JP2995169B2 - Work processing apparatus and work processing method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work processing apparatus and a work processing method suitable for processing with a processing tool such as a grinding wheel, particularly for deburring a casting with a grinding wheel.

[0002]

2. Description of the Related Art In the case of castings, it is essential to remove burrs and burrs, and various automatic machines for automatically grinding such burrs have been developed. In the case of a large-size casting automatic deburring machine, the casting is placed on a mounting table that rotates about an axis, a grinding wheel is movably arranged around the mounting table, and the grinding wheel is processed according to the processing procedure. In general, deburring is performed by moving. Before performing a required deburring operation, a so-called teaching operation is performed to determine an optimal movement locus of the grinding wheel. In this teaching work, input the numerical values necessary for the program of the moving means of the grinding wheel so that the moving locus is determined in advance from the shape of the work, perform the grinding experimentally according to this program, check the grinding result, and Is corrected so as to become the final optimum movement locus.

[0003]

However, there is a problem that the mechanism for moving the grinding wheel around the mounting table as described above becomes extremely large. It is particularly uneconomical for small workpieces. In addition, the teaching method has a problem in that a troublesome operation of actually grinding the test many times and correcting the numerical value many times is required.

Accordingly, the present invention has been made to solve the above problems, and an object of the present invention is to provide a work processing apparatus and a work processing method which have extremely high spatial efficiency and can easily perform teaching. To offer.

[0005]

The present invention has the following arrangement to achieve the above object. That is, the work processing apparatus according to the present invention, in a work processing apparatus provided with a processing tool such as a grinding wheel and a driving unit that rotationally drives the processing tool on a base, the base for supporting the processing tool is provided. A first arm that rotates in a plane on the front side of the base about the first rotation axis provided, a first motor that rotationally drives the first arm, and a tip of the first arm A second arm that rotates in a plane parallel to the first arm on the front side of the base about a second rotation axis provided in the unit, and a second motor that rotationally drives the second arm A work holding means provided at the distal end of the second arm for rotating around a third rotation axis orthogonal to a rotation plane of the second arm and holding a work; A third motor that is driven to rotate, a storage unit that stores a work processing procedure, The first motor, the second motor, and the third motor are driven in accordance with a processing procedure stored in advance in the storage means, and the work held by the work holding means is brought into contact with the processing tool and moved. And a control unit for processing a required portion of the work. The first arm is integrally attached to the base, and the first arm and the second arm rotate in the space on the front side of the base, so that the entire apparatus can be configured to be small and extremely excellent in space efficiency. . In particular, since the workpiece moves in contact with the processing tool, and the first arm and the second arm also rotate near the processing tool, the working space is sufficient in a relatively narrow range, and downsizing can be achieved. The first
A moving means for moving the arm in a direction orthogonal to the rotation plane of the first arm may be provided. Detecting means for detecting the moving position of the first arm by the moving means can be provided.

A first detecting means for detecting a rotational position of the first arm from a reference position; a second detecting means for detecting a rotational position of the second arm from a reference position; Third detection means for detecting a rotation position of the work holding means from a reference position, wherein the storage means stores position data of the rotation position of the first arm detected by the first detection means. First storage means for storing by input from the input means, and second storage means for storing position data of the rotational position of the second arm detected by the second detection means by input from the input means And a third storage means for storing position data of a rotational position of the work holding means detected by the third detection means by an input from the input means. For holding means The work that is lifting moving manually, when the workpiece has a plurality of locations on the workpiece processing path is sequentially contact the processing tool, wherein at several sites plurality first
The position data indicating the rotational position of the first arm, the second arm, and the work holding means, which are detected and sampled by the detecting means, the second detecting means, and the third detecting means, are input from the input means by the operator. The teaching is performed so that the work is stored in the first storage means, the second storage means, and the third storage means, respectively, so that the workpiece is moved between the positions indicated by the position data along a required locus during machining. The first motor, the second motor, and the third motor can be configured to be drive-controlled. By manually moving the work along the processing path of the work by the operator, teaching for determining the movement locus of the work can be performed, and a work processing apparatus capable of performing teaching easily and accurately can be provided. Further, the teaching mechanism is simplified, so that the cost can be reduced and the size can be reduced.

