DEBURRING SYSTEM AND DEBURRING METHOD

Abstract

To reduce a workspace.SOLUTION: A deburring system includes a holding part, a deburring robot, and a controller. The holding part holds a product part of workpiece with burr. The deburring robot is a multi-joint robot having an end effector for holding a burr part of the workpiece with the burr. The controller controls the holding part and the deburring robot. The holding part holds a back face side of the product part. The end effector holds the burr part from the front face side of the product part. The controller controls the end effector in a direction along the front face so that the end effector is relatively movable while maintaining a distance between the end effector and the front face, and thereby separates the burr part from the product part.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The disclosed embodiments relate to a deburring system and a deburring method. [Background technology]

[0002] Conventionally, there is known a technique for molding products such as synthetic resins using a molding device. When a product is molded using a molding device, the resin that protrudes from the mating surfaces of the mold remains around the product as so-called "burrs." For this reason, it is necessary to remove the burrs from the product.

[0003] Although the burr removal work is sometimes performed manually, a method of removing the burrs by using a robot arm has also been proposed (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2001-018238 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above-mentioned method of removing burrs using a robot arm has a problem in that the work space required for removal is large.

[0006] An object of one aspect of the embodiment is to provide a deburring system and a deburring method that can reduce a work space. [Means for solving the problem]

[0007] A deburring system according to one aspect of an embodiment includes a holding unit, a deburring robot, and a controller. Burrs are resin that protrudes from the mating surfaces of the mold.A product portion of a workpiece with burrs is held. The deburring robot is a multi-joint robot having an end effector that grips the burr portion of the workpiece with burrs. A controller controls the holding unit and the deburring robot. The holding unit holds the back side of the product portion. The end effector grips the burr portion from the front side of the product portion. The controller separates the burr portion from the product portion by controlling the end effector to move relatively in a direction along the front side while maintaining a distance between the end effector and the front side. The end effector is rotatable, either entirely around a tip axis of the deburring robot, or partially around a rotation axis along the direction of the tip axis. The deburring robot separates the burr portion from the product portion by rotating the end effector in an orientation in which the tip axis is aligned with the front surface and intersects with the movement direction of the end effector.

[0008] A deburring method according to one aspect of an embodiment uses a holding unit, a deburring robot, and a controller. Burrs are resin that protrudes from the mating surfaces of the mold. A product portion of a burred workpiece is held. The deburring robot is an articulated robot having an end effector that grips the burr portion of the burred workpiece. A controller controls the holding unit and the deburring robot. A deburring method according to one aspect of the embodiment includes a step of the holding unit holding a back side of the product portion, a step of the end effector gripping the burr portion from a front side of the product portion, and a step of the controller controlling the end effector to move relatively in a direction along the front side while maintaining a distance between the end effector and the front side, thereby separating the burr portion from the product portion. The end effector is rotatable, either entirely around a tip axis of the deburring robot, or partially around a rotation axis along the direction of the tip axis. The deburring robot separates the burr portion from the product portion by rotating the end effector in an orientation in which the tip axis is aligned with the front surface and intersects with the movement direction of the end effector. Effect of the Invention

[0009] According to one aspect of the embodiment, it is possible to provide a deburring system and a deburring method that can reduce the work space. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram showing an overview of a deburring system according to an embodiment. [Diagram 2] FIG. 2 is a schematic perspective view showing an example of a workpiece with burrs. [Diagram 3] FIG. 3 is a schematic side view of the deburring robot. [Figure 4A] FIG. 4A is a schematic side view of a retractable end effector. [Figure 4B] FIG. 4B is a schematic front view of the winding-type end effector. [Figure 5A] FIG. 5A is a first schematic diagram showing the winding operation. [Figure 5B] FIG. 5B is a second schematic diagram showing the winding operation. [Figure 5C] FIG. 5C is a third schematic diagram showing the winding operation. [Figure 5D] FIG. 5D is a fourth schematic diagram showing the winding operation. [Figure 6] FIG. 6 is a block diagram showing the configuration of the deburring system. [Figure 7] FIG. 7 is a schematic side view of the handling robot. [Figure 8] FIG. 8 is a schematic top view showing an example of the arrangement of the deburring system. [Figure 9] FIG. 9 is a flowchart showing a process performed by the deburring system. [Figure 10A] FIG. 10A is a schematic side view of a roller-type end effector. [Figure 10B] FIG. 10B is a schematic front view of the roller end effector. [Figure 11A] FIG. 11A is a schematic side view of a winding-type end effector with the rotating portion omitted. [Figure 11B] FIG. 11B is a schematic front view of the suction-type end effector. [Figure 12] FIG. 12 is a schematic diagram showing a modified example of the deburring system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, embodiments of a deburring system and a deburring method disclosed in the present application will be described in detail with reference to the accompanying drawings. Note that the present invention is not limited to the embodiments described below.

[0012] In the following embodiments, expressions such as "orthogonal," "horizontal," "vertical," and "plumbing" are used, but these conditions do not need to be strictly satisfied. In other words, each of the above expressions allows for deviations in manufacturing accuracy, installation accuracy, processing accuracy, detection accuracy, and the like.

[0013] First, an overview of a deburring system 1 according to an embodiment will be described with reference to Fig. 1 and Fig. 2. Fig. 1 is a schematic diagram showing an overview of a deburring system 1 according to an embodiment. Fig. 2 is a perspective schematic diagram showing an example of a workpiece W with burrs.

