Deburring device

Abstract

To cleanly remove burrs by regulating displacement in the axial direction while allowing displacement in both directions of the radial direction and the inclination direction of a rotationally driven deburring tool, and suppressing vibration of the tool.SOLUTION: The deburring device 1 includes a movable frame member 4 to which a housing 30 of a spindle motor 3 is fixed, and a support member 5 for supporting the movable frame member 4 in a displaceable manner with respect to a fixed member 2. The support member 5 has an outside support part 50 fixed to the fixed member 2, an inside annular part 51 fixed to the movable frame member 4, and plate-like connection parts 52 and 53 extending from the inner peripheral surface of the outside support part 50 to the outer peripheral surface of the inside annular part 51, extending in the axial direction of the spindle motor 3, and made of a vibration absorbing material.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a deburring device that removes burrs from, for example, aluminum die-cast products. [Background technology]

[0002] For example, Patent Document 1 discloses a finishing tool that performs finishing on the surface of a workpiece using a rotationally driven tool part. In the finishing tool of Patent Document 1, a tool attachment part is connected to a rotationally driven main spindle via a joint part, and the main spindle rotates while moving in a direction perpendicular to its axis to drive the tool part. The joint part has a joint structure that is elastically deformable in a direction perpendicular to the axis of the main spindle.

[0003] Patent Document 2 also discloses a structure for floatingly supporting a deburring tool, in which the deburring tool is supported from both radial sides by a pair of fulcrums and held in a position that corresponds to external forces by using multiple plungers. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-121150 [Patent Document 2] Japanese Patent Application Publication No. 6-71551 Summary of the Invention [Problem to be solved by the invention]

[0005] For example, when an aluminum die-cast product is obtained by high-speed, high-pressure casting, a small amount of molten aluminum (hereinafter also referred to as molten metal) sprays out of the line that forms the product within the surface of two or more molds (hereinafter also referred to as the product profile), and solidifies while remaining integrated with the product, forming parts other than the original product, which become burrs (casting burrs).

[0006] In high-speed, high-pressure casting, two main molds are joined together and molten aluminum at about 680°C is injected into them at high speed, creating high pressure inside the molds. The force used to clamp the molds in their closed state varies depending on the mold's internal volume, but for larger molds, it can be as much as 3,000 tons. And because the high-temperature molten metal is injected into the molds at high pressure, even if the molds are clamped with a large force as described above, it is inevitable that small gaps will form on the mating surfaces of the molds, and a small amount of molten metal will flow into those gaps, solidify, and become flash.

[0007] In addition to the two main dies, a small die commonly known as a "core" may also be used. This is used depending on the product shape, but because it is naturally smaller than the main dies and has a weaker clamping pressure, it is greatly affected by the molten metal injection pressure, which can easily cause burrs to form around the core. Furthermore, due to aging or malfunction of the dies, the thickness, height, and shape of the burrs are not consistent even in continuous casting.

[0008] As such, burrs in aluminum die-cast products are completely irregular and separate from the intended product shape, making it extremely difficult to accurately specify their shape (thickness and height) in advance.

[0009] The burrs described above differ from the designed shape of the product and are in most cases thin (approximately 0.3 to 1.5 mm thick), making them highly susceptible to falling off due to impact. For example, aluminum die-cast products are often used for parts of automobile internal combustion engines or transmission systems. In this case, if burrs fall off internally, they could clog oil passages or get caught in gears. Furthermore, if burrs are present on the exterior, they could cause damage to electrical wiring. Therefore, a process is needed to remove burrs from aluminum die-cast products.

[0010] Furthermore, the shapes of internal parts of automobiles (such as engine and transmission cases) are often not straight lines but are made up of free curves due to the need to assemble various parts within the narrow hood and the results of calculating interference between parts. When using machinery, the operating program becomes complicated, the cutting time becomes extremely long, and it is not possible to deburr the entire shape, making it unrealistic for normal production.

[0011] Therefore, when removing burrs, it is conceivable to use the finishing tool disclosed in Patent Document 1, but in the finishing tool of Patent Document 1, the joint portion elastically deforms in a direction perpendicular to the axis of the spindle, so the tool is only allowed to displace in the radial direction of the axis. However, because the shape and size of burrs are not fixed, when the tool comes into contact with a burr, a reaction force from the burr may act in a direction that tilts the axis, and in such cases the joint structure of Patent Document 1 cannot be used.

