Deburring device

Abstract

To provide a deburring device that can effectively remove burrs from workpieces with a relatively simple configuration. [Solution] The deburring device 1 comprises a lower clamp 5 that supports the workpiece W from below, an upper clamp 6 positioned opposite to and above the lower clamp 5, which clamps the workpiece W between itself and the lower clamp 5, a first cylinder 7 that moves the lower clamp 5 in the vertical direction, a second cylinder 8 that moves the upper clamp 6 in the vertical direction, and multiple brushes 9 arranged around the track C1 in which the lower clamp 5 and the upper clamp 6 move, which polish the workpiece W. The workpiece W is clamped by both clamps 5 and 6 of the lower clamp 5 and the upper clamp 6, and both clamps 5 and 6 are configured to move in the same vertical direction.

Description

Technical Field

[0001] The present invention relates to a deburring device for removing burrs on a workpiece.

Background Art

[0002] As a deburring device for removing burrs generated on the peripheral surface of a workpiece when the workpiece is formed by die casting, press working, laser processing, etc., a guide rail installed to extend parallel to the floor surface, a slider provided movably on the guide rail, a tool bed provided at a position below the guide rail (floor surface) and having a length dimension corresponding to the workpiece W, and a tool provided movably on the tool bed. After adsorbing and holding the workpiece before processing with a suction tool provided on the slider, the slider is moved to the position of the tool, and the burrs on the outer periphery of the workpiece are removed by a brush-shaped body provided rotatably and vertically movably on the tool. Such a configuration is known (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the deburring device disclosed in Patent Document 1 above has a problem that the overall configuration becomes complicated, such as the control configuration of the slider and the tool and the arrangement structure of the guide rail and the tool bed, because the tool needs to be accurately moved along the outer peripheral shape of the workpiece in order to appropriately remove the burrs on the peripheral surface of the workpiece.

[0005] The present invention has been made in view of the above problems, and an object thereof is to provide a deburring device capable of appropriately removing burrs on a workpiece with a relatively simple configuration.

Means for Solving the Problems

[0006] To solve the above problems, the deburring device of the present invention employs the following technical means.

[0007] A deburring device according to one aspect of the present invention comprises a lower clamp that supports a workpiece from below, an upper clamp positioned opposite to and above the lower clamp that clamps the workpiece between itself and the lower clamp, a first cylinder that moves the lower clamp in the vertical direction, a second cylinder that moves the upper clamp in the vertical direction, and a plurality of brushes arranged around the trajectory in which the lower clamp and the upper clamp move, for polishing the workpiece, wherein the workpiece is clamped by both the lower clamp and the upper clamp, and both clamps are configured to move in the same vertical direction.

[0008] The device includes a control device for controlling the operation of the first cylinder and the second cylinder, and the control device may have a clamp control unit that repeatedly performs a release operation to separate the two clamps from each other in the vertical direction, a clamp operation to bring the two clamps closer to each other in the vertical direction, and a polishing operation to move the two clamps in the same vertical direction while the two clamps are close to each other in the vertical direction, in the order of the release operation, the clamp operation, and the polishing operation.

[0009] The clamp control unit may move both clamps in the same vertical direction so that, during the polishing operation, the polishing area in which the workpiece slides against the brush moves back and forth at least once vertically.

[0010] The aforementioned brush may be constructed by connecting multiple wheel brushes, each having bristles arranged radially along the outer circumference of the wheel, in the direction of the rotation axis of the brush.

[0011] The brush may include a front brush positioned in front of the track, a rear brush positioned behind the track, a left brush positioned to the left of the track, and a right brush positioned to the right of the track.

[0012] The front brush and the rear brush may be arranged side by side, front and back, with the track between them, forming a first brush section that polishes the workpiece from both the front and back, while the left brush and the right brush may be arranged side by side, left and right, with the track between them, forming a second brush section that polishes the workpiece from both the left and right.

[0013] The first brush section and the second brush section may be arranged with an upper and lower offset. [Effects of the Invention]

[0014] According to the deburring device of the present invention, burrs on the workpiece surface can be properly removed by the vertical movement of a pair of upper and lower clamps, thus simplifying the overall configuration. [Brief explanation of the drawing]

[0015] [Figure 1] This is a schematic diagram of an automatic deburring system equipped with a deburring device according to an embodiment of the present invention. [Figure 2] This is a perspective view of a deburring device according to an embodiment of the present invention. [Figure 3] This is a perspective view of the clamping device. [Figure 4] This is a schematic pneumatic circuit diagram of the clamping device. [Figure 5] This is a perspective view of the first brush section. [Figure 6] This is a perspective view of the second brush section. [Figure 7] This is an overhead view of the polishing area. [Figure 8] This is a perspective view of the disassembled brush. [Figure 9] This is a schematic diagram of the control device. [Figure 10] This is a schematic diagram of the deburring device during the release operation (workpiece setting). [Figure 11] This is a schematic diagram of the deburring device during clamping operation. [Figure 12]It is a schematic configuration diagram of the burr removal device during the grinding operation (forward). [Figure 13] It is a schematic configuration diagram of the burr removal device during the grinding operation (return). [Figure 14] It is a schematic configuration diagram of the burr removal device during the release operation (work removal).

Embodiments for Carrying Out the Invention

[0016] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the embodiments described below are an example of embodying the present invention, and do not limit the configuration of the present invention with specific examples.

