It is necessary to insert it into the photoelectric switch unit 12 side. Extra time (approximately 10 seconds per operation) is required to perform such an operation, and the work efficiency is reduced.

In addition, the grindstone wear detecting device 10 must be installed near the robot 1, and an extra space is required near the robot 1.

The present invention has been made in view of the above-mentioned prior art, and is capable of detecting abrasion of a grinding wheel and correcting a grinding wheel path without interrupting a machining (grinding) operation, and occupying a space near a robot. It is an object of the present invention to provide a whetstone wear compensator that does not have any problem.

[0010]

In order to solve the above-mentioned problems, a construction of the present invention is to provide a grinder at the tip of a robot and to control the operation of the robot by a robot controller according to a machining program given in advance. In a grinder grinding robot that moves and processes a workpiece with this grinder, a circular mark line is drawn on the grindstone of the grinder around the center of rotation, and the robot controller wears the grindstone, A function for automatically correcting the program for operating the robot so that when the input of the disappearance of the mark line is performed, the movement path of the grinder is shifted by a distance corresponding to the wear amount from the edge of the grindstone to the mark mark. Is incorporated.

Further, according to the structure of the present invention, a grinder is provided at the tip of the robot, and the robot controller controls the robot by a robot controller according to a machining program given in advance to move the grinder and process the workpiece with the grinder. In a grinder grinding robot, the grindstone of the grinder has a circular mark line drawn around the center of rotation, and the robot is provided with a camera for photographing the mark line,
Further, an image processing unit that determines whether the mark line has disappeared due to wear of the grindstone by performing image processing on an image captured by the camera is provided, and the robot controller is configured to control the grindstone by the image processing unit. When it is determined that the mark line has disappeared due to wear,
To shift the movement path of the grinder by a distance according to the amount of wear from the edge of the grindstone to the mark,
A function for automatically correcting a program for operating the robot is incorporated.

[0012]

Embodiments of the present invention will be described below in detail with reference to the drawings. In addition, parts performing the same functions as those of the prior art will be described with the same reference numerals.

FIG. 1 shows a grinder grinding robot incorporating a grindstone wear correction device according to a first embodiment of the present invention, and FIG. 2 shows a grindstone 2a of a grinder 2 used in this embodiment.

As shown in FIG. 2, a plurality of mark lines M1, M2, concentrically with respect to the center of rotation are provided on the upper surface side of the grindstone 2a at a position on the inner peripheral side of the edge 2e of the grindstone 2a.
M3 is drawn. Each mark line M1, M2, M3
Is drawn as a circular line in an arbitrary color, and its radial position is set according to the finishing accuracy of each system. In this specification, the edge 2e is defined and used as an outer peripheral edge of a new whetstone 2a without wear.

When processing such as deburring work, the grindstone 2a wears from the edge 2e side. When the wear progresses to some extent, the mark line M1 disappears first, and when the wear further progresses, the mark line M2 disappears, and when the wear further progresses, the mark line M3 disappears.

On the other hand, the robot controller 3 has an input section 3a, and the operator can input via the input section 3a that the mark lines M1, M2, M3 have disappeared. When the robot controller 3 receives an input indicating that the mark line M1 has disappeared, the robot controller 3 operates the robot 1 so as to shift the movement path of the grinder 2 by a distance corresponding to the amount of wear from the edge 2e to the mark line M1. (For example, a correction is made to shift the coordinate origin of the robot 1 by a distance corresponding to the wear amount).

Similarly, when the robot controller 3 inputs that the mark line M2 has disappeared, the robot controller 3
The program for operating the robot 1 is automatically corrected so that the movement path of the robot 1 is shifted by a distance corresponding to the amount of wear from the edge 2e to the mark line M2. When the robot controller 3 receives an input indicating that the mark line M3 has disappeared, the robot controller 3 operates the robot 1 to shift the movement path of the grinder 2 by a distance corresponding to the amount of wear from the edge 2e to the mark line M3. Program to be automatically corrected.

At the time of actual work, the robot controller 3 controls the operation of the robot 1 according to a machining program given in advance, moves the grinder 2, and is placed on a conveyor (machining line) 4 by the grinder 2. Burr of the work 5 is ground.