[0014] Here, Fig. 1 corresponds to a schematic side view of the deburring system 1. In Fig. 1, the deburring procedure is shown in chronological order as step S1, step S2, and step S3. Fig. 2 corresponds to a schematic perspective view of a workpiece W with burrs.

[0015] First, Fig. 1 will be described. For ease of understanding, Fig. 1 shows a three-dimensional Cartesian coordinate system with the Z axis, whose positive direction is vertically upward, the X axis, whose positive direction is the direction in which the burr is removed, and the Y axis, which is perpendicular to the X axis and Z axis. This Cartesian coordinate system may also be shown in other drawings used in the following description.

[0016] As shown in step S1 of FIG. 1, the deburring system 1 includes a holding unit 50, a deburring robot 10A, and a controller 100 that controls the holding unit 50 and the deburring robot 10A.

[0017] The holding unit 50 holds the product portion WP of the burred workpiece W. The holding unit 50 includes a plurality of suction units 51 and a support unit 52 that supports each suction unit 51. The suction units 51 hold the burred workpiece W by sucking the back surface BS side of the product portion WP. The support unit 52 is, for example, a frame-shaped member, and is fixed to an installation surface such as a floor.

[0018] The deburring robot 10A is a multi-joint robot 10 (see FIG. 3) having an end effector EE that grips the burr portion WB of the burred workpiece W. A specific configuration example of the deburring robot 10A will be described later with reference to FIG. 3.

[0019] 1 shows an end effector EE having two gripping jaws, but is not limited to the configuration shown in Fig. 1 as long as it can grip the burr portion WB of a burred workpiece W. Variations of the end effector EE in the deburring robot 10A will be described later with reference to Figs. 4A, 4B, 10A, 10B, 11A, and 11B.

[0020] The controller 100 controls the holding unit 50 and the deburring robot 10A. Although one controller 100 is shown in Fig. 1, a controller 100 may be provided for each of the holding unit 50 and the deburring robot 10A.

[0021] As shown in step S1 of Figure 1, the holding portion 50 holds the "back surface (first surface) BS" side of the product portion WP of the burred workpiece W, and the end effector EE of the deburring robot 10A grasps the burr portion WB from the "front surface (second surface) FS" side of the product portion WP.

[0022] Here, the shape of the burred workpiece W shown in Fig. 1 will be explained with reference to Fig. 2. Note that the middle part of Fig. 2 shows the burred workpiece W, and for reference, the upper part shows only the burr portion WB, and the lower part shows only the product portion WP.

[0023] In addition, in FIG. 2, for the sake of simplicity, the product portion WP of the burred workpiece W is shown as a rectangular parallelepiped having a pair of main surfaces parallel to the XY plane, but the burred workpiece W may be curved, and the pair of main surfaces may have different shapes. As shown in FIG. 2, the burr portion WB is attached to the side surface of the product portion WP so as to surround the product portion WP. As shown in FIG. 2, the burr portion WB may be located in the center or at the end in the thickness direction of the product portion WP. For example, if the shape of the burred workpiece is a hat-like shape, the crown portion may be the product portion WP, and the brim portion may be the burr portion WB.

[0024] The thickness of the connection part WJ between the product part WP and the burr part WB is thinner than the thickness of the burr part WB. Therefore, by pulling the burr part WB, the burr part WB can be easily separated from the product part WP. As shown in the upper part of Fig. 2, the burr part WB has a shape in which the connection part WJ is hollowed out to form a continuous rectangular shape that corresponds to the outer shape of the product part WP.

[0025] Here, in this embodiment, the "front surface FS" of the product part WP refers to the main surface that is closer to the deburring robot 10A (see FIG. 1) than the side surface on which the burr part WB occurs. Also, the "rear surface BS" refers to the main surface that is closer to the holding part 50 than the side surface on which the burr part WB is attached. In other words, the "front surface FS" does not necessarily refer to the front side of the product and the "rear surface BS" does not necessarily refer to the back side of the product. In other words, the back side of the product may be the "front surface FS" and the front side may be the "rear surface BS".

[0026] Continuing with the explanation of Fig. 1. As shown in step S2 of Fig. 1, the controller 100 controls the end effector EE to "relatively move" in a direction along the front surface FS (see the solid arrow) while maintaining the distance between the end effector EE and the front surface FS. In this way, the deburring system 1 separates the burr portion WB from the product portion WP. Note that step S3 shows the product portion WP from which the burr portion WB has been removed.

[0027] In step S2, an example of the movement path of the end effector EE from step S1 is shown by a dashed arrow. In this way, the end effector EE that has gripped the burr portion WB in step S1 moves to the front surface FS side of the burred workpiece W, and then moves relatively to the product portion WP while maintaining the distance between the end effector EE and the front surface FS at "h1".

[0028] 1 shows a case where the end effector EE is moved in the positive direction of the X-axis while the burred workpiece W is fixed, but the holding part 50 that holds the burred workpiece W may be moved in the negative direction of the X-axis while the end effector EE is fixed. Also, both the end effector EE and the holding part 50 may be moved in the opposite direction. In other words, by "relatively moving" the end effector EE that grips the burred portion WB and the burred workpiece W, the burred portion WB can be removed from the product part WP.