[0017] As shown in FIG. 1, the burr removal device 1 of the present embodiment is a device for removing burrs generated on the peripheral surface of the work W during molding. Together with the robot arms AR1 and AR2, it constitutes an automatic burr removal system DS that automatically sets the work W on the burr removal device 1 and performs burr removal processing.

[0018] Note that the burr removal device 1 of the present embodiment is preferably used to remove burrs of the work W formed by aluminum die casting, but may also be used to remove burrs of the work W formed by manufacturing methods other than die casting, such as press working and laser processing.

[0019] The automatic burr removal system DS includes a burr removal device 1, a first pallet P1, a second pallet P2, a first robot arm AR1, a second robot arm AR2, and an arm control device CU.

[0020] The first pallet P1 loads the work W before processing. The second pallet P2 loads the work W after processing.The first robot arm AR1 is arranged adjacent to the burr removal device 1 and sets the work W before processing loaded on the first pallet P1 on the burr removal device 1. The second robot arm AR2 is arranged adjacent to the burr removal device 1, takes out the work W after processing from the burr removal device 1, and transfers it to the second pallet P2.

[0021] The arm control device CU controls the setting operation of the workpiece W by the first robot arm AR1 and the removal operation of the workpiece W by the second robot arm AR2. Specifically, the first robot arm AR1 repeatedly takes one workpiece W before processing from the first pallet P1 and sets it in the deburring device 1 at predetermined intervals. The second robot arm AR2 repeatedly takes the processed workpiece W, which has been deburred by the deburring device 1, from the deburring device 1 and transfers it to the second pallet P2 at predetermined intervals.

[0022] Furthermore, although the above-described automatic deburring system DS is configured to have two robot arms AR1 and AR2 share the tasks of setting and removing the workpiece W, it may also be configured to have one robot arm perform both tasks. Alternatively, the automatic deburring system DS may be configured to have three or more robot arms share the tasks of setting and removing the workpiece W.

[0023] When the deburring device 1 detects that a workpiece W has been set in a predetermined position, it clamps the workpiece W with clamps 5 and 6 and moves the part where the brush 9 is installed in the vertical direction. As a result, the burrs on the circumferential surface of the workpiece W are removed by the brush 9. In this way, the deburring device 1 repeatedly performs the deburring process to remove burrs from the circumferential surface of the workpiece W as needed.

[0024] More specifically, the deburring device 1 comprises a frame 10, a clamping device 2, a brushing device 3, and a control device 4. The clamping device 2 includes a lower clamp 5, an upper clamp 6, a first cylinder 7, and a second cylinder 8. The brushing device 3 includes a plurality of brushes 9 and a drive motor 11. The deburring device 1 of this embodiment has a number of drive motors 11 corresponding to the number of brushes 9. That is, each brush 9 in this embodiment is driven by an independent drive motor 11.

[0025] In this embodiment, the first direction parallel to the installation surface G of the deburring device 1 (indicated by arrows X1 and X2 in Figure 2) is described as the front-back direction, the second direction parallel to the installation surface G and perpendicular to the first direction (indicated by arrows Y1 and Y2 in Figures 1 and 2) is described as the left-right direction, and the third direction perpendicular to both the first and second directions (indicated by arrows Z1 and Z2 in Figures 1 and 2) is described as the up-down direction.

[0026] The frame 10 is a support base that supports the first cylinder 7, the second cylinder 8, the brush 9, and the control device 4. As shown in Figure 2, the frame 10 includes a base frame 12, a top frame 13, a support column 14, a first support frame 15, a second support frame 16, a first support frame 17, a second support frame 18, and a third support frame 19.

[0027] The base frame 12 is a frame formed by arranging and connecting rectangular cylindrical frame members in a rectangular shape when viewed from above, and constitutes the bottom of the support structure 10. The base frame 12 has a central crossbar 12A. The central crossbar 12A extends between the left and right frames of the base frame 12, approximately in the center between the front and rear of the base frame 12.

[0028] The first cylinder 7 is provided between the base frame 12 and the first support frame 15. The lower end of the first cylinder 7 is supported and fixed to the central crossbar 12A of the base frame 12, and the upper end of the first cylinder 7 is supported and fixed to the central part of the first support frame 15.

[0029] The top frame 13 is a frame formed by arranging and connecting rectangular cylindrical frame members in an H-shape when viewed from above, and constitutes the upper part of the support structure 10. The top frame 13 has a central crossbar 13A. The central crossbar 13A extends from approximately the center of the top frame 13 between the front and rear sections, across the left and right frames of the top frame 13.

[0030] The second cylinder 8 is provided between the second support frame 16 and the top frame 13. The lower end of the second cylinder 8 is supported and fixed to the central part of the second support frame 16, and the upper end of the second cylinder 8 is supported and fixed to the central crossbar 13A of the top frame 13.

[0031] The support columns 14 are rectangular cylindrical frame members, and two of them are erected parallel to each other at a distance in the left-right direction at the rear of the base frame 12. The upper ends of the left and right support columns 14 are each connected to the rear of the top frame 13. In other words, the support columns 14 extend from the rear of the base frame 12 to the rear of the top frame 13, supporting the top frame 13 from below.