At this time, the operator is observing the top surface of the grindstone 2a. When the mark line M1 disappears, the operator inputs to the robot controller 3 via the input unit 3a that the mark line M1 has disappeared. Robot controller 3
When it is input that the mark line M1 has disappeared, the movement path of the grinder 2 is changed from the edge 2e to the mark line M1.
The program for operating the robot 1 is automatically corrected so as to shift by a distance according to the amount of wear up to. For this reason, in the subsequent grinding operation, the grinding is performed while compensating for the wear of the grindstone 2a, and the same grinding as in a state without wear can be realized, so that good processing can be continuously performed.

Similarly, when the mark line M2 disappears during the operation, the operator inputs the mark line M through the input unit 3a.
The fact that 2 has disappeared is input to the robot controller 3.
When the robot controller 3 receives an input indicating that the mark line M2 has disappeared, the robot controller 3 operates the robot 1 so as to shift the movement path of the grinder 2 by a distance corresponding to the amount of wear from the edge 2e to the mark line M2. Automatically correct the program. Therefore, in the subsequent grinding work, the grinding wheel 2
Grinding is performed while compensating for the wear of a, and the same grinding as in a state without wear can be realized, and good machining can be continuously performed.

Similarly, if the mark line M3 disappears during the operation, the operator inputs the mark line M3 via the input unit 3a.
The fact that 3 disappeared is input to the robot controller 3.
When the robot controller 3 receives an input indicating that the mark line M3 has disappeared, the robot controller 3 operates the robot 1 such that the movement path of the grinder 2 is shifted by a distance corresponding to the amount of wear from the edge 2e to the mark line M3. Automatically correct the program. Therefore, in the subsequent grinding work, the grinding wheel 2
Grinding is performed while compensating for the wear of a, and the same grinding as in a state without wear can be realized, and good machining can be continuously performed.

As a result, in the present embodiment, the movement path of the grinder 2 is corrected so as to compensate for the wear of the grindstone 2a without interrupting the grinding operation. For this reason, a waste time is eliminated and work efficiency is improved.

In the prior art, a whetstone wear inspection device was installed near the robot 1 and there was a space problem. In this embodiment, however, there is no need to install extra equipment near the robot 1. Therefore, space can be saved.

Next, a grinder grinding robot incorporating a grindstone wear compensator according to a second embodiment of the present invention will be described with reference to FIGS.

Also in the second embodiment, on the upper surface side of the grindstone 2a, a plurality of mark lines M are arranged concentrically about the rotation center at a position on the inner peripheral side of the edge 2e of the grindstone 2a.
1, M2 and M3 are drawn (see FIG. 2).

On the robot flange 1f of the robot 1,
A camera 20 is provided. This camera 20 is a whetstone 2
The upper surface side of a is photographed, and the edge 2e of the grindstone 2a and the mark lines M1, M2, M3 are photographed.

The robot controller 3 incorporates an image processing section 3b, which processes an image photographed by the camera 20 to determine whether or not the mark lines M1, M2, M3 have disappeared. When the image processing unit 3b determines that the mark line M1 has disappeared, the robot controller 3 sets the movement path of the grinder 2 to the edge 2e.
The program for operating the robot 1 is automatically corrected so as to shift by a distance according to the amount of wear from to the mark line M1 (for example, correction is made to shift the coordinate origin of the robot 1 by a distance according to the amount of wear).

Similarly, when the image processing unit 3b determines that the mark line M2 has disappeared, the robot controller 3 sets the moving path of the grinder 2 to a distance corresponding to the amount of wear from the edge 2e to the mark line M2. The program for operating the robot 1 is automatically corrected so as to shift only by one. When the image processing unit 3b determines that the mark line M3 has disappeared, the robot controller 3 changes the movement path of the grinder 2 from the edge 2e to the mark line M3.
The program for operating the robot 1 is automatically corrected so as to shift by a distance according to the amount of wear up to.

At the time of actual work, the robot controller 3 controls the operation of the robot 1 in accordance with a given machining program to move the grinder 2, and is placed on a conveyor (machining line) 4 by the grinder 2. Burr of the work 5 is ground.

In this operation, the camera 20 is mounted on the grinding wheel 2a.
When the image processing unit 3b determines that the mark line M1 has disappeared, the robot controller 3 sets the movement path of the grinder 2 to the amount of wear from the edge 2e to the mark line M1. A program for operating the robot 1 is automatically corrected so as to shift by a corresponding distance. For this reason, in the subsequent grinding operation, the grinding is performed while compensating for the wear of the grindstone 2a, and the same grinding as in a state without wear can be realized, so that good processing can be continuously performed.

