JP5272955B2 - Robot arm cover manufacturing method - Google Patents
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- JP5272955B2 JP5272955B2 JP2009180573A JP2009180573A JP5272955B2 JP 5272955 B2 JP5272955 B2 JP 5272955B2 JP 2009180573 A JP2009180573 A JP 2009180573A JP 2009180573 A JP2009180573 A JP 2009180573A JP 5272955 B2 JP5272955 B2 JP 5272955B2
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- 238000004519 manufacturing process Methods 0.000 title claims description 22
- 238000000576 coating method Methods 0.000 claims abstract description 24
- 239000011248 coating agent Substances 0.000 claims abstract description 23
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 20
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 20
- 238000005520 cutting process Methods 0.000 claims abstract description 18
- 238000000465 moulding Methods 0.000 claims abstract description 8
- 238000007743 anodising Methods 0.000 claims description 17
- 238000005266 casting Methods 0.000 claims description 7
- 238000005304 joining Methods 0.000 claims description 5
- 239000004576 sand Substances 0.000 abstract description 20
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 abstract description 18
- 239000002245 particle Substances 0.000 abstract description 4
- 238000002048 anodisation reaction Methods 0.000 abstract description 2
- 239000000463 material Substances 0.000 abstract description 2
- 230000003449 preventive effect Effects 0.000 abstract 3
- 239000003973 paint Substances 0.000 description 22
- 230000002265 prevention Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 9
- MHAJPDPJQMAIIY-UHFFFAOYSA-N Hydrogen peroxide Chemical compound OO MHAJPDPJQMAIIY-UHFFFAOYSA-N 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- 238000010422 painting Methods 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical group [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 4
- MUBZPKHOEPUJKR-UHFFFAOYSA-N Oxalic acid Chemical compound OC(=O)C(O)=O MUBZPKHOEPUJKR-UHFFFAOYSA-N 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000009503 electrostatic coating Methods 0.000 description 3
- QOSATHPSBFQAML-UHFFFAOYSA-N hydrogen peroxide;hydrate Chemical compound O.OO QOSATHPSBFQAML-UHFFFAOYSA-N 0.000 description 3
- 238000003801 milling Methods 0.000 description 3
- 230000003647 oxidation Effects 0.000 description 3
- 238000007254 oxidation reaction Methods 0.000 description 3
- 210000000707 wrist Anatomy 0.000 description 3
- QAOWNCQODCNURD-UHFFFAOYSA-N Sulfuric acid Chemical compound OS(O)(=O)=O QAOWNCQODCNURD-UHFFFAOYSA-N 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000004512 die casting Methods 0.000 description 2
- 239000008151 electrolyte solution Substances 0.000 description 2
- 239000007789 gas Substances 0.000 description 2
- 229910052759 nickel Inorganic materials 0.000 description 2
- 238000007591 painting process Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000007747 plating Methods 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 239000010407 anodic oxide Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005868 electrolysis reaction Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000000873 masking effect Effects 0.000 description 1
- 239000006082 mold release agent Substances 0.000 description 1
- 235000006408 oxalic acid Nutrition 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
Description
本発明は、ロボットにおいてアームに取り付けられるアルミ製のアームカバーの製造方法に関する。 The present invention relates to a method for manufacturing an aluminum arm cover attached to an arm in a robot.
ロボットでは、アームのフレームの内部に、回転関節を駆動するためのモータや減速装置、或は電力ケーブルや信号ケーブルなどを収納した後、フレームにアームカバーを取り付けてフレームの内部が見えないようにしている。 In a robot, after storing a motor and speed reducer for driving a rotating joint, a power cable, a signal cable, etc. inside the arm frame, attach an arm cover to the frame so that the inside of the frame cannot be seen. ing.
ところで、ロボットは各分野で使用されているが、特に医薬の製造現場などで使用されるロボットにあっては、アームの表面が錆びないことが求められる。この要求に対処するために、アームの外表面を構成する前記アームカバーを、錆び難く、表面も光沢があって美麗なステンレスにより形成することが考えられる。しかしながら、ステンレスは高価で、加工も難しいため、アームカバーをステンレス製とすることは現実的ではない。 By the way, although robots are used in various fields, it is required that the surface of the arm does not rust, especially in robots used in pharmaceutical manufacturing sites. In order to cope with this requirement, it is conceivable that the arm cover constituting the outer surface of the arm is formed of beautiful stainless steel which is hard to rust and has a glossy surface. However, since stainless steel is expensive and difficult to process, it is not realistic to make the arm cover stainless.