[0007] By configuring the control unit to move the work between the positions indicated by the position data along a linear trajectory, a teaching program is facilitated. In addition, the control unit includes a setting unit configured to set a work moving speed between positions indicated by the position data, and the control unit stores the set work moving speed data in response to an input from the input unit by an operator to the storage unit. It can be configured to be stored. Thereby, an appropriate processing speed can be set according to the processing portion. More preferably, the work moving speed is configured to be selectable from a plurality of set moving speeds.

[0008] In the work processing method according to the present invention, group
On a table, a processing tool such as a grinding wheel, and rotationally drive the processing tool
A workpiece processing device provided with a drive unit, wherein the processing tool
In front of the base around the first rotation axis provided on the base supporting the
A first arm that rotates in a plane on one side;
A first motor for rotationally driving the arm, and the first arm
Forward of the base about a second rotation axis provided at the tip of the base
Second arm rotating in a plane parallel to the first arm on the side
A second motor that rotationally drives the second arm;
The second arm is provided at a distal end of the second arm.
When rotated about a third rotation axis orthogonal to the rotation plane,
Work holding means for holding a work, and the work holding means
A third motor for rotationally driving the means and a work processing procedure;
Storage means for storing;
The first motor and the second motor are
And a third motor to drive the
The held work is brought into contact with the processing tool,
A control unit for processing a required portion of the workpiece, and the first arm
Detecting means for detecting a rotational position from a reference position
And the rotational position of the second arm from a reference position are detected.
Detecting means for detecting the position of the workpiece holding means
And third detection means for detecting the rotational position from
The storage means is configured to detect the first detection means
The position data of the rotation position of the first arm is input from the input means.
First storage means for storing by input, the second detection means
Position data of the rotation position of the second arm detected at the step
Second storage for storing the data by the input from the input means.
Means, and the word detected by the third detection means.
From the input means.
Work including third storage means for storing by input of a
Using a device, a work held by the work holding means is used.
Manually move the workpiece to the workpiece
At a plurality of locations on the physical route,
The first detecting means, the second detecting means, and the third detecting means.
Said first arm detected and sampled by a stage;
Position data indicating the rotation position of the second arm and the work holding means.
Data by the input means, and
Column, the second storage means, and the third storage means, respectively.
At the time of machining, the workpiece is moved between the positions indicated by the position data.
The first movement is performed by the control unit so that the first movement is performed .
Drive control of the second motor, the second motor, and the third motor
It is characterized by: The operator moves the work along the actual machining path, and the first arm and the second arm at that time move.
Since the teaching is performed based on the position data of the robot and the work holding means , the teaching of the movement locus of the work can be performed easily and accurately. The first motor, the second motor, and the second motor move the workpiece along a linear trajectory between the positions indicated by the position data by the control unit .
It is preferable to control the driving of the third motor .

[0009]

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. First, a casting deburring apparatus will be described as an example of a workpiece processing apparatus. FIG. 1 is a front view of the deburring apparatus 10, and FIG. 2 is a plan view. 11 is a grinding wheel, 12 is a bearing of its rotating shaft, 1
Reference numeral 3 denotes a driving motor (driving unit). Grinding wheel 1
1, the bearing 12 and the motor 13 are supported on a base 14 such that the rotation axis of the grindstone is horizontal.

Reference numeral 16 denotes a first arm, which is integrally attached to the base 14 on the base side, and is provided on the front side of the base 14 so as to be rotatable in a horizontal plane. The first arm can be moved up and down by moving means. That is, as clearly shown in FIG.
Is a stay 1 having a substantially L-shaped cross section, which is fixed to a moving body 18 moved up and down by a ball screw 17 and moved up and down.
9 attached. That is, a motor (first motor) 20 is attached to the lower surface side of the stay 19, and a rotating shaft (first rotating shaft, not shown) of the motor 20 extends upward through the stay 19. By fixing the first arm 16 to the rotation shaft, the first arm 16 rotates in a horizontal plane. The stay 19 is movable only in the vertical direction by being guided on both sides by appropriate guides, and the rotation about the ball screw 17 is restricted. In the embodiment, the first arm 16
Is configured to rotate in a horizontal plane, but is not limited to this.

