JP2011020225A - Machining device and machining method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a machining device that executes machining with high positional accuracy to a machining target part of a workpiece, specified from one side of the workpiece, from the other side of the workpiece, and a machining method. <P>SOLUTION: The machining device 50 includes: a magnetic-object detection unit 10 that responds to a magnetic field, which is generated by a magnetic object 63 on one side of a workpiece 60, from the other side of the workpiece 60; a machining unit that machines the workpiece 60 from the other side; and a support structure 51 that supports the magnetic-object detection unit 10 to a first position on the other side while supporting the machining unit at the first position. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  More particularly, the present invention relates to a processing apparatus and a processing method suitable for an aircraft assembly process.

  For example, in the main wing of an aircraft, a plurality of spar extending in the wing width direction is combined with a rib in a direction orthogonal thereto, and a plurality of skins (outer plates) are attached to the top and bottom of the rib. In the step of fixing the skin to the rib and the spar, the rib, the spar, and the skin are arranged at predetermined positions, and then a portion of the skin that is coaxial with the hole provided in the rib and the spar is specified. This coaxial part is generally identified by visual observation from the cross-sectional direction of the skin, spar and rib. And a hole is drilled in a specific part and a bolt etc. are penetrated to the hole provided in skin, a spar, and a rib, and both are fixed.

  By the way, in recent years, CFRP (Carbon Fiber Reinforced Plastics), which is lightweight and highly durable, has been selected as the skin material for the main wing, and it has become possible to form the upper and lower skins of each wing with a single plate. ing. In the case of such a large skin, a person may not be able to approach the part where the rib and spar are arranged, and the part where the hole is made in the skin is visually identified from the cross-sectional direction of the rib, spar and skin. This makes it difficult to identify the position of the hole in the skin.

  In relation to the present invention, Patent Document 1 discloses a displacement detection device. Patent Document 2 discloses a positioning device and a positioning method using an electromagnet.

Japanese Patent Laid-Open No. 4-212011 JP-A-7-98613

  It is an object of the present invention to perform processing with high positional accuracy from the opposite side of one side of the workpiece with respect to the processing target portion of the workpiece specified from one side of the workpiece. A processing apparatus and a processing method are provided.

  The means for solving the problem will be described below using the numbers used in the (DETAILED DESCRIPTION). These numbers are added to clarify the correspondence between the description of (Claims) and (Mode for Carrying Out the Invention). However, these numbers should not be used to interpret the technical scope of the invention described in (Claims).

  The processing apparatus (50, 90) according to the first aspect of the present invention sandwiches the workpiece in a magnetic field generated by a magnetized object (63, 66) on one side of the workpiece (60, 100). A magnetized object detection unit (10, 110) sensitive from the opposite side of the one side, a processing unit (70, 71, 80) for executing processing on the workpiece from the opposite side, And a support structure (51, 99) for supporting the magnetic substance detection unit at the first position on the opposite side and supporting the processing unit at the first position.

  The magnetized object detection unit is capable of swinging with a magnet holder (22) having a magnet (21) magnetically attracting the magnetized object at one end, and the magnet holder as a fulcrum at the center of gravity of the magnet holder. Relative to the support frame (11) supported on the frame, the displacement display part (22) provided at the end of the magnet holder opposite to the magnet, and the indicator part (41) provided on the support frame side It is preferable to provide a posture display unit (40) for displaying a swinging posture around the fulcrum of the magnet holder according to a specific positional relationship.

  The support structure preferably includes a mounting portion (52). Each of the magnetized object detection unit and the processing unit is detachably attached to the attachment portion.

  It is preferable that the attachment portion includes a through hole formed in the support structure. The processing unit preferably includes a guide bush (73) inserted into the through hole and a drilling machine (71) including a drill blade (72). The guide bush guides the drilling machine in the axial direction of the drill blade.

