CN116390825A - Workpiece processing device and ultrasonic processing device provided with same - Google Patents
Workpiece processing device and ultrasonic processing device provided with same Download PDFInfo
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- CN116390825A CN116390825A CN202080106608.6A CN202080106608A CN116390825A CN 116390825 A CN116390825 A CN 116390825A CN 202080106608 A CN202080106608 A CN 202080106608A CN 116390825 A CN116390825 A CN 116390825A
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- 238000000034 method Methods 0.000 claims abstract description 25
- 238000003825 pressing Methods 0.000 abstract description 6
- 238000003754 machining Methods 0.000 description 58
- 239000011800 void material Substances 0.000 description 10
- 238000006073 displacement reaction Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000005498 polishing Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
- B23D79/00—Methods, machines, or devices not covered elsewhere, for working metal by removal of material
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Abstract
The invention provides a workpiece processing device capable of controlling the pressing force of a cutting knife on a workpiece to process the workpiece with high precision, and an ultrasonic processing device provided with the workpiece processing device and capable of processing the workpiece with high precision. A workpiece processing device (5) is a device for processing a workpiece (W) by using a cutting blade (69), and is provided with: a cutter position changing mechanism (7) capable of changing the position of the cutter (69) relative to the workpiece (W) in a specific direction according to the shape of the workpiece (W); and a first cutter position urging cylinder (79 a) and a second cutter position urging cylinder (79 b) that urge the cutter position changing mechanism (7) against the changing direction of the position of the cutter (69).
Description
Technical Field
The present invention relates to a workpiece processing apparatus for processing a workpiece, and an ultrasonic processing apparatus provided with the workpiece processing apparatus.
Background
Conventionally, a workpiece processing apparatus and an ultrasonic processing apparatus for processing a workpiece are known.
For example, patent documents 1 and 2 describe an ultrasonic processing apparatus for processing a workpiece using a cutter 10, in which the cutter 10 is oscillated according to the shape of the workpiece, and the cutter 10 is pressed against the surface of the workpiece by a coil spring mechanism 84 against the oscillating mechanism in the direction of the oscillation angle of the cutter 10 (see fig. 13 and 14 of reference 1, fig. 13 and 14 of reference 2, and the like).
Prior art literature
Patent literature
Patent document 1: japanese patent laid-open No. 2008-273212
Patent document 2: japanese patent laid-open No. 2008-030251
Disclosure of Invention
Problems to be solved by the invention
However, the cutting blades described in the cited documents 1 and 2 are swung by the coil spring mechanism 84 and pressed against the workpiece, and therefore, there is a problem that the workpiece cannot be processed with high precision due to the difference in pressing force against the workpiece due to the length of the swing.
The present invention has been made in view of the above-described problems of the related art, and an object thereof is to provide a workpiece processing apparatus capable of processing a workpiece (hereinafter referred to as a "workpiece") with high accuracy by controlling a pressing force of a cutting blade against the workpiece, and an ultrasonic processing apparatus provided with the workpiece processing apparatus and capable of processing a workpiece with high accuracy.
Means for solving the problems
In order to solve the above-described problems, a first aspect of the present invention is a workpiece processing apparatus for processing a workpiece using a cutting blade, comprising: a cutter position changing mechanism capable of changing a position of the cutter with respect to the workpiece in a specific direction according to a shape of the workpiece; and a cutter position urging means for urging the cutter position changing means against the direction of changing the position of the cutter, wherein the cutter position urging means urges the cutter position changing means with a substantially constant urging force regardless of the position of the cutter determined by the cutter position changing means.
A second aspect of the present invention is the workpiece processing apparatus according to the first aspect, further comprising a cutter position locking mechanism that fixes a position of the cutter with respect to the workpiece in the specific direction.
A third aspect of the present invention is the workpiece processing apparatus according to the first or second aspect, further comprising: a cutter angle changing mechanism capable of changing an angle of the cutter with respect to a traveling direction according to a shape of the workpiece; and a cutter angle urging means for urging the cutter angle changing means against a changing direction of the angle of the cutter.
In the workpiece processing apparatus according to the fourth aspect of the present invention, the cutter angle urging means urges the cutter angle changing means with a substantially constant urging force regardless of the angle of the cutter.
A fifth aspect of the present invention is the workpiece processing apparatus according to the third or fourth aspect, further comprising a cutter angle locking mechanism for fixing the angle.
Further, an ultrasonic processing apparatus according to a sixth aspect of the present invention is the workpiece processing apparatus according to any one of the first to fifth aspects, wherein the cutter blade is ultrasonically vibrated in a direction intersecting the specific direction with respect to the workpiece to process the workpiece.
The ultrasonic processing apparatus according to a seventh aspect of the present invention is the workpiece processing apparatus according to any one of the third to fifth aspects, wherein the cutter is ultrasonically vibrated in a direction intersecting the direction of change of the angle to process the workpiece.
A workpiece processing apparatus according to a first aspect of the present invention relates to an apparatus for processing a workpiece using a cutting blade, and in particular includes: a cutter position changing mechanism capable of changing the position of the cutter relative to the workpiece in a specific direction according to the shape of the workpiece; and a cutter position urging means for urging the cutter position changing means against a changing direction of the position of the cutter, wherein the cutter position urging means urges the cutter position changing means with a substantially constant urging force irrespective of the position of the cutter position changing means, and therefore the workpiece processing apparatus can process a workpiece with high precision.
In addition, according to the second aspect of the present invention, in the workpiece processing apparatus according to the first aspect, since the cutter position locking mechanism for fixing the position of the cutter with respect to the specific direction of the workpiece is provided, in addition to the effect of the workpiece processing apparatus according to the first aspect, the mechanism for effectively pressing the cutter can be selected to process the workpiece according to the shape of the workpiece.