[0012] Furthermore, in Patent Document 2, the fulcrum that holds the deburring tool and the plunger are spaced apart in the axial direction, so when a reaction force from the burr acts on the tip of the tool, the tool only displaces in the direction in which the axis tilts around the fulcrum. As a result, radial displacement of the tool is not permitted, and it cannot respond to a case in which a reaction force from the burr acts in the radial direction.

[0013] As described above, since burrs come in various shapes and sizes, when a tool comes into contact with a burr, a force may act in the radial direction, or in a direction that tilts the tool. It is necessary to be able to deal with both situations, but Patent Document 1 can only deal with the radial direction, and Patent Document 2 can only deal with the tilt direction, so both are considered to be insufficient when applied to burr removal from aluminum die-cast products.

[0014] On the other hand, if the tool moves axially when it comes into contact with a burr, the tip position of the deburring tool will change in the axial direction, making it difficult to remove the burr as intended, so there is a demand to regulate displacement in the axial direction.

[0015] Furthermore, if the tool is made displaceable by an elastic member as in Patent Documents 1 and 2, it is possible that the rotating deburring tool will vibrate when it comes into contact with the burr or when cutting the burr, making it impossible to remove the burr cleanly.

[0016] The present disclosure has been made in consideration of such points, and its purpose is to allow displacement of a rotationally driven deburring tool in both the radial and tilt directions, while restricting displacement in the axial direction, and further suppressing vibration of the tool so that burrs can be removed cleanly. [Means for solving the problem]

[0017] To achieve the above object, one aspect of the present disclosure can be a deburring device configured to rotate a deburring tool using a spindle motor attached to a fixed member fixed to a robot arm. The deburring device includes a movable frame member to which a housing of the spindle motor is fixed, and a support member that supports the movable frame member so that the movable frame member can be displaced relative to the fixed member. The support member has an outer support portion fixed to the fixed member, an inner annular portion disposed inside the outer support portion and fixed to the movable frame member, and a plate-shaped connecting portion made of a vibration-absorbing material that extends in the axial direction of the spindle motor, extends from the inner peripheral surface of the outer support portion to the outer peripheral surface of the inner annular portion, connects the outer support portion and the inner annular portion, and extends.

[0018] According to this configuration, burrs can be removed by bringing the deburring tool, which is driven by the spindle motor, into contact with the burr. When the deburring tool comes into contact with the burr, it may be subjected to a radial reaction force perpendicular to the axis of the spindle motor or an oblique reaction force inclined relative to the axis of the spindle motor. When a radial reaction force acts, the radial force is input to the inner annular portion of the support member via the movable frame member to which the spindle motor housing is fixed. However, since this inner annular portion is connected to the outer support member via the plate-shaped connecting portion, the plate-shaped connecting portion receives the radial force. When the plate-shaped connecting portion receives the radial force, it bends or flexes, thereby allowing radial displacement of the spindle motor, i.e., radial displacement of the deburring tool. When an oblique reaction force acts, the plate-shaped connecting portion also receives the reaction force, but it also bends or flexes, allowing oblique displacement of the deburring tool.

[0019] On the other hand, when an axial reaction force acts on the deburring tool that has come into contact with the burr, the plate-shaped connecting portion will be subjected to the axial force. However, since the plate-shaped connecting portion extends in the axial direction of the spindle motor, it is difficult for the plate-shaped connecting portion to deform in that direction. Therefore, axial displacement is restricted, and it becomes possible to always maintain the tip position of the deburring tool at a predetermined position in the axial direction.

[0020] Furthermore, when the rotating deburring tool vibrates when it comes into contact with a burr or when cutting the burr, the plate-shaped connecting portion is made of a vibration-absorbing material, so the vibration is absorbed by the plate-shaped connecting portion, and as a result, the vibration of the deburring tool is suppressed.

[0021] The plate-shaped connecting portion may be bent when viewed from the axial direction, for example, so as to protrude in one circumferential direction of the outer support portion, so that when the plate-shaped connecting portion receives a radial force or an inclined force, it is more likely to deform in the direction in which the force is received.