アームカバーをアルミによる型成形品とすれば、材料費も比較的安価で、防錆もし易い。アルミに対する簡易な表面処理としては、ニッケルメッキがある。しかし、ニッケルメッキの防錆効果は低レベルであり、医薬製造現場で殺菌のために行う過酸化水素水による洗浄には耐えられない。
なお、本発明とは異なる分野であるが、特許文献１には、アルミダイカストにより形成された空気制御弁のハウジングの表面全体に、陽極酸化処理被膜（アルマイト被膜）を形成し、この陽極酸化処理被膜の表面の一部にフッ素樹脂コート層を形成することが記載されている。
If the arm cover is made of aluminum, the material cost is relatively low and rust prevention is easy. A simple surface treatment for aluminum is nickel plating. However, the rust prevention effect of nickel plating is low, and it cannot withstand the cleaning with hydrogen peroxide solution for sterilization at the pharmaceutical manufacturing site.
In addition, although it is a field different from the present invention, in Patent Document 1, an anodized film (alumite film) is formed on the entire surface of the housing of the air control valve formed by aluminum die casting. It describes that a fluororesin coat layer is formed on a part of the surface of the coating.
アルミ製のアームカバーに対する信頼性ある防錆処理として、特許文献１に示されている陽極酸化処理が挙げられる。アームカバーの表面に形成される陽極酸化処理被膜による防錆を確実なものとするためには、その陽極酸化処理被膜の厚さを均一化し、薄い部分が生じないようにする必要がある。陽極酸化処理では、陽極酸化処理被膜の厚さは、通常、印加電圧と電圧印加時間によって制御できる。しかし、アームカバーは、通常は、型成形品であり、この型成形されたアームカバーを実際に陽極酸化処理すると、印加電圧と時間を管理しても、アームカバーの表面全体に厚さが均一の陽極酸化処理被膜を形成することは困難であった。
それならば、アームカバーの全体に、防錆効果のある一定厚さ以上の陽極酸化被膜が形成されるように処理時間を長くすればよいが、これでは量産品を作るための製造ラインとして、効率的な生産管理を行うことが難しくなる。
An anodizing treatment disclosed in Patent Document 1 is given as a reliable rust prevention treatment for an aluminum arm cover. In order to ensure rust prevention by the anodized film formed on the surface of the arm cover, it is necessary to make the thickness of the anodized film uniform so that no thin portion is generated. In the anodizing treatment, the thickness of the anodized coating can be usually controlled by the applied voltage and the voltage application time. However, the arm cover is usually a molded product, and when this molded arm cover is actually anodized, the thickness of the entire arm cover is uniform even if the applied voltage and time are controlled. It was difficult to form an anodized film.
If this is the case, the treatment time may be increased so that an anodic oxide coating with a certain thickness or more that has a rust-preventing effect is formed on the entire arm cover, but this is an efficient production line for making mass-produced products. It becomes difficult to perform efficient production management.
本発明は上記の事情に鑑みてなされたもので、その目的は、アルミにより型成形されたアームカバーの表面に、高い防錆効果を有する防錆被膜を効率良く形成することができ、しかも、生産管理が容易なロボットのアームカバーの製造方法を提供するところにある。 The present invention has been made in view of the above circumstances, and its purpose is to efficiently form a rust-preventing film having a high rust-preventing effect on the surface of an arm cover molded with aluminum, The present invention provides a method for manufacturing a robot arm cover that is easy to manage production.
アームカバーを型成形によって形成すると、型と接する表面には、アルミ自身から出るガスや離型剤が混入してチル層が形成される。このチル層はごく薄いものであるが、厚さは一様ではなく、場所によって異なる。チル層は陽極酸化処理時における陽極酸化処理被膜の生成に大きな影響を及ぼすため、このチル層の厚さのいかんが陽極酸化処理被膜の厚さを左右する。しかしながら、チル層の生成はランダムで、アームカバーのどの部分にどの程度の厚さのチル層が生じているかは全く分からない。 When the arm cover is formed by mold forming, the chill layer is formed on the surface in contact with the mold by mixing the gas emitted from the aluminum itself and the release agent. The chill layer is very thin, but the thickness is not uniform and varies from place to place. Since the chill layer has a great influence on the formation of the anodized film during the anodizing process, the thickness of the chill layer determines the thickness of the anodized film. However, the generation of the chill layer is random, and it is not known at all how much thickness the chill layer is generated in which part of the arm cover.
また、型に砂型を用いて鋳造したアームカバーの表面を精査してみたところ、金型によるダイカスト成形とは異なり、陽極酸化処理被膜を形成するレベルで見た場合、鋳物砂の粒子の影響で、アームカバーの表面に電解液の浸入し難い細かい凹凸があり、その凹凸の影響で陽極酸化処理被膜が形成され難いことも分かった。このようなアームカバーの細かい凹凸は、ロボットの手先の精度には何ら影響を及ぼさないので、従来では、その凹凸に何らの注意も払われていなかった。 In addition, when examining the surface of the arm cover cast using a sand mold as the mold, unlike the die-cast molding using a mold, when viewed at the level of forming an anodized film, it is affected by the particles of the casting sand. It was also found that the surface of the arm cover has fine irregularities that make it difficult for the electrolyte solution to penetrate, and it is difficult to form the anodized film due to the irregularities. Such fine unevenness of the arm cover has no influence on the accuracy of the hand of the robot, so conventionally no attention has been paid to the unevenness.