Similarly, when the image processing unit 3b determines that the mark line M2 has disappeared, the robot controller 3 sets the moving path of the grinder 2 to a distance corresponding to the amount of wear from the edge 2e to the mark line M2. The program for operating the robot 1 is automatically corrected so as to shift only by one. For this reason, in the subsequent grinding operation, the grinding is performed while compensating for the wear of the grindstone 2a, and the same grinding as in a state without wear can be realized, so that good processing can be continuously performed.

Similarly, when the image processing unit 3b determines that the mark line M3 has disappeared, the robot controller 3 sets the moving path of the grinder 2 to a distance corresponding to the amount of wear from the edge 2e to the mark line M3. The program for operating the robot 1 is automatically corrected so as to shift only by one. For this reason, in the subsequent grinding operation, the grinding is performed while compensating for the wear of the grindstone 2a, and the same grinding as in a state without wear can be realized, so that good processing can be continuously performed.

As a result, in the present embodiment, the movement path of the grinder 2 is corrected so as to compensate for the wear of the grindstone 2a without interrupting the grinding operation. For this reason, a waste time is eliminated and work efficiency is improved.

In the prior art, there is a space problem due to the installation of a grindstone wear inspection device near the robot 1. In this embodiment, however, there is no need to install extra equipment near the robot 1. Therefore, space can be saved.

[0035]

As described above in detail with the embodiments, according to the present invention, when the mark mark drawn on the grindstone of the grinder disappears, the distance according to the amount of wear from the edge of the grindstone to the mark mark is eliminated. However, since the moving path of the grinder is shifted, even if the grinding wheel is worn,
Since good machining can be performed and machining does not need to be interrupted for wear detection, work efficiency is improved.

In addition, the grindstone wear detecting device used in the prior art becomes unnecessary, and the required space can be reduced.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a grinder grinding robot incorporating a grindstone wear correction device according to a first embodiment of the present invention.

FIG. 2 is a plan view showing a grindstone provided in a grinder grinding robot incorporating the grindstone wear correction device according to the first embodiment of the present invention.

FIG. 3 is a configuration diagram showing a grinder grinding robot incorporating a grindstone wear correction device according to a second embodiment of the present invention.

FIG. 4 is a configuration diagram showing a main part of a grinder grinding robot incorporating a grindstone wear correction device according to a second embodiment of the present invention.

FIG. 5 is a configuration diagram showing a conventional grinder grinding robot.

FIG. 6 is a configuration diagram showing a conventional grindstone wear detection device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Robot 1a Arm 1f Robot flange 2 Grinder 2a Grinding stone 2e Edge 3 Robot controller 3a Input part 3b Image processing part 4 Conveyor 5 Work 10 Grinding stone wear detecting device 11 Strut 12 Photoelectric switch part 12a Light emitting element 12b Light receiving element 20 Camera L Switch line M1 , M2, M3 Marking line

Claims (2)

[Claims] 1. A grinder grinding robot having a grinder at the tip of the robot, operating the robot by a robot controller according to a machining program given in advance, moving the grinder, and machining a workpiece by the grinder. On the grindstone of the grinder, a circular mark line is drawn around the center of rotation. When the robot controller receives an input indicating that the grindstone has worn and the mark line has disappeared, the grinder moves. A grindstone wear correction device, wherein a function for automatically correcting a program for operating the robot is incorporated so that a path is shifted by a distance corresponding to a wear amount from an edge of the grindstone to the mark. 2. A grinder grinding robot having a grinder at the tip of the robot, operating the robot by a robot controller in accordance with a machining program given in advance, moving the grinder, and machining a workpiece by the grinder. On the grindstone of the grinder, a circular mark line is drawn around the center of rotation, and the robot is provided with a camera for photographing the mark line, and further, image processing of the image photographed by the camera is performed. An image processing unit that determines whether the grinding stone has been worn and the mark line has disappeared, and the robot controller has determined that the grinding wheel has been worn by the image processing unit and the mark line has disappeared. Is determined, the movement path of the grinder is To shift by a distance corresponding to the amount of wear to the mark marks from, wheel wear compensation device, characterized in that the function of automatically correcting is incorporated a program for operating the robot.