JP2009184055A - Robot machining device and machining system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot machining device which can carry out both boring and transportation of a workpiece singly by itself. <P>SOLUTION: The robot machining device 10 includes a robot arm 12 formed of a plurality of joints, and carries out boring. The robot machining device has: a hand unit 16 for transporting the workpiece; a machining unit 18 for boring the workpiece by a main spindle 18a; a unit exchanging mechanism 14 for exchanging the hand unit 16 and the machining unit 18 for each other and holding one of the same; and a control device C for exchanging the hand unit 16 for the machining unit 18 by the unit exchanging mechanism 14 to carry out boring. The robot arm 12 has a limited load capacity, but by virtue of the unit exchanging mechanism 14, the robot arm can exchange the units for each other, and it can carry out both the boring and transportation though the operations are on an asynchronous basis. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a robot processing machine that includes a robot arm including a plurality of joints and performs a hole processing, and a processing system that includes at least the robot processing machine to perform processing.

As a conventional robot processing machine that performs hole processing, for example, a camera is provided, and an example of a technique that performs hole processing according to whether or not a measurement result of a processing part is within an allowable range based on image information captured by the camera is disclosed. (For example, refer to Patent Document 1).
Japanese Utility Model Publication No. 7-17486

  Although the robot processing machine of Patent Document 1 can perform hole processing, it cannot convey a workpiece. In order to perform both hole processing and conveyance, it is necessary to separately provide a robot device for conveyance, or to provide a robot arm with a unit for hole machining and a unit for conveyance. The former is not only costly, but also has to wait because the robot device for transport cannot be operated during processing, resulting in wasted time in the process. The latter has a limit on the loadable weight of the robot arm, and the loadable weight decreases as the number of joints increases. Therefore, it is practically difficult to provide both the hole processing unit and the transfer unit in the robot arm. It is.

  Further, in the hole machining that can be performed by the robot processing machine of Patent Document 1, the robot arm is likely to swing due to a reaction force generated during the machining. If the robot arm swings during processing, the diameter and depth of the holes will become uneven, and there is a problem that only holes that do not require accuracy can be processed.

  The present invention has been made in view of such a point, and a first object thereof is to enable both hole drilling and conveyance with a single robot processing machine. Furthermore, it is a second object to provide a machining system that can perform highly accurate hole machining using a robot machine.

(1) Means for solving a problem (hereinafter, simply referred to as “solution means”) 1 is a robot processing machine that includes a robot arm composed of a plurality of joints and performs drilling, and transports a workpiece. A hand unit to perform, a processing unit to perform drilling with a spindle, a unit exchange mechanism that replaces the hand unit and the processing unit and holds one of the units, and the unit exchange mechanism from the hand unit to the The gist of the present invention is to have a control device that replaces the machining unit and controls to perform hole machining.

  The unit exchange mechanism is provided at one or both of the tip of the robot arm and the unit. According to the solution 1, since the transfer hand unit and the processing unit are used after being replaced by the unit replacement mechanism, only one unit is mounted on the robot arm. In one robot processing machine with a robot arm that has a limited load capacity, it is possible to perform both drilling and conveyance of non-simultaneous ones, and the cost is reduced because no other robot device is required. be able to.

(2) The solution means 2 is the robot processing machine described in the solution means 1, wherein the machining unit has a storage unit for storing the spindle index position, and the control device stores the spindle index stored in the storage unit. The gist is to perform control so as to perform drilling according to the position.

  According to the solution 2, since the spindle indexing position is stored in the storage unit in the machining unit, even when the drilling is further performed after replacing the hand unit, the drilling can be performed immediately without detecting the spindle position. Accordingly, there is no wasted time in the process because the position of the main shaft need not be detected.

(3) The solution means 3 is the robot processing machine described in the solution means 2, and the processing unit is summarized as having a power supply unit that holds the storage contents of the storage unit.

  According to the solution 3, there is no need to worry about the connection between the power supply unit and the storage unit when exchanging the hand unit and the processing unit, which is advantageous.