[0032] The first support frame 15 is a frame formed by arranging and connecting rectangular cylindrical frame members in a rectangular shape when viewed from above, and is positioned above the base frame 12 at predetermined intervals. The first support frame 15 is connected and supported to the front of the support column 14 and extends parallel to the base frame 12 toward the front of the support column 14.

[0033] The first support frame 15 has a brush cover 20. The brush cover 20 is provided on the upper part of the first support frame 15. The brush cover 20 is a roughly trapezoidal box-shaped cover member and is positioned to cover approximately half of the outer surface of the brush 9 that faces the outside of the frame 10.

[0034] The second support frame 16 is a frame formed by arranging and connecting rectangular cylindrical frame members in a rectangular shape when viewed from above, and is positioned below the top frame 13 at predetermined intervals. The second support frame 16 is connected and supported to the front of the support column 14 and extends parallel to the top frame 13 toward the front of the support column 14.

[0035] The first support frames 17 are rectangular cylindrical frame members, and two of them are erected parallel to each other at a distance in the left-right direction at the front of the base frame 12. The upper ends of the left and right first support frames 17 are each connected to the front of the first support frame 15. In other words, the first support frames 17 extend from the front of the base frame 12 to the front of the first support frame 15, supporting the first support frame 15 from below.

[0036] Thus, the first support frame 15 is supported from below by a total of four frames: two support columns 14 and two first support frames 17. The control device 4 is supported and fixed to the front of the left and right first support frames 17.

[0037] The second support frame 18 is a rectangular cylindrical frame member that extends diagonally downward from the left and right support columns 14 and is connected to the front part of the second support frame 16. In other words, the second support frame 18 acts as a reinforcing frame for the second support frame 16, supporting the front part of the second support frame 16 from above relative to the support columns 14.

[0038] The third support frame 19 is a rectangular cylindrical frame member that extends diagonally upward from the left and right support columns 14 and is connected to the front of the top frame 13. In other words, the third support frame 19 acts as a reinforcing frame for the top frame 13, supporting the front of the top frame 13 from below relative to the support columns 14.

[0039] As shown in Figures 1 and 3, the lower clamp 5 is connected to the tip (upper end) of the piston rod 7R of the first cylinder 7 and is configured to be vertically movable by the first cylinder 7. The workpiece W before machining is placed on top of the lower clamp 5. That is, the top of the lower clamp 5 becomes the setting position for the workpiece W before machining.

[0040] As shown in Figure 3, the lower clamp 5 includes a support plate 21, support pins 22, and guide pieces 23. The support plate 21 is a plate-shaped member with a smooth upper surface. Multiple support pins 22 and guide pieces 23 are erected on the upper surface of the support plate 21.

[0041] In this embodiment, six support pins 22 are erected along the periphery of the support plate 21 at predetermined intervals. When the workpiece W is placed on the lower clamp 5, the support pins 22 contact the lower surface of the workpiece W and support the workpiece W from below.

[0042] Furthermore, the support pins 22 may be provided as few as three on the upper surface of the support plate 21, or as four or more, as long as they can stably support the workpiece W from below. Alternatively, the lower clamp 5 may have a single trapezoidal protrusion instead of multiple support pins 22.

[0043] In this embodiment, two guide pieces 23 are erected at a predetermined distance apart near one side edge of the support plate 21. When the workpiece W is placed on the lower clamp 5 before processing, the guide pieces 23 abut and engage with a predetermined edge of the workpiece W (such as the side edge of a rib formed on the lower surface of the workpiece W, or the inner peripheral edge of an opening formed in the workpiece W), thereby preventing the workpiece W from moving in the front-rear and left-right directions.

[0044] More specifically, for example, the workpiece W has a plate-shaped workpiece body W1, a shaft portion W2 erected in the center of the upper surface of the workpiece body W1, and a rectangular opening W3 that penetrates between the upper and lower surfaces of the workpiece body W1. The first robot arm AR1 holds the shaft portion W2 of the workpiece W from above, rotates the workpiece W so that the guide piece 23 of the lower clamp 5 is fitted into the opening W3, and then places it on top of the lower clamp 5. As a result, the workpiece W is supported by the lower clamp 5 in a state where movement in the front-to-back and left-to-right directions is prevented.

[0045] Furthermore, the guide piece 23 may be provided as a single unit or as three or more units on the upper surface of the support plate 21, provided that it can adequately prevent the workpiece W from moving in the front-rear and left-right directions relative to the lower clamp 5.

[0046] As shown in Figures 1 and 3, the upper clamp 6 is positioned above and opposite the lower clamp 5. The upper clamp 6 is connected to the tip (lower end) of the piston rod 8R of the second cylinder 8 and is configured to be vertically movable by the second cylinder 8. That is, the upper clamp 6 is configured to be vertically movable above the lower clamp 5 and clamps the workpiece W between it and the lower clamp 5.

[0047] As shown in Figure 3, the upper clamp 6 has a retaining plate 24 and retaining pins 25. The retaining plate 24 is a plate-shaped member with a smooth lower surface. Multiple retaining pins 25 are erected on the lower surface of the retaining plate 24.

[0048] In this embodiment, four retaining pins 25 are erected along the periphery of the retaining plate 24 at predetermined intervals. The retaining pins 25 contact the upper surface of the workpiece W placed on the lower clamp 5 and hold the workpiece W from above.