  The processing device preferably further includes a control device (94), a storage device (95), a first swing angle sensor (98A), and a second swing angle sensor (98B). The magnetized object detection unit is capable of swinging with a magnet holder (20) provided with a magnet (21) that magnetically attracts the magnetized object at one end, and the magnet holder as a fulcrum at the center of gravity of the magnet holder. And a support frame (11) to be supported. The support frame supports a first bearing portion (31) that supports the magnet holder so as to be swingable about the X axis, and can swing the first bearing portion about a Y axis that is orthogonal to the X axis. And a second bearing portion (32) to be supported. The first swing angle sensor detects a first swing angle of swinging about the X axis of the magnet holder. The second rocking angle sensor detects a second rocking angle of rocking around the Y axis of the magnet holder. The support structure includes a base (91) fixed to the workpiece, a movable body (93) that supports the magnetized object detection unit and the machining unit, and the movable body with respect to the base. And a servo drive mechanism (92X, 92Y) that moves parallel to the axis and moves the movable body parallel to the Y axis with respect to the base. The control device moves the moving body to the servo drive mechanism, and the magnetization when the first swing angle and the second swing angle become a predetermined first angle and a predetermined second angle, respectively. The first position as the position of the object detection unit is searched, the XY coordinates (97) of the moving body when the magnetized object detection unit is at the first position are stored in the storage device, and the magnetization is performed. Based on the relative displacement amount (96) of the object detection unit and the processing unit and the XY coordinates, the moving body is moved to the servo drive mechanism and the processing unit is arranged at the first position.

  The processing device preferably further includes a control device (94) and a storage device (95). The magnetized object detection unit includes a magnetic sensor (110). The support structure includes a base (91) fixed to the workpiece, a moving body (93) that supports the magnetized object detection unit and the processing unit, and moves the moving body relative to the base. Servo drive mechanism (92X, 92Y). The control device searches the first position as the position of the magnetized object detection unit where the sensitivity of the magnetic sensor is maximized by moving the moving body to the servo drive mechanism, and the magnetized object detection unit Is stored in the storage device, and based on the relative displacement (96) and the coordinates of the magnetized object detection unit and the processing unit. The processing unit is arranged at the first position by moving the moving body to a servo drive mechanism.

  The processing is, for example, a drilling process using a drill, a nailing process, or a hammering process.

  In the machining method according to the second aspect of the present invention, the workpiece is sandwiched by a magnetic field generated by the magnetized material (63, 66) on one side of the workpiece (60, 100), and opposite to the one side. A step of disposing a magnetized object detection unit (10, 110) sensitive from the side at the first position on the opposite side; a step of disposing a processing unit (70, 71, 80) at the first position; A unit performing a machining process on the workpiece.

  The magnetized object detection unit is capable of swinging with a magnet holder (20) provided with a magnet (21) that magnetically attracts the magnetized object at one end, and the magnet holder as a fulcrum at the center of gravity of the magnet holder. Relative to the support frame (11) supported on the frame, the displacement display part (22) provided at the end of the magnet holder opposite to the magnet, and the indicator part (41) provided on the support frame side And a posture display unit (40) for displaying a swinging posture around the fulcrum of the magnet holder according to a specific positional relationship. The step of arranging the magnetized object detection unit at the first position on the opposite side includes a step of moving a support structure (51) that supports the magnetized object detection unit while looking at the posture display unit. It is preferable. The step of disposing the processing unit at the first position preferably includes a step of removing the magnetized object detection unit from the support structure and a step of attaching the processing unit to the support structure.

  The magnetized object detection unit is capable of swinging with a magnet holder (22) having a magnet (21) magnetically attracting the magnetized object at one end, and the magnet holder as a fulcrum at the center of gravity of the magnet holder. And a support frame (11) to be supported. The support frame supports a first bearing portion (31) that supports the magnet holder so as to be swingable about the X axis, and can swing the first bearing portion about a Y axis that is orthogonal to the X axis. And a second bearing portion (32) to be supported. The step of disposing the magnetized object detection unit at the first position on the opposite side includes detecting a first swing angle of swing of the magnet holder about the X axis, and the magnet holder Detecting a second swing angle of swing about the Y axis, and moving a movable body (93) supporting the magnetized object detection unit and the processing unit in parallel to the X axis; The position of the magnetized object detection unit when the first swing angle and the second swing angle become a predetermined first angle and a predetermined second angle by moving parallel to the Y axis, respectively. Preferably, the method includes a step of searching for a first position and a step of storing XY coordinates (97) of the moving body when the magnetized object detection unit is at the first position. The step of disposing the processing unit at the first position includes the step of moving the movable body parallel to the X axis based on the relative displacement (96) of the magnetized object detection unit and the processing unit and the XY coordinates. Alternatively, it is preferable to include a step of moving parallel to the Y axis.

  The magnetized object detection unit includes a magnetic sensor (110). The step of arranging the magnetized object detection unit at the first position on the opposite side moves the moving body (93) that supports the magnetized object detection unit and the processing unit, so that the sensitivity of the magnetic sensor is increased. Searching for the first position as the position of the magnetized object detection unit that is maximized, and storing the coordinates (97) of the moving body when the magnetized object detection unit is in the first position; And the step of disposing the processing unit at the first position includes a step of moving the movable body based on the relative displacement (96) of the magnetized object detection unit and the processing unit and the coordinates. It is preferable.