(4) Solution means 4 is a machining system that includes the robot processing machine described in any one of solution means 1 to 3 and another processing machine, and operates both processing machines to perform hole machining. Then, after the robot processing machine has finished transporting by the hand unit, while the other processing machine is transporting, the robot processing machine replaces the hand unit with the processing unit by a unit replacement mechanism, The gist of the invention is that after the other processing machine finishes the conveyance, the robot processing machine performs control so that the workpiece is drilled according to the spindle indexing position stored in the storage unit.

  According to the solution means 4, since the transfer hand unit and the machining processing unit are exchanged by the unit exchange mechanism in the same manner as the solution means 1, as a result, both the hole machining and the conveyance are performed by one robot processing machine. It can be carried out. In addition, since the processing unit is replaced with a processing unit while another processing machine is transporting, and the robot processing machine performs hole processing on the workpiece after the transport is finished, no time is wasted in the process.

(5) The solution means 5 is the machining system described in the solution means 4, and is conveyed by another processing machine, provided corresponding to each machining position of the workpiece, and has a predetermined length along the axial direction of the spindle. The robot processing machine includes a guide box having a fixed box for temporarily fixing the workpiece, and the robot processing machine controls the machining unit to position a spindle of the processing unit on the guide portion and then perform hole machining on the workpiece. The gist.

  According to the solution 5, when the spindle of the machining unit is positioned on the guide portion, the movement of the spindle is restricted even if the robot arm swings for some reason. Therefore, even when a hole is machined using a robot machine, a highly accurate hole can be machined.

(6) The solution means 6 is the processing system described in the solution means 4 or 5, and is conveyed by another processing machine so as to be provided corresponding to each processing position of the workpiece, and the front end side is expanded in the radial direction. A taper-shaped engaging portion, a fixing box for temporarily fixing the workpiece, a machining unit having a taper-shaped clamp portion formed so that a tip end side thereof is narrowed; The gist is to control the workpiece to be drilled after engaging and holding the engaging portion and the clamp portion.

  According to the solution 6, when the engagement portion and the clamp portion are engaged and held, even when the robot arm swings for some reason, the movement of the main shaft is restricted. Therefore, even when a drilling unit is provided with the machining unit at the tip of the robot arm, a highly accurate hole can be machined.

  According to the present invention, it is possible to perform both hole drilling and conveyance with one robot processing machine. In addition, it is possible to provide a machining system that can perform high-precision hole machining using a robot machine.

  The best mode for carrying out the present invention will be described with reference to the drawings.

[Robot processing machine configuration example]
First, a configuration example of a robot processing machine will be described with reference to FIGS. A robot processing machine 10 illustrated in FIG. 1 includes a robot arm 12 having a multi-joint, a control device C, and the like. Each of the tip of the robot arm 12 and each of the hand unit 16 and the processing unit 18 has a unit replacement mechanism 14 that replaces the hand unit 16 and the processing unit 18 and holds one of the units. The robot arm 12 has an arm side attaching / detaching portion 12a provided with an attaching / detaching convex portion 12b at the distal end portion (see FIGS. 2 and 3). This arm side attaching / detaching portion 12a constitutes a unit exchanging mechanism 14 together with unit side attaching / detaching portions 16b, 18e (see FIGS. 2 and 3) described later. The function of the control device C will be described later.

  FIG. 2 shows a configuration example of the hand unit 16. The hand unit 16 includes a chuck 16a, a unit side attaching / detaching portion 16b, and the like. The chuck 16a fulfills a function of conveying a workpiece or the like by gripping or holding it. The unit side attaching / detaching portion 16b has an attaching / detaching recessed portion 16c and fits with the attaching / detaching convex portion 12b of the arm side attaching / detaching portion 12a. For example, the detachable convex portion 12b is temporarily fixed by expanding in the radial direction, and conversely, the fixing is released by reducing in the radial direction.