Further, according to a third aspect of the present invention, there is provided the workpiece processing apparatus according to the first or second aspect, comprising: a cutter angle changing mechanism capable of changing the angle of the cutter relative to the traveling direction according to the shape of the workpiece; and a cutter angle urging means for urging the cutter angle changing means against the changing direction of the angle of the cutter, so that the cutter can be effectively pressed against the workpiece having a complicated machining shape to perform machining in addition to the effect of the workpiece machining apparatus according to the first or second aspect.
In the workpiece processing apparatus according to the fourth aspect of the present invention, the cutter angle urging means urges the cutter angle changing means with a substantially constant urging force regardless of the angle of the cutter, so that the cutter can be pressed and processed more effectively even for a workpiece of a complicated processing shape in addition to the effect of the workpiece processing apparatus according to the third aspect.
In addition, according to the fifth aspect of the present invention, in the workpiece processing apparatus according to the third or fourth aspect, since the cutter angle locking mechanism is provided, in addition to the effect of the workpiece processing apparatus according to the third or fourth aspect, a mechanism for effectively pressing the cutter can be selected to process the workpiece according to the shape of the workpiece.
Further, according to a sixth aspect of the present invention, there is provided the workpiece processing apparatus according to any one of the first to fifth aspects, wherein the cutting blade is ultrasonically vibrated in a direction intersecting a specific direction with respect to the workpiece to process the workpiece, so that the workpiece can be processed more precisely.
Further, according to a seventh aspect of the present invention, there is provided the workpiece processing apparatus according to any one of the third to fifth aspects, wherein the cutting blade is ultrasonically vibrated in a direction intersecting with the direction of change of the angle to process the workpiece, so that the workpiece can be processed more precisely.
Drawings
Fig. 1 is an overall side view of an ultrasonic processing apparatus according to an embodiment of the present invention.
Fig. 2 is an overall perspective view of a workpiece processing apparatus provided in the ultrasonic processing apparatus according to the present embodiment.
Fig. 3 is a cross-sectional view A-A of fig. 2.
Fig. 4 is a sectional view B-B of fig. 2, which shows a state (angle 0 degree) in which the cutter blade angle urging cylinder is turned on and no load is applied to the cutter blade.
Fig. 5 is a sectional view of fig. 2C-C, showing a state (position 0 mm) in which the cutter position urging cylinder is turned on and no load is applied to the cutter.
Fig. 6 is a block diagram of an ultrasonic processing apparatus according to the present embodiment.
Fig. 7 is a block diagram of a main controller of the ultrasonic processing apparatus according to the present embodiment.
Fig. 8 is a flowchart of a main routine in the ultrasonic processing apparatus according to the present embodiment.
Fig. 9 is a flowchart of an ultrasonic processing program in the ultrasonic processing apparatus according to the present embodiment.
Fig. 10 is a view showing a state (angle+θ1 degrees) in which the cutter angle urging cylinder is turned on, and a load is applied to the cutter, and the cutter is rotated in the counterclockwise direction by the maximum angle in the B-B cross-sectional view of fig. 2.
Fig. 11 is a view showing a state (angle- θ1 degrees) in which the cutter angle urging cylinder is turned on, and a load is applied to the cutter, and the cutter is rotated by the maximum angle in the clockwise direction in the B-B cross-sectional view of fig. 2.
Fig. 12 is a view showing a state (angle 0 degree) in which the cutter angle locking cylinder is turned on and the angle of the cutter is fixed in the section B-B of fig. 2.
Fig. 13 is a view of the attached cutter blade as seen from below, and is an explanatory view illustrating the relationship between the cutter blade and the rotation direction of the cutter blade.
Fig. 14 is a view showing a state (angle +x1mm) in which the cutter is moved by applying a load to the cutter by turning on the cutter position urging cylinder in the cross section C-C of fig. 2 and the cutter is moved by the maximum displacement in the +x direction.
Fig. 15 is a view showing a state (angle-X1 mm) in which the cutter is moved by applying a load to the cutter and the cutter is maximally displaced in the-X direction by turning on the cutter position biasing cylinder in the cross section C-C of fig. 2.
Fig. 16 is a view showing a state (displacement of 0 mm) in which the cutter position locking cylinder is turned on and the position of the cutter is fixed in the C-C section view of fig. 2.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(embodiment)
First, an embodiment of the present invention will be described.
Fig. 1 is an overall side view of an ultrasonic processing apparatus according to an embodiment of the present invention.
As shown in fig. 1, an ultrasonic processing apparatus 1 according to the present embodiment includes a table 10, an articulated robot 3 fixed to the table 10, a workpiece processing apparatus 5 rotatably connected to a front end of the articulated robot 3, a workpiece setting table 16 provided on the table 10, an oscillator 2, a main controller 4, and a robot controller 6 disposed on the table 10, and an air compressor 14 disposed outside the table 10 (see fig. 6).
The ultrasonic processing apparatus 1 of the present embodiment performs ultrasonic vibration in the vertical direction in the drawing by using the vibrator 71 to make the cutting blade 69 connected to the tip of the workpiece processing apparatus 5 and having the polished tip on both sides of the cross section thin, thereby processing the workpiece W set on the workpiece setting table 16.
The work setting table 16 is provided with an operation panel 8, and an operator of the ultrasonic processing apparatus 1 can operate the ultrasonic processing apparatus 1 by operating the operation panel 8.
The multi-joint robot 3 is a normal 5-axis multi-joint robot that operates in accordance with a command from the robot controller 6, and is capable of freely changing the position and angle of the workpiece processing device 5 and facing the workpiece W.
The articulated robot 3 includes 5 axes, namely: a first rotation shaft 44 for rotating the second base 34 with respect to the first base 32; a second rotation shaft 46 for rotating the lower arm portion (lower arm portion) 36 back and forth with respect to the second base 34; a third rotation shaft 48 for rotating the middle arm portion (middle arm portion) 38 up and down with respect to the lower arm portion 36; a fourth rotation shaft 50 for rotating the upper arm portion (upper arm portion) 40 up and down with respect to the middle arm portion 38; and a fifth rotation shaft 52 for coaxially rotating the rotation portion 42 with respect to the upper arm portion 40.