本発明者は、以上のように型成形されたアルミ製のアームカバーの表面にはチル層が存在し、特に砂型によるものでは、表面に細かい凹凸が存在し、このチル層や細かい凹凸が原因となって、陽極酸化処理被膜が形成されるところと形成されない或は形成され難いところが生じるため、陽極酸化処理時間を管理しても、一定厚さの陽極酸化処理被膜が得られず、しかも、陽極酸化処理被膜の厚さは目視しても分からないため、防錆効果のある厚さの陽極酸化処理被膜が形成されたことの信頼性が得られないという不具合を生ずることを究明した。 The inventor of the present invention has a chill layer on the surface of the aluminum arm cover molded as described above, and in particular, a sand mold has fine irregularities on the surface, and this chill layer and fine irregularities are the cause. Thus, there are places where an anodized film is formed and where it is not formed or difficult to form. Even if the anodizing time is controlled, an anodized film with a certain thickness cannot be obtained, Since the thickness of the anodized film is not visually recognized, it has been found that there is a problem that the reliability of the formation of the anodized film having the antirust effect cannot be obtained.
本発明は、以上の陽極酸化処理被膜の均一形成を阻害する要因がチル層や細かい凹凸（砂型の場合）の存在にあることに着目してなされたもので、アルミによって型成形されたアームカバーの表面のうちアームへの接合面を切削加工した後、陽極酸化処理時を行う。切削加工は、ミリ単位で切削するので、接合面の表面にあった薄いチル層や細かい凹凸が除去された状態で陽極酸化処理が行われることとなる。この切削により、同時に、接合面の平面精度が高められる。このため、印加電圧と電圧印加時間を管理することで、防錆効果のある所望の厚さの陽極酸化処理被膜を、接合面全体に厚さ均一の状態で形成できる。しかも、陽極酸化処理時間をむやみに長くする必要がないので、効率的に生産でき、且つ、生産管理も容易となる。 The present invention was made by paying attention to the presence of the chill layer and fine irregularities (in the case of sand mold) as a factor that hinders the uniform formation of the above-described anodized film. After cutting the joint surface to the arm among the surfaces, anodizing is performed. Since cutting is performed in millimeter units, anodization is performed in a state where a thin chill layer and fine irregularities on the surface of the joint surface are removed. By this cutting, the planar accuracy of the joint surface is simultaneously increased. For this reason, by controlling the applied voltage and the voltage application time, an anodized film having a desired thickness having an antirust effect can be formed in a uniform thickness state on the entire bonding surface. Moreover, since it is not necessary to unnecessarily increase the anodizing time, production can be performed efficiently and production management is facilitated.
また、アームカバーの接合面以外の表面のうち、アームの外表面となる外側表面には、塗装が施され適度な厚さの塗料被膜が形成される。アームカバーの外側表面に塗料被膜のない箇所が少しでもあると、防錆品質が低下するので、塗料被膜の管理も大変重要である。この塗料被膜の管理に関し、塗料の色がたとえ下地のアルミと同じような色であったとしても、塗装時において、塗料が塗られたところは、その塗料の光沢があって、そのような光沢のない下地とは区別可能であるから、塗料が塗られている箇所、塗られていない箇所を光沢の有無によって容易に判別できる。このことから、塗装時に、光沢の有無を目視によって判別することにより、塗料被膜の有無の管理を効率よく行うことができるようになる。 Further, among the surfaces other than the joint surface of the arm cover, the outer surface serving as the outer surface of the arm is painted to form a coating film having an appropriate thickness. If there is even a small part on the outer surface of the arm cover with no paint film, the rust prevention quality will deteriorate, so the management of the paint film is also very important. Regarding the management of this paint film, even if the color of the paint is the same as that of the underlying aluminum, the place where the paint was applied at the time of painting is the gloss of the paint, and such gloss Therefore, it is possible to easily distinguish the portion where the paint is applied and the portion where the paint is not applied based on the presence or absence of gloss. For this reason, it is possible to efficiently manage the presence or absence of a paint film by visually determining the presence or absence of gloss during painting.
以上のように、本発明の製造方法によれば、防錆品質に優れたアームカバーを生産管理し易い方法で製造することができ、また、本発明の製造方法によって製造したアームカバーをロボットのアームに取り付けることにより、たとえ過酸化水素水で洗浄されても、外側表面は塗料被膜によって保護されているので、錆を発生することはない。洗浄時に過酸化水素水がアームとアームカバーの接合面との間の隙間に浸入したとしても、その接合面には均一厚さの陽極酸化処理被膜が形成されているので、錆を発生することはない。
なお、本発明でいうアルミは、純アルミニウムおよびアルミニウム合金の双方を含む。
As described above, according to the manufacturing method of the present invention, it is possible to manufacture an arm cover excellent in rust prevention quality by a method that is easy to manage production, and the arm cover manufactured by the manufacturing method of the present invention can be By attaching to the arm, even if it is cleaned with hydrogen peroxide, the outer surface is protected by the paint film so that it does not generate rust. Even when hydrogen peroxide water enters the gap between the arm and the joint surface of the arm cover at the time of cleaning, an anodic oxidation treatment film with a uniform thickness is formed on the joint surface. There is no.