  FIG. 3 shows a configuration example of the processing unit 18. The processing unit 18 includes a main shaft 18a, a unit side engaging portion 18b, a storage portion 18c, a power source portion 18d, a unit side attaching / detaching portion 18e, and the like. The main shaft 18a corresponds to a tool for processing a workpiece or the like, and corresponds to, for example, a drill, a reamer, a tap, or the like. The unit side engaging portion 18b engages with a bush portion 40 of the fixing box 32 described later, and fulfills a function of fixing the robot arm 12 to the fixing box 32 at least during processing (see FIGS. 7, 10 and the like). A configuration example of the unit side engaging portion 18b will be described later. The storage unit 18c corresponds to, for example, an SRAM and stores the index position of the spindle 18a. This memory is held by a power supply unit 18d such as a battery. The unit side attaching / detaching portion 18e performs the same function as the unit side attaching / detaching portion 16b described above, and the attaching / detaching recessed portion 18f corresponds to the attaching / detaching recessed portion 16c.

  The control device C in FIG. 1 replaces the hand unit 16 or the machining unit 18 with the unit exchange mechanism 14 or when the machining unit 18 is replaced, the spindle indexing position stored in the storage unit 18c. Control such as drilling is performed according to.

[Example of processing system configuration]
Next, a configuration example of the processing system will be described with reference to FIGS. This example is an example configured for drilling a workpiece.

  First, FIG. 4 shows a configuration example of a machining system. The processing system 20 includes a plurality of (three in this example) processing robots 22, 24, 26, a plurality (two in this example) of robot processing machines 10A, 10B, hand units 16A, 16B, a processing unit 18A, 18B, the workpiece mounting table 28, the workpiece fixing table 30, the fixing box 32, the control device C, and the like.

  Each of the processing robots 22, 24, and 26 corresponds to a processing machine, and in this example, is configured to perform hole processing at a predetermined processing position. Each of the robot processing machines 10A and 10B corresponds to the robot processing machine 10 described above. Each of the hand units 16A and 16B corresponds to the hand unit 16 described above, and is placed on the unit stand 36 when not in use. Each of the processing units 18A and 18B corresponds to the processing unit 18 described above, and is placed on the unit table 38 when not in use. A workpiece Wb to be processed next is placed on the workpiece table 28. A workpiece Wa to be processed is fixed to the workpiece fixing base 30.

  Next, FIG. 5 shows a configuration example of the fixed box. The fixing box 32 is placed on the box mounting table 34 when the workpieces W (Wa, Wb) are exchanged, and covers the workpiece W fixed on the workpiece fixing table 30 from above during processing. The fixing box 32 has a structure in which a bottom surface portion is opened, and a plurality of bush portions 40 are provided on the surface excluding the opening portion corresponding to each processing position of the workpiece W. The fixing box 32 is fixed to the work fixing base 30 after the work W is covered. The control device C is composed of one or a plurality of casings, and individually controls the operations of the processing robots 22, 24, and 26 and the robot processing machines 10A and 10B.

  By the way, in drilling, tapping and the like, it is known that when the main shaft 18a is rotated during processing, a reaction force in the thrust direction (that is, the direction opposite to the drilling direction) is generated. If the reaction force exceeds the allowable axial moment of the robot arm 12, the robot arm 12 is likely to swing. Since the machining accuracy decreases when the robot arm 12 swings, a configuration that prevents the robot arm 12 from swinging to improve the processing accuracy (that is, the configuration of the unit side attaching / detaching portion 16b and the bush portion 40) will be described below.

  In FIG. 6, the structural example of the unit side engaging part 18b is represented with a fragmentary sectional view. The unit side engaging portion 18b has an engaging portion main body 18i as a base and includes an actuator 18g, a bearing 18j, a rotating cylinder 18k, a clamp portion 18m, and the like. The actuator 18g moves the movable part 18h. The rotating cylinder 18k is attached to the engaging portion main body 18i via a bearing 18j. The movable part 18h and the rotating cylinder 18k are coupled so that the advancing and retracting movement of the movable part 18h is converted into the rotating movement of the rotating cylinder 18k. The clamp portion 18m is provided at the end of the rotating cylinder 18k, and has a tapered surface 18n, a recess 18p, and the like (see FIGS. 9 to 11). The taper surface 18n comes into contact with and engages with a taper surface 40f provided in an engagement portion 40a of the bush portion 40 described later (see FIGS. 7 and 11B), whereby the processing unit 18 (and eventually the robot). The entire arm 12) is held. The tapered surface 18n is formed so that the tip end side of the clamp portion 18m protrudes toward the main shaft 18a (center side). The recesses 18p are provided corresponding to the number of engagement portions 40a (four in this example) provided in the bush portion 40, which will be described later, and the engagement portions 40a are removed when the main shaft 18a is taken in and out of the bush portion 40. Let it pass.