[0022] The outer support portion, the inner annular portion, and the plate-shaped connecting portion may be integrally molded from a vibration-absorbing material. This not only reduces the number of parts, but also allows smooth transmission of force from the inner annular portion to the plate-shaped connecting portion, making it easier to tolerate radial and inclined displacement of the deburring tool. Furthermore, the outer support portion and the inner annular portion also provide a vibration-absorbing effect.

[0023] Three or more of the plate-shaped connecting portions may be provided at intervals from one another in the circumferential direction of the outer support portion, thereby making it possible to respond to reaction forces in various radial directions applied to the deburring tool.

[0024] A metal coil spring may be interposed between the outer support portion and the inner annular portion, the coil spring extending in a radial direction of the axis. By providing the metal coil spring between the outer support portion and the inner annular portion, it is possible to cope with a large reaction force. [Effects of the Invention]

[0025] As described above, according to the present disclosure, it is possible to restrict axial displacement of a rotationally driven deburring tool while allowing displacement in both the radial and tilt directions, and further to suppress vibration of the deburring tool so that burrs can be removed cleanly. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 1 is a perspective view showing a schematic configuration of a deburring device according to a first embodiment of the present invention. [Figure 2] FIG. 2 is a side view of the deburring device. [Figure 3] FIG. 3 is a front view of the deburring device. [Figure 4] FIG. 4 is a bottom view of the deburring device. [Figure 5] FIG. 5 is a perspective view of the support member. [Figure 6] FIG. 6 is a plan view of a support member according to a first modification of the first embodiment. [Figure 7]FIG. 7 is a perspective view of a support member according to a first modification of the first embodiment. [Figure 8] FIG. 8 is a view corresponding to FIG. 4 according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0027] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that the following description of the preferred embodiments is merely exemplary in nature and is not intended to limit the present invention, its applications, or its uses.

[0028] (Embodiment 1) FIG. 1 is a perspective view showing the schematic configuration of a deburring device 1 according to a first embodiment of the present invention. The deburring device 1 is attached to a robot arm 101 of a robot 100 and is used to remove burrs from various products. Examples of products from which burrs can be removed using the deburring device 1 include aluminum die-cast products obtained by high-speed, high-pressure casting. Burrs are formed on these aluminum die-cast products when a small amount of molten aluminum escapes from gaps in the mold or core during molding and solidifies on the surface of the aluminum die-cast product. Generally, burrs vary in height and thickness from one aluminum die-cast product to another, and even within a single product, they vary in height and thickness depending on the location. The aluminum die-cast product is placed in a predetermined position using a jig or other device to prevent movement. Examples of aluminum die-cast products include automobile transmission cases and various internal combustion engine parts. The size of the aluminum die-cast product is not particularly limited. The present invention can also be applied to removing burrs from products other than aluminum die-cast products.

[0029] The robot 100 is configured as, for example, an industrial robot capable of six-axis control, and in addition to the robot arm 101, has a main body 102 and a robot control device 103. The robot control device 103 controls the robot arm 101 to move the deburring device 1. The movement of the robot arm 101 can be stored in the robot control device 103 by teaching at the time of setting. A conventionally known method can be used as the teaching method.

[0030] 2 to 4, the deburring device 1 is used in a state where it is attached to the tip of a robot arm 101. That is, the deburring device 1 includes a fixed member 2 fixed to the tip of the robot arm 101, a spindle motor 3, a movable frame member 4, and a support member 5 that supports the movable frame member 4 so that it can be displaced relative to the fixed member 2, and is configured so that a deburring tool 6 is rotationally driven by the spindle motor 3.

[0031] 2 to 4 show a state in which the axis A of the spindle motor 3 is oriented vertically, but by operating the robot arm 101, the position, orientation, posture, etc. of the deburring device 1 can be freely changed. It is also possible to use the deburring device 1 with the axis A of the spindle motor 3 inverted upside down, or with the axis A of the spindle motor 3 tilted. The center line (rotation axis) of the deburring tool 6 is located on an extension of the axis A of the spindle motor 3.

[0032] The fixing member 2 is made of a highly rigid metal plate. One longitudinal side of the fixing member 2 (the right side in FIGS. 2 and 4) is the base end side that is fixed to the tip of the robot arm 101, and serves as the fixed part 20. As shown in FIG. 4, the fixed part 20 has a through-hole 20a that penetrates through it in the thickness direction. The fixed part 20 is fixed to the tip of the robot arm 101 by a fastening member or the like (not shown).