  The workpiece is preferably an aircraft wing skin. The processing is a drilling process using a drill.

  The processing is, for example, a drilling process using a drill, a nailing process, or a hammering process.

  ADVANTAGE OF THE INVENTION According to this invention, it is possible to process with high positional accuracy from the opposite side of one side across the workpiece with respect to the processing target portion of the workpiece specified from one side of the workpiece. A processing apparatus and a processing method are provided.

FIG. 1 is an X-axis vertical sectional view showing a schematic configuration of a magnetized object detection unit according to the first embodiment of the present invention. FIG. 2 is a Y-axis vertical sectional view showing a schematic configuration of the magnetized object detection unit. FIG. 3 is a front view of a displacement display unit provided at one end of the magnet holder. FIG. 4 is a front view of a support portion that supports a magnet holder provided in the magnetized object detection unit. FIG. 5 is a front view of the mask plate attached to the posture display unit provided in the magnetized object detection unit. FIG. 6 is a schematic diagram for explaining the relative positional relationship between the displacement display section and the mask plate. FIG. 7 is a cross-sectional view showing a schematic configuration of the processing apparatus according to the first embodiment. FIG. 8 is a cross-sectional view showing a state where the magnetized object detection unit is removed from the processing apparatus. FIG. 9 is a cross-sectional view showing a state in which a magnet to be detected is attached so that the position of the bolt hole provided in the rib can be detected. FIG. 10 is an X-axis vertical cross-sectional view showing the machining apparatus that is searching the position of the magnet to be detected on the skin. 11 is a Y-axis vertical sectional view of the processing apparatus of FIG. FIG. 12 is a schematic diagram for explaining the relative positional relationship between the displacement display unit and the mask plate in the posture display unit of the processing apparatus of FIG. FIG. 13 is an X-axis vertical sectional view showing the machining apparatus in a state where the position detection of the magnet to be detected is completed on the skin. 14 is a Y-axis cross-sectional view of the processing apparatus of FIG. FIG. 15 is a cross-sectional view of the processing apparatus showing a state in which the magnetized object detection unit is replaced with the drilling unit 70. FIG. 16 is a cross-sectional view of a processing apparatus according to a modification of the first embodiment. FIG. 17 is a perspective view of a processing apparatus according to the second embodiment of the present invention. FIG. 18 is a block diagram of a control system of the machining apparatus according to the second embodiment. FIG. 19 is a block diagram of a control system of the machining apparatus according to the third embodiment of the present invention.

  DESCRIPTION OF EMBODIMENTS Embodiments for carrying out a processing apparatus and a processing method according to the present invention will be described below with reference to the accompanying drawings.

(First embodiment)
A first embodiment of the present invention will be described with reference to the drawings.
First, the structure of the magnetized object detection unit according to the present embodiment will be described with reference to FIGS.
1 is an X-axis vertical sectional view showing a schematic configuration of a magnetized object detection unit according to the present embodiment, FIG. 2 is a Y-axis vertical sectional view showing a schematic configuration of the magnetized object detection unit, and FIG. 3 is one end of a magnet holder. FIG. 4 is a front view of a support unit that supports a magnet holder provided in the magnetized object detection unit, and FIG. 5 is a mask plate attached to the attitude display unit provided in the magnetized object detection unit. FIG. 6 is a schematic diagram for explaining the relative positional relationship between the displacement display portion and the mask plate.

  As shown in FIGS. 1 and 2, the magnetized object detection unit 10 includes a case (support frame) 11 having a bottomed cylindrical shape made of aluminum, a magnet holder 20 disposed inside the case 11, A support unit 30 that supports the magnet holder 20 in a swingable manner, and a posture display unit 40 that is disposed on the top of the housing 11 and displays the posture of the magnet holder.

  The magnet holder 20 is a rod-shaped body made of aluminum as a whole. A magnet 21 is fitted into one end of the magnet holder 20, and one end face of the magnet 21 is exposed. In addition, a spherical plate-like displacement display portion 22 having a larger diameter than the magnet holder 20 and projecting upward is attached to the end of the magnet holder 20 opposite to the side on which the magnet 21 is fitted. Yes.

  As shown in FIG. 3, the displacement display unit 22 has a dot pattern 23 formed at the center thereof, and a wide annular pattern 24 centered on the dot pattern 23 is formed therearound. In the present embodiment, the dot pattern 23 and the annular pattern 24 have an orange fluorescent color, and have high brightness and are easily visible.