The aluminum referred to in the present invention includes both pure aluminum and aluminum alloys.
以下、本発明の一実施形態を図面に基づいて説明する。図６には、産業用ロボットが示されている。この産業用ロボットは、例えば６軸の垂直多関節型ロボットからなるもので、ベース１と、このベース１にＪ１軸を中心に水平方向に回転可能に支持されたショルダ部２と、このショルダ部２にＪ２軸を中心に上下方向に回転可能に支持された下アーム３と、この下アーム３にＪ３軸を中心に上下方向に回転可能に支持された第１の上アーム４と、この第１の上アーム４にＪ４軸を中心に捻り回転可能に支持された第２の上アーム５と、この第２の上アーム５にＪ５軸を中心に上下方向に回転可能に支持された手首６と、この手首６にＪ６軸を中心に捻り回転可能に支持されたフランジ７とから構成されている。
ベース１、ショルダ部２、下アーム３、第１の上アーム４、第２の上アーム５、手首６、フランジ７は、ロボットのアームとして機能し、アーム先端であるフランジ７には、図示はしないが、エンドエフェクタ（手先）が取り付けられる。
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 6 shows an industrial robot. This industrial robot is composed of, for example, a 6-axis vertical articulated robot, and includes a base 1, a shoulder portion 2 supported on the base 1 so as to be rotatable in the horizontal direction around the J1 axis, and the shoulder portion. 2 is supported by the lower arm 3 so as to be rotatable in the vertical direction about the J2 axis, and the first upper arm 4 is supported by the lower arm 3 so as to be rotatable in the vertical direction around the J3 axis. A second upper arm 5 supported by the upper arm 4 so as to be twisted and rotated about the J4 axis, and a wrist 6 supported by the second upper arm 5 so as to be rotatable in the vertical direction about the J5 axis. And a flange 7 that is supported by the wrist 6 so as to be rotatable about the J6 axis.
The base 1, the shoulder portion 2, the lower arm 3, the first upper arm 4, the second upper arm 5, the wrist 6 and the flange 7 function as a robot arm. However, an end effector (hand) is attached.
円盤からなるフランジ７を除く各アーム１〜６は中空で、所要部分に開口部を形成したフレーム構造をなしている。これら各アーム１〜６には、開口部を通じて中空内部にモータや減速装置などを取り付けたり、電源線などを収容したりした後、アルミ製のアームカバーが取り付けられる。 The arms 1 to 6 except for the flange 7 made of a disk are hollow and have a frame structure in which an opening is formed in a required portion. Each of the arms 1 to 6 is attached with an arm cover made of aluminum after a motor, a speed reducer, or the like is installed inside the hollow through the opening or a power line is accommodated.
本実施形態の産業用ロボットは比較的小型で、様々な分野で使用可能であるため、医薬の製造現場などで使用された場合に、過酸化水素水により洗浄されたり、水洗いされたりすることも考慮して、アームカバーには防錆処理が施されている。このような防錆処理が施されたアームカバーの製造方法を、例えば第２の上アーム５の側面を覆うアームカバー８に適用し、特に、このアームカバー８を砂型を用いて型成形する場合に適用して説明する。 Since the industrial robot of the present embodiment is relatively small and can be used in various fields, it may be washed with hydrogen peroxide water or washed with water when used in a pharmaceutical manufacturing site. In consideration, the arm cover is subjected to rust prevention treatment. The manufacturing method of the arm cover subjected to such rust prevention treatment is applied to, for example, the arm cover 8 that covers the side surface of the second upper arm 5, and in particular, the arm cover 8 is molded using a sand mold. It applies to and explains.
アームカバー８は、図１に示すように、鋳造工程、切削工程、陽極酸化処理工程および塗装工程を順に実施して製造される。まず、鋳造工程では、アームカバー８を成形するための図示しない砂型（成形型）が作られる。この砂型の空洞部分、つまりアームカバー８を成形するための空洞部分の内面などには、例えばシリコン系の離型剤が塗布される。そして、この砂型の空洞部分に、溶融アルミを注入してアームカバー８を成形する。 砂型の空洞部分に注入した溶融アルミが凝固してアームカバー８として成形された後、砂型からアームカバー８を取り出す（以上、鋳造工程）。 As shown in FIG. 1, the arm cover 8 is manufactured by sequentially performing a casting process, a cutting process, an anodizing process, and a painting process. First, in the casting process, a sand mold (molding mold) (not shown) for molding the arm cover 8 is made. For example, a silicon mold release agent is applied to the sand mold cavity, that is, the inner surface of the cavity for molding the arm cover 8. Then, molten aluminum is poured into the sand mold cavity to mold the arm cover 8. After the molten aluminum injected into the sand mold cavity is solidified and formed as the arm cover 8, the arm cover 8 is taken out of the sand mold (the casting process).