[0033] The other longitudinal side of the fixed member 2 (the left side in FIGS. 2 and 4) is the tip side and serves as a motor support portion 21 that supports the spindle motor 3. A motor insertion hole 21a (shown only in FIG. 2) is formed in the motor support portion 21, penetrating it in the thickness direction. The center line of the through hole 20a and the center line of the motor insertion hole 21a are parallel to each other and extend in the vertical direction in the state shown in FIGS. 2 and 3.

[0034] The housing 30 of the spindle motor 3 is cylindrical. Although not shown, the housing 30 accommodates an outer rotor brushless motor, a self-aligning bearing, and other components, and is configured to receive an external power supply. The spindle motor 3 has a main shaft 31 that is rotated by the outer rotor brushless motor. The axis A of the spindle motor 3 coincides with the axis of the main shaft 31. In the state shown in Figures 2 and 3, no reaction force is acting on the deburring tool 6, so the axis A of the spindle motor 3 and the center line of the motor insertion hole 21a are aligned on the same straight line.

[0035] One axial side (upper side in Figs. 2 and 3) of the main shaft 31 is accommodated inside the housing 30 and receives the rotational torque of the outer rotor brushless motor. The other axial side (lower side in Figs. 2 and 3) of the main shaft 31 protrudes from the end of the housing 30 and is the part to which the deburring tool 6 is detachably attached.

[0036] A movable frame member 4 is fixed to a housing 30 of the spindle motor 3. In other words, the movable frame member 4 is shaped to surround the outer periphery of the housing 30 and is not movable relative to the housing 30. If the housing 30 is cylindrical, the movable frame member 4 can be shaped like a ring to match the outer shape of the housing 30.

[0037] The support member 5 has an outer support part 50 fixed to the fixed member 2, an inner annular part 51 arranged inside the outer support part 50 and fixed to the movable frame member 4, and a first plate-shaped connecting part 52 and a second plate-shaped connecting part 53 that connect the outer support part 50 and the inner annular part 51. The outer support part 50, the inner annular part 51, the first plate-shaped connecting part 52, and the second plate-shaped connecting part 53 are integrally molded from a vibration-absorbing material.

[0038] Note that only the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53 may be made of a vibration-absorbing material. In this case, for example, the outer support portion 50 and the inner annular portion 51 may be molded from a material different from that of the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53, and then the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53 may be attached to the outer support portion 50 and the inner annular portion 51 to form an integrated unit. The outer support portion 50 and the inner annular portion 51 may be made of metal. Also, only one of the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53 may be provided.

[0039] A vibration-absorbing material is a resin that has the property of attenuating an excitation force when the excitation force is applied. Examples of vibration-absorbing materials that can be used in this embodiment include resin or rubber, a combination of resin and rubber, a combination of resin and metal, a combination of rubber and metal, and a combination of resin, rubber, and metal. The hardness of the resin or rubber that can be used in this embodiment is 50 or more and 95 or less in Shore hardness A. The elastic modulus of the resin or rubber that can be used in this embodiment is 1 MPa or more and 10,000 MPa or less. The damping constant of the resin or rubber that can be used in this embodiment is 0.001 or more and 0.999 or less.

[0040] Examples of rubbers that can be used in this embodiment include natural rubber NR, nitrile rubber NBR, acrylic rubber ACM / ANM, isoprene rubber IR, styrene rubber SBR, butadiene rubber BR, chloroprene rubber CR, butyl rubber IIR, ethylene propylene rubber EPM / EP, ethylene propylene diene rubber EPDM, ethylene vinyl acetate rubber EVA, urethane rubber U / PUR, silicone rubber SI / Q / VMQ / SR, fluororubber FKM / FPM, chlorosulfonated polyethylene rubber CSM, chlorinated polyethylene rubber CM, epichlorohydrin rubber CO / ECO, and polysulfide rubber T. Any one of these may be used alone, or any two or more may be used in combination.