[0029] In this way, the deburring system 1 can reduce the work space required for the deburring operation because it removes the burr portion WB while maintaining the distance between the end effector EE and the burred workpiece W. Also, by arranging the holding part 50 and the deburring robot 10A so as to sandwich the burred workpiece W, it is possible to suppress interference between the holding part 50 and the deburring robot 10A.

[0030] Next, a configuration example of the deburring robot 10A will be described with reference to Fig. 3. Fig. 3 is a schematic side view of the deburring robot 10A. The deburring robot 10A shown in Fig. 3 has a winding-type end effector EE1, which is an example of the end effector EE shown in Fig. 1, attached to the tip of the articulated robot 10. The posture of the deburring robot 10A shown in Fig. 3 is such that the sixth axis A6 is oriented horizontally (along the X-axis).

[0031] 3, the robot 10 is a vertical articulated robot having six axes, a first axis A1 to a sixth axis A6. From the base end to the tip end, the robot 10 includes a base portion 10b, a first arm 11, a second arm 12, a third arm 13, a fourth arm 14, a fifth arm 15, and a sixth arm 16. A winding-type end effector EE1 is attached to the tip end of the sixth arm 16.

[0032] The base unit 10b is placed on an installation surface IS such as a floor surface. The base end of the first arm 11 is supported by the base unit 10b and rotates around a first axis A1 perpendicular to the installation surface IS. The base end of the second arm 12 is supported by the tip side of the first arm 11 and rotates around a second axis A2 perpendicular to the first axis A1.

[0033] The third arm 13 has its base end supported on the tip end side of the second arm 12, and rotates around a third axis A3 parallel to the second axis A2. Note that, although Fig. 3 shows a case in which the first axis A1, which is the joint axis on the most proximal side, is oriented vertically, the orientation of such a joint axis is not limited to the vertical direction. In other words, the orientation of the joint axis on the most proximal side can be any direction.

[0034] The fourth arm 14 has its base end supported on the tip side of the third arm 13 and rotates around a fourth axis A4 perpendicular to the third axis A3. The fifth arm 15 has its base end supported on the tip side of the fourth arm 14 and rotates around a fifth axis A5 perpendicular to the fourth axis A4. The sixth arm 16 has its base end supported on the tip side of the fifth arm 15 and rotates around a sixth axis A6 "perpendicular" to the fifth axis A5. Note that "perpendicular" means that they intersect perpendicularly to each other.

[0035] Here, a joint axis that operates without changing the relative angle between adjacent arms is called a "rotation axis," and a joint axis that operates while changing the relative angle between adjacent arms is called a "swivel axis." In the robot 10 shown in Fig. 3, the first axis A1, the fourth axis A4, and the sixth axis A6 correspond to the rotation axes, and the second axis A2, the third axis A3, and the fifth axis A5 correspond to the swivel axes.

[0036] Here, a mounting surface is provided on the tip side of the sixth arm 16, and various end effectors EE are detachably fixed to the mounting surface depending on the work content. Note that in this embodiment, a case where the winding-type end effector EE1 shown in Fig. 3 is mounted on the mounting surface as the end effector EE will be mainly described. In addition, hereinafter, the sixth axis A6 of the robot 10 will be referred to as the "tip axis" of the robot 10.

[0037] The base end of the winding end effector EE1 is attached to the tip of the sixth arm 16. The winding end effector EE1 has a rotation axis AE oriented along the tip axis (sixth axis A6) of the robot 10, and the tip rotates around the rotation axis AE. The specific configuration of the winding end effector EE1 will be described later with reference to Figures 4A and 4B.

[0038] Here, the rotation axis AE may be omitted from the winding-type end effector EE1, and the entire end effector may rotate together with the sixth arm 16 that rotates about the sixth axis A6. This point will be described later with reference to Fig. 11A. Also, while Fig. 3 shows an example of a six-axis vertical articulated robot as the robot 10, the number of axes may be more or less than six.

[0039] Next, a specific configuration of the winding-type end effector EE1 shown in Fig. 3 will be described with reference to Fig. 4A and Fig. 4B. Fig. 4A is a schematic side view of the winding-type end effector EE1, and Fig. 4B is a schematic front view of the winding-type end effector EE1.

[0040] As shown in Fig. 4A, the winding-type end effector EE1 includes a connection part 21, a base end part 22, and three extension parts 23. The base end side of the connection part 21 is connected to the tip side of a sixth arm 16 (see Fig. 3) that rotates about a sixth axis A6, and is connected to be rotatable together with the sixth arm 16 about the sixth axis A6. The base end side of the base end part 22 is rotatably connected to the tip side of the connection part 21, and rotates about a rotation axis AE that is parallel to the sixth axis A6, which is the tip axis of the robot 10 (see Fig. 3).

[0041] As described above, the rotation axis AE may be omitted, and the connecting portion 21 and the base end portion 22 may be integrated to form the base end portion 22. In this case, the three extension portions 23 rotate around the sixth axis A6 together with the base end portion 22. In other words, the entire end effector EE rotates.

[0042] The three extension parts 23 are rod-shaped members whose base ends are supported by the base end part 22 and which are arranged so as to extend in a direction along the sixth axis A6. Here, the extension part 23 includes one fixed bar 23a and a pair of gripping bars 23b which slide to change the distance between them. Of the pair of gripping bars 23b, the one farther from the fixed bar 23a will be called gripping bar 23b1, and the one closer to the fixed bar 23a will be called gripping bar 23b2.