[0049] Each of these four retaining pins 25 is positioned above and opposite to the support pins 22 provided on the lower clamp 5. That is, the retaining pins 25 of the upper clamp 6 and the support pins 22 of the lower clamp 5 are positioned with their tips facing each other in the vertical direction. The workpiece W is clamped from above and below by these retaining pins 25 and support pins 22.

[0050] Furthermore, the retaining pins 25 may be provided only three times on the lower surface of the retaining plate 24, or five or more times, as long as they can stably and reliably hold the workpiece W between the lower clamp 5 and the clamping plate 24. Alternatively, the upper clamp 6 may have a single trapezoidal protrusion instead of multiple retaining pins 25.

[0051] As shown in Figures 3 and 4, the first cylinder 7 has a cylinder tube 7A, a piston 7P, and a piston rod 7R. The second cylinder 8 is similar to the first cylinder 7, having a cylinder tube 8A, a piston 8P, and a piston rod 8R.

[0052] As shown in Figure 1, the first cylinder 7 and the second cylinder 8 are arranged vertically so that their central axes C1, which pass through the axes of both piston rods 7R and 8R, coincide. Therefore, both the lower clamp 5 and the upper clamp 6 move vertically along the central axis C1.

[0053] As shown in Figure 4, both cylinders 7 and 8 of the first cylinder 7 and second cylinder 8 are air cylinders, and the piston rods 7R and 8R are operated by compressed air supplied from the air supply source 30. Both cylinders 7 and 8 are double-acting cylinders, and the piston rods 7R and 8R are moved vertically by switching the direction of supply of compressed air to the two upper and lower pressure chambers 31 and 32 inside the cylinders, and by adjusting the amount of air discharged from the pressure chambers 31 and 32.

[0054] In this way, by employing air cylinders for both the first cylinder 7 and the second cylinder 8, it is possible to make the deburring device 1 more compact and lighter overall while maintaining high clamping force and mobility. Furthermore, since the pneumatic piping supplying compressed air to both cylinders 7 and 8 can be made relatively simple, durability and maintainability are also improved. Note that both cylinders 7 and 8 may be electric cylinders or hydraulic cylinders.

[0055] The cylinder tube 7A of the first cylinder 7 and the cylinder tube 8A of the second cylinder 8 each have a lower pressure chamber 31, an upper pressure chamber 32, a first pipe connection part 33, and a second pipe connection part 34.

[0056] The lower pressure chamber 31 and the upper pressure chamber 32 are defined vertically within the cylinder tubes 7A and 8A, with pistons 7P and 8P in between. The first pipe connection 33 is a pipe connection for connecting the first air pipe L1 and is in communication with the lower pressure chamber 31. The second pipe connection 34 is a pipe connection for connecting the second air pipe L2 and is in communication with the upper pressure chamber 32.

[0057] The clamping device 2 includes a lower clamp 5, an upper clamp 6, a first cylinder 7, and a second cylinder 8, as well as an air supply source 30, a first speed controller 35, a second speed controller 36, a first directional control valve 37, a second directional control valve 38, and an FRL unit (filter regulator lubricator unit) 39.

[0058] The air supply source 30 and the FRL unit 39 are located in the main air passage L3. The first speed controller 35 and the first directional control valve 37 are located in the first branch passage L4, which branches off from the main air passage L3. The second speed controller 36 and the second directional control valve 38 are located in the second branch passage L5, which branches off from the main air passage L3. These branch passages L4 and L5 branch off in parallel from the main air passage L3 and are connected to the piping connections 33 and 34 of each cylinder 7 and 8 via air piping L1 and L2.

[0059] The air supply source 30 supplies compressed air to the first cylinder 7 and the second cylinder 8. More specifically, the air supply source 30 supplies compressed air to the lower pressure chamber 31 through the first air pipe L1. As a result, the internal pressure of the lower pressure chamber 31 increases, pushing up the pistons 7P and 8P. On the other hand, the air supply source 30 supplies compressed air to the upper pressure chamber 32 through the second air pipe L2. As a result, the internal pressure of the upper pressure chamber 32 increases, pushing down the pistons 7P and 8P.

[0060] The first speed controller 35 is connected to the first piping connection 33 of cylinders 7 and 8 via the first air pipe L1, and controls the downward movement speed of pistons 7P and 8P (piston rods 7R and 8R) by adjusting the amount of air discharged from the lower pressure chamber 31.

[0061] The second speed controller 36 is connected to the second piping connection 34 of cylinders 7 and 8 via the second air pipe L2, and controls the upward movement speed of pistons 7P and 8P (piston rods 7R and 8R) by adjusting the amount of air discharged from the upper pressure chamber 32.

[0062] The first directional control valve 37 is connected to the first piping connection portion 33 of cylinders 7 and 8 via the first air piping L1, and switches the direction of airflow between the air supply source 30 and the lower pressure chamber 31, or blocks the airflow.

[0063] The second directional control valve 38 is connected to the second piping connection 34 of cylinders 7 and 8 via the second air piping L2, and switches the direction of airflow between the air supply source 30 and the upper pressure chamber 32, or blocks the airflow.

[0064] The FRL unit 39 is a unit consisting of an air filter 39F, a regulator 39R, and a lubricator 39L. The air filter 39F removes dust, dirt, tar, drain, etc. from the air supplied to the main air passage L3. The regulator 39R maintains (reduces) the pressure in the main air passage L3 to a set pressure. The lubricator 39L supplies lubricating oil (oil mist) into the main air passage L3.