[0041] Resins that can be used in this embodiment include, for example, polypropylene (PP), polyethylene (PE / ULDPE / LDPE / MDPE / HDPE / OPE), polyethylene terephthalate (PET / PETG), ABS resin (ABS), polyvinyl chloride (PVC), acrylic resin (PMMA), nylon / polyamide (PA), polyacetal (POM), polycarbonate (PC), polybutylene terephthalate (PBT), modified polyphenylene ether (m-PPE), polysulfone (PSU), polyether sulfone (PES), polyphenylene sulfide (PPS), polyarylate (PAR), phenol resin PF / PFR / PL / FL, epoxy resin EP / EL-GEM / Epoxy, polyurethane resin PUR, melamine resin MF, unsaturated polyester resin UP, polystyrene PS, polyether ether ketone PEEK, urea resin UR, melaffin resin MR, furan resin FR, unsaturated polyester resin FRP, diallyl phthalate DAP, guanamine GAR, ketone resin KR, ionomer IO, ethylene vinyl chloride copolymer EVCC, ethylene vinyl acetate copolymer EVAC, polyvinyl acetate PVA, polybutene PB, polybutadiene PBD, polymer Chilpentene PMP, poly α-methylstyrene PαMS, polyparavinylphenol PpVP, ABS / PVC alloy ABS / PVC, ABS / polyester alloy ABS / PBT, SAN resin SAN, AES resin AES, AAS resin AAS, norbornene resin PCPD, acrylic modified polyvinyl chloride AM-PVC, polyvinylidene chloride PVDC, polyallylamine PAA, polyvinyl ether PVE, polyvinyl alcohol PVOH, ethylene vinyl alcohol copolymer EVOH, petroleum resin PR, thermoplastic elastomer TPE / TPV, thermoplastic polyester Polyester elastomer TPEE, thermoplastic polyurethane resin TPU, polyacrylonitrile PAN, polyvinyl butyral PBB, cellulose acetate SA, acetyl cellulose SA, cellophane SF, cellulose nitrate SN, nylon NYLON, polyamide PA, PC / ABS alloy PC / ABS, PC / polyester alloy PC / PBT, polyphenylene ether PPE, thermoplastic polyester composite sheet PC / NC / SC / PR, polysulfone PSF, polyamide imide PAI, polyether imide PEI, ultra-high molecular weight polyethylene UHMWPE,Examples of suitable resins include isotactic polystyrene (i-PS), liquid crystal polymer (LCP), nylon 620 (620PA), nylon 612 (612PA), nylon 11 (11PA), nylon 12 (12PA), nylon 46 (46PA), polyamide (MDX6 / MDX6N), MC nylon (MCN), modified nylon Y, polyimide (PI), polyaminobismaleimide (PABI), silicone resin (SI), polytriazine (PAZ), crosslinked polyamide imide (PAI), heat-resistant epoxy resin (EP), PLA resin (PLA), ASA resin (ASA), polybutylene adipate terephthalate (PBAT), polybutylene succinate (PBS), and fluororesins such as PTFE, TFE, PFA, FEP, PCTFE, PFA, FEP, PCTFE, ETFE, ECTFE, PVDF, and PVF. These may be used singly or in combination of two or more.

[0042] Any one or more of the rubbers mentioned above may be mixed with any one or more of the resins mentioned above, or any one or more of the rubbers mentioned above may be laminated together with any one or more of the resins mentioned above.

[0043] As shown in FIG. 5 , the outer support part 50 has an annular shape and constitutes an outer annular part. A plurality of outer fastening holes 50a are formed in the outer support part 50 at intervals in the circumferential direction. The portions of the inner circumferential surface of the outer support part 50 where the outer fastening holes 50a are formed bulge radially inward of the outer support part 50. As shown in FIGS. 2 and 3 , the outer support part 50 is disposed on the fixing member 2 in a stacked state in the thickness direction. As shown in FIG. 4 , an outer fastening member B1 such as a bolt or a screw is inserted into each outer fastening hole 50a. The outer fastening member B1 is threaded into a screw hole (not shown) provided in the motor support part 21 of the fixing member 2. In other words, the outer support part 50 can be fixed to the fixing member 2 by inserting the outer fastening member B1 into the outer fastening hole 50a of the outer support part 50 and threading it into the screw hole of the fixing member 2.

