JP2002036193A - Water jet machining device and machining method by the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a water jet machining device capable of simultaneously teaching an injecting position of the water jet to a work and a distance to a nozzle from the work, and executing the machining while constantly keeping the injection power of the water jet in various machining processes, and to provide a machining method by the same. SOLUTION: This water jet machining device 1 for machining the work 7 by the water jet comprises the nozzle for injecting the water jet, and a teaching means 2 for teaching a position of the nozzle in machining the work 7, and the teaching means 2 is composed of a first teaching part 13 as an optical means for teaching the injecting position of the water jet jetted from the nozzle to the work 7, and a second teaching part 12 for teaching the distance to the nozzle from the work 7.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a water jet processing apparatus and method for processing a work such as a urethane laminate using a water jet, and more particularly to a water jet processing attached to the tip of an arm of an articulated robot. The present invention relates to an apparatus and a processing method using the apparatus.

[0002]

2. Description of the Related Art Conventionally, a water jet machining apparatus used by being attached to the tip of an arm of an articulated robot teaches a machining position in advance when machining, and machining is performed according to the teaching position. There are many things.

As a teaching method, for example, a processing position on the surface of a work is traced in advance by a pin or the like attached to the tip of an arm, and teaching is performed. In addition, an optical technique such as a laser beam is used instead of a pin or the like, and teaching is performed by tracing the surface of the work in a non-contact manner.

[0004]

However, in the teaching method using a pin or the like, the distance between the work surface and the nozzle for jetting the water jet can be taught by the length of the pin or the like. However, for example, when teaching is performed using a long pin or the like, if the tip of the pin or the like contacts the work and interferes, a large moment acts,
There has been a problem that the nozzle portion of the water jet to which the pin or the like is attached may be deformed.

[0005] Further, when teaching the processing position only by laser light, it is difficult to teach while keeping the distance between the laser light irradiation port and the work surface constant. If the processing is performed, the processing causes a wavy, overrun, shortcut, or the like. In addition, there is a type in which the distance can be measured simultaneously with a laser beam, but this type is not practical because the device itself is expensive and large.

[0006] Further, in the case of performing different types of processing such as integral cutting and core remaining cutting continuously after teaching by these conventional teaching methods, the cutting is performed by changing the jet output of the water jet. Therefore, there is a problem that metal fatigue of a nozzle or the like at a jet portion of a water jet increases, and damage to parts increases.

Therefore, the present invention has been made in view of the above-mentioned problems, and it is possible to simultaneously teach a jetting position of a water jet to a work and a distance of a nozzle from the work, so that a different kind of processing can be performed. It is an object of the present invention to provide a water jet processing apparatus and a processing method using the water jet processing apparatus that can perform processing while keeping the jet output of the water jet constant.

[0008]

According to a first aspect of the present invention, there is provided a water jet machining apparatus for machining a workpiece using a water jet. A nozzle for jetting, and teaching means for teaching a position of the nozzle when processing the work, wherein the teaching means teaches a jetting position of the water jet jetted from the nozzle to the work. And a second teaching unit for teaching the distance of the nozzle from the work. The first teaching unit using an optical method for teaching the position of the water jet ejected from the nozzle onto the work, and the second teaching unit for teaching the distance of the nozzle from the work are simultaneously processed at the processing position of the work. Then, it is possible to teach the distance of the nozzle from the work. As a result, the processing accuracy is improved, and the interference between the workpiece and the nozzle is reduced, thereby making it possible to reduce trouble due to nozzle deformation.

According to a second aspect of the present invention, in the water jet processing apparatus according to the first aspect, the nozzle and the teaching means are interchangeable. Since the nozzle and the teaching means are interchangeable, the teaching step and the processing step can be separated. As a result, accurate nozzle position teaching can be performed.

According to a third aspect of the present invention, in the water jet processing apparatus according to the first or second aspect, the first teaching portion and the second teaching portion are integrally formed to constitute the teaching means. It is. Since the first teaching unit and the second teaching unit are integrally formed, it is possible to simultaneously teach the ejection position to the work and the distance between the nozzle and the work. As a result, the time required for teaching can be reduced, and accurate teaching can be performed. Further, interference between the second teaching portion and the work can be reduced, and deformation of the nozzle portion can be prevented.

According to a fourth aspect of the present invention, in the water jet processing apparatus according to any one of the first to third aspects, the second teaching portion is detachably attached to the teaching means.
While keeping the distance of the nozzle from the workpiece constant, the second teaching unit for teaching the distance can be appropriately changed. This makes it possible to continuously perform different types of cutting such as integral cutting and core leaving cutting without changing the jet output of the water jet, and the jet output of the water jet is always constant. Metal fatigue is suppressed.