The multi-joint robot 3 is electrically connected to the robot controller 6 via a cable (not shown), and the robot controller 6 is electrically connected to the main controller 4 (see fig. 6).
Fig. 2 is a perspective view of the whole of a workpiece processing device 5 provided in the ultrasonic processing device 1 according to the present embodiment, fig. 3 is a cross-sectional view A-A of fig. 2, fig. 4 is a cross-sectional view B-B of fig. 2, a view showing a state in which a cutter angle urging cylinder is turned on and no load is applied to the cutter (angle 0 degrees), and fig. 5 is a cross-sectional view C-C of fig. 2, a view showing a state in which a cutter position urging cylinder is turned on and no load is applied to the cutter (angle 0 degrees).
The workpiece processing apparatus 5 ultrasonically vibrates a cutter 69 connected to the tip of the vibrator 71 electrically connected to the oscillator 2 via a cable 73, and processes a workpiece W set on the workpiece setting table 16.
As shown in fig. 2 to 5, the workpiece processing apparatus 5 includes a lower cutter angle changing mechanism 9, a first cutter angle urging cylinder 75a, a second cutter angle urging cylinder 75b, and a cutter angle locking cylinder 77, and an upper cutter position changing mechanism 7, a first cutter position urging cylinder 79a, a second cutter position urging cylinder 79b, and a cutter position locking cylinder 81.
As shown in fig. 3 and 4, the cutter angle changing mechanism 9 includes: a base shaft 11 fixed to the workpiece processing device 5; a rotating body 13 rotatably connected to the base shaft 11 and connected to the vibrator 71 and the cutter 69; a first protrusion 83 provided on the rotating body 13 and capable of abutting against a third protrusion 87 described later; a second protrusion 85 provided on the opposite side of the rotary body 13 from the first protrusion 83 and capable of abutting against a fourth protrusion 89 described later; a recess 91 provided in the rotating body 13 and fitted with a lock pin 39 described later; and a void portion 15 formed to allow the rotation body 13 to rotate.
The first cutter angle urging cylinder 75a is a device that urges the rotary body 13 to resist a rotational force of the rotary body 13 that is left-handed in a plan view, and includes: a first housing 17 having a void 21 therein; a piston 19 slidably disposed in the space 21 of the first housing 17; and a third protrusion 87 connected to the front end of the piston 19, and the air compressor 14 (see fig. 6) and the void 21 of the first housing 17 communicate with each other through a connection pipe 23.
The second cutter angle urging cylinder 75b is a device that urges the rotary body 13 to resist a rotational force of the rotary body 13 in a right-hand direction in plan view, and includes: a second housing 25 having a void 29 therein; a piston 27 slidably disposed in the space 29 of the second housing 25; and a fourth protrusion 89 connected to the front end of the piston 27, and the void 29 of the second housing 25 communicates with the air compressor 14 (see fig. 6) through a connection pipe 31.
The first blade angle biasing cylinder 75a, the second blade angle biasing cylinder 75b, the connection pipe 23, the connection pipe 31, and the air compressor 14 constitute a "blade angle biasing mechanism" of the present invention.
The cutter angle locking cylinder 77 stops rotation of the rotary body 13, and includes: a third case 33 having a void 37 (see fig. 12) inside; a piston 35 slidably disposed in the space 37 of the third housing 33; and a lock pin 39 connected to the tip of the piston 35, and the space 37 of the third housing 33 communicates with the air compressor 14 (see fig. 6) through a connection pipe 41 and a connection pipe 43.
The cutter angle locking cylinder 77, the connecting pipe 41, the connecting pipe 43, and the air compressor 14 constitute a "cutter angle locking mechanism" of the present invention.
As shown in fig. 3 and 5, the cutter position changing mechanism 7 includes: a base 92 fixed to the workpiece processing apparatus 5; a movable body 90 movably connected to the base 92; a seventh protruding portion 97 provided on the movable body 90 and capable of abutting against a fifth protruding portion 95 described later; an eighth protruding portion 98 provided on the moving body 90 and capable of abutting against a sixth protruding portion 99 described later; and a recess 93 provided in the movable body 90 for fitting a locking pin 67 described later.
The first cutter position biasing cylinder 79a includes: a fourth housing 45 having a void portion 49 inside; a piston 47 slidably disposed in a space 49 of the fourth housing 45; and a fifth projection 95 connected to the front end of the piston 47, and the space 49 of the fourth housing 45 communicates with the air compressor 14 (see fig. 6) through a connection pipe 51.
The second cutter position biasing cylinder 79b includes: a fifth housing 53 having a void 57 therein; a piston 55 slidably disposed in the space 57 of the fifth housing 53; and a sixth projection 99 connected to the front end of the piston 55, and the void 57 of the fifth housing 53 communicates with the air compressor 14 (see fig. 6) through a connection pipe 59.
The first cutter position biasing cylinder 79a, the second cutter position biasing cylinder 79b, the connection pipe 51, the connection pipe 59, and the air compressor 14 constitute a "cutter position biasing mechanism" of the present invention.
The cutter position locking cylinder 81 includes: a sixth housing 61 having a void 65 (see fig. 16) inside; a piston 63 slidably disposed in a space 65 (see fig. 16) of the sixth housing 61; and a lock pin 67 connected to the distal end of the piston 63, and the air compressor 14 (see fig. 6) and the space 65 (see fig. 16) of the sixth housing 61 communicate with each other through a connection pipe 94 and a connection pipe 96.
In addition, the cutter position locking cylinder 81, the connection pipe 94, the connection pipe 96, and the air compressor 14 constitute a "cutter position locking mechanism" of the present invention.
Next, a block diagram of the ultrasonic processing apparatus 1 according to the present embodiment will be described.
Fig. 6 is a block diagram of an ultrasonic processing apparatus according to the present embodiment, and fig. 7 is a block diagram of a main controller of the ultrasonic processing apparatus according to the present embodiment.