  FIG. 7 illustrates a configuration example of the bush portion 40. A plan view is shown in FIG. 7A, and a cross-sectional view taken along line B7-B7 in FIG. 7A is shown in FIG. The bush part 40 has an engaging part 40a, a mounting part 40c, a guide hole 40d, a guide part 40e, etc., with the bush body 40b as a base. The end of one side (the robot arm 12 side) of the bush body 40b is chamfered so that the clamp part 18m can easily pass. A plurality of (four in this example) engaging portions 40a are provided at one end (or the vicinity thereof) of the bush main body 40b. Each engaging portion 40a has a tapered surface 40f formed so that the distal end side of the bush main body 40b expands. The tapered surface 40f has a function of contacting and engaging with the above-described tapered surface 18n. The attachment portion 40c has a hole for attaching the bush portion 40 to the fixing box 32 using a fixing member such as a screw. The guide hole 40d is a through hole that guides the main shaft 18a. The guide portion 40e is an end portion on the other side (fixed box 32 side) of the bush body 40b, is provided inside the guide hole 40d, and is made of a material harder than the main shaft 18a. The guide portion 40e has a predetermined length, and plays a role of holding the central axis of the main shaft 18a with respect to the processed surface of the workpiece W so as to be a right angle.

  In the machining system 20 configured as described above, an example of a hole machining process performed on the workpiece Wa will be described with reference to FIG. This process example is an example controlled by the control device C. It is assumed that the workpiece Wa is already placed on the workpiece placing table 28 and nothing is placed on the workpiece fixing table 30.

(Step 1) When the processing unit 18 is mounted on the robot arm 12, the robot processing machine 10A replaces the hand unit 16 with the unit replacement mechanism 14 in advance. The hand unit 16 transports and fixes the workpiece Wa placed on the workpiece placing table 28 to the workpiece fixing table 30.

(Step 2) When the processing unit 18 is mounted on the robot arm 12, the robot processing machine 10B replaces the hand unit 16 with the unit replacement mechanism 14 in advance. When the workpiece Wa is fixed, the robot processing machine 10B covers and fixes the fixing box 32 placed on the box mounting table 34 so as to cover the workpiece Wa. In parallel with the conveyance and fixing, the robot processing machine 10 </ b> A replaces the hand unit 16 with the processing unit 18 by the unit replacement mechanism 14.

(Step 3) When both the workpiece Wa and the fixed box 32 are fixed, holes are drilled through the bush portions 40 at the processing positions assigned to the processing robots 22, 24, and 26, respectively. In parallel with this drilling, the robot processing machine 10A drills the processing position assigned by the spindle 18a of the processing unit 18 mounted on the robot arm 12, and the robot processing machine 10B uses the unit exchange mechanism 14 to perform hand unit processing. 16 is replaced with the processing unit 18.

(Step 4) The robot processing machine 10 </ b> B that has been replaced with the processing unit 18 drills a processing position assigned by the main shaft 18 a of the processing unit 18.

(Step 5) The robot processing machines 10A and 10B that have finished all the holes processing each replace the processing unit 18 with the hand unit 16 by the unit replacement mechanism 14. The robot processing machine 10 </ b> B transports the fixed box 32 whose fixation is released and places it on the box mounting table 34. Thereafter, the robot processing machine 10A conveys the workpiece Wa that has been released from the fixed state and places it in a finished product storage area (not shown). Thereafter, when machining another workpiece W, the process returns to step 1 and is repeated.

  Here, when the hole is drilled by the machining unit 18 in the step 4, the procedure until the workpiece W can be machined by the main shaft 18a using the unit side engaging portion 18b and the bush portion 40 is shown in FIGS. This will be described with reference to FIG.