[0044] The inner annular portion 51 has an annular shape smaller than the inner diameter of the outer support portion 50 and is disposed inside the outer support portion 50. The inner annular portion 51 has a plurality of inner fastening holes 51a formed at intervals in the circumferential direction. The portion of the outer peripheral surface of the inner annular portion 51 where the inner fastening holes 51a are formed bulges outward in the radial direction of the inner annular portion 51. As shown in FIG. 4 , an inner fastening member B2 such as a bolt or a screw is inserted into each inner fastening hole 51a. The inner fastening member B2 is threaded into a threaded hole (not shown) provided in the movable frame member 4. In other words, the inner annular portion 51 can be fixed to the movable frame member 4 by inserting the inner fastening member B2 into the inner fastening hole 51a of the inner annular portion 51 and threading it into the threaded hole of the movable frame member 4.

[0045] A gap is formed between the outer peripheral surface of the inner annular portion 51 and the inner peripheral surface of the outer support portion 50 to allow the spindle motor 3 to move in a direction perpendicular to the axis A (radial direction) and to allow the spindle motor 3 to move in a direction that tilts the axial direction (tilt direction). The tilt direction of the spindle motor 3 is the direction in which the axis A of the spindle motor 3 is tilted with respect to the center line of the motor insertion hole 21a.

[0046] The first plate-shaped connecting portion 52 extends from the inner peripheral surface of the outer support portion 50 to the outer peripheral surface of the inner annular portion 51 and also extends in the direction of the axis A of the spindle motor 3. Therefore, the radially outer end of the first plate-shaped connecting portion 52 is integrated with the inner peripheral surface of the outer support portion 50, and the radially inner end of the first plate-shaped connecting portion 52 is integrated with the outer peripheral surface of the inner annular portion 51, and the outer support portion 50 and the inner annular portion 51 are connected by the first plate-shaped connecting portion 52.

[0047] The first plate-shaped connecting portions 52 are bent so as to protrude in one or the other circumferential direction of the outer support portion 50 when viewed from the direction of the axis A of the spindle motor 3. Specifically, in this embodiment, four first plate-shaped connecting portions 52 are provided at intervals from one another in the circumferential direction of the axis A of the spindle motor 3. A pair of circumferentially adjacent first plate-shaped connecting portions 52, 52 are bent in directions such that their radial central portions approach each other. As a result, the radial outer ends of the pair of circumferentially adjacent first plate-shaped connecting portions 52, 52 are further apart from each other than the radial central portions, and the radial inner ends of the pair of circumferentially adjacent first plate-shaped connecting portions 52, 52 are further apart from each other than the radial central portions.

[0048] The second plate-shaped connecting portion 53, like the first plate-shaped connecting portion 52, connects the outer support portion 50 and the inner annular portion 51, and extends from a portion of the inner peripheral surface of the outer support portion 50 where the outer fastening hole 50a is formed to the outer peripheral surface of the inner annular portion 51, and also extends in the direction of the axis A of the spindle motor 3. Two second plate-shaped connecting portions 53 extend from portions corresponding to one of the outer fastening holes 50a, and these two second plate-shaped connecting portions 53, 53 are bent in opposite directions when viewed in the direction of the axis A.

[0049] In this embodiment, three or more first plate-shaped connecting portions 52 and three or more second plate-shaped connecting portions 53 are provided at intervals from one another in the circumferential direction of the outer support portion 50. Specifically, four first plate-shaped connecting portions 52 are provided at intervals from one another in the circumferential direction of the outer support portion 50, so that the first plate-shaped connecting portions 52 are arranged at approximately 90° intervals. Eight second plate-shaped connecting portions 53 are provided, but two second plate-shaped connecting portions 53 form a set, so that four sets of second plate-shaped connecting portions 53 are arranged at approximately 90° intervals. Furthermore, one set of second plate-shaped connecting portions 53 is arranged between two first plate-shaped connecting portions 52, 52 adjacent to one another in the circumferential direction. The number of first plate-shaped connecting portions 52 may be three or five or more. The number of second plate-shaped connecting portions 53 may be any number between three and seven, or may be nine or more. In addition to the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53, a third plate-shaped connecting portion (not shown) may be provided.

[0050] Although not shown, the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53 may be bent in a wave shape when viewed from the direction of the axis A. stomach. The thickness of the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53 is set to be thinner than the thickness of the outer support portion 50 and the thickness of the inner annular portion 51.

[0051] The lower limit of the thickness of the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53 can be set arbitrarily, for example, to 0.5 mm or more, or 1.0 mm or more. The upper limit of the thickness of the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53 can be set arbitrarily, for example, to 5.0 mm or less, or 3.0 mm or less.

[0052] (Effects of the embodiment) As described above, in the deburring device 1 according to this embodiment, the spindle motor 3 to which the deburring tool 6 is attached is supported by the fixed member 2 via the support member 5. Then, the deburring device 1 attached to the robot arm 101 is moved to a desired position by the robot arm 101, and is set to a desired posture, and the deburring tool 6, which is rotationally driven by the spindle motor 3, is brought into contact with the burr on the product, whereby the burr is cut by the deburring tool 6 and can be removed.

[0053] When the deburring tool 6 comes into contact with a burr, it may be subjected to a radial reaction force perpendicular to the axis A of the spindle motor 3 or an inclined reaction force inclined relative to the axis A of the spindle motor 3. When a radial reaction force acts on the deburring tool 6, the radial force is input to the inner annular portion 51 of the support member 5 via the movable frame member 4 to which the housing 30 of the spindle motor 3 is fixed. However, because the inner annular portion 51 is connected to the outer support member 50 via the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53, the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53 receive the radial force. When the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53 receive the radial force, they flex or bend, thereby allowing radial displacement of the spindle motor 3, i.e., radial displacement of the deburring tool 6. Even when a reaction force acts on the deburring tool 6 in the inclined direction, the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53 will receive the reaction force, but as in the radial direction, they will bend or flex, allowing the deburring tool 6 to be displaced in the inclined direction.

[0054] On the other hand, when an axial reaction force acts on the deburring tool 6 that has come into contact with a burr, the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53 will be subjected to the axial force. However, because the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53 extend in the direction of the axis A of the spindle motor 3, they are unlikely to deform in that direction. Therefore, displacement of the deburring tool 6 in the direction of the axis A is restricted, and the tip position of the deburring tool 6 can be kept at a predetermined position in the direction of the axis A at all times. This allows the amount of cutting when the deburring tool 6 is moved in the axial direction to be set to a specified amount, enabling the burr to be removed cleanly.

[0055] Furthermore, when the rotating deburring tool 6 comes into contact with a burr or vibrates while cutting the burr, the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53 are made of a vibration-absorbing material, so the vibration is absorbed by the first plate-shaped connecting portion 52 and the second plate-shaped connecting portion 53, thereby suppressing vibration of the deburring tool 6. This also makes it possible to remove the burr cleanly.

[0056] (Variation) 6 shows a support member 5 according to a first modification of the first embodiment. The support member 5 according to the first modification includes a corrugated portion 54 that connects a first plate-shaped connecting portion 52 and a second plate-shaped connecting portion 53. The corrugated portion 54 extends from the first plate-shaped connecting portion 52 to the second plate-shaped connecting portion 53, and also extends in the direction of the axis A of the spindle motor 3. When viewed from the direction of the axis A of the spindle motor 3, the corrugated portion 54 forms a continuous wave shape in the circumferential direction. By providing the corrugated portion 54, it is possible to increase the vibration damping effect while allowing for radial displacement.

[0057] FIG. 7 shows a support member 5 according to a second modification of the first embodiment. The support member 5 according to the second modification does not include the second plate-shaped connecting portion, and a metal coil spring 55 is provided in the location where the second plate-shaped connecting portion was provided. The coil spring 55 is interposed between the outer support portion 50 and the inner annular portion 51, with its extension and contraction direction aligned with the radial direction of the axis A of the spindle motor 3. Specifically, flat surfaces 50b are formed on the inner peripheral surface of the outer support portion 50 between the first plate-shaped connecting portions 52, 52 adjacent in the circumferential direction. Each flat surface 50b is formed with an outer fitting hole 50c into which one end of the coil spring 55 fits. Furthermore, an inner fitting hole 51c is formed on the outer peripheral surface of the inner annular portion 51, into which the other end of the coil spring 55 fits. The coil spring 55 is held in a predetermined position while being fitted into the outer fitting hole 50c and the inner fitting hole 51c.