In fig. 6, the ultrasonic processing apparatus 1 includes: a main controller 4 electrically connected to the power supply 12; an air compressor 14 electrically connected to the main controller 4 for driving the first cutter angle urging cylinder 75a, the second cutter angle urging cylinder 75b, the cutter angle locking cylinder 77, the first cutter position urging cylinder 79a, the second cutter position urging cylinder 79b, and the cutter position locking cylinder 81; a robot controller 6 electrically connected to the main controller 4 for controlling the multi-joint robot 3; an oscillator 2 for driving the vibrator 71; and an operation panel 8 that receives an input from an operator of the apparatus.
In the present embodiment, the first blade angle urging cylinder 75a and the second blade angle urging cylinder 75b may be collectively referred to as "the blade angle urging cylinder 75", and the first blade position urging cylinder 79a and the second blade position urging cylinder 79b may be collectively referred to as "the blade position urging cylinder 79".
In fig. 7, the main controller 4 includes a CPU (central processing unit) 22, a RAM (Random Access Memory: random access Memory) 24 connected to the CPU22 so as to be able to input and output, and a ROM (Read Only Memory) 26 connected to the CPU22 so as to be able to input and output.
The RAM24 includes: a machining data table 24a storing machining data for machining the workpiece W; and a processing mode data table 24b storing setting items corresponding to processing modes to be described later when the ultrasonic processing apparatus 1 processes the workpiece W.
The ROM26 includes: a main program 26a for managing the operation of the entire ultrasonic processing apparatus 1 according to the present embodiment; and an ultrasonic processing program 26b for executing ultrasonic processing by the ultrasonic processing apparatus 1 according to a processing mode described later.
Next, the operation of the ultrasonic processing apparatus 1 configured as described above will be described.
Fig. 8 is a flowchart of a main routine in the ultrasonic processing apparatus according to the present embodiment, and fig. 9 is a flowchart of an ultrasonic processing routine in the ultrasonic processing apparatus according to the present embodiment.
As described above, the ultrasonic processing apparatus 1 of the present embodiment ultrasonically vibrates the cutting blade 69 connected to the tip of the workpiece processing apparatus 5 by the vibrator 71, and processes the workpiece W set on the workpiece setting table 16.
The ultrasonic processing apparatus 1 of the present embodiment includes four processing modes as processing modes for processing the workpiece W.
Specifically, the ultrasonic processing apparatus 1 of the present embodiment includes: a first machining mode for machining the workpiece W by energizing the cutter 69 in a state in which the cutter angle energizing cylinder 75 and the cutter position energizing cylinder 79 are turned on; a second machining mode in which the cutter 69 is energized to machine the workpiece W in a state in which the cutter angle locking cylinder 77 and the cutter position energizing cylinder 79 are energized; a third machining mode for machining the workpiece W by energizing the cutter 69 in a state in which the cutter angle energizing cylinder 75 and the cutter position locking cylinder 81 are turned on; and a fourth machining mode in which the cutter 69 is not biased in a state in which the cutter angle locking cylinder 77 and the cutter position locking cylinder 81 are turned on, and the workpiece W is machined.
In fig. 8, when the operator of the apparatus first turns on the power switch, inputs the number of processes and the processing mode of the workpiece W by the operation buttons on the operation panel 8 and presses the start button, the ultrasonic processing apparatus 1 moves the arm of the multi-joint robot 3 to the initial position (S1), sets the number of processes of the workpiece W (S3), extracts a setting item from the processing mode data table 24b based on the inputted processing mode (S5), and executes an ultrasonic processing program (S7) described later.
(first processing mode)
First, description is made as follows: the cutter 69 is energized in a state where the cutter angle energizing cylinder 75 and the cutter position energizing cylinder 79 are turned on, and a first machining mode for machining the workpiece W is set. The first machining mode is an optimal machining mode when machining a workpiece W having a complicated machining shape.
In fig. 9, in the ultrasonic machining program, first, after machining data is acquired from the machining data table 24a (S21), it is determined whether or not the machining mode is the cutter angle urging mode (S23).
Since the first machining mode uses the cutter angle urging mode (S23: yes), the first cutter angle urging cylinder 75a and the second cutter angle urging cylinder 75b are turned on (S25), and it is determined whether the machining mode is the cutter position urging mode (S29).
Since the first machining mode uses the cutter position urging mode (S29: yes), the first cutter position urging cylinder 79a and the second cutter position urging cylinder 79b are turned on (S31).
Fig. 4 shows a state (angle 0 degrees) in which the first blade angle urging cylinder 75a and the second blade angle urging cylinder 75b are turned on and the blade is not loaded.
As specifically described with reference to fig. 4, when the first cutter angle urging cylinder 75a is turned on, air is injected from the air compressor 14 into the space 21 of the first housing 17 of the first cutter angle urging cylinder 75a via the connection pipe 23, the piston 19 descends downward in the drawing, and the third protrusion 87 connected to the tip of the piston 19 comes into contact with the first protrusion 83 provided on the rotating body 13.
When the second cutter angle biasing cylinder 75b is turned on, air is injected from the air compressor 14 into the space 29 of the second housing 25 of the second cutter angle biasing cylinder 75b via the connection pipe 31, the piston 27 rises upward in the drawing, and the fourth protrusion 89 connected to the tip of the piston 27 comes into contact with the second protrusion 85 provided on the rotary body 13.
In this way, when the first blade angle urging cylinder 75a and the second blade angle urging cylinder 75b are turned on, the rotary body 13 is rotatable in the right-hand direction and the left-hand direction in the drawing with respect to the base shaft 11, but the rotary body 13 is urged by the third protrusion 87 connected to the tip of the piston 19 and the fourth protrusion 89 connected to the tip of the piston 27, whereby the blade 69 is stabilized at the position of 0 degree (see fig. 13) if no load is applied to the blade 69.