[0043] 4A, the rotation axis AE is shifted from the sixth axis A6 by "s1". By shifting the rotation axis AE from the sixth axis A6 in this way, it becomes easier to control the operation of each axis of the deburring robot 10A including the winding-type end effector EE1. The sixth axis A6 and the rotation axis AE may be coaxial.

[0044] The length of the three extensions 23 is longer than the width (width along the Y axis) of the burr portion WB shown in Fig. 2. In addition, in the position shown in Fig. 1, the sixth axis A6 and the rotation axis AE are parallel to the Y axis. In other words, the entire width of the burr portion WB can be wound up by rotating the extensions 23 around the rotation axis AE. Here, the burr portion WB is soft enough to be wound up.

[0045] 4B, when the winding-type end effector EE1 is viewed from the tip side in the direction of the rotation axis AE, for example, the connection portion 21 is circular and the base end portion 22 is rectangular. The extension portions 23 are aligned along the longitudinal direction of the base end portion 22 and rotate together with the base end portion 22 around the rotation axis AE. Here, the fixed bar 23a is fixed to the base end portion 22, but the pair of gripping bars 23b can individually slide through the slits 22a of the base end portion 22 along the longitudinal direction of the base end portion 22.

[0046] That is, the pair of gripping bars 23b can be moved toward or away from each other. Also, the pair of gripping bars 23b can be moved toward or away from the fixed bar 23a while maintaining the distance between them. That is, while maintaining the gripping state of the gripping bars 23b, the distance between the fixed bar 23a and gripping bar 23b1, which is the gripping bar 23b farther from the fixed bar 23a, can be changed.

[0047] 4B, the outer shape of each extension portion 23 is rectangular, but the outer shape is not limited thereto. That is, the outer shape of each extension portion 23 may be circular or a shape that combines a semicircular shape with a rectangular shape.

[0048] 4A and 4B, a winding-type end effector EE1, which is an example of an end effector EE, includes a base end 22 and three extension parts 23. The base ends of the three extension parts 23 are supported by the base end 22 and are aligned so as to extend in a direction along a sixth axis A6, which is a tip axis. The extension parts 23 are a pair of gripping bars 23b and one fixed bar 23a that slide to change the distance between them.

[0049] In this way, by configuring the extension portion 23 supported by the base end portion 22 as a pair of gripping bars 23b and one fixed bar 23a, the burr gripping operation and the burr winding operation can be performed efficiently with a simple configuration.

[0050] Next, the winding operation by the winding-type end effector EE1 will be described with reference to Figs. 5A to 5D. Figs. 5A to 5D are schematic diagrams No. 1 to No. 4 showing the winding operation. Figs. 5A to 5D correspond to schematic diagrams viewed from the same direction as Fig. 1, and show the winding operation in chronological order. Also, in Figs. 5A to 5D, the deburring robot 10A shown in Fig. 1 is omitted.

[0051] 5A, the deburring robot 10A (see FIG. 1) positions the winding end effector EE1 at the upstream end side (X-axis negative direction side) of the burr portion WB of the burred workpiece W. Then, the pair of gripping bars 23b are slid in a closing direction to grip the burr portion WB.

[0052] Next, as shown in Fig. 5B, the deburring robot 10A moves the winding end effector EE1 to a position where the distance from the burred workpiece W is "h1". Here, the winding end effector EE1 is rotated 90 degrees clockwise around the rotation axis AE from the attitude of Fig. 5A to prevent the gripped burr portion WB from bending.

[0053] The deburring robot 10A then moves the winding end effector EE1 in the positive direction of the X-axis while rotating it clockwise about the rotation axis AE. That is, the winding end effector EE1 moves parallel to the workpiece W with burrs.

[0054] Next, as shown in FIG. 5C, the winding-type end effector EE1 winds up the burr portion WB between the fixed bar 23a and the gripping bar 23b1 while gripping the end portion of the burr portion WB with the pair of gripping bars 23b.

[0055] 5C shows the downstream end side (X-axis positive direction side) of the burred workpiece W. Then, as shown in FIG. 5D, when the winding-type end effector EE1 further moves downstream (X-axis positive direction side), the burr portion WB is completely separated from the product portion WP.

[0056] In other words, the winding-type end effector EE1 rotates while gripping the burr portion WB with the pair of gripping bars 23b, thereby winding up the burr portion WB between the fixed bar 23a and the gripping bar 23b1 farther from the fixed bar 23a.

[0057] In this way, by winding the burr portion WB with the fixed bar 23a and the gripping bar 23b1 farther from the fixed bar 23a, a larger winding diameter can be obtained, and more burr portions WB can be wound with a smaller number of rotations. In other words, burrs can be removed quickly.

[0058] In addition, by opening the pair of gripping bars 23b and moving the gripping bar 23b1 farther from the fixed bar 23a closer to the fixed bar 23a, the burr portion WB is released from the take-up type end effector EE1.

[0059] That is, by widening the gap between the pair of gripping bars 23b and moving the gripping bar 23b1 farther from the fixed bar 23a closer to the fixed bar 23a, the winding-type end effector EE1 releases the burr portion WB. In this manner, the winding-type end effector EE1 can quickly release the gripping state and the winding state with a simple operation.