[0065] As shown in Figure 2, the brush 9 is supported on the upper part of the first support frame 15 of the stand 10. As shown in Figures 1 to 3, 5 and 6, multiple brushes 9 are arranged around the trajectory (central axis) C1 on which the clamps 5 and 6 move. That is, both the lower clamp 5 and the upper clamp 6 are configured to move vertically along the trajectory C1 within the polishing area DP enclosed by these brushes 9.

[0066] Brush 9 includes a front brush 9A, a rear brush 9B, a left brush 9C, and a right brush 9D. The front brush 9A is positioned adjacent to the front side of the trajectory (central axis) C1. The rear brush 9B is positioned adjacent to the rear side of the trajectory C1. The left brush 9C is positioned adjacent to the left side of the trajectory C1. The right brush 9D is positioned adjacent to the right side of the trajectory C1.

[0067] In this embodiment, four brushes 9 are arranged around the track (central axis) C1 of the clamps 5 and 6. However, two or three brushes may be arranged around the track C1 as long as the entire circumference of the workpiece W can be properly polished. Alternatively, five or more brushes 9 may be arranged around the track C1 to match the outer circumference shape of the workpiece W.

[0068] As shown in Figures 5 to 7, the front brush 9A and the rear brush 9B are arranged side by side in the front-to-back direction, straddling the track C1. Therefore, as the workpiece W passes through the polishing area DP, the front and rear end faces of the workpiece W simultaneously come into contact with the front brush 9A and the rear brush 9B and are polished. In this way, the front brush 9A and the rear brush 9B are arranged side by side in the front-to-back direction, straddling the track C1, and constitute the first brush section 41 that polishes the workpiece W from both the front and the rear.

[0069] The left brush 9C and the right brush 9D are arranged side by side in the left-right direction, straddling the track C1. Therefore, as the workpiece W passes through the polishing area DP, the left and right end faces of the workpiece W come into sliding contact with the left brush 9C and the right brush 9D and are polished. In this way, the left brush 9C and the right brush 9D are arranged side by side on either side of the track C1, forming a second brush section 42 that polishes the workpiece W from both the left and right sides.

[0070] As shown in Figure 7, the first brush section 41 and the second brush section 42 are arranged so that a portion of them overlap when viewed from above. Specifically, the front brush 9A and rear brush 9B that make up the first brush section 41 are arranged so that their left and right ends (the left and right corners on the polishing area DP side) overlap with the front and rear ends (the front and rear corners on the polishing area DP side) of the left brush 9C and right brush 9D that make up the second brush section 42, respectively, when viewed from above. As a result, when the workpiece W passes through the polishing area DP, the entire circumference of the workpiece W is polished.

[0071] As shown in Figures 1, 5, and 6, the first brush section 41 is positioned above the second brush section 42. That is, the first brush section 41 and the second brush section 42 are positioned offset vertically from each other. Therefore, when the workpiece W passes through the polishing area DP from top to bottom, the front and rear end faces of the workpiece W are polished first, followed by the left and right end faces of the workpiece W. Also, when the workpiece W passes through the polishing area DP from bottom to top, the left and right end faces of the workpiece W are polished first, followed by the front and rear end faces of the workpiece W.

[0072] In this embodiment, the brushes 9 are arranged in two rows (first brush section 41 and second brush section 42) around the track C1, but they may be arranged in three or more rows around the track C1 as long as the entire circumference of the workpiece W can be properly polished.

[0073] As shown in Figure 8, the brush 9 of this embodiment is composed of a plurality of wheel brushes 50. More specifically, the brush 9 has a plurality of wheel brushes 50 and a rotating shaft 51, and is constructed by arranging a plurality of wheel brushes 50 in the direction of the central axis (rotation axis) C2 passing through the axis of the rotating shaft 51 and connecting and fixing them to the outer circumference of the rotating shaft 51.

[0074] The wheel brush 50 comprises a wheel 52 and bristles 53. The wheel 52 is a disc with a pivot hole in its center. The bristles 53 are made of wire with rigidity and elasticity capable of properly removing burrs from the workpiece W, and are arranged radially along the outer surface of the wheel 52. In this embodiment, the bristles 53 are made of metal wire (steel wire, stainless steel wire, etc.) suitable for deburring workpieces W formed by aluminum die casting.

[0075] The length (brush diameter) of the bristles 53 varies depending on the wheel brush 50. Therefore, the brush 9 of this embodiment can be constructed by arbitrarily selecting and combining multiple wheel brushes 50 with different brush diameters to match the circumferential shape of the workpiece W (shape of the area to be polished). In other words, the brush 9 can be configured so that the brush outer shape of the front brush 9A, rear brush 9B, left brush 9C, and right brush 9D matches the shape of the area to be polished.

[0076] Each of the brushes 9 is connected to a drive motor 11. The drive motor 11 is an electric motor and is connected to the rotation axis 51 of the brush 9 via a flexible shaft. As shown in Figures 1 and 2, the drive motor 11 is provided adjacent to the frame 10. In this embodiment, the drive motor 11 is mounted on a rack 10E provided separately from the frame 10 at the rear of the frame 10.