  The magnet holder 20 is supported by the support portion 30 at the center of gravity of the casing 11 with the side on which the magnet 21 is fitted facing down at the center of the circular cross section of the housing 11. It can be swung (see FIG. 1).

  As shown in FIG. 4, the support portion 30 includes a first bearing portion 31 and a second bearing portion 32 that supports the first bearing portion from the outside. The first bearing portion 31 is provided with a rod-shaped first shaft portion 33 that penetrates the magnet holder 20 in the X-axis direction. Both end portions of the first shaft portion 33 are pointed and project from the side surface of the magnet holder 20. An intermediate ring 34 is provided around the portion of the magnet holder 20 where the first shaft portion 33 is provided with a slight gap. First shaft screws 35a and 35b are attached to portions of the intermediate ring 34 facing both ends of the first shaft portion 33, and both ends of the first shaft portion 33 and the first bearing screws 35a and 35b are connected. The end face is in point contact. The first bearing portion 31 allows the magnet holder 20 to swing around the X axis.

  On the other hand, the intermediate ring 34 of the first bearing portion 31 is provided with two second shaft portions 36 a and 36 b on the Y axis orthogonal to the first shaft portion 33 described above. Of each of the second shaft portions 36 a and 36 b, the end located outside the intermediate ring 34 has a pointed shape and protrudes from the side surface of the intermediate ring 34. A peripheral ring 37 extending from the inner wall of the housing 11 with a slight gap is provided around the intermediate ring 34. Second bearing screws 38a and 38b are attached to portions of the outer ring 37 facing the end portions of the second shaft portions 36a and 36b, and one ends of the second shaft portions 36a and 36b protruding from the intermediate ring 34. The portion and the end surfaces of the second bearing screws 38a, 38b are in point contact. The second shaft portions 36a and 36b, the second bearing screws 38a and 38b, and the outer ring 37 constitute the second bearing portion 32, and the magnet bearing 20 swings around the Y axis by the second bearing portion 32. It is possible.

  By the combination of the swingable directions of the magnet holder 20 in the first bearing portion 31 and the second bearing portion 32, the magnet holder 20 is tilted in all directions around the point supported by both the bearing portions 31 and 32. It is possible to take the posture.

  A light-shielding mask plate 41 having a convex spherical shape is attached so as to face the displacement display portion 22 provided at the upper end portion of the magnet holder 20 (see FIG. 1). As shown in FIG. 5, the mask plate 41 is formed with a circular see-through hole (index portion) 42 at the center thereof. The see-through hole 42 has the same diameter as the dot pattern 23 formed in the displacement display portion 22 of the magnet holder 20. In addition, a convex lens 44 is attached above the mask plate 41, and when viewed from above the convex lens 44, the see-through hole 42 is enlarged and displayed.

  The swinging posture of the magnet holder 20 can be confirmed as the support display unit 40 based on the relative positional relationship between the fixed see-through hole 42 and the displacement display unit 22 whose position changes with the swinging posture. . In this embodiment, the positional relationship between the see-through hole 42 and the displacement display portion 22 and the dot pattern 23 is such that the magnet holder 20 takes a swinging posture in which the magnet 63 to be detected and the magnet 21 described later have the shortest distance. As shown in FIG. 6, the dot pattern 23 can be removed from the perspective hole 42 and viewed.

  Further, the mask plate 41 is provided with four triangular holes (direction indicating fluoroscopic holes) 43 on the circumference centered on the fluoroscopic hole 42. More specifically, as shown in FIG. 5, along the surface of the mask plate 41, on the orthogonal axis that intersects the center of the mask plate 41, the X1 triangular hole 43a in the X1 direction and the X2 triangular hole 43b in the X2 direction, respectively. The Y1 triangular hole 43c is arranged in the Y1 direction, and the Y2 triangular hole 43d is arranged in the Y2 direction, and each vertex is directed outward. The diameter D2 of the imaginary circle connecting the outermost portions of each of the four triangular holes 43 is the same as the diameter D1 (see FIG. 3) of the inner circumference of the annular pattern 24 formed on the displacement display portion 22 of the magnet holder 20. Or slightly smaller dimensions. When the magnet holder 20 takes a swinging posture in which the magnet 63 to be detected and the magnet 21 to be described later have the shortest distance, the annular pattern 24 is positioned outside the triangular hole 43 as shown in FIG. Thus, the annular pattern 24 cannot be confirmed from the triangular hole 43.