Returning to the ultrasonic processing program, after completion of setting of the processing mode, next, it is judged whether or not the workpiece W is set on the workpiece setting table 16 (S35), and when the workpiece W is not set on the workpiece setting table 16 (S35: no), the workpiece W is set on the workpiece setting table 16, and when the workpiece W is set on the workpiece setting table 16 (S35: yes), the oscillator 2 is driven so as to ultrasonically vibrate the oscillator 71 connected to the cutter 69 (S37).
Next, the arms of the articulated robot 3 are moved so that the cutter 69 is positioned at the processing start position with respect to the workpiece W (S39), and the cutter 69 is moved for performing ultrasonic processing on the workpiece W (S41).
Here, the operation of the workpiece processing apparatus 5 will be described in the first processing mode in which the cutter 69 is energized to process the workpiece W while the cutter angle energizing cylinder 75 and the cutter position energizing cylinder 79 are turned on.
Fig. 10 is a view showing a state in which the cutter angle urging cylinder is turned on and a load is applied to the cutter, and the cutter is rotated in the counterclockwise direction by the maximum angle (angle +θ1 degree) in the B-B cross-sectional view of fig. 2, fig. 11 is a view showing a state in which the cutter angle urging cylinder is turned on and a load is applied to the cutter, and the cutter is rotated in the clockwise direction by the maximum angle (angle- θ1 degree) in the B-B cross-sectional view of fig. 2, and fig. 13 is a view of the attached cutter as seen from below, and an explanatory view explaining a relationship between the cutter and the cutter rotation direction.
As described above, fig. 4 shows a state in which no load is applied to the cutter 69, but in the first processing mode, when the cutter 69 receives a rotational load from the workpiece W during processing of the workpiece W by the workpiece processing apparatus 5, the cutter 69 is configured to be rotatable within a range of ±several degrees (up to ±5°).
However, the rotary body 13 is turned on by the first blade angle urging cylinder 75a and the second blade angle urging cylinder 75b, the third protrusion 87 connected to the tip of the piston 19 is abutted against the first protrusion 83 provided on the rotary body 13, and the fourth protrusion 89 connected to the tip of the piston 27 is abutted against the second protrusion 85 provided on the rotary body 13, whereby it can be said that the rotary body is always in a state of urging toward the angle 0 degree position (see fig. 13), and the rotary body can be rotated correctly in this state.
For example, as shown in fig. 10, in a state where the first blade angle urging cylinder 75a and the second blade angle urging cylinder 75b are turned on, a rotational load is applied to the cutter blade 69, the first protrusion 83 provided on the rotary body 13 continuously presses the third protrusion 87 connected to the front end of the piston 19, and when the cutter blade 69 rotates counterclockwise in the drawing by the maximum angle (angle +θ1 degrees), the first protrusion 83 provided on the rotary body 13 abuts the third protrusion 87 connected to the front end of the piston 19, but the second protrusion 85 provided on the rotary body 13 does not abut the fourth protrusion 89 connected to the front end of the piston 27.
When the first protrusion 83 provided on the rotary body 13 continuously presses the third protrusion 87 connected to the distal end of the piston 19, the first protrusion 83 in contact with the third protrusion 87 is biased in the- θ direction by the force of f1 from the third protrusion 87. The force f1 does not change depending on the angle of the rotating body 13, and is constant as long as the first protrusion 83 abuts against the third protrusion 87.
On the other hand, for example, as shown in fig. 11, in a state where the first blade angle urging cylinder 75a and the second blade angle urging cylinder 75b are turned on, a rotational load is applied to the cutter blade 69, the second protrusion 85 provided on the rotary body 13 continuously presses the fourth protrusion 89 connected to the front end of the piston 27, and when the cutter blade 69 rotates clockwise in the drawing by the maximum angle (angle- θ1 degrees), the second protrusion 85 provided on the rotary body 13 abuts the fourth protrusion 89 connected to the front end of the piston 27, but the first protrusion 83 provided on the rotary body 13 does not abut the third protrusion 87 connected to the front end of the piston 19.
When the second protrusion 85 provided on the rotary body 13 continuously presses the fourth protrusion 89 connected to the distal end of the piston 27, the second protrusion 85 abutting against the fourth protrusion 89 is biased in the +θ direction by the force of f1 from the fourth protrusion 89. The force f1 is not changed depending on the angle of the rotating body 13, and is constant as long as the second protrusion 85 abuts against the fourth protrusion 89.
Fig. 14 is a view showing a state (angle +x1mm) in which the cutter position urging cylinder is turned on, a load is applied to the cutter, and the cutter is moved to the maximum displacement in the +x direction in the cross-sectional view of fig. 2, and fig. 15 is a view showing a state (angle-x1mm) in which the cutter position urging cylinder is turned on, a load is applied to the cutter, and the cutter is moved to the maximum displacement in the-X direction in the cross-sectional view of fig. 2.
As described above, fig. 5 shows a state (position 0 mm) in which the first cutter position urging cylinder 79a and the second cutter position urging cylinder 79b are turned on and no load is applied to the cutter, but in the first processing mode, when the cutter 69 receives a load from the workpiece W during processing of the workpiece W by the workpiece processing apparatus 5, the cutter 69 can move within a range of ±several mm (up to ±5 mm).
However, it can be said that the seventh protrusion 97 provided on the moving body 90 is in contact with the fifth protrusion 95 connected to the tip end of the piston 47, and the eighth protrusion 98 provided on the moving body 90 is in contact with the sixth protrusion 99 connected to the tip end of the piston 55 by the first cutter position biasing cylinder 79a and the second cutter position biasing cylinder 79b being turned on, and thus the moving body 90 is always biased toward the position 0mm (see fig. 14), and can be moved accurately in this state.
For example, as shown in fig. 14, in a state where the first cutter position urging cylinder 79a and the second cutter position urging cylinder 79b are turned on, a load is applied to the cutter blade 69, the eighth protrusion 98 provided on the movable body 90 continuously presses the sixth protrusion 99 connected to the front end of the piston 55, and when the cutter blade 69 is moved in the +x direction by the maximum displacement (angle +x1mm), the eighth protrusion 98 provided on the movable body 90 is in contact with the sixth protrusion 99 connected to the front end of the piston 55, but the seventh protrusion 97 provided on the movable body 90 is not in contact with the fifth protrusion 95 connected to the front end of the piston 47.
When the eighth protrusion 98 provided on the moving body 90 continuously presses the sixth protrusion 99 connected to the distal end of the piston 55, the eighth protrusion 98 in contact with the sixth protrusion 99 is biased in the-X direction by a force of f2 from the sixth protrusion 99. The force f2 is not changed depending on the position of the movable body 90, and is constant as long as the eighth protrusion 98 abuts against the sixth protrusion 99.
On the other hand, for example, as shown in fig. 15, in a state where the first cutter position urging cylinder 79a and the second cutter position urging cylinder 79b are turned on, a load is applied to the cutter blade 69, the seventh protrusion 97 provided on the movable body 90 continuously presses the fifth protrusion 95 connected to the front end of the piston 47, and when the cutter blade 69 is moved in the-X direction by the maximum displacement (angle-X1 mm), the seventh protrusion 97 provided on the movable body 90 is in contact with the fifth protrusion 95 connected to the front end of the piston 47, but the eighth protrusion 98 provided on the movable body 90 is not in contact with the sixth protrusion 99 connected to the front end of the piston 55.
When the seventh protrusion 97 provided on the moving body 90 continuously presses the fifth protrusion 95 connected to the distal end of the piston 47, the seventh protrusion 97 in contact with the fifth protrusion 95 is biased in the +x direction by a force of f2 from the fifth protrusion 95. The force f2 does not change depending on the position of the movable body 90, and is constant as long as the seventh protrusion 97 abuts against the fifth protrusion 95.
Returning to the ultrasonic processing program, it is determined whether or not the processing of the workpiece W is completed (S43), and if the processing of the workpiece W is not completed (S43: no), the movement of the cutter 69 is continued (processing) (S41), and if the processing of the workpiece W is completed (S43: yes), the main program is returned (S45).
(second processing mode)
Next, a second machining mode in which the cutter 69 is energized in a state in which the cutter angle locking cylinder 77 and the cutter position energizing cylinder 79 are turned on to machine the workpiece W will be described. The second machining mode is used when machining is performed at a higher speed than the first machining mode.
In fig. 9, in the ultrasonic machining program, first, after machining data is acquired from the machining data table 24a (S21), it is determined whether or not the machining mode is the cutter angle urging mode (S23).
Since the second machining mode does not use the cutter angle urging mode (S23: NO), the first cutter angle locking cylinder 77 is turned on (S27), and it is determined whether the machining mode is the cutter position urging mode (S29).
Since the second machining mode uses the cutter position urging mode (S29: yes), the first cutter position urging cylinder 79a and the second cutter position urging cylinder 79b are turned on (S31).
Fig. 12 is a view showing a state (angle 0 degree) in which the cutter angle locking cylinder is turned on and the angle of the cutter is fixed in the section B-B of fig. 2.
As specifically described with reference to fig. 12, when the cutter angle locking cylinder 77 is turned on, air is injected from the air compressor 14 into the space 37 of the third housing 33 of the cutter angle locking cylinder 77 via the connection pipe 41 and the connection pipe 43, the piston 35 moves to the upper left in the drawing, and the lock pin 39 connected to the tip of the piston 35 is fitted into the recess 91 provided in the rotary body 13.
When the cutter angle locking cylinder 77 is turned on in this way, the rotary body 13 is fixed by the locking pin 39, and the cutter 69 is fixed at the position of 0 degrees (see fig. 13).
Returning to the ultrasonic processing program, after the completion of the setting of the processing mode, next, it is judged whether or not the workpiece W is set on the workpiece setting table 16 (S35), and when the workpiece W is not set on the workpiece setting table 16 (S35: no), the workpiece W is waited for to be set on the workpiece setting table 16, and when the workpiece W is set on the workpiece setting table 16 (S35: yes), the oscillator 2 is driven so as to ultrasonically vibrate the vibrator 71 connected to the cutter 69 (S37).
Next, the arms of the articulated robot 3 are moved so that the cutter 69 is positioned at the processing start position with respect to the workpiece W (S39), and the cutter 69 is moved for performing ultrasonic processing on the workpiece W (S41).
The operation of the inside of the workpiece processing apparatus 5 when the cutter 69 is energized to process the workpiece W while the cutter position energizing cylinder 79 is turned on is described above with reference to fig. 5, 14, and 15.
Therefore, in the second processing mode, the processing device 5 fixes the angle of the cutter 69 to 0 degrees, and forces the cutter 69 toward the position of 0mm to the workpiece W with a constant force f2, thereby processing the workpiece W.
Then, it is judged whether or not the processing of the workpiece W is completed (S43), and if the processing of the workpiece W is not completed (S43: no), the movement of the cutter 69 (processing) is continued (S41), and if the processing of the workpiece W is completed (S43: yes), the main routine is returned (S45).
(third processing mode)
Next, a third machining mode in which the cutter 69 is energized while the cutter angle energizing cylinder 75 and the cutter position locking cylinder 81 are turned on to machine the workpiece W will be described. The third machining mode is also a proper machining mode when machining a workpiece W having a complicated machining shape, but is used when machining is performed at a higher speed than the first machining mode.
In fig. 9, in the ultrasonic machining program, first, after machining data is acquired from the machining data table 24a (S21), it is determined whether or not the machining mode is the cutter angle urging mode (S23).
Since the third machining mode uses the cutter angle urging mode (S23: yes), the first cutter angle urging cylinder 75a and the second cutter angle urging cylinder 75b are turned on (S25), and it is determined whether the machining mode is the cutter position urging mode (S29).
Since the third machining mode does not use the cutter position urging mode (S29: NO), the cutter position locking cylinder 81 is turned on (S33).