[0060] The deburring robot 10A (see FIG. 1) drops the burr portion WB separated from the product portion WP from the reel-type end effector EE1 by orienting the tip side of the reel-type end effector EE1 that has released the burr portion WB downward. In this way, the deburring robot 10A can discard or collect the burr portion WB with the simple action of orienting the tip side of the reel-type end effector EE1 downward.

[0061] When a burr portion WB is attached to the winding-type end effector EE1, for example, the deburring robot 10A may be caused to perform an operation of vibrating the winding-type end effector EE1 in addition to the above-mentioned operations.

[0062] 5A to 5D show a winding-type end effector EE1 having a rotation axis AE, but the rotation axis AE may be omitted. This point will be described later with reference to FIG. 11A. When the rotation axis AE is omitted, the entire end effector rotates around the tip axis (sixth axis A6) of the robot 10 (see FIG. 3). On the other hand, in the case shown in FIGS. 5A to 5D, a part of the end effector rotates around the rotation axis AE that is aligned with the direction of the tip axis (sixth axis A6).

[0063] That is, the end effector EE of the deburring system 1 (see FIG. 1) can rotate entirely around the tip axis of the deburring robot 10A, or part of the end effector EE can rotate around a rotation axis AE along the direction of the tip axis. The deburring robot 10A separates the burr portion WB from the product portion WP by rotating the end effector EE in a position in which the tip axis is aligned with the front surface and in a direction intersecting the moving direction of the end effector EE.

[0064] In this way, by winding and removing the burr portion WB, it is possible to prevent the burr portion WB from reattaching to the product portion WP. In addition, by orienting the tip axis of the deburring robot 10A along the front surface of the burred workpiece W and in a direction intersecting with the moving direction of the end effector EE, it is possible to efficiently wind up the burr portion WB.

[0065] 5A to 5D, the burr portion WB can be wound up most efficiently if the direction of the tip axis of the deburring robot 10A (Y-axis direction) is perpendicular to the moving direction of the end effector EE (X-axis direction). However, the burr portion WB can be wound up at least if the direction of the tip axis is set to a direction intersecting the moving direction of the end effector EE.

[0066] Next, the configuration of the deburring system 1 will be described with reference to Fig. 6. Fig. 6 is a block diagram showing the configuration of the deburring system 1. As shown in Fig. 6, the deburring system 1 includes a deburring robot 10A, a holding unit 50, and a controller 100. In addition, the deburring robot 10A and the holding unit 50 are connected to the controller 100.

[0067] The controller 100 includes a control unit 110 and a storage unit 120. The control unit 110 includes an operation control unit 111. The storage unit 120 stores teaching information 121. Although one controller 100 is shown in FIG. 6 for the sake of simplicity, a plurality of controllers 100 may be used.

[0068] In this case, a higher-level controller may be provided to bundle the controllers. For example, a controller to which the deburring robot 10A is connected and a controller to which the holding unit 50 is connected may be separate controllers, and a higher-level controller may be provided to bundle the controllers.

[0069] Here, the controller 100 includes, for example, a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), an input / output port, and various other circuits. The CPU of the computer functions as an operation control unit 111 of the control unit 110, for example, by reading and executing a program stored in the ROM. The operation control unit 111 can also be configured with hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0070] The storage unit 120 corresponds to, for example, a RAM or a HDD. The RAM or HDD can store the teaching information 121. The controller 100 may acquire the above-mentioned programs and various information via another computer or a portable recording medium connected by a wired or wireless network. Furthermore, as described above, the controller 100 may be configured as a plurality of devices capable of communicating with each other, or may be configured as a hierarchical device capable of communicating with a higher-level or lower-level device.

[0071] The control unit 110 controls the operations of the deburring robot 10A and the holding unit 50. When a plurality of controllers 100 are used, the control unit 110 may also perform a process of synchronizing the plurality of controllers 100.

[0072] The operation control unit 111 operates the deburring robot 10A and the holding unit 50 based on the teaching information 121. In addition, the operation control unit 111 improves the operation accuracy of the deburring robot 10A and the holding unit 50 by performing feedback control using encoder values ​​in actuators such as a rotary motor or a linear motor that are the power sources of the deburring robot 10A and the holding unit 50.

[0073] The teaching information 121 is information that is created in a teaching stage in which the deburring robot 10A and the holder 50 are taught how to operate, and includes a program that defines the operation path and operation timing of the deburring robot 10A and the like.

[0074] When a robot 10 (see FIG. 3) similar to the deburring robot 10A is used as the holding unit 50, the controller 100 controls the operation of the two robots 10 so that they operate in a coordinated manner.

[0075] Next, a case where a multi-joint robot 10 is used as the holding unit 50 will be described with reference to Fig. 7. Fig. 7 is a schematic side view of a handling robot 10B. Here, the handling robot 10B is configured by attaching a suction-type end effector EES to the robot 10 shown in Fig. 3. Note that since the configuration of the robot 10 has already been described with reference to Fig. 3, the following description will mainly focus on the suction-type end effector EES.

[0076] The suction-type end effector EES is attached to the tip of the sixth arm 16 of the robot 10. Similarly to the holding unit 50 shown in FIG. 1, the suction-type end effector EES includes a plurality of suction units 51 and a support unit 52 that supports each of the suction units 51.

[0077] The suction portion 51 holds the burred workpiece W (see FIG. 1) by sucking the back surface BS side of the product portion WP of the burred workpiece W. The support portion 52 is, for example, a frame-shaped member, and a base end side is fixed to the tip of the sixth arm 16.