  First, FIG. 8 shows a state where the machining unit is moved, and FIG. 9 shows an example of a procedure for engaging the machining unit with the bush portion. As shown in FIGS. 8 and 9, the machining unit 18 is moved in the traveling direction (the direction of arrow D2 in the figure) so that the main shaft 18a passes through the guide hole 40d. During this movement, the engaging portion 40a of the bush portion 40 passes through the concave portion 18p of the clamp portion 18m. In addition, it is desirable to retract the main shaft 18a during movement to a position where it does not collide with the workpiece W.

  When the processing unit 18 is stopped after the engaging portion 40a passes through the recess 18p, the state shown in FIG. 10 is obtained. 10A represents a cross-sectional view taken along line A10-A10 in FIG. 10B, and FIG. 10B represents a cross-sectional view taken along line B10-B10 in FIG. 10A. In this example, the clamp portion 18m passes through the bush main body 40b in a portion where the engaging portion 40a is not provided, and the tip end portion of the main shaft 18a is guided by the guide portion 40e.

  In the state shown in FIG. 10, the actuator 18g is driven to move the movable portion 18h. That is, together with the rotating cylinder 18k, the clamp portion 18m is rotated in the engaging direction (the direction of the arrow D4 shown in FIGS. 9 and 10) to obtain the state shown in FIG. 11A illustrates a cross-sectional view taken along line A11-A11 in FIG. 11B, and FIG. 11B illustrates a cross-sectional view taken along line B11-B11 in FIG. 11A. The rotation in the engaging direction is performed until the tapered surface 18n of the clamp portion 18m comes into contact with the tapered surface 40f of the engaging portion 40a. In this example, as shown in FIG. 11A, the rotation is performed by an angle θ from the base line L2 to the base line L4.

  As described above, the state where the tapered surface 18n is in contact with the tapered surface 40f is shown in FIG. When the workpiece 18 is machined in the machining direction (arrow D8 direction shown in FIG. 12) by rotating the main shaft 18a in this state, the reaction force (force in the arrow D6 direction shown in FIG. 12) generated during the machining is applied to the bush portion. 40 absorbs. Therefore, the processing unit 18 does not shake during processing.

  After machining, the clamping unit 18m is rotated in the release direction (in the direction opposite to the direction of arrow D4 shown in FIGS. 9 and 10) by a procedure reverse to the procedure described above to release the engagement of the taper surface. What is necessary is just to move 18 to the evacuation direction (direction opposite to the arrow D2 direction of FIG. 8).

According to the embodiment described above, the following effects can be obtained.
(1) The unit replacement mechanism 14 includes both an arm-side attaching / detaching portion 12a provided at the tip of the robot arm 12, a unit-side attaching / detaching portion 16b provided in the hand unit 16, and a unit-side attaching / detaching portion 18e provided in the processing unit 18. (See FIGS. 1 to 3). Since the transfer hand unit 16 and the processing unit 18 for processing are exchanged by the unit replacement mechanism 14, only one unit is attached to the robot arm 12. In one robot processing machine 10 having a robot arm 12 with a limited payload, it is possible to perform both drilling and conveyance of non-simultaneous ones, and the cost is reduced in that no other robot apparatus is required. It can be kept cheap.

(2) The machining unit 18 stores the index position of the spindle 18a in the storage unit 18c (see FIG. 3). Even when further drilling is performed after the hand unit 16 is replaced, drilling can be performed immediately without detecting the position of the spindle 18a. Accordingly, there is no wasted time in the process because the position of the main shaft 18a need not be detected.
Further, since the machining unit 18 is provided with a power supply unit 18d for holding the storage contents of the storage unit 18c, it is necessary to care about the connection between the power supply unit 18d and the storage unit 18c when the hand unit 16 and the machining unit 18 are replaced. There is no advantage.

(3) In the processing system 20, the transport hand unit 16 and the processing unit 18 for processing are replaced by the unit replacement mechanism 14, so that both the hole processing and the transport are performed by one robot processing machine 10 as a result. Can do. Further, while the robot processing machine 10B is transporting the fixed box 32, the robot processing machine 10A is replaced with the processing unit 18 by the unit replacement mechanism 14 (step 2), and after the robot processing machine 10B has been transported, the robot Since the processing machine 10A drills holes in the workpiece W (step 3), no time is wasted in the steps.