鋳造されたアームカバー８は、図２（ｂ）にも示すように、全体として偏平なドーム形で、外側表面が中央部分から周縁部に向かって円弧状に緩やかに傾斜している。また、アームカバー８の裏面の周縁部分は、図２（ａ）〜（ｃ）に示すように、第２の上アーム５に、図６に示すボルト９によって締め付け固定される平坦な接合面１０とされている。 As shown in FIG. 2B, the cast arm cover 8 has a flat dome shape as a whole, and the outer surface is gently inclined in an arc shape from the central portion toward the peripheral portion. Further, as shown in FIGS. 2A to 2C, the peripheral edge portion of the back surface of the arm cover 8 is a flat joint surface 10 that is fastened and fixed to the second upper arm 5 by the bolt 9 shown in FIG. It is said that.
このアームカバー８の砂型と接する全表面には、溶融アルミが砂型内で凝固してゆく過程で出るガスや、砂型に塗布された離型剤の影響で、図２（ｃ）に間隔の狭いハッチングを付して示すように、チル層１１が生じている。このチル層１１は薄い（１ミリに満たない）が、その厚さは不均一で、場所によって異なる。また、アームカバー８の砂型と接する全表面は、砂型の砂粒子の影響で細かい凹凸を有した粗面となっている。なお、図２（ｃ）では、チル層１１の厚さは実際よりも厚く描いている。 On the entire surface of the arm cover 8 in contact with the sand mold, there is a narrow interval in FIG. 2 (c) due to the effect of the gas generated in the process of molten aluminum solidifying in the sand mold and the release agent applied to the sand mold. As shown by hatching, the chill layer 11 is generated. The chill layer 11 is thin (less than 1 mm), but its thickness is non-uniform and varies from place to place. Further, the entire surface of the arm cover 8 in contact with the sand mold is a rough surface having fine irregularities due to the influence of the sand mold sand particles. In FIG. 2C, the thickness of the chill layer 11 is drawn thicker than the actual thickness.
次に、鋳造により得たアームカバー８を切削加工する。この切削加工は、例えばマシニングセンターにアームカバー８をセットし、ドリルの切削加工によって図３（ａ）に示すように前記ボルト９の通し孔１２を複数個形成する。また、フライスの切削加工によって接合面１０を切削する（切削工程）。このときの接合面１０の切削は、切削量（切削深さ）をミリ単位にして行う。 Next, the arm cover 8 obtained by casting is cut. In this cutting process, for example, the arm cover 8 is set in a machining center, and a plurality of through holes 12 for the bolts 9 are formed by cutting with a drill as shown in FIG. Further, the joint surface 10 is cut by a milling process (cutting process). Cutting of the joint surface 10 at this time is performed with a cutting amount (cutting depth) in millimeters.
この切削加工により、図３（ｂ）に示すように、接合面１０から１ミリに満たない薄いチル層１１が除去されると同時に、接合面１０の砂粒子による凹凸が除去され、且つ、鋳造時に生じたひけなどもなくなり、接合面１０は平面精度の良い仕上げ面になる。なお、図２（ｃ）にフライスによる接合面１０の切削しろを二点鎖線Ｆで示した。この切削工程におけるフライス切削は、二次元の面である接合面１０についてだけ行い、複雑な三次元表面である外側表面と裏側表面については行わないので、むやみに長い時間を費やすことなく、比較的短い時間で切削加工を終えることができる。 By this cutting, as shown in FIG. 3 (b), the thin chill layer 11 of less than 1 mm is removed from the joint surface 10, and at the same time, the unevenness due to the sand particles on the joint surface 10 is removed, and the casting is performed. There are no sink marks or the like that sometimes occur, and the joining surface 10 becomes a finished surface with good planar accuracy. In FIG. 2C, a margin for cutting the joint surface 10 by a milling cutter is indicated by a two-dot chain line F. The milling in this cutting process is performed only on the joint surface 10 which is a two-dimensional surface, and is not performed on the outer surface and the back side surface which are complicated three-dimensional surfaces. Therefore, relatively long time is not spent. Cutting can be completed in a short time.
切削加工を終えたアームカバー８は、その後、接合面１０を含む全表面に陽極酸化処理を施す（陽極参加処理工程）。即ち、適度な濃度の電解液（例えば希硫酸、シュウ酸など）の中にアームカバー８を浸漬し、アームカバー８を陽極として水の電気分解により当該アームカバー８の全表面を酸化させる。これにより、図４に示すように、アームカバー８の表面全体にアルマイトと称される陽極酸化処理被膜１３が形成される。このとき、一定の印加電圧で電圧印加時間を制御することによって、接合面１０については、防錆効果のある所望厚さの陽極酸化処理被膜１３が形成されるようにする。なお、この陽極酸化処理工程における電圧印加時間は、得るべき陽極酸化処理被膜１３の厚さに必要な時間を実験により予め求めておくものである。 After the cutting process, the arm cover 8 is then subjected to an anodic oxidation treatment on the entire surface including the joining surface 10 (anode participation treatment step). That is, the arm cover 8 is immersed in an electrolyte solution (for example, dilute sulfuric acid, oxalic acid, etc.) at an appropriate concentration, and the entire surface of the arm cover 8 is oxidized by electrolysis of water using the arm cover 8 as an anode. As a result, as shown in FIG. 4, an anodized film 13 called alumite is formed on the entire surface of the arm cover 8. At this time, by controlling the voltage application time with a constant applied voltage, the anodized film 13 having a desired thickness having an antirust effect is formed on the bonding surface 10. In addition, the voltage application time in this anodizing treatment step is obtained in advance by experiment to obtain the time required for the thickness of the anodized film 13 to be obtained.
この陽極酸化処理されたアームカバー８において、接合面１０の陽極酸化処理被膜１３の厚さは、チル層１１および細かい凹凸の除去後に陽極酸化処理を行ったことにより、接合面１０の全体において均一で、防錆にとって必要な厚さ以上の所望厚さの陽極酸化処理被膜１３が得られる。接合面１０以外の外側表面、裏側表面の陽極酸化処理被膜１３は、チル層１１や細かい凹凸を除去せずに陽極酸化処理を行っていることにより、薄く、しかも、場所によって厚さが異なる。 In this anodized arm cover 8, the thickness of the anodized film 13 on the bonding surface 10 is uniform over the entire bonding surface 10 by performing the anodizing process after removing the chill layer 11 and fine irregularities. Thus, an anodized film 13 having a desired thickness that is greater than the thickness necessary for rust prevention is obtained. The anodized film 13 on the outer surface and the back surface other than the bonding surface 10 is thin and has a different thickness depending on the location because the anodizing treatment is performed without removing the chill layer 11 and fine irregularities.
陽極酸化処理を終えたアームカバー８の外側表面には、その後、塗料を例えばスプレーガンによって吹き付ける塗装を行う（塗装工程）。この塗装は、少なくとも接合面１０にマスキング処理、例えば接合面１０にテープを張り付けて実施することが好ましい。この塗装により、図５に示すように、アームカバー８の外側表面に塗料被膜１４が形成される。この塗装時において、塗料は液状であるから、アームカバー８の外側表面に塗料が塗布されると、その塗料塗布部分は光沢を帯びるようになる。このため、塗料の色が下地であるアームカバー８のアルミ色と同じような色であっても、光沢差によって塗料が塗布された部分と、未だ塗布されていない部分とを目視によって容易に見分けることができる。従って、アームカバー８の外側表面の全体が光沢を帯びていれば、外側表面の全体が塗装されたこととなり、目視によって塗装の良否を容易に管理することができる。なお、塗料被膜１４を外側表面の全体に均一に形成するためには、静電塗装が好ましいが、静電塗装に限られるものではない。アームカバー８の外側表面に塗布された塗料は、その後、焼付き処理される。 Thereafter, the outer surface of the arm cover 8 that has been subjected to the anodizing treatment is coated by spraying a paint with, for example, a spray gun (painting process). This coating is preferably performed at least on the joint surface 10 by masking, for example, by sticking a tape to the joint surface 10. By this coating, a paint film 14 is formed on the outer surface of the arm cover 8 as shown in FIG. At the time of painting, since the paint is in a liquid state, when the paint is applied to the outer surface of the arm cover 8, the paint application portion becomes glossy. For this reason, even if the color of the paint is the same color as the aluminum color of the arm cover 8 which is the base, the portion where the paint is applied due to the difference in gloss and the portion where the paint is not yet applied are easily distinguished visually. be able to. Therefore, if the entire outer surface of the arm cover 8 is glossy, the entire outer surface is painted, and the quality of the coating can be easily managed by visual observation. In order to form the coating film 14 uniformly on the entire outer surface, electrostatic coating is preferable, but it is not limited to electrostatic coating. The paint applied to the outer surface of the arm cover 8 is then baked.
以上により、表面に防錆処理層を形成したアームカバー８が製造される。製造されたアームカバー８は、接合面１０を第２の上アーム５に突き合わせてボルト９により固定される。このとき、アームカバー８の接合面１０は平面精度良く切削加工された状態になっているため、同じく精度良く平面加工された第２の上アーム５の取り付け面（図示せず）に隙間なく合わせられて固定される。 As described above, the arm cover 8 having the anti-rust treatment layer formed on the surface is manufactured. The manufactured arm cover 8 is fixed by a bolt 9 with the joint surface 10 butted against the second upper arm 5. At this time, the joint surface 10 of the arm cover 8 is in a state of being machined with high planar accuracy, so that it is aligned with the mounting surface (not shown) of the second upper arm 5 that is also machined with high accuracy. Fixed.
ところで、接合面１０の防錆だけを考えるなら、接合面１０も塗装対象としても良い。しかしながら、塗装では、たとえ静電塗装を行ったとしても、塗料被膜の厚さを均一にすることが非常に困難で、第２の上アーム５の取り付け面に付き合わせたとき、塵埃などの侵入を許容してしまうような比較的大きな隙間を生じさせる恐れがある。これに対し、本実施形態では、切削加工された接合面１０に陽極酸化処理被膜１３を形成するので、塗装による防錆処理とは異なり、そのような隙間が生ずる恐れはない。 By the way, if only the rust prevention of the joint surface 10 is considered, the joint surface 10 may be a coating target. However, even if electrostatic coating is performed, it is very difficult to make the coating film uniform in thickness, and when it is brought into contact with the mounting surface of the second upper arm 5, intrusion of dust or the like. There is a risk that a relatively large gap may be generated. On the other hand, in the present embodiment, since the anodized film 13 is formed on the cut joint surface 10, unlike the anticorrosion process by coating, there is no possibility that such a gap is generated.
図６に示すロボットでは、各アームのアームカバーは、上述のアームカバー８と同様の防錆処理が施されている。このロボットが例えば薬品の製造現場で使用され、過酸化水素水で洗浄され、或は、水で洗浄されたとしても、アームカバー８の外側表面には、塗料被膜１４が形成されているので、過酸化水素水や拭き取られずに残った水などによって腐食される恐れはない。また、仮に、過酸化水素水や水がアームカバー８の接合面１０と第２の上アーム５の取り付け面との間に浸入したとしても、接合面１０には均一厚さの陽極酸化処理被膜１３が形成されているので、当該接合面１０が腐食される恐れもない。 In the robot shown in FIG. 6, the arm cover of each arm is subjected to the same rust prevention treatment as that of the arm cover 8 described above. Even if this robot is used in, for example, a chemical manufacturing site, washed with hydrogen peroxide, or washed with water, the coating film 14 is formed on the outer surface of the arm cover 8. There is no danger of being corroded by hydrogen peroxide or water remaining without being wiped off. Even if hydrogen peroxide water or water enters between the joint surface 10 of the arm cover 8 and the mounting surface of the second upper arm 5, the joint surface 10 has an anodic oxidation treatment film having a uniform thickness. Since 13 is formed, there is no possibility that the joint surface 10 is corroded.
このように本実施形態によれば、接合面１０を切削加工し、チル層１１および細かい凹凸のない状態にして陽極酸化処理を行うようにしたので、接合面１０に、防錆に必要な所望厚さの陽極酸化処理被膜１３を接合面１０全体に均一に形成することができる。しかも、チル層１１および細かい凹凸がないので、均一厚さの陽極酸化処理被膜１３を、電圧印加時間の制御によって容易に、且つ、むやみに長時間を要することなく、求める被膜厚さ分の時間だけの処理にて形成することができる。従って、量産品を製造する生産ラインとして効率的に陽極酸化処理を行うことができる容易な生産管理が可能となる。
また、アームカバー８の外側表面の防錆被膜（塗料被膜１４）を塗装によって形成するので、効率良く形成でき、しかも、防錆被膜（塗料被膜１４）の良否については、塗装時に目視により光沢の有無を判別することによって容易に効率良く管理することができる。
As described above, according to the present embodiment, the joining surface 10 is cut and anodized in a state free from the chill layer 11 and fine irregularities. The anodized film 13 having a thickness can be uniformly formed on the entire bonding surface 10. In addition, since there is no chill layer 11 and fine irregularities, it is possible to easily obtain an anodized film 13 having a uniform thickness by controlling the voltage application time and without requiring a long time. It can be formed only by processing. Therefore, it is possible to easily perform production management that enables efficient anodizing treatment as a production line for producing mass-produced products.
Moreover, since the rust-proof coating (paint coating 14) on the outer surface of the arm cover 8 is formed by painting, it can be formed efficiently, and the quality of the rust-proof coating (paint coating 14) is visually glossy during painting. It can be managed easily and efficiently by determining the presence or absence.
なお、本発明は上記し且つ図面に示す実施形態に限定されるものではなく、以下のような拡張或は変更が可能である。
陽極酸化工程では、アームカバーの外側表面および内側表面をマスキングし、接合面にだけアルマイト層を形成するようにしても良い。
アームカバーの内側表面を塗装しても良い。
陽極酸化処理は、塗装工程の後に実施しても良い。
アームカバーは砂型により型成形したものに限らず、金型（成形型）を用いたダイキャスト機によって型成形したものであっても良い。
The present invention is not limited to the embodiment described above and shown in the drawings, and can be expanded or changed as follows.
In the anodizing step, the outer surface and the inner surface of the arm cover may be masked to form an alumite layer only on the joint surface.
The inner surface of the arm cover may be painted.
The anodizing treatment may be performed after the coating process.
The arm cover is not limited to the one molded with a sand mold, but may be one molded with a die casting machine using a mold (molding die).
図面中、８はアームカバー、１０は接合面、１１はチル層、１３は陽極酸化処理被膜、１４は塗料被膜を示す。 In the drawing, 8 is an arm cover, 10 is a joint surface, 11 is a chill layer, 13 is an anodized film, and 14 is a paint film.
Claims (1)
前記アームカバーをアルミにより型成形する鋳造工程と、
前記型成形された前記アームカバーの前記アームへの接合面を切削加工し、前記型成形時に前記接合面の表面に生じたチル層を除去する切削工程と、
前記接合面が切削加工された前記アームカバーを陽極酸化処理して少なくとも前記接合面にアルマイト層を形成する陽極酸化処理工程と、
前記アームカバーの表面のうち、前記接合面を除く表面であって少なくとも前記アームの外表面となる外側表面を塗装する塗装工程と
からなるロボットのアームカバーの製造方法。 In a method of manufacturing an aluminum arm cover that is joined to a robot arm and constitutes the outer surface of the arm,
A casting process in which the arm cover is molded from aluminum;
A cutting step of cutting the joint surface of the arm cover that has been molded to the arm, and removing a chill layer generated on the surface of the joint surface during the molding,
An anodizing treatment step of forming an alumite layer on at least the joining surface by anodizing the arm cover in which the joining surface is cut; and
A method of manufacturing an arm cover for a robot, comprising: a coating step of coating at least an outer surface which is a surface excluding the joint surface and is an outer surface of the arm among surfaces of the arm cover.
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| IT201900001321A1 (en) * | 2019-01-30 | 2020-07-30 | Ima Spa | METHOD FOR THE REALIZATION OF AN ARTICULATED AUTOMATIC OPERATING DEVICE AND RELATIVE ARTICULATED AUTOMATIC OPERATING DEVICE. |
| WO2020157781A1 (en) | 2019-01-30 | 2020-08-06 | I.M.A. Industria Macchine Automatiche S.P.A. | Method to manufacture a component for a machine for the production and/or packaging of pharmaceutical products |
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| JP5970921B2 (en) * | 2012-04-02 | 2016-08-17 | セイコーエプソン株式会社 | robot |
| JP5580378B2 (en) | 2012-08-31 | 2014-08-27 | ファナック株式会社 | Articulated robot having a cover attached to an end effector mounting portion |
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| JPS6056094A (en) * | 1983-09-08 | 1985-04-01 | Fujikura Ltd | Anodic oxidation of aluminum alloy casting |
| JPS61157694A (en) * | 1984-12-28 | 1986-07-17 | Nippon Light Metal Co Ltd | Method for coating aluminum wheel with paint to prevent corrosion |
| JPS63248556A (en) * | 1987-04-06 | 1988-10-14 | Fujikura Ltd | Aluminum die-casting product for anodic oxidation treatment |
| EP0640902A3 (en) * | 1993-08-26 | 1996-11-06 | Faro Technologies | Method for programming multi-axis devices controlled by computer. |
| JPH091319A (en) * | 1995-06-20 | 1997-01-07 | Showa:Kk | Surface treatment method of aluminum alloy castings or aluminum alloy die castings |
| JP3553288B2 (en) * | 1996-09-03 | 2004-08-11 | 三菱アルミニウム株式会社 | Vehicle wheels with excellent corrosion resistance and glitter |
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| IT201900001321A1 (en) * | 2019-01-30 | 2020-07-30 | Ima Spa | METHOD FOR THE REALIZATION OF AN ARTICULATED AUTOMATIC OPERATING DEVICE AND RELATIVE ARTICULATED AUTOMATIC OPERATING DEVICE. |
| WO2020157781A1 (en) | 2019-01-30 | 2020-08-06 | I.M.A. Industria Macchine Automatiche S.P.A. | Method to manufacture a component for a machine for the production and/or packaging of pharmaceutical products |
| WO2020157780A2 (en) | 2019-01-30 | 2020-08-06 | I.M.A. Industria Macchine Automatiche S.P.A. | Method to produce an articulated automatic operator device and corresponding articulated automatic operator device |
| WO2020157780A3 (en) * | 2019-01-30 | 2020-09-10 | I.M.A. Industria Macchine Automatiche S.P.A. | Method to produce an articulated automatic operator device and corresponding articulated automatic operator device |
| US12221706B2 (en) | 2019-01-30 | 2025-02-11 | I.M.A. Industria Macchine Automatiche S.P.A. | Method to produce an articulated automatic operator device and corresponding articulated automatic operator device |
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