[0078] In this way, by using the handling robot 10B, which is the robot 10 equipped with the suction-type end effector EES, as the holding unit 50, the degree of freedom in the holding posture of the burred workpiece W can be increased. Furthermore, by operating in cooperation with the deburring robot 10A shown in Fig. 3, it is possible to flexibly handle workpieces of various shapes and to flexibly arrange each device of the deburring system 1. Therefore, the deburring work can be performed more efficiently and layout restrictions can be reduced.

[0079] By using the handling robot 10B as the holding unit 50, it is possible to automate a series of operations, such as the operation of removing the burred workpiece W, the operation of removing the burrs, the operation of collecting the burrs, and the operation of placing the product from which the burrs have been removed. Therefore, hereinafter, an example of the arrangement of the deburring system 1 that can automate a series of operations will be described with reference to FIG. 8.

[0080] Fig. 8 is a schematic top view showing an example of the arrangement of the deburring system 1. As shown in Fig. 8, the deburring system 1 includes a deburring robot 10A and a handling robot 10B. Furthermore, at least a part of the molding device 210 and at least a part of the product conveying device 220 are included within an operating range AR1 (see dashed circle) of the handling robot 10B.

[0081] At least a part of the burr collecting device 230 is included within the operating range AR2 (see dashed circle) of the deburring robot 10A. At least a part of the operating range AR1 of the handling robot 10B and the operating range AR2 of the deburring robot 10A overlap. In FIG. 8, the area where the operating ranges AR1 and AR2 overlap is defined as a third position P3 (see the shaded area). In other words, the third position P3 can be said to be a cooperative operating area of ​​the deburring robot 10A and the handling robot 10B. In FIG. 8, the controller 100 shown in FIG. 1 is omitted.

[0082] Here, the molding device 210 is a device for molding products such as synthetic resin. The product transport device 220 is, for example, a belt conveyor, and transports the products placed on it. The recovery device 230 is a device for recovering burrs, and can be a belt conveyor like the product transport device 220.

[0083] When the recovery device 230 is a belt conveyor, the recovery device 230 transports the recovered burrs. The recovery device 230 may simply be a recovery container. By providing the recovery device 230 for recovering burrs in this way, the burrs can be reused, and the cost of the product can be reduced.

[0084] For example, the handling robot 10B takes out a burred workpiece W (see FIG. 1) from the molding device 210 at a first position P1 within the operating range AR1, and performs a deburring operation in cooperation with the deburring robot 10A at a third position P3. Then, the handling robot 10B places the product from which the burrs have been removed at a second position P2 of the product conveying device 220. The placed product is then conveyed by the product conveying device 220 to outside the operating range AR1.

[0085] Moreover, the deburring robot 10A, in cooperation with the handling robot 10B, drops the burrs separated from the product to the fourth position P4 of the recovery device 230. The dropped burrs are transported by the recovery device 230 to outside the operating range AR2 and are remelted and reused.

[0086] Furthermore, in case the burr does not fall under its own weight, a jig 231 for hooking the burr may be provided on the collecting device 230 at the fourth position P4 or above near the fourth position P4. For example, the jig 231 may be in the shape of a bar extending upward from the collecting device 230, or may be provided independently of the collecting device 230. The deburring robot 10A operates to bring the released burr into contact with the jig 231, thereby forcibly dropping the burr. In this way, by using the jig 231, the burr can be more reliably dropped.

[0087] That is, in the deburring system 1 shown in Fig. 8, the handling robot 10B takes out the burred workpiece W (see Fig. 1) from the molding device 210 at a first position P1. The handling robot 10B also places the product part WP from which the burr part WB has been removed at a second position P2 in cooperation with the deburring robot 10A. In this way, the handling robot 10B performs a series of operations from taking out the burred workpiece W to placing the product from which the burr has been removed, thereby enabling automation of the deburring operation.

[0088] Next, an example of a process performed by the deburring system 1 shown in Fig. 8 will be described with reference to Fig. 9. Fig. 9 is a flowchart showing the process performed by the deburring system 1. As shown in Fig. 9, the handling robot 10B receives the workpiece W with a burr at the first position P1 (step S101).

[0089] Next, the deburring robot 10A and the handling robot 10B cooperate to remove the burr portion WB from the burred workpiece W (step S102). Then, the handling robot 10B places the product portion WP at a second position P2 different from the first position P1 (step S103), and the deburring robot 10A drops the burr portion WB into the recovery device 230 (step S104), and the process ends. The recovered burr portion WB will be reused.

[0090] Next, variations of the end effector EE shown in Fig. 1 will be described with reference to Figs. 10A, 10B, 11A, and 11B. Fig. 10A is a schematic side view of a roller-type end effector EE2, and Fig. 10B is a schematic front view of the roller-type end effector EE2. Fig. 11A is a schematic side view of a non-rotating end effector EE3 obtained by omitting the rotation shaft AE from the winding-type end effector EE1 shown in Fig. 4A. Fig. 11B is a schematic front view of a suction-type end effector EE4.

[0091] First, a configuration example of the roller-type end effector EE2 will be described with reference to Figures 10A and 10B. As shown in Figure 10A, the roller-type end effector EE2 includes a connection part 21, a pair of rollers 24, and a storage part 25. The base end side of the connection part 21 is connected to the tip side of a sixth arm 16 (see Figure 3) that rotates about a sixth axis A6, and rotates together with the sixth arm 16 about the sixth axis A6.