Next, the processing apparatus 50 provided with the above-described magnetized object detection unit 10 will be described with reference to FIGS. 7 and 8.
FIG. 7 is a cross-sectional view showing a schematic configuration of the processing apparatus according to the present embodiment, and FIG. 8 is a cross-sectional view showing a state where the magnetized object detection unit is removed from the processing apparatus.

  As shown in FIG. 7, the processing device 50 includes a magnetized object detection unit 10 and a main body 51 into which the magnetized object detection unit 10 is fitted. The main body 51 has a substantially box shape with an open bottom side, and an attachment hole 52 penetrating to the bottom surface is formed at the approximate center of the top surface. The main body 51 is a support structure that supports the magnetized object detection unit 10. The magnetized object detection unit 10 is mounted in the mounting hole 52 with the side on which the magnet 21 is mounted facing the bottom surface side of the main body 51. That is, the processing apparatus 50 is configured such that the bottom surface of the magnetized object detection unit 10 is exposed on the bottom surface side. The magnetized object detection unit 10 is configured to be removable upward from the mounting hole 52 of the main body 51 as shown in FIG. In this case, when the main body 51 is viewed from the upper surface side, the surface of the object on which the processing device 50 is placed is visible (exposed) through the attachment hole 52.

  Further, two fixing mechanisms 53 for fixing the main body 51 to the object are provided so as to sandwich the mounting hole 52 in the main body 51 (see FIG. 7). The fixing mechanism 53 is provided with a suction cup 54 that is exposed through an opening on the bottom surface side of the main body 51 and sucks and fixes the main body 51 to an object. A suction cup support shaft 55 is attached to the upper surface of the suction cup 54, and the suction cup support shaft 55 protrudes toward the upper surface side of the main body 51 through a shaft insertion hole 56 provided in the upper surface of the main body 51. A disc-shaped main body fixing button 57 is attached to the upper end of the suction cup support shaft 55, and the suction cup support shaft 55 is allowed to move up and down with elastic deformation between the main body fixing button 57 and the upper surface of the main body 51. A spring 58 is interposed.

  Further, a suction path 59 a that penetrates from the upper surface of the suction cup 54 to the side surface of the suction cup support shaft 55 is provided inside the suction cup support shaft 55. The suction path 59 a is connected to a suction port (suction mechanism) 59 attached to the side surface of the suction cup support shaft 55.

Subsequently, a processing method according to the present embodiment will be described with reference to FIGS. In the present embodiment, a method of using the processing device 50 in the step of fixing the skin (outer plate) and the rib in the assembly step of the main wing of the large airplane is particularly illustrated. The processing device 50 can also be used in the process of fixing the skin and the spar.
FIG. 9 is a cross-sectional view showing a state in which a magnet to be detected is attached so that the position of the bolt hole provided in the rib can be detected, and FIG. 10 shows a processing apparatus that is searching for the position of the magnet to be detected on the skin. 11 is a vertical cross-sectional view of the X-axis, FIG. 11 is a vertical cross-sectional view of the Y-axis of the processing apparatus of FIG. 10, and FIG. FIG. 13 is an X-axis vertical sectional view showing the machining apparatus in a state where the position detection of the magnet to be detected is completed on the skin, and FIG. 14 is a Y-axis sectional view of the machining apparatus in FIG.

  As shown in FIG. 9, ribs 61 for connecting and fixing the skin 60 and a skin (not shown) opposed to each other are arranged at predetermined positions of the CFRP skin 60 which is a nonmagnetic material. The rib 61 includes a plate surface 61a that comes into contact with the skin 60 and a column portion 61b that extends perpendicularly from the plate surface 61a. The plate surface 61a may be referred to as a flange. The support 61b may be referred to as a web. A fixed hole 62 for inserting a bolt or the like is formed in a predetermined portion of the plate surface 61a. Below the fixed hole 62 (on the side opposite to the skin 60), a flanged cylinder 64 into which a magnet to be detected (magnetized object 63) is fitted is attached. The magnet 63 to be detected is magnetically attracted to the magnet 21 provided in the magnetized object detection unit 10, and is disposed immediately below the fixed hole 62, that is, on an extension line of the axis of the fixed hole 62.

  The processing apparatus 50 according to the present embodiment identifies the position of the fixing hole 62 immediately above by detecting the position where the magnet 63 to be detected is disposed, and the processing apparatus 50 according to the present embodiment locates the position overlapping the fixing hole 62 of the skin 60. The processing is performed on it. First, in the processing device 50, the suction cup 54 is slightly lifted from the lowermost end of the main body 51 (the lowermost end of the magnetized object detection unit 10), and a vacuum pump (not shown) is placed in the suction port 59. ) To perform suction operation. In this case, since the suction cup 54 is not in contact with the skin 60 even when the processing device 50 is placed on the skin 60, the processing device 50 can be moved freely without being fixed to the skin 60. Can do.