Fig. 16 is a view showing a state (displacement of 0 mm) in which the cutter position locking cylinder is turned on and the position of the cutter is fixed in the cross section C-C of fig. 2.
As will be specifically described with reference to fig. 16, when the cutter position locking cylinder 81 is turned on, air is injected from the air compressor 14 into the space 65 of the sixth housing 61 of the cutter position locking cylinder 81 via the connection pipe 94 and the connection pipe 96, the piston 63 moves to the left in the drawing, and the lock pin 67 connected to the tip of the piston 63 engages with the recess 93 provided in the moving body 90.
When the cutter position locking cylinder 81 is turned on in this way, the movable body 90 is fixed by the locking pin 67, and the cutter 69 is fixed at a position of 0mm (see fig. 16, etc.).
Returning to the ultrasonic processing program, after the completion of the setting of the processing mode, next, it is judged whether or not the workpiece W is set on the workpiece setting table 16 (S35), and when the workpiece W is not set on the workpiece setting table 16 (S35: no), the workpiece W is waited for to be set on the workpiece setting table 16, and when the workpiece W is set on the workpiece setting table 16 (S35: yes), the oscillator 2 is driven so as to ultrasonically vibrate the vibrator 71 connected to the cutter 69 (S37).
Next, the arms of the articulated robot 3 are moved so that the cutter 69 is positioned at the processing start position with respect to the workpiece W (S39), and the cutter 69 is moved for performing ultrasonic processing on the workpiece W (S41).
The operation of the inside of the workpiece processing apparatus 5 when the workpiece W is processed by applying the force to the cutter 69 in a state in which the first cutter angle application cylinder 75a and the second cutter angle application cylinder 75b are turned on will be described with reference to fig. 4, 10, 11, and 13.
Therefore, in the third processing mode, the processing device 5 fixes the position of the cutter 69 at the position of 0mm, and forces the cutter 69 toward the angle of 0 degrees with a constant force f1 to process the workpiece W.
Then, it is judged whether or not the processing of the workpiece W is completed (S43), and if the processing of the workpiece W is not completed (S43: no), the movement of the cutter 69 (processing) is continued (S41), and if the processing of the workpiece W is completed (S43: yes), the main routine is returned (S45).
(fourth processing mode)
Finally, a fourth machining mode in which the workpiece W is machined without biasing the cutter 69 in a state in which the cutter angle locking cylinder 77 and the cutter position locking cylinder 81 are turned on will be described. The fourth machining mode is used when machining is performed at the highest speed.
In fig. 9, in the ultrasonic machining program, first, after machining data is acquired from the machining data table 24a (S21), it is determined whether or not the machining mode is the cutter angle urging mode (S23).
Since the fourth machining mode does not use the cutter angle urging mode (S23: NO), the cutter angle locking cylinder 77 is turned on (S27), and it is determined whether the machining mode is the cutter position urging mode (S29).
In addition, since the fourth machining mode does not use the cutter position urging mode (S29: NO), the cutter position locking cylinder 81 is turned on (S33).
After completion of the setting of the machining mode, it is then determined whether or not the workpiece W is set on the workpiece setting table 16 (S35), and when the workpiece W is not set on the workpiece setting table 16 (S35: no), the workpiece W is set on the workpiece setting table 16 (S35: yes), and when the workpiece W is set on the workpiece setting table 16, the oscillator 2 is driven so as to ultrasonically vibrate the vibrator 71 connected to the cutter 69 (S37).
Next, the arms of the articulated robot 3 are moved so that the cutter 69 is positioned at the processing start position with respect to the workpiece W (S39), and the cutter 69 is moved for performing ultrasonic processing on the workpiece W (S41).
The operation of the inside of the workpiece processing apparatus 5 when processing the workpiece W without biasing the cutter 69 in the state where the cutter angle locking cylinder 77 is turned on is described above with reference to fig. 4 and 12.
The operation of the inside of the workpiece processing apparatus 5 when processing the workpiece W without biasing the cutter 69 in the state where the cutter position locking cylinder 81 is turned on is also as described above with reference to fig. 5 and 16.
Therefore, in the fourth processing mode, the processing device 5 fixes the angle of the cutter 69 to 0 degrees, and fixes the position of the cutter 69 to 0mm, thereby processing the workpiece W.
Then, it is judged whether or not the processing of the workpiece W is completed (S43), and if the processing of the workpiece W is not completed (S43: no), the movement of the cutter 69 (processing) is continued (S41), and if the processing of the workpiece W is completed (S43: yes), the main routine is returned (S45).
Returning to the main routine of fig. 8, the oscillator 2 is turned off (S9) to stop the ultrasonic vibration of the vibrator 71 connected to the cutter 69, and all of the first cutter angle urging cylinder 75a, the second cutter angle urging cylinder 75b, the cutter angle locking cylinder 77, the first cutter position urging cylinder 79a, the second cutter position urging cylinder 79b, and the cutter position locking cylinder 81 are turned off (S11).
After the arm of the multi-joint robot 3 is moved to the initial position (S13), it is determined whether or not the processed workpiece W is removed from the workpiece setting table 16 (S15), and if it is determined that the workpiece W is not removed (S15: no), the processing apparatus waits for the removal of the workpiece W, and if it is determined that the workpiece W is removed (S15: yes), it is further determined whether or not the number of processing operations of the workpiece W has reached the number of processing operations input from the operation panel 8 (S17).
Here, when it is determined that the number of processes of the workpiece W has not reached the number of processes inputted from the operation panel 8 (S17: no), the ultrasonic processing program is executed again, and when it is determined that the number of processes of the workpiece W has reached the number of processes inputted from the operation panel 8 (S17: yes), the process is ended (S19).
The workpiece processing device 5 according to the present embodiment relates to a device for processing a workpiece W using a cutter 69, and in particular, includes: a cutter position changing mechanism 7 capable of changing the position of the cutter 69 in a specific direction with respect to the workpiece W according to the shape of the workpiece W; and a first blade position urging cylinder 79a and a second blade position urging cylinder 79b that urge the blade position changing mechanism 7 against the changing direction of the position of the blade 69, wherein the first blade position urging cylinder 79a and the second blade position urging cylinder 79b urge the blade position changing mechanism 7 with a substantially constant urging force regardless of the position of the blade 69 set by the blade position changing mechanism 7, and therefore work can be processed with high precision.
Further, according to the workpiece processing apparatus 5 of the present embodiment, since the cutter position locking cylinder 81 is provided to fix the position of the cutter 69 with respect to the workpiece W in the specific direction, the mechanism to effectively press the cutter 69 can be selected to process the workpiece W according to the shape of the workpiece W.
Further, the workpiece processing apparatus 5 according to the present embodiment includes: a cutter angle changing mechanism 9 capable of changing the angle of the cutter 69 with respect to the traveling direction according to the shape of the workpiece W; and a first blade angle urging cylinder 75a and a second blade angle urging cylinder 75b that urge the blade angle changing mechanism 9 against the changing direction of the angle of the blade 69, so that the blade 69 can be effectively pressed and machined even for a workpiece W having a complicated machining shape.
Further, according to the workpiece processing apparatus 5 of the present embodiment, the first blade angle urging cylinder 75a and the second blade angle urging cylinder 75b urge the blade angle changing mechanism 9 with a substantially constant urging force regardless of the angle of the blade 69, so that even a workpiece W having a complicated processing shape can be more effectively pressed and processed by the blade 69.
Further, according to the workpiece processing apparatus 5 of the present embodiment, since the cutter angle locking mechanism 77 having a fixed angle is provided, a mechanism for effectively pressing the cutter 69 can be selected to process the workpiece according to the shape of the workpiece W.
Further, according to the ultrasonic processing apparatus 1 of the present embodiment, the workpiece can be processed more precisely by causing the cutter 69 to perform ultrasonic vibration in a direction intersecting the moving direction of the moving body 90.
Further, according to the ultrasonic processing apparatus 1 of the present embodiment, the workpiece can be processed more precisely by causing the cutter 69 to perform ultrasonic vibration in a direction intersecting the rotation direction of the rotating body 13.
While the ultrasonic processing apparatus and the workpiece processing apparatus according to the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications may be made without departing from the scope of the present invention.
For example, the vibrator 71 used in the above-described embodiment has been described as vibrating the cutter 69 in the vertical direction in the drawing, but the present invention is not limited to this, and may be a direction intersecting the rotation direction of the rotating body 13 or a direction intersecting the movement direction of the moving body 90.
The cutting blade 69 used in the above embodiment has been described using a cutting blade with both-side polishing, but a cutting blade with single-side polishing can be used in consideration of the machine direction.
Symbol description
1-an ultrasonic processing device; 2-an oscillator; 3-multi-joint robot; 5-a workpiece processing device; 6-a robot controller; 7-cutter position changing means; 9-a cutter angle changing mechanism; 14-an air compressor; 69-a cutting knife; 71-vibrator; 75-a cylinder for applying force to the angle of the cutting knife; 77-a cutter angle locking cylinder; 79-cylinder for applying force to the cutter position; 81-a cutter position locking cylinder; w is a workpiece.
Claims (7)
1. A workpiece processing apparatus processes a workpiece using a cutter,
the workpiece processing device is characterized by comprising:
a cutter position changing mechanism capable of changing a position of the cutter with respect to the workpiece in a specific direction according to a shape of the workpiece; and
a cutter position urging means for urging the cutter position changing means against a direction of changing the position of the cutter,
the cutter position urging means urges the cutter position changing means with a substantially constant urging force irrespective of the position of the cutter determined by the cutter position changing means.
2. The workpiece processing apparatus according to claim 1, wherein,
the cutting tool is provided with a cutting tool position locking mechanism which fixes the position of the cutting tool relative to the workpiece in the specific direction.
3. The workpiece processing apparatus according to claim 1 or 2, characterized by comprising:
a cutter angle changing mechanism capable of changing an angle of the cutter with respect to a traveling direction according to a shape of the workpiece; and
and a cutter angle urging means for urging the cutter angle changing means against the direction of changing the angle of the cutter.
4. The workpiece processing apparatus according to claim 3, wherein,
the cutter angle urging means urges the cutter angle changing means with a substantially constant urging force irrespective of the angle of the cutter.
5. The workpiece processing apparatus according to claim 3 or 4, wherein,
the angle locking mechanism is provided with a cutter angle locking mechanism for fixing the angle.
6. An ultrasonic processing device is characterized in that,
a workpiece processing apparatus according to any one of claims 1 to 5,
The cutting blade is ultrasonically vibrated in a direction intersecting the specific direction with respect to the workpiece to process the workpiece.
7. An ultrasonic processing device is characterized in that,
a workpiece processing apparatus according to any one of claims 3 to 5,
and ultrasonically vibrating the cutting blade in a direction intersecting the direction of change of the angle to machine the workpiece.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2020/042782 WO2022107201A1 (en) | 2020-11-17 | 2020-11-17 | Workpiece machining device and ultrasonic machining apparatus equipped with same |
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| Publication Number | Publication Date |
|---|---|
| CN116390825A true CN116390825A (en) | 2023-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080106608.6A Pending CN116390825A (en) | 2020-11-17 | 2020-11-17 | Workpiece processing device and ultrasonic processing device provided with same |
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| Country | Link |
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| JP (2) | JP7100926B1 (en) |
| CN (1) | CN116390825A (en) |
| WO (1) | WO2022107201A1 (en) |
Families Citing this family (1)
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| WO2022107201A1 (en) * | 2020-11-17 | 2022-05-27 | スターテクノ株式会社 | Workpiece machining device and ultrasonic machining apparatus equipped with same |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP7100926B1 (en) | 2022-07-14 |
| JP2022132675A (en) | 2022-09-09 |
| JPWO2022107201A1 (en) | 2022-05-27 |
| WO2022107201A1 (en) | 2022-05-27 |
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