[0077] As shown in Figure 9, the control device 4 includes a clamp control unit 4A and a brush control unit 4B. The clamp control unit 4A is connected via electrical wiring to the first speed controller 35, the second speed controller 36, the first directional control valve 37, the second directional control valve 38, and the workpiece detection sensor 70, and controls the operation of the clamps 5 and 6. The brush control unit 4B is connected via electrical wiring to the drive motor 11, and controls the operation of the brush 9.

[0078] The clamp control unit 4A includes a position detection unit 61, a speed control unit 62, a direction control unit 63, and a workpiece detection unit 64. The position detection unit 61 detects the positions of the pistons 7P and 8P based on the position sensors of the clamps 5 and 6. The speed control unit 62 controls the operation of the first speed controller 35 and the second speed controller 36 to adjust the amount of air discharged from the cylinders 7 and 8. The direction control unit 63 controls the operation of the first direction control valve 37 and the second direction control valve 38 to switch the direction of air supply to the cylinders 7 and 8. The workpiece detection unit 64 determines the start timing of the clamping operation based on the workpiece detection sensor 70.

[0079] As shown in Figure 1, the workpiece detection sensor 70 is located near the lower clamp 5 on the frame 10 and detects whether or not a workpiece W is placed on top of the lower clamp 5. For example, the workpiece detection sensor 70 may be a photoelectric sensor that emits visible light or infrared light to a predetermined set position on the workpiece W and detects the presence or absence of the workpiece W based on the change in light intensity caused by the reflection or blocking of that light. The workpiece detection sensor 70 is not limited to a non-contact sensor such as the photoelectric sensor described above, as long as it can accurately detect the presence or absence of the workpiece W on the lower clamp 5. For example, the workpiece detection sensor 70 may be a contact sensor such as a limit switch or pressure sensor that turns on or off depending on whether or not a workpiece W is placed on top of the lower clamp 5.

[0080] The brush control unit 4B includes a clamp operation detection unit 65 and a rotation control unit 66. The clamp operation detection unit 65 monitors the control status of the clamps 5 and 6 by the clamp control unit 4A. The rotation control unit 66 controls the rotational movement of the brush 9 according to the control status of the clamps 5 and 6.

[0081] The deburring control operation of the workpiece W by the control device 4 will be described in detail with reference to Figures 10 to 14. When the operation of the deburring device 1 is started, the clamp control unit 4A first supplies compressed air to the lower pressure chambers 31 of both cylinders 7 and 8, the first cylinder 7 and the second cylinder 8, as shown in Figure 10. As a result, both the lower clamp 5 and the upper clamp 6 move to their predetermined uppermost positions. At this time, both clamps 5 and 6 are positioned with a predetermined distance between them in the vertical direction. That is, both clamps 5 and 6 are in a released state, separated from each other in the vertical direction.

[0082] Furthermore, the brush control unit 4B maintains the brush 9 in a stopped state. The first robot arm AR1 sets the workpiece W on top of the lower clamp 5 in conjunction with the release of the deburring device 1 (see Figure 1).

[0083] In the above-described release state, when the workpiece detection unit 64 detects that the workpiece W has been set in the lower clamp 5, the clamp control unit 4A stops supplying compressed air to the lower pressure chamber 31 of the second cylinder 8 and supplies compressed air to the upper pressure chamber 32 of the second cylinder 8, as shown in Figure 11. That is, the clamp control unit 4A switches the destination of the compressed air supply to the second cylinder 8 from the lower pressure chamber 31 to the upper pressure chamber 32. As a result, the upper clamp 6 moves downward and approaches the lower clamp 5, creating a clamped state in which the workpiece W is held between the upper clamp 6 and the lower clamp 5.

[0084] Furthermore, the brush control unit 4B rotates the brushes 9 at a predetermined rotational speed. In this embodiment, the brush control unit 4B rotates each brush 9 in an inward direction so that the brushes 9 slide against the circumferential surface of the workpiece W from above to below.

[0085] Furthermore, as shown in Figure 12, the clamp control unit 4A maintains the supply of compressed air to the upper pressure chamber 32 of the second cylinder 8 while stopping the supply of compressed air to the lower pressure chamber 31 of the first cylinder 7, and discharges the compressed air from the lower pressure chamber 31 of the first cylinder 7 at a predetermined speed. As a result, the lower clamp 5 and the upper clamp 6 move downward together while maintaining a close proximity (clamped state). That is, the lower clamp 5 and the upper clamp 6 move the workpiece W from above to below (forward direction) in the polishing area DP.

[0086] Furthermore, the brush control unit 4B maintains the rotation state of the brush 9. As a result, the front and rear end faces of the workpiece W are polished by the first brush unit 41, and then the left and right end faces of the workpiece W are polished by the second brush unit 42. At this time, the brush 9 slides against the circumferential surface of the workpiece W from the same direction as the movement of the workpiece W (from above).

[0087] Subsequently, when the position detection unit 61 detects that the upper clamp 6 has moved to a predetermined lowest position, the clamp control unit 4A, as shown in Figure 13, again supplies compressed air to the lower pressure chamber 31 of the first cylinder 7, stops supplying compressed air to the upper pressure chamber 32 of the second cylinder 8, and discharges compressed air from the upper pressure chamber 32 of the second cylinder 8 at a predetermined speed. As a result, the lower clamp 5 and the upper clamp 6 move upward together while maintaining a close proximity (clamped state). That is, the lower clamp 5 and the upper clamp 6 move the workpiece W from below to above (return direction) in the polishing area DP.