  As shown in FIGS. 10 and 11, the processing device 50 is disposed on the upper surface of the skin 60 at a position approximately overlapping with the fixing hole 62 (the magnet 63 to be detected) of the rib 61. Then, the magnet 21 attached to the processing device 50 is magnetically attracted to the detected magnet 63 through the plate surface 61 a of the skin 60 and the rib 61. Here, since the magnet holder 20 is supported so as to be swingable about the fulcrum 25, the end of the magnet holder 20 on the side including the magnet 21 has a swinging posture directed toward the magnet 63 to be detected. It will be. That is, the magnet holder 20 is responsive to the magnetic field generated by the magnet 63 to be detected and assumes a swinging posture in which the end of the magnet holder 20 on the side including the magnet 21 is directed toward the magnet 63 to be detected.

  When the swinging posture of the magnet holder 20 at this time is confirmed in the posture display unit 40 on the upper end side of the magnetized object detection unit 10, the state is as shown in FIG. That is, in FIG. 10, the displacement display unit 22 is displaced in the X1 direction relative to the mask plate 41 because the processing device 50 is displaced in the X1 direction with respect to the magnet 63 to be detected. Thereby, a part of the annular pattern 24 of the displacement display unit 22 is confirmed by the X2 triangular hole 43b of the mask plate 41. On the other hand, in FIG. 11, the displacement display unit 22 is displaced in the Y1 direction relative to the mask plate 41 because the processing device 50 is displaced in the Y1 direction with respect to the magnet 63 to be detected. Thereby, a part of the annular pattern 24 of the displacement display part 22 is confirmed by the Y2 triangular hole 43d of the mask plate 41.

  Therefore, the processing apparatus 50 is moved in the direction in which the X2 triangular hole 43b and the Y2 triangular hole 43d in which the annular pattern 24 is confirmed are arranged. Then, as the distance between the magnet 21 and the magnet 63 to be detected becomes smaller, the magnet holder 20 changes to take a swinging posture close to an upright position, and is visually recognized from the X2 triangular hole 43b and the Y2 triangular hole 43d. The ratio of the annular pattern 24 gradually decreases.

  When the annular pattern 24 is no longer visible from all the triangular holes 43a, 43b, 43c, 43d, and the dot pattern 23 of the displacement display unit 22 is visible from the transparent hole 42 of the mask plate 41 ( The state shown in FIG. 6), the movement of the processing device 50 is stopped at that position. Then, the relative positional relationship between the processing device 50 and the magnet 63 to be detected is in the state shown in FIGS. In other words, the magnet holder 20 provided in the magnetized object detection unit 10 has a swinging posture in which the magnet 21 and the magnet 63 to be detected have the shortest distance, and is placed on the extension of the perpendicular line dropped from the magnet 21 to the skin 60. The positional relationship is that the detection magnet 63 exists. In this way, the position where the magnet 63 to be detected is disposed, that is, the position of the fixing hole 62 provided in the rib 61 can be detected through the skin 60.

  When the position detection of the magnet 63 to be detected is completed as described above, the main body fixing button 57 of the processing device 50 is pushed in the axial direction of the suction cup support shaft 55 at that position. Then, the suction cup support shaft 55 is lowered, and accordingly, the suction cup 54 is also lowered until it contacts the surface of the skin 60. Since the suction cup 54 is always sucked from the suction port, an adsorption force is generated between the suction cup 54 and the skin 60, and the main body 51 is fixed on the skin 60. Thereby, after the position of the magnet 63 to be detected is detected, the positional deviation between the magnet 63 to be detected and the processing device 50 can be suppressed.

  With reference to FIG. 15, an operation of opening a through hole 60 a for inserting a bolt into the skin 60 will be described. First, the magnetized object detection unit 10 is removed from the attachment hole 52 of the main body 51, and a drilling unit 70 as a machining unit is attached to the attachment hole 52. The drilling unit 70 is detachably attached to the attachment hole 52. The main body 51 supports the drilling unit 70. The drilling unit 70 includes a drilling machine 71 and a guide bush 73. The guide bush 73 is inserted into the mounting hole 52. The drilling machine 71 includes a drill blade 72. The guide bush 73 guides the drilling machine 71 in the axial direction of the drill blade 72. With the drill blade 72 rotated, the drilling machine 71 is pressed against the skin 60 to form the through hole 60a.