According to a fifth aspect of the present invention, in the processing method using the water jet processing apparatus for processing a workpiece using a water jet, a nozzle portion for jetting the water jet is provided.
A first teaching unit using an optical method for teaching a jet position of the water jet to the work, and a second teaching unit for teaching a distance of the nozzle from the work, and A teaching step of teaching the processing position of the work; and a processing step of replacing the teaching means mounted on the nozzle unit with a nozzle and processing the work in accordance with the teaching by the teaching means. Since it is possible to simultaneously and accurately teach the processing position by the water jet and the distance between the nozzle that ejects the water jet and the work, it is possible to prevent waving, overrun, shortcuts, etc., and achieve high processing accuracy. Work can be processed.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a water jet machining apparatus according to the present invention will be described with reference to the drawings.

The water jet processing apparatus 1 according to this embodiment is attached to the tip of a robot arm 3 of an articulated robot 20, as shown in FIG. The articulated robot 20 is connected to and controlled by a robot controller 21 having a controller 22 for moving the articulated robot 20 at the time of teaching or the like.

As shown in FIG. 1, the water jet processing apparatus 1 is provided with a water jet processing position and a work 7.
2 and a nozzle 5 as shown in FIG. 2 are detachably provided in the nozzle section 4, and these teaching means 2 and the nozzle 5 are interchangeable.

As shown in the front view of FIG. 3, the teaching means 2 includes a water jet work 7 jetted from a nozzle.
A first teaching unit 13 that teaches the position of the nozzle from the workpiece 7 by an optical method for teaching the injection position to the nozzle, and a second teaching unit 12 that teaches the distance of the nozzle from the work 7.
The second teaching unit 12 is integrally attached to the teaching unit main body 11.

The first teaching unit 13 may be any one that can trace the surface of the work 7 in a non-contact manner by an optical method.
In particular, it is preferable to use laser light that does not diffuse light and can accurately target a target. In the present embodiment, the first teaching unit 13 is a laser oscillator, and as shown in FIG.
To a power supply cord 16. The first teaching portion 13 is attached to the teaching means main body 11 in a screw type or a sliding type so as to be on the center axis of the nozzle portion 4, and can be moved up and down in the axial direction.

As shown in FIGS. 3 and 4, the second teaching portion 12 includes a fastening member 17 having a pin of an arbitrary length attached to the teaching portion main body 11 so as to be parallel to the axis of the first teaching portion 13. It is attached detachably. The length of the pin 12 is determined based on the relationship between the jet power of the water jet and the type of machining such as integral cutting or core cutting so that the optimum jet power of the water jet is obtained when machining the workpiece. I can decide. Therefore, when changing the processing method from, for example, integral cutting processing to core remaining processing, the pin 1
2. Teaching is performed by changing the length.

The water jet processing apparatus according to this embodiment is configured as described above. Next, a method of processing a workpiece by the water jet processing apparatus will be described.

First, as shown in FIG. 5, a teaching means 2 is provided at the tip of the robot arm 3 of the articulated robot 20.
And a high-pressure water supply unit 10 for supplying high-pressure water having a nozzle unit 4 to which a nozzle 5 is attached. Next, a first teaching unit 13 and a second teaching unit 1 are attached to the tip of the nozzle unit 4.
The teaching means 2 to which the two are integrally attached is mounted.

Then, as shown in FIG. 1, the first teaching unit 1
From 3, the laser beam 14 is applied to the work 7 to trace the processing position of the work 7 and teach the position. At this time, the distance of the nozzle 5 from the workpiece 7 is kept constant by the second teaching part 12 integrally attached to the teaching means 2. The tracing may be performed by holding the tip of the robot arm 3 by hand, or may be performed by the controller 22 of the robot arm 3 provided in the robot control unit 21. And at the time of this trace, the second
Care should be taken that the tip of the teaching unit 12 does not interfere with the work 7.

The work surface of the work 7 generally has a free curve and needs to be worked from all angles. for that reason,
As the workpiece 7 is traced along the processing surface, a point at which the angle of the laser beam 14 with respect to the processing surface changes appears.
For example, when the teaching means 2 is tilted toward the front side of the paper of FIG.
Since the pin length of the second teaching unit 12 does not change and is located parallel to the first teaching unit 13 with a certain distance,
If the tip of the pin does not interfere with the work 7,
The distance between the irradiation port of the laser beam 14 emitted from the teaching unit 13 and the surface of the workpiece 7 is longer than before the teaching unit 2 is brought down to the front of the drawing. This means that the distance between the nozzle orifice of the nozzle 5 (see FIG. 2) and the work 7 at the time of processing becomes long, and if the jet output of the water jet 6 is kept constant, the water is jetted onto the work 7. The pressure of the water jet 6 at the time becomes weak. Thus, when the angle is changed during teaching, the first teaching unit 13 is finely adjusted in the vertical direction. Then, the finely adjusted distance is separately input and stored in the robot control unit 21 at the time of teaching.

As described above, even when the processing angle changes and the distance between the nozzle 5 and the work 7 slightly changes, as in the case of processing a curved surface composed of a free curve, the first teaching unit 13 can be moved along the axis. It can be moved up and down, and teaching can be performed by separately inputting the moved distance.