[0088] Furthermore, the brush control unit 4B maintains the rotation state of the brush 9. As a result, the left and right end faces of the workpiece W are polished by the second brush unit 42, and then the front and rear end faces of the workpiece W are polished by the first brush unit 41. At this time, the brush 9 slides against the circumferential surface of the workpiece W from the opposite direction (above) to the direction of movement of the workpiece W.

[0089] Subsequently, when the position detection unit 61 detects that the lower clamp 5 has moved to a predetermined uppermost position, the clamp control unit 4A, as shown in Figure 14, maintains the supply of compressed air to the lower pressure chamber 31 of the first cylinder 7 while supplying compressed air to the lower pressure chamber 31 of the second cylinder 8. As a result, the upper clamp 6 separates upward from the lower clamp 5 and returns to the released state.

[0090] Furthermore, the brush control unit 4B stops the rotation of the brush 9. The second robot arm AR2 removes the workpiece W from the lower clamp 5 in conjunction with the release of the deburring device 1 (see Figure 1).

[0091] In this manner, the control device 4 repeatedly performs the following actions in this order: a release operation in which both clamps 5 and 6 are separated from each other in the vertical direction, a clamping operation in which the workpiece W set in the lower clamp 5 is held between both clamps 5 and 6, and a polishing operation in which it is moved vertically in the polishing area DP, thereby continuously deburring multiple workpieces W.

[0092] In the above embodiment, the brush control unit 4B is configured to move the workpiece W up and down once in the polishing area DP during the polishing operation, but it may be configured to move the workpiece W up and down two or more times in the polishing area DP. Alternatively, as long as the entire circumference of the workpiece W can be properly polished, the brush control unit 4B may be configured to move the workpiece W in only one direction, up and down, in the polishing area DP during the polishing operation. For example, after moving the workpiece W from top to bottom in the polishing area DP, the brush control unit 4B releases the upper clamp 6 upward from the lower clamp 5. The second robot arm AR2 removes the workpiece W from the lower clamp 5 while the lower clamp 5 is in the lower position.

[0093] Furthermore, in the above embodiment, the brush control unit 4B is configured to rotate the brush 9 when the polishing operation is performed, but the brush 9 may be configured to rotate continuously from the time the deburring device 1 starts operating, regardless of the operation of the clamps 5 and 6.

[0094] Furthermore, in the above embodiment, the brush control unit 4B is configured to always rotate the brush 9 in a constant direction during the polishing operation, but the rotation direction of the brush 9 may be changed to match the operating direction of the clamps 5 and 6.

[0095] As described above, the deburring device 1 of this embodiment comprises a lower clamp 5 that supports the workpiece W from below, an upper clamp 6 positioned opposite to and above the lower clamp 5, which clamps the workpiece W between itself and the lower clamp 5, a first cylinder 7 that moves the lower clamp 5 in the vertical direction, a second cylinder 8 that moves the upper clamp 6 in the vertical direction, and a plurality of brushes 9 arranged around the track C1 on which the lower clamp 5 and the upper clamp 6 move, which polish the workpiece W. The workpiece W is clamped between both clamps 5 and 6 of the lower clamp 5 and the upper clamp 6, and both clamps 5 and 6 are configured to move in the same vertical direction.

[0096] According to the deburring device 1 described above, burrs can be removed from the circumferential surface of the workpiece W by clamping the workpiece W with a pair of upper and lower clamps 5 and 6 and moving it in the vertical direction. Therefore, it is possible to provide a deburring device 1 that can properly remove burrs from the workpiece W with a relatively simple configuration.

[0097] The device includes a control device 4 that controls the operation of the first cylinder 7 and the second cylinder 8, and the control device 4 has a clamp control unit 4A that repeatedly executes a release operation that separates the two clamps 5 and 6 from each other in the vertical direction, a clamp operation that brings the two clamps 5 and 6 closer to each other in the vertical direction, and a polishing operation that moves the two clamps 5 and 6 in the same vertical direction while the two clamps 5 and 6 are close to each other in the vertical direction, in the order of the release operation, the clamp operation, and the polishing operation.

[0098] According to the deburring device 1 described above, a series of deburring operations on the workpiece W can be smoothly repeated, such as setting the workpiece W in the lower clamp 5 with a release operation, clamping the workpiece W between both clamps 5 and 6 with a clamping operation, polishing the workpiece W with a brush 9 with a polishing operation, and removing the processed workpiece W from the lower clamp 5 with another release operation. Therefore, multiple workpieces W can be deburred efficiently.

[0099] The clamp control unit 4A moves both clamps 5 and 6 in the same vertical direction so that, during the polishing operation, the polishing area DP in which the workpiece W slides against the brush 9 moves back and forth at least once vertically.

[0100] According to the deburring device 1 described above, the brush 9 can polish the circumferential surface of the workpiece W by moving it back and forth at least once, making it possible to remove burrs from the workpiece W more effectively.

[0101] The brush 9 is constructed by connecting multiple wheel brushes 50, each having bristles 53 arranged radially along the outer circumference of the wheel 52, in the direction of the rotation axis C2 of the brush 9.

[0102] According to the deburring device 1 described above, multiple wheel brushes 50 with different lengths of bristles 53 can be arbitrarily selected and combined to form a brush 9, matching the circumferential shape of the workpiece W. In other words, the deburring device 1 can be configured to have a brush 9 with an outer shape that matches the circumferential shape of the workpiece W. This makes it possible to remove burrs from the workpiece W more effectively.