  Finally, the suction of the vacuum pump connected to the suction port 59 is stopped. Then, the suction force between the suction cup 54 and the skin 60 is canceled, and the suction cup 54 is pulled upward by pushing up the main body fixing button by the elastic recovery force of the spring 58. Thereby, the main body 51 can be removed from the skin 60, and then the skin 60 and the rib 61 can be fixed with bolts.

  As described above, when the portion to be processed of the skin 60 is specified by the magnet 63 to be detected from the rib 61 side of the skin 60, the magnetized object detection unit 10 from the opposite side of the skin 61 to the rib 61 side. Detects the position of the magnet 63 to be detected, and the drilling machine 71 processes the part to be processed with high positional accuracy from the side opposite to the rib 61 side of the skin 60. Therefore, even if it is difficult to perform the processing operation on the skin 60 from the rib 61 side of the skin 60 due to the narrow space on the rib 61 side of the skin 60, the rib 60 and the spar are opposed to the reference holes. The perforating process can be performed on the skin 60 with high positional accuracy.

As described above, the magnetized object detection unit 10 and the processing apparatus 50 including the magnetized object detection unit 10 according to the present embodiment have the following operational effects.
The magnetized object detection unit 10 according to this embodiment includes a magnet holder 20 provided with a magnet 21 that is magnetically attracted to the magnet 63 to be detected on one end side, and the magnet holder 20 is swung with its center of gravity as a support point 25. The magnet holder depends on the relative positional relationship between the housing 11 that is movably supported, the displacement display portion 22 provided at the end of the magnet holder 20 opposite to the magnet 21, and the indicator portion 42 on the housing 11 side. An attitude display unit 40 that displays 20 swinging attitudes is provided.

  When the magnetized object detection unit 10 having such a configuration is arranged on the surface of the skin 60 opposite to the magnet 63 for detection, the magnet 21 and the magnet 63 for detection provided on one end side of the magnet holder 20 are provided. In order to attract over the skin 60, the end of the magnet holder 20 moves toward the magnet 63 for detection. Therefore, if the magnetized object detection unit 10 is moved on the skin 60 to change the distance between the magnet 21 provided on the magnet holder 20 and the magnet 63 to be detected, the magnetized object detection unit 10 is supported so as to be swingable. When the magnet holder 20 swings around the fulcrum 25, its posture changes. This change in the attitude of the magnet holder 20 is recognized by an attitude display section 40 comprising a displacement display section 22 provided at the end of the magnet holder 20 opposite to the magnet 21 and an indicator section 42 on the housing 11 side. Can do. Accordingly, when the magnetized object detection unit 10 is moved while looking at the posture display unit 40 and the swinging posture of the magnet holder 20 that minimizes the distance between the magnet 21 and the magnet 63 to be detected is taken, The magnet for detection 63 is arranged on the extension of the perpendicular drawn from the magnet 21 to the skin 60.

  Furthermore, since the magnet holder 20 is supported so as to be able to swing with its center of gravity as a fulcrum 25, for example, even when the skin 60 forms an inclined surface, the influence of gravity can be eliminated. As described above, according to the magnetized object detection unit 10, the position of the magnet 63 to be detected in the region hidden by the skin 60 can be easily and without worrying about the shape of the skin 60 made of nonmagnetic material. It becomes possible to detect accurately.

  In the present embodiment, the magnet holder 20 includes a first bearing portion 31 that supports the magnet holder 20 so as to be swingable about the X axis, and a first bearing portion 31 that is centered on the Y axis orthogonal to the X axis. It is supported by a second bearing portion 32 that is supported so as to be swingable.

  According to the above configuration, the magnet holder 20 is mainly supported by the two bearing portions 31 and 32 by the combination of the first bearing portion 31 and the second bearing portion 32 in the swingable direction of the magnet holder 20. It is possible to take a posture inclined in every direction. Accordingly, the magnet 21 provided at the end of the magnet holder 20 changes the swinging posture of the magnet holder 20 regardless of the direction in which the magnet 63 to be detected is arranged with respect to the magnetized object detection unit 10. Accordingly, the direction of the magnet 63 to be detected can be directed, and the position where the magnet 63 to be detected is disposed can be detected.

  In the present embodiment, a light-shielding mask plate 41 is provided on the upper portion of the housing 11 corresponding to the displacement display portion 22, and a dot pattern 23 is formed on the displacement display portion 22 of the magnet holder 20. 41 is formed with a see-through hole 42 through which the dot pattern 23 can be seen in the swinging posture of the magnet holder 20 when the magnet 21 and the magnet 63 to be detected have the shortest distance. A lens for enlarging the see-through hole 42 of the mask plate 41 is provided.