An encoder (first position detecting means) 21 is attached to the motor 20 so that the rotational position of the first arm 16 from an appropriate reference position can be detected. Reference numeral 23 denotes a motor (fourth motor) attached to the base 14, which rotates the ball screw 17. 24
Is a bearing of the ball screw 17, and in the embodiment, the ball screw 17 is cantilevered by the bearing 24. Of course, the ball screw 17 may be supported at both ends. Motor 2
An encoder (fourth detection means) 25 is also attached to 3 so that the rotational position of the ball screw 17, that is, the vertical position of the first arm 16 from an appropriate reference position can be detected.

Reference numeral 26 denotes a second arm, which is provided on the tip of the first arm 16 so as to be rotatable in a plane parallel to the first arm 16. That is, a motor (second motor) 27 is attached to the lower surface of the distal end of the first arm 16, and the rotation axis (second rotation axis, not shown) of the motor 27 connects the first arm 16. The second arm 26 extends in the horizontal plane, and the second arm 26 also rotates in a horizontal plane by fixing the base side of the second arm 26 to the rotation shaft. Encoder for motor 27 (second detecting means)
28 is attached so that the rotational position of the second arm 26 from an appropriate reference position can be detected.

A work holding means 30 is attached to the tip of the second arm 26. This work holding means 3
0 will be described with reference to FIG. Reference numeral 31 denotes a lower holding portion, and 32 denotes an upper holding portion. The lower holding portion 31 is provided with the second arm 26.
Is attached to the stay 33 attached to the tip of.
A motor (third motor) 34 is fixed to the lower surface of the stay 33, and the rotation axis (third rotation axis,
(Not shown) extends upward through the stay 33,
The lower holding portion 31 is fixed to the rotating shaft. This rotation axis is provided in a direction orthogonal to the rotation plane of the second arm 26. Therefore, the lower holding portion 31 rotates about the rotation axis in a plane parallel to the rotation plane (horizontal plane) of the second arm. A jig 39 for mounting the work is exchangeably fixed to the lower holding portion 31 by a fastener including a bolt 38 so that the work 37 of various shapes can be mounted thereon.
An encoder (third detection means) 40 is also attached to the motor 34, and the rotation position of the work 37 from an appropriate reference position is detected.

The upper holding portion 32 holds and holds the work 37 between itself and the jig 39. Reference numeral 43 denotes a pressing rod, which is formed of a bolt, penetrates the rotating plate 44, and is attached to the rotating plate 44 so as to be adjustable in height. That is,
The two nuts sandwiching the rotating plate 44 are loosened to adjust the position with respect to the rotating plate 44, and the nut is tightened at that position to be fixed to the rotating plate 44. A pressing element 45 is fixed to the lower end of the pressing rod 43 so as to be rotatable about the axis of the pressing rod 43.

The turning plate 44 has a substantially L-shaped mounting rod 46.
And a mounting rod 46 is attached at its proximal end to a base 47 mounted upwardly on the second arm 26 by the shaft 4.
A shaft 8 is attached so as to be rotatable around the center 8. A link 49 that forms a toggle mechanism is rotatably mounted on a shaft 50 at an intermediate portion of the mounting rod 46. At the upper end of the link 49, the rod 5 of the cylinder device 52 is mounted on the base 47 so as to be swingable about the shaft 51.
The ends 2a are rotatably connected to each other by a shaft 53. When the cylinder device 52 is driven to extend the rod 52a, the rotating plate 44 rotates in the upper hand rotating direction in FIG.
The work 37 placed on the work 9 is pressed against the pressing element 45 and the jig 3.
9 strongly. When the rod 52a retracts, the rotating plate 44 rotates so as to rise to the position shown by the broken line in the figure, and the work 37 can be replaced.

The configuration is as described above. In accordance with a predetermined program (a predetermined work processing procedure is stored in a storage unit) incorporated in the control unit 55 of FIG. 1, the control unit 55 controls the first motor 20, the second motor 27, the third motor Of the first arm 16 and the first arm 16 and the second arm 2
6 and the rotation of the lower holding portion 31 are controlled so that the work 37 attached to the work holding portion 30 is
In response to this, the vertical grinding, the movement in the horizontal plane, and the rotation about the axis are performed, and the grinding grindstone 11 performs necessary processing such as cutting of the gate and deburring.

In the case of the present embodiment, as is apparent from the plan view of FIG. 2, the first arm 16 and the second arm 26 extend from the base 14 side in the space in front of the base 14. As the grinding wheel 11 is swung near the grinding wheel 11 so as to be rolled up, the entire apparatus can be made compact and space efficiency is extremely excellent. It is as simple as an operator holding a small work in hand, standing in front of the grinding wheel 11 and performing a deburring operation. This means that the mounting of the first arm 16 is performed by the base 14 supporting the grinding wheel 11.
This is because it is attached integrally to the base 14 so that the space in front of the base 14 is effectively used. Compared to the conventional configuration in which the work tool of the work is moved around the work,
Space efficiency is greatly different.

Next, the teaching device and method will be described. In the teaching method of the present embodiment for determining the work movement locus, the work can be basically set by the operator moving the work by hand. FIG. 5 shows the teaching operation panel 5
6 is shown. Reference numeral 58 denotes a Y-axis movement key. By operating the key 58, the motor 23 is driven, and the first arm 16 is moved up and down. 60 is an axis selection key, 60a is a selection key related to three axes (X axis, Z axis: movement of the work in a horizontal plane, A axis: rotation of the work), and 60b is a vertical axis (Y
Axis) related selection keys.

Reference numeral 62 denotes a code selection key. 6 of these
Reference numeral 2a denotes a moving speed selection key, which is used to set the moving speed of the workpiece in the horizontal direction (moving in the direction perpendicular to (facing) the grinding wheel 11 and in the horizontal direction) of the workpiece in front of the grinding wheel 11 by 1 to 1. It can be set in a plurality of stages (three stages in the embodiment). Each time the key 62a is pressed, the moving speed can be sequentially switched to high, middle, low, high,.... Reference numeral 62b denotes a linear movement instruction key. By pressing this key, teaching is performed so that the work is moved almost linearly between the sampling positions. Reference numeral 62c denotes a key for setting the rotation speed of the grinding wheel 11, which can be set to a plurality of speeds.
Numeral 63 denotes an input key (input means). By pressing this key 63, the axis selection key 60, the code selection key 6
The data selected in step 2 is recorded in the storage means for the program incorporated in the operation panel 56.

The actual teaching procedure will be described. The work 37 is fixed to the work holding means 30. The height position of the processing portion of the workpiece 37 with respect to the grinding wheel 11 is Y
The setting is made by pressing the axis moving key 58 to move the first arm 16 up and down. The height position data at this time is the rotation position data of the ball screw 17 detected by the encoder 25. Then, by pressing the key 60b and further pressing the input key 63, the height position data is recorded in the storage means. Unless the key 58 is pressed again, the subsequent height position data is held as it is.

After the height position is set, the key 60a
And a required selection key of the code selection key 62 is pressed. Then, the work 37 is manually moved, and according to the work path (S) of the work 37 illustrated in FIG. 6, a plurality of sampling places a, b, c,... They make contact with each other, detect necessary data, and teach. That is, first, the point a is brought into contact with the grinding wheel 11. When the workpiece 37 is moved so that the point “a” comes into contact with the grinding wheel 11, three axes (first
Arm 16, second arm 26, work holding means 30
It can be seen that the three rotation axes are rotated in conjunction with each other.
These rotational positions are the encoders 25, 28, 4 respectively
0 is detected. When the input key 63 is pressed in this state, the position data of these three axes and the condition data selected by the code selection key 62 are recorded in the storage means.