In the case of changing the processing from the one-piece cutting to the remaining core cutting or the like to a different kind of cutting, the distance between the work 7 and the nozzle 5 is increased in order to weaken or increase the jetting force of the water jet to the work 7. Need to be shorter or shorter. At this time, the length can be changed by changing the length of the second teaching unit 12.

As described above, the processing position and the distance to the work 7 at the processing position can be taught. After the teaching is completed, the teaching unit 2 attached to the tip of the nozzle unit 4 is removed, and the nozzle 5 is attached to the tip of the nozzle unit 4 as shown in FIG. Spout and process.

As described above, the water jet processing apparatus according to this embodiment always keeps the distance between the nozzle and the workpiece even when the processing angle changes, such as when processing a curved surface having a free curve. Can be kept constant. In addition, since the processing position can be accurately taught by the laser beam, it is possible to suppress waving, overrun, and short-cut of the processing surface. In addition, even when the type of processing changes, processing can be performed in a series of steps without changing the jet output of the water jet. As a result, the processing time can be significantly reduced.

[0027]

According to the first aspect of the present invention, the first teaching unit by an optical method for teaching the injection position of the water jet ejected from the nozzle to the work, and the second teaching unit for teaching the distance of the nozzle from the work. With the teaching unit, it is possible to simultaneously teach the processing position of the work and the distance of the nozzle from the work. As a result, the processing accuracy is improved, and the interference between the workpiece and the nozzle is reduced, thereby making it possible to reduce trouble due to nozzle deformation.

According to the second aspect, since the nozzle and the teaching means are interchangeable, it is possible to separate the teaching step from the processing step. As a result, accurate nozzle position teaching can be performed.

According to the third aspect, since the first teaching portion and the second teaching portion are formed integrally, it is possible to simultaneously teach the ejection position to the work and the distance between the nozzle and the work. As a result, the time required for teaching can be reduced, and accurate teaching can be performed. Further, interference between the second teaching portion and the work can be reduced, and deformation of the nozzle portion can be prevented.

According to the fourth aspect, while keeping the distance of the nozzle from the workpiece constant, the second teaching portion for teaching the distance can be changed as appropriate. This makes it possible to continuously perform different types of cutting such as integral cutting and core leaving cutting without changing the jet output of the water jet, and the jet output of the water jet is always constant. Metal fatigue is suppressed.

According to the fifth aspect, the processing position by the water jet and the distance between the nozzle for jetting the water jet and the work can be simultaneously and accurately taught, so that waving, overrun, shortcut, and the like can be performed. Work can be processed with high processing accuracy.

[Brief description of the drawings]

FIG. 1 is a schematic perspective view showing a state of teaching a water jet processing apparatus of the present invention.

FIG. 2 is a schematic perspective view showing the water jet processing apparatus of the present invention during processing.

FIG. 3 is a schematic front view of a teaching means of the water jet processing apparatus of the present invention.

FIG. 4 is a view for explaining a configuration of teaching means of the water jet processing apparatus of the present invention.

FIG. 5 is a diagram showing an example of an articulated robot in which the water jet processing device of the present invention is used.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Water jet processing apparatus 2 Teaching means 3 Robot arm 4 Nozzle part 5 Nozzle 6 Water jet 7 Work 10 High-pressure water supply part 11 Teaching part main body 12 Second teaching part 13 First teaching part 14 Laser 15 Power supply 16 Power supply code 17 Fastening Member 20 Articulated robot 21 Robot controller 22 Controller

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shigeo Suzuki 4-1-1-21 Hamazoe-dori, Nagata-ku, Kobe City, Hyogo Prefecture Inside Mitsuboshi Belting Co., Ltd. (72) Masahiro Fujikawa 4-1-1, Hamazodori, Nagata-ku, Kobe City, Hyogo Prefecture. No. 21 Mitsuboshi Belting Co., Ltd. F-term (reference) 3C060 AA04 CE28

Claims (5)

[Claims] 1. A water jet processing apparatus for processing a work using a water jet, comprising: a nozzle for jetting the water jet; and teaching means for teaching a position of the nozzle when processing the work. A first teaching unit using an optical technique for teaching the position of the water jet ejected from the nozzle onto the work, and a second teaching teaching the distance of the nozzle from the work. Waterjet processing device consisting of a part. 2. The water jet processing apparatus according to claim 1, wherein said nozzle and said teaching means are interchangeable. 3. The water jet processing apparatus according to claim 1, wherein the first teaching unit and the second teaching unit are integrally formed to constitute the teaching unit. 4. The water jet processing apparatus according to claim 1, wherein said second teaching section is detachably attached to said teaching means. 5. A processing method using a water jet processing apparatus for processing a work using a water jet, wherein an optical method for teaching a jetting position of the water jet to the work to a nozzle portion for jetting the water jet. A teaching step of teaching a processing position of the work by attaching a teaching means composed of a first teaching unit according to the first embodiment and a second teaching unit for teaching the distance of the nozzle from the work, And a processing step of processing a workpiece in accordance with the teaching of the teaching means by replacing the teaching means with a nozzle.