[0092] The pair of rollers 24 are roller-shaped members whose base ends are rotatably supported by the connection portion 21 and which are arranged so as to extend in a direction along the sixth axis A6. Here, the pair of rollers 24 rotate in opposite directions about a rotation axis AE parallel to the sixth axis A6. The distance between the pair of rollers 24 is preferably equal to or smaller than the thickness of the burr. This makes it easy to take in the burr by gripping it. The storage portion 25 is a hollow container that stores the burr taken in by the pair of rollers 24, and has an opening 25s on the side of the pair of rollers 24. The burr taken in by the pair of rollers 24 passes through the opening 25s and is stored in the storage portion 25.

[0093] 10B, roller 24a and roller 24b of the pair of rollers 24 rotate in opposite directions around rotation axis AE. Specifically, when viewed from the direction of FIG. 10B, roller 24a rotates counterclockwise around rotation axis AE1, and roller 24b rotates clockwise around rotation axis AE2.

[0094] In this manner, the roller-type end effector EE2 performs the deburring operation by gripping and taking in the burr with the pair of rollers 24 and sending it out to the storage section 25. Note that the storage section 25 may be provided with an openable / closable outlet so that the stored burr can be dropped to a predetermined position.

[0095] Next, a non-rotating end effector EE3 obtained by removing the rotation axis AE from the winding end effector EE1 shown in Fig. 4A will be described with reference to Fig. 11A. Note that Fig. 11A corresponds to the view in the direction of Fig. 4A.

[0096] 11A, the connection part 21 and the base end part 22 are fixed, and the base end part 22 does not rotate with respect to the connection part 21. In other words, when the sixth arm 16 (see FIG. 3) of the robot 10 (see FIG. 3) rotates around the sixth axis A6, the non-rotating end effector EE3 shown in FIG. 11A rotates as a whole together with the sixth arm 16.

[0097] Next, the suction type end effector EE4 will be described with reference to Fig. 11B. Fig. 11B corresponds to the view in the direction of Fig. 4B. As shown in Fig. 11B, the suction type end effector EE4 includes a connection part 21, a suction part 26, and a pair of gripping claws 27. The base end side of the connection part 21 is connected to the tip side of a sixth arm 16 (see Fig. 3) that rotates about a sixth axis A6, and rotates together with the sixth arm 16 about the sixth axis A6.

[0098] The suction unit 26 includes a suction mechanism and a storage space, and has an opening 26s between the pair of gripping claws 27. The pair of gripping claws 27 are capable of changing the distance between them, and grip and release the burrs.

[0099] In this manner, the suction-type end effector EE4 grips the burr with the pair of gripping jaws 27, and by operating the suction unit 26 while weakening the gripping force on the burr, sucks the burr into the suction unit 26. In this way, the suction-type end effector EE4 performs the burr removal work. Note that the suction unit 26 may be provided with an openable / closable discharge port so that the collected burr can be dropped to a predetermined position.

[0100] Incidentally, so far, a case has been described in which the deburring robot 10A holds the burr portion WB of the burred workpiece W, and the holding part 50 holds the product portion WP. However, this is not limiting, and the deburring robot 10A may hold the product portion WP, and the holding part 50 may hold the burr portion WB.

[0101] Therefore, a modified example in which the deburring robot 10A holds a product part WP will be described below with reference to Fig. 12. Fig. 12 is a schematic diagram showing a modified example of the deburring system 1. Note that Fig. 12 is a schematic diagram corresponding to the view from the direction of Fig. 1. Also, in the following, explanations that overlap with the explanation of Fig. 1 will be omitted.

[0102] 12, the deburring system 1 according to the modified example includes a holding unit 50, a deburring robot 10A, and a controller 100 that controls the holding unit 50 and the deburring robot 10A. Here, the deburring system 1 according to the modified example differs from the deburring system 1 shown in FIG. 1 in that the deburring robot 10A holds the product portion WP of the burred workpiece W, and the holding unit 50 holds the burr portion WB.

[0103] Specifically, the end effector EE of the deburring robot 10A includes a plurality of suction units 28 and at least a pair of pin clamps 29. The suction units 28 suction the front surface FS side of the product portion WP. The pin clamp 29 is a clamp mechanism with a pin-shaped tip that clamps the product portion WP. In this way, by using the suction units 28 and the pin clamp 29 together, the product portion WP can be securely held and the held product portion WP can be prevented from shifting.

[0104] The holding part 50 includes at least a pair of clamps 55 and a support part 52 that supports each clamp 55. The holding part 50 is disposed on the back surface BS side of the product part WP, and at least a pair of clamps 55 each hold an end of the burr part WB. Specifically, each clamp 55 fixes the burr part WB by clamping the burr part WB at two or more points.

[0105] The deburring robot 10A then separates the product part WP from the burr part WB, for example, by moving the end effector EE in a direction away from the holding unit 50. In this manner, the deburring robot 10A can also perform the deburring operation by holding the product part WP instead of the burr part WB. Note that the robot 10 shown in FIG. 7 may be used as the holding unit 50.