Once the axis selection key 60 and the code selection key 62 are depressed once, they are maintained as they are unless changed. Next, the operator moves the work 37 by hand and brings the portion b of the work 37 into contact with the grinding wheel 11.
When the input key 63 is pressed in this state, the position data of the three axes and the condition data selected by the code selection key 62 are recorded in the storage means. Linear movement instruction key 62
When b is pressed, the work 37 is set (teaching) to move linearly in the horizontal direction while facing the grinding wheel 11 at the time of processing. In order for the workpiece 37 to move linearly in the horizontal direction while the processing surface faces the grinding wheel 11, the three axes rotate with a certain functional relationship.
By inputting the rotational position data of the three axes, the condition of the linear movement of the work 37 is calculated, and the setting can be performed.

As described above, points c, d,...
The rotational position data of the three axes and the setting data of the code selection key 62 are stored in the storage means, and teaching can be performed. In addition, even if the processing surface is a curved surface, as shown at points d to g in FIG. 6, sampling is performed at a plurality of positions between the curved surfaces as appropriate and linearly moved between the respective sampling positions. Processing such as deburring can be performed with almost no problem. Of course, in the processing of the curved surface, it is possible to specify the function of the curved surface so that the workpiece can be moved so as to accurately follow the curved surface, but the setting process becomes complicated.

As described above, teaching is performed by tracing the movement trajectory of the workpiece 37 during actual machining.
Teaching can be performed easily and accurate processing can be performed. At the time of teaching, teaching may be performed while actually processing (grinding) the work 37 by rotating the grinding wheel 11, or
Teaching may be performed using a template having the shape of the processed workpiece.

Of course, when the height of the machining position of the work 37 fluctuates, the work position for the grinding wheel 11 is always required while operating the Y-axis movement key 58 and changing the height position data of the work 37. Teaching can be performed to the position. In this case, assuming that the work 37 has a certain weight, the Y-axis movement key 58
Is operated to move the work 37 up and down electrically, but when the work is lightweight, the work is moved up and down (the up and down movement of the first arm 16) during teaching manually. You may be able to do it. In this case, the vertical movement mechanism of the first arm 16 is constituted by a rack and a pinion (not shown) that meshes with the rack, so that the first arm 16 can be vertically moved with a relatively small force. be able to. By providing a detecting means for detecting the rotational position of the pinion, teaching and vertical drive control can be performed.

In the above-described embodiment, a description has been given of the workpiece processing apparatus having a total of four axes for moving in the three-axis and Y-axis directions and teaching thereof. For example, the first arm 16 and the second arm Not only arm 26,
It may be composed of three or more arms (in the present invention, a plurality of arms after the second arm are all defined as second arms). Also, the rotation axis of the lower holding portion 31 is
For example, a stay 33 is attached to the second arm 26 so as to be tiltable with respect to the rotation plane of the second arm 26 in the left-right direction in FIG.
If the movement of the workpiece 37 is set by detecting the rotational position data of the workpiece 37, it is possible to process a more complicated processing portion of the workpiece 37. Teaching can be performed in the same manner as described above.

Further, in the above embodiment, the first arm 16 and the second arm 26 are rotated in a horizontal plane in front of the base 14 in order to efficiently use the space on the front side of the processing apparatus. The work processing apparatus and the work processing method adopting the configuration of the multi-axis arm have been described, but the teaching is not limited to the processing apparatus of the multi-axis arm. In other words, the present invention can be generally applied to a work processing method including teaching in a work processing apparatus in which a processing tool side is fixed at a fixed position and a workpiece is moved to perform required processing. At the time of teaching, the work may be manually moved so as to abut on the processing tool according to the movement locus of the work at the time of machining, and the position data of the work moving means at the required point may be detected to perform teaching. In this case, the work moving means can also be applied to teaching of a work moving apparatus capable of moving a work in two-dimensional or three-dimensional directions, for example, a work processing apparatus having an XY table mechanism or other work moving means. Therefore, the present invention can be suitably applied to teaching of a work processing apparatus having work moving means having two or more axes.

Although the present invention has been described variously with reference to the preferred embodiments, the present invention is not limited to this embodiment. For example, the work of the work is not limited to grinding such as deburring and the like. This includes a wide range of concepts such as cutting and polishing of a work, and of course includes many modifications without departing from the spirit of the invention.

[0029]

According to the present invention, the first arm and the second arm
The arm extends from the base in the space in front of the base and
It rotates near the processing tool like a tool
The body device can be made compact, and it is extremely excellent in space efficiency. Ah
As if the worker had a small work in his hand,
And similar to performing deburring, etc.
You can. This is the installation of the first arm,
Attached integrally to the base supporting the processing tool, in front of the base
It is nothing but the effective use of space. Obedience
Move the work tool around the work as before
The space efficiency is significantly different from the configuration. You
That is , according to claim 1, the first arm supports the processing tool.
Since the first arm and the second arm rotate in a space on the front side of the base, they can be made compact, and the space efficiency is extremely excellent. In particular, since the workpiece moves in contact with the processing tool, and the first arm and the second arm also rotate near the processing tool, the working space is sufficient in a relatively narrow range, and downsizing can be achieved.
According to the third aspect, the worker can manually perform the teaching for determining the movement locus of the work by moving the work along the machining path of the work, and the teaching device can perform the teaching easily and accurately. Can be provided. Further, the teaching mechanism is simplified, so that the cost can be reduced and the size can be reduced. According to the fourth aspect, the control unit is configured to control the workpiece to move between the positions indicated by the position data along a linear trajectory, thereby facilitating the teaching program. Claim 6
According to this, an appropriate processing speed can be set in accordance with the processing portion. According to claim 7, the operator moves the workpiece along the actual machining trajectory by using the above-described apparatus, and the first
Teaching is performed based on the position data of the first arm, the second arm, and the work holding means , so that the movement locus of the work can be easily and accurately taught.

[Brief description of the drawings]

FIG. 1 is a front view showing an example of a work processing apparatus.

FIG. 2 is a plan view of the apparatus of FIG.

FIG. 3 is an explanatory diagram showing an example of a vertical arm moving means of a first arm.

FIG. 4 is an explanatory diagram illustrating an example of a work holding unit.

FIG. 5 is an explanatory diagram of a teaching operation panel.

FIG. 6 is an explanatory diagram illustrating an example of a work processing path.

[Explanation of symbols]

 Reference Signs List 10 Deburring device 11 Grinding wheel 13 Drive motor 14 Base 16 First arm 17 Ball screw 20 Motor (first motor) 21 Encoder (first detection means) 23 Motor 26 Second arm 27 Motor (second 28 Encoder (second detecting means) 30 Work holding means 31 Lower holding part 32 Upper holding part 34 Motor (third motor) 37 Work 40 Encoder (third detecting means) 55 Control part 58 Y axis Movement key 60 Axis selection key 62 Code selection key 63 Input key (input means)

Continuation of the front page (56) References JP-A-62-48458 (JP, A) JP-A-4-2461 (JP, A) JP-A-6-289923 (JP, A) JP-A-7-132435 (JP) JP-A-6-278007 (JP, A) JP-A-60-177855 (JP, A) JP-A-62-203792 (JP, A) JP-A-63-278777 (JP, A) 5-143137 (JP, A) JP 5-9226 (JP, B2) (58) Fields investigated (Int. Cl. ⁶ , DB name) B24B 27/00 B23Q 15/00 305

Claims (8)

(57) [Claims] 1. A work processing apparatus having a base provided with a processing tool such as a grinding wheel and a drive unit for rotating and driving the processing tool , wherein a first rotary provided on a base supporting the processing tool. A first arm that rotates in a plane on the front side of the base about an axis; a first motor that rotationally drives the first arm; and a second arm that is provided at a tip end of the first arm. A second arm that rotates on a plane parallel to a first arm on the front side of the base about a rotation axis of the base, a second motor that rotationally drives the second arm, A work holding means provided at the distal end of the arm for rotating around a third rotation axis orthogonal to the rotation plane of the second arm and holding the work; and a third means for rotating and driving the work holding means. A motor, storage means for storing a work processing procedure, and The first motor, the second motor, and the third motor are driven according to the processing procedure described above, and the work held by the work holding means is brought into contact with and moved by the processing tool so that the required work is achieved. A work processing apparatus, comprising: a control unit that processes a part. 2. The workpiece processing apparatus according to claim 1, further comprising a moving unit configured to move the first arm in a direction orthogonal to a rotation plane of the first arm. 3. A first detecting means for detecting a rotational position of the first arm from a reference position; a second detecting means for detecting a rotational position of the second arm from a reference position; Third detection means for detecting a rotation position of the work holding means from a reference position, wherein the storage means stores position data of the rotation position of the first arm detected by the first detection means. First storage means for storing by input from the input means, and second storage means for storing position data of the rotational position of the second arm detected by the second detection means by input from the input means And a third storage means for storing position data of a rotation position of the work holding means detected by the third detection means by an input from the input means. In the holding means Moving the workpiece which is manually, when the workpiece has a plurality of locations on the workpiece processing path is sequentially contact the processing tool,
Position data indicating the rotational positions of the first arm, the second arm, and the work holding means, which are detected and sampled by the first detecting means, the second detecting means, and the third detecting means at the plurality of locations, are stored. Teaching to be stored in the first storage means, the second storage means, and the third storage means in accordance with an input from the input means by an operator,
3. The apparatus according to claim 1, wherein at the time of machining, the first motor, the second motor, and the third motor are drive-controlled so as to move the workpiece between the positions indicated by the position data along a required trajectory. Work processing equipment. 4. The apparatus according to claim 3, wherein the control unit controls the workpiece to move along a linear trajectory between the positions indicated by the position data. 5. A setting means for setting a work moving speed between positions indicated by the respective position data, wherein the control section converts the set work moving speed data by an input from the input means by an operator. 5. The workpiece processing apparatus according to claim 3, wherein the workpiece is stored in a storage unit. 6. The work processing apparatus according to claim 5, wherein the work moving speed can be selected from a plurality of set moving speeds. 7. A processing tool such as a grinding wheel on a base,
And a drive unit for rotating the tool.
Thus, a first rotating shaft provided on a base supporting the processing tool
A first arc that rotates in a plane on the front side of the base around
A first motor that rotationally drives the first arm;
Centering on a second rotation axis provided at the tip of the first arm
In a plane parallel to the first arm on the front side of the base.
A second arm that rotates, and a rotational drive of the second arm
A second motor, provided at a distal end of the second arm;
And a third rotation axis orthogonal to the rotation plane of the second arm.
Work holding hand that rotates around the center and holds the work
Step and a third motor for rotating the work holding means
When a storage means for storing the work procedure, the storage Hand
According to the processing procedure stored in advance in the stage,
Drive the first motor, the second motor, the third motor, and
The work held by the work holding means is moved to the processing tool.
A control unit that abuts and moves the workpiece to machine the required part of the work.
And the rotational position of the first arm from a reference position are detected.
A first detecting means for detecting whether or not the second arm is at a reference position.
Second detecting means for detecting the rotational position of the workpiece,
Third detection for detecting the rotational position of the holding means from the reference position
Output means, wherein the storage means stores the first detection means.
Position data of the rotation position of the first arm detected at the step
Storage means for storing the data by input from input means
Step, the second arm detected by the second detection means
The position data of the rotational position of the
Storage means for storing the data, and the third detection means
Position data of the rotational position of the work holding means detected at
A third storage for storing the data by an input from the input means
Using a work processing apparatus including a means, the work held by the work holding means is manually
Move the work to the processing tool and copy it on the work processing path.
Several places are sequentially contacted, and the first
Detection by the detecting means, the second detecting means, and the third detecting means.
The first arm, the second arm
And position data indicating the rotational position of the workpiece holding means.
The first storage means, the second storage means,
The work is stored in the storage means and the third storage means, respectively, and during processing, the work is moved between the positions indicated by the position data.
The control unit causes the first mode to move along the locus.
Data, the second motor, and the third motor.
A work processing method characterized by the following. 8. The control unit controls the first motor, the second motor, and the third motor to move a workpiece along a linear locus between positions indicated by the position data.
8. The work processing method according to claim 7, wherein drive control is performed.