[0058] In the second modification, the coil spring 55 is interposed between the outer support portion 50 and the inner annular portion 51, and thus the deburring tool 6 can be positioned at a predetermined position by utilizing the repulsive force of the coil spring 55. In addition, the vibration of the coil spring 55 is damped by the first plate-shaped connecting portion 52.

[0059] (Embodiment 2) 8 shows a support member 500 according to a second embodiment of the present invention. In this second embodiment, the support member 500 and the fixing member 200 are different from those in the first embodiment, but the other parts are the same as those in the first embodiment. Therefore, hereinafter, the same parts as those in the first embodiment will be assigned the same reference numerals and their explanation will be omitted, and only the different parts will be explained in detail.

[0060] A through hole 200a is formed in the portion of the fixed member 200 that is fixed to the robot arm 101. The outer support portion 510 of the support member 500 has a base end side portion 511 and a pair of protrusions 512. The inner annular portion 520 of the support member 500, the spindle motor 3, and the movable frame member 4 are disposed between the pair of protrusions 512. The base end side portion 511 is the portion that is fixed to the fixed member 200. The space between the tip ends of the pair of protrusions 512 is open.

[0061] The inner annular portion 520 of the support member 500 has a rectangular shape when viewed in the direction of the axis A of the spindle motor 3. The support member 500 of this second embodiment has a plurality of plate-like connecting portions 530 that extend from the inner peripheral surfaces of the base-end side portion 511 and the protruding portion 512 to the outer peripheral surface of the inner annular portion 520 and also extend in the direction of the axis A of the spindle motor 3. The plate-like connecting portions 530 are bent in a wave shape when viewed in the direction of the axis A of the spindle motor 3.

[0062] When the support member 500 according to this embodiment 2 is used, as in the first embodiment, it is possible to allow the rotationally driven deburring tool 6 to be displaced in both the radial and inclined directions while restricting displacement in the direction of the axis A, and furthermore, it is possible to suppress vibration of the deburring tool 6, so that the burrs can be removed cleanly.

[0063] In addition, a coil spring similar to that of Modification 2 of Embodiment 1 can also be provided in Embodiment 2. Furthermore, the shape of the plate-shaped connecting portion 530 of Embodiment 2 may be a shape that protrudes in the circumferential direction when viewed from the direction of the axis A, similar to Embodiment 1. stomach.

[0064] The above-described embodiments are merely examples in all respects and should not be construed as limiting. Furthermore, all modifications and variations within the scope of the claims are within the scope of the present invention. [Industrial Applicability]

[0065] As described above, the deburring device according to the present disclosure can be used to remove burrs from, for example, aluminum die-cast products. [Explanation of symbols]

[0066] 1 Deburring device 2 Fixing member 3 Spindle motor 4 Movable frame member 5 Support member 30 Housing 50 Outer support part 51 Inner annular part 52 First plate-shaped connecting part 53 Second plate-shaped connecting part 55 Coil spring 101 Robot Arm

Claims

1. A deburring device configured to rotate a deburring tool by a spindle motor attached to a fixed member fixed to a robot arm, a movable frame member to which a housing of the spindle motor is fixed; a support member that supports the movable frame member so that the movable frame member is displaceable relative to the fixed member, a plate-shaped connecting portion made of a vibration-absorbing material, the plate-shaped connecting portion extending from the inner peripheral surface of the outer support portion to the outer peripheral surface of the inner annular portion, connecting the outer support portion and the inner annular portion, and extending in the axial direction of the spindle motor;

2. The deburring device according to claim 1, The plate-shaped connecting portion is bent when viewed from the axial direction.

3. The deburring device according to claim 2, The plate-shaped connecting portion is bent so as to protrude to one side in the circumferential direction of the outer support portion when viewed from the axial direction.

4. The deburring device according to claim 1, The outer support portion, the inner annular portion, and the plate-shaped connecting portion are integrally molded from the vibration-absorbing material.

5. The deburring device according to claim 1, A deburring device, wherein three or more of the plate-shaped connecting portions are provided at intervals from one another in the circumferential direction of the outer support portion.

6. The deburring device according to claim 1, A deburring device, wherein a metal coil spring is interposed between the outer support portion and the inner annular portion, the coil spring extending in a radial direction of the axis.

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