[0106] As described above, the deburring system 1 according to the embodiment includes a holding unit 50, a deburring robot 10A, and a controller 100. The holding unit 50 holds the product portion WP of the burred workpiece W. The deburring robot 10A is a multi-joint robot 10 having an end effector EE that grips the burr portion WB of the burred workpiece W. The controller 100 controls the holding unit 50 and the deburring robot 10A. The holding unit 50 holds the back surface BS side of the product portion WP. The end effector EE grips the burr portion WB from the front surface FS side of the product portion WP. The controller 100 separates the burr portion WB from the product portion WP by controlling the end effector EE to move relatively in a direction along the front surface FS while maintaining the distance between the end effector EE and the front surface FS.

[0107] In this way, the deburring system 1 can reduce the work space required for the deburring operation because it removes the burr portion WB while maintaining the distance between the end effector EE and the burred workpiece W. Also, by arranging the holding part 50 and the deburring robot 10A so as to sandwich the burred workpiece W, it is possible to suppress interference between the holding part 50 and the deburring robot 10A.

[0108] Further advantages and modifications may readily occur to those skilled in the art. Thus, the invention in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and equivalents thereof. [Explanation of symbols]

[0109] 1 Deburring System 10. Robot 10A Deburring Robot 10B Handling robot 10b Base part 11 First Arm 12 Second Arm 13 Third Arm 14 4th Arm 15 5th Arm 16 6th Arm 21 Connection 22 Proximal end 22a Slit 23 Stretching section 23a Fixed bar 23b Grasping bar 24 Lola 25 Storage unit 25s aperture 26 Suction part 26s aperture 27 Gripping claw 28 Adsorption part 29 Pink Clamp 50 Holding part 51 Adsorption part 52 Support part 55 Clamp 100 Controller 110 Control section 111 Motion control section 120 Storage section 121 Instructional Information 210 Molding equipment 220 Product conveying device 230 Recovery Device 231 Jig A1 First axis A2 2nd axis A3 3rd axis A4 4th axis A5 5th axis A6 6th axis AE Rotation Axis BS back EE End Effector EE1 Retractable End Effector EE2 Roller End Effector EE3 Non-Rotating End Effector EE4 Suction End Effector EES Adsorption type end effector FS front IS installation surface P1 1st position P2 2nd position P3 3rd position (cooperative operation area) P4 4th position W Burred workpiece WB Burr part WJ connection part WP product part

Claims

1. A holding part that holds a product portion of a burred workpiece having burrs made of resin protruding from a mating surface of a die; a multi-joint deburring robot having an end effector that grips a burred portion of the workpiece; a controller for controlling the holding unit and the deburring robot; Equipped with The holding portion is Holding the rear side of the product portion; The end effector includes: The burr portion is gripped from the front side of the product portion, The controller: The burr portion is separated from the product portion by controlling the end effector to move relatively in a direction along the front surface while maintaining a distance between the end effector and the front surface; The end effector includes: the entire end effector is rotatable around a tip axis of the deburring robot, or a part of the end effector is rotatable around a rotation axis along a direction of the tip axis, The deburring robot includes: The burr portion is separated from the product portion by rotating the end effector in a position in which the tip axis is aligned along the front surface and intersects with a moving direction of the end effector. A deburring system characterized by:

2. The end effector includes: A base end portion and three extension parts arranged so as to extend in a direction along the distal end axis and each of the extension parts is supported at its proximal end by the proximal end part; Equipped with The extension portion is A pair of gripping bars that slide to change the distance between them, and one fixed bar. The deburring system according to claim 1 .

3. The end effector includes: The pair of gripping bars rotate while gripping the burr portion, thereby winding up the burr portion between the fixed bar and the gripping bar farther from the fixed bar. The deburring system according to claim 2 .

4. The end effector includes: The burr portion is released by widening the distance between the pair of gripping bars and moving the gripping bar farther from the fixed bar closer to the fixed bar. The deburring system according to claim 3 .

5. The deburring robot includes: The tip side of the end effector which has released the burr portion is oriented downward, so that the burr portion separated from the product portion falls from the end effector. The deburring system according to claim 4 .

6. A jig for catching the burr portion attached to the end effector Further equipped with The deburring robot includes: The burr portion is forced to fall by contacting the jig with the burr portion. The deburring system according to claim 5 .

7. A recovery device for recovering the burr portion that has fallen from the end effector. The deburring system according to claim 5 or 6, further comprising:

8. The holding portion is A multi-joint handling robot with a suction-type end effector The deburring system according to any one of claims 1 to 7,

9. The handling robot includes: removing the workpiece with burrs from the molding device at a first position, and placing the product portion from which the burrs have been removed in a cooperative operation with the deburring robot at a second position; The deburring system according to claim 8 .

10. A holding part for holding a product portion of a burred workpiece having burrs which are resin burrs protruding from a mating surface of a mold; a multi-joint deburring robot having an end effector that grips a burred portion of the workpiece; a controller for controlling the holding unit and the deburring robot; Using a step of the holding portion holding a rear side of the product portion; The end effector grasps the burr portion from a front side of the product portion; a step of controlling the controller to relatively move the end effector in a direction along the front surface while maintaining a distance between the end effector and the front surface, thereby separating the burr portion from the product portion; Including, The end effector includes: the entire end effector is rotatable around a tip axis of the deburring robot, or a part of the end effector is rotatable around a rotation axis along a direction of the tip axis, The deburring robot includes: The burr portion is separated from the product portion by rotating the end effector in a position in which the tip axis is aligned along the front surface and intersects with a moving direction of the end effector. A deburring method comprising the steps of:

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