(4) The machining system 20 is configured to control so that the workpiece W is drilled after the spindle 18a of the machining unit 18 is positioned on the guide portion 40e (see FIG. 10). When the main shaft 18a is positioned on the guide portion 40e, the movement of the main shaft 18a in the radial direction is restricted even when the robot arm 12 is swung for some reason. Therefore, even when the hole processing is performed using the robot processing machine 10, a highly accurate hole can be processed.

(5) In the processing system 20, after engaging and holding the engaging portion 40a and the clamp portion 18m, the workpiece W is controlled to be drilled (see FIGS. 8 to 12). When the engaging portion 40a and the clamp portion 18m are engaged and held, even when the robot arm 12 swings for some reason, the movement of the main shaft 18a in the axial direction (the depth direction of the hole) and the radial direction is restricted. Therefore, even when the processing unit 18 is provided at the tip of the robot arm 12 to perform hole processing, a highly accurate hole can be processed.

[Other Embodiments]
Although the best mode for carrying out the present invention has been described above, the present invention is not limited to this mode. In other words, various forms can be implemented without departing from the scope of the present invention. For example, the following forms may be realized.

(1) In the above-described embodiment, the unit replacement mechanism 14 is configured so that the hand unit 16 and the processing unit 18 can be replaced (see FIGS. 1 to 3). Instead of (or in addition to) this form, it may be configured to be exchangeable with another unit. As other units, a unit that performs an arbitrary work can be applied. For example, a welding unit that performs welding, a coating unit that performs coating, and the like are applicable. Therefore, processing can be performed in parallel with work other than conveyance.
Further, the unit exchanging mechanism 14 has a configuration in which the attaching / detaching convex portion 12b expands in the radial direction so as to be fitted and fixed to the attaching / detaching concave portion 16c (see FIGS. 2 and 3). Instead of this form, the unit may be configured to be replaceable by providing another attachment / detachment mechanism. Other attachment / detachment mechanisms include, for example, a configuration including male screws and female screws, and a configuration in which one or the other of the attachment / detachment convex portion and the attachment / detachment concave portion is tapered in the depth direction.

(2) In the above-described embodiment, the machining system 20 is configured to control the workpiece W so as to perform hole machining (see steps 1 to 5). Instead of (or in addition to) this form, other processing is performed on the workpiece W using the processing unit 18 provided with a tool capable of performing other processing (for example, tapping, cutting, chamfering, etc.). It is good also as a structure controlled to. Even with this configuration, vibration of the robot arm 12 is prevented and the movement of the tool (spindle 18a) is restricted, so that highly accurate machining can be performed. A processing machine other than the processing robots 22, 24, and 26 that performs hole processing (for example, a processing robot that performs cutting processing, an assembly robot that performs assembly, and the like) may be applied.

(3) In the above-described embodiment, the tapered surface 18n of the clamp portion 18m and the tapered surface 40f of the engaging portion 40a are configured as smooth surfaces (see FIGS. 8 to 12). Instead of this form, one or both of the tapered surface 18n and the tapered surface 40f may be configured as a non-smooth surface. The non-smooth surface is formed in, for example, an L shape or a step shape, or formed on an uneven surface. If the surface is non-smooth, the slip resistance increases, so that even if the reaction force increases, it can be absorbed. Therefore, even when the robot arm 12 swings, the movement of the main shaft 18a with respect to the axial direction (the depth direction of the hole) can be more reliably regulated.

(4) In the above-described embodiment, the tapered surface 18n of the clamp portion 18m and the tapered surface 40f of the engaging portion 40a are configured by curved surfaces parallel to each other (see FIGS. 8 to 12). Instead of this form, one or both of the tapered surface 18n and the tapered surface 40f may be configured in a tapered shape that is inclined in the rotational direction. That is, although it is necessary to relatively rotate the tapered surface 18n and the tapered surface 40f to engage with each other, it is possible to apply a tightening force according to the rotation angle by inclining at least one surface in the rotation direction. Therefore, the engagement force between the clamp portion 18m and the bush portion 40 can be adjusted by the rotation angle.

(5) In the above-described embodiment, the machining unit 18 includes the power supply unit 18d in order to hold the content stored in the storage unit 18c (for example, the index position of the main shaft 18a) (see FIG. 1). In other words, since the storage unit 18c is a volatile memory, the power supply unit 18d is required. Instead of this form, when a nonvolatile memory is applied as the storage unit 18c, the power supply unit 18d is not necessary. Non-volatile memory corresponds to, for example, EEPROM (Electrically Erasable Programmable ROM), flash memory, FeRAM (Ferroelectric RAM) and the like. Therefore, the power supply unit 18d is unnecessary, and the cost can be reduced.

It is a side view showing the example of composition of a robot processing machine. It is a figure explaining attachment and detachment of a hand unit. It is a figure explaining attachment and detachment of a processing unit. It is a top view showing the example of composition of a processing station. It is a perspective view showing the structural example of a fixed box. It is a fragmentary sectional view showing the example of composition of a unit side engaging part. It is a figure showing the structural example of a bush part. It is a fragmentary sectional view showing the state where the processing unit is moved. It is a figure explaining the procedure which engages a process unit with a bush part. It is a figure showing the state which positioned the main axis | shaft in the guide part. It is a figure showing the state after engagement. It is a fragmentary sectional view showing the state under processing by a main axis.

Explanation of symbols

10 (10A, 10B) Robot processing machine 12 Robot arm 12a Arm side attaching / detaching part 12b Attachment / detachment convex part 14 Unit exchange mechanism 16 (16A, 16B) Hand unit 16a Chuck 16b Unit side attaching / detaching part 16c Attachment / detachment recessed part 18 (18A, 18B) Processing Unit 18a Main shaft 18b Unit side engaging part 18c Storage part 18d Power supply part 18e Unit side attaching / detaching part 18g Actuator 18h Movable part 18i Fitting part main body 18j Bearing 18k Rotating cylindrical body 18m Clamp part 18n Tapered surface 18p Recessed part 20 Processing system 22, 24 , 26 Processing robot (processing machine)
28 Work table 30 Work table 32 Fixed box 34 Box table 36, 38 Unit table 40 Bush part 40a Engagement part 40b Bush body 40c Mounting part 40d Guide hole 40e Guide part 40f Tapered surface C Controller L2, L4 Base line W (Wa, Wb) Workpiece

Claims (6)

A robot processing machine having a robot arm composed of a plurality of joints and performing hole processing,
A hand unit that transports workpieces;
A machining unit that drills holes with the spindle,
A unit exchanging mechanism for exchanging the hand unit and the processing unit and holding one of the units;
A robot processing machine having a control device that controls to exchange holes from the hand unit to the machining unit by the unit exchange mechanism. The robot processing machine according to claim 1,
The machining unit has a storage unit for storing the spindle index position,
The control device is a robot processing machine that controls to perform hole drilling according to a spindle indexing position stored in the storage unit. The robot processing machine according to claim 2,
The processing unit is a robot processing machine having a power supply unit that holds the storage contents of the storage unit. A processing system comprising the robot processing machine according to any one of claims 1 to 3 and another processing machine, wherein both processing machines are operated to perform hole processing.
After the robot processing machine has finished transporting by the hand unit, while the other processing machine is transporting, the robot processing machine is replaced by a unit replacement mechanism from the hand unit to the processing unit,
A processing system in which the robot processing machine controls to drill a hole in the workpiece according to a spindle indexing position stored in a storage unit after the other processing machine finishes conveying. The processing system according to claim 4,
It is conveyed by another processing machine, and is provided corresponding to each processing position of the workpiece, and includes a guide portion having a predetermined length along the axial direction of the main shaft, and has a fixing box that temporarily fixes the workpiece,
The robot processing machine is a machining system that controls to drill a hole in the workpiece after positioning the spindle of the machining unit on the guide portion. A processing system according to claim 4 or 5, wherein
A fixing box that is transported by another processing machine and is provided corresponding to each processing position of the workpiece, and has a tapered engaging portion that is formed so that the tip end side thereof expands in the radial direction, and temporarily fixes the workpiece. Have
The processing unit has a tapered clamp portion formed so that the tip side is narrowed,
The robot processing machine is a processing system that controls to drill a workpiece after engaging and holding the engagement portion and the clamp portion.

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