[0103] The brush 9 includes a front brush 9A positioned in front of the track C1, a rear brush 9B positioned behind the track C1, a left brush 9C positioned to the left of the track C1, and a right brush 9D positioned to the right of the track C1.

[0104] According to the deburring device 1 described above, the circumferential surface of the workpiece W can be polished simultaneously from four directions (front, back, left, and right) by the brush 9, making it possible to remove burrs from the workpiece W more efficiently and appropriately.

[0105] The front brush 9A and the rear brush 9B are arranged side by side, front to back, with the track C1 in between, and constitute a first brush section 41 that polishes the workpiece W from both the front and back. The left brush 9C and the right brush 9D are arranged side by side, left to right, with the track C1 in between, and constitute a second brush section 42 that polishes the workpiece W from both the left and right.

[0106] As with conventional deburring devices described above, if the brush (tool) is only in contact with one side of the workpiece surface (for example, the front), the stress at the time of contact will be concentrated on the other side (rear side) of the workpiece, which may cause the workpiece to detach from the workpiece holder.

[0107] However, with the deburring device 1 described above, the workpiece W can be polished by clamping it from the front and rear directions with the front brush 9A and the rear brush 9B, and also by clamping it from the left and right directions with the left brush 9C and the right brush 9D. Therefore, when the brushes 9 come into contact with the workpiece W, the stress at the time of contact is not unevenly applied to one side of the workpiece W in the direction of contact. As a result, the workpiece W is less likely to slip from both clamps 5 and 6, and burrs on the workpiece W can be removed more effectively.

[0108] The first brush section 41 and the second brush section 42 are arranged to be vertically offset from each other.

[0109] According to the deburring device 1 described above, after polishing the front and rear of the workpiece W with the first brush section 41, the left and right sides of the workpiece W are polished continuously with the second brush section 42, or after polishing the left and right sides of the workpiece W with the second brush section 42, the front and rear of the workpiece W are polished continuously with the first brush section 41, making it possible to remove burrs from the workpiece W more efficiently.

[0110] Furthermore, in this design, the left and right ends of the front brush 9A and rear brush 9B constituting the first brush section 41 and the front and rear ends of the left brush 9C and right brush 9D constituting the second brush section 42 can be arranged to overlap when viewed from above. This allows the first brush section 41 to polish the area between the left and right ends of the front and rear of the workpiece W, and the second brush section 42 to polish the area between the front and rear ends of the left and right of the workpiece W. As a result, it is less likely that any unpolished areas will remain on the entire circumferential surface of the workpiece W, and it becomes possible to remove burrs from the workpiece W more effectively. [Explanation of Symbols]

[0111] 1. Deburring device 2. Clamping device 3 Brush device 4. Control device 5. Lower clamp 6. Upper clamp 7. First cylinder 8. Second cylinder 9 brushes 9A Front Brush 9B Rear brush 9C Left Brush 9D Right brush 10 mounting bases 11 Drive motor 41 First brush section 42 Second brush section 50 Wheel Brushes 51 Rotation axis 52 wheels 53 Hair body 61 Clamp control unit C1 orbit (center axis) C2 Rotation axis DP polishing area Double job

Claims

1. A lower clamp that supports the workpiece from below, An upper clamp is positioned opposite to the lower clamp and clamps the workpiece between itself and the lower clamp, A first cylinder moves the lower clamp in the vertical direction, A second cylinder moves the upper clamp in the vertical direction, The system comprises multiple brushes arranged around the trajectory in which the lower clamp and the upper clamp move, for polishing the workpiece, A deburring device characterized in that the workpiece is held between both the lower clamp and the upper clamp, and both clamps are configured to be movable in the same vertical direction.

2. The system includes a control device that controls the operation of the first cylinder and the second cylinder, The control device is A release operation that separates the two clamps from each other in the vertical direction, A clamping operation that brings both clamps closer to each other in the vertical direction, The deburring device according to claim 1, which has a clamp control unit that repeatedly performs a polishing operation in which both clamps are moved in the same vertical direction while the two clamps are brought close to each other in the vertical direction, in the order of the release operation, the clamping operation, and the polishing operation.

3. The deburring device according to claim 2, wherein the clamp control unit moves both clamps in the same vertical direction so that the polishing area in which the workpiece slides against the brush moves up and down at least once during the polishing operation.

4. The deburring device according to claim 1, wherein the brush is configured by connecting a plurality of wheel brushes, each having bristles arranged radially along the outer circumference of the wheel, in the direction of the rotation axis of the brush.

5. The aforementioned brush is A front brush positioned in front of the aforementioned track, A rear brush positioned behind the aforementioned track, The left brush is positioned to the left of the aforementioned track, A deburring device according to any one of claims 1 to 4, comprising a right brush positioned to the right of the aforementioned track.

6. The front brush and the rear brush are arranged side by side, front and back, with the track between them, and constitute a first brush section that polishes the workpiece from both the front and back. The deburring device according to claim 5, wherein the left brush and the right brush are arranged side by side on either side of the track, forming a second brush section that polishes the workpiece from both the left and right sides.

7. The deburring device according to claim 6, wherein the first brush portion and the second brush portion are arranged with an upper and lower offset.

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