  In this case, when the magnetized object detection unit 10 is moved on the skin 60 while looking through the see-through hole 42 provided in the mask plate 41, and the dot pattern 23 formed on the magnet holder 20 from the see-through hole 42 is confirmed, The magnetized object detection unit 10 is stopped at the position. Then, the magnet 63 to be detected is arranged on the extension of the perpendicular drawn from the magnet 21 to the skin 60 at that time. Further, since the see-through hole 42 is enlarged and displayed by the lens 44, it can be confirmed that the see-through hole 42 and the dot pattern 23 are exactly coincident with each other, and the position where the magnet 63 for detection is arranged can be accurately confirmed. Can be detected.

  In particular, in the present embodiment, an annular pattern 24 centered on the dot pattern 23 is further formed as the displacement display portion 22, and the mask plate 41 has four triangular holes 43a independent from each other on orthogonal axes intersecting at the center. 43b, 43c, 43d are formed, and the outermost part of these triangular holes 43a, 43b, 43c, 43d is when the magnet holder 20 takes a swinging posture in which the magnet 21 and the magnet 63 to be detected are at the shortest distance. It is assumed to overlap with the inner periphery of the annular pattern 24.

  According to such a configuration, the relative positional relationship between the magnet 21 and the magnet 63 to be detected is shown by the mode of the annular pattern 24 confirmed from each triangular hole 43a, 43b, 43c, 43d, and magnetization is performed. The direction in which the object position detection unit 10 should be moved is indicated. If the magnet 21 and the magnet 63 to be detected are not at the shortest distance, the annular pattern 24 is confirmed from one or two of the triangular holes 43a, 43b, 43c, 43d of the mask plate 41. The annular pattern 24 is not confirmed from the remaining triangular holes. In this case, if the magnetized object detection unit 10 is moved in the direction in which the triangular hole in which the annular pattern 24 is confirmed, the distance between the magnet 21 and the magnet 63 to be detected approaches. The aspect of the annular pattern 24 confirmed from the triangular hole changes. When the magnetized object detection unit 10 is stopped at a position where the annular pattern is no longer confirmed from all the triangular holes 43a, 43b, 43c, 43d, it is on the extension of the perpendicular dropped from the magnet 21 to the skin 60 at that time. The magnet 63 to be detected is arranged.

  The processing apparatus 50 according to the present embodiment includes the above-described magnetized object detection unit 10 and a main body 51 having a mounting hole 52 to which the magnetized object detection unit 10 is detachably attached. When the unit 10 is removed, the surface of the skin 60 is exposed through the attachment hole 52.

  According to the processing apparatus 50 having the above configuration, first, after the skin 60 is moved and the position of the magnet 63 to be detected is detected with the magnetized object detection unit 10 attached, the magnetized object detection unit 10 is removed from the main body 51. As a result, the surface of the skin 60 is exposed through the mounting hole 52 of the main body 51. Here, particularly in the present embodiment, in the magnetized object detection unit 10, the position of the magnet 21 when the distance between the magnet 21 and the magnet 63 to be detected is the minimum is the center of the mounting hole 52 of the main body 51. It is trying to become. Therefore, after removing the magnetized object detection unit 10 from the main body 51, the surface of the skin 60 exposed through the attachment hole 52 indicates that the magnet 63 to be detected is disposed on the perpendicular extending from the center thereof. It will be. In this way, an index indicating the position of the magnet 63 to be detected can be formed over the skin 60, and a desired process can be performed on the position of the magnet 63 to be detected using this index.

  In the present embodiment, the main body 51 has a fixing mechanism 53 including a suction cup 54 disposed on the side of the main body 51 facing the skin 60 and a suction port 59 for sucking air in the suction cup 54. Is provided.

  In this case, after detecting the position of the magnet 63 to be detected, the processing device 50 is fixed on the skin 60 by the fixing mechanism 53 provided in the main body 51. It is difficult for the position shift between 51 and the skin 60 to occur, and the detection position of the magnet 63 to be detected can be accurately indicated. Furthermore, by adopting a simple configuration in which the fixing mechanism 53 has a suction cup 54 structure, the processing device 50 does not need to be a large-scale device, and can be made excellent in handleability.

  Moreover, in this embodiment, when the magnetized object detection unit 10 is removed, the punching unit 70 that can be exchanged with the magnetized object detection unit 10 is provided.

  According to such a configuration, after detecting the position of the magnet 63 to be detected with the magnetized object detection unit 10 attached, the magnetized object detection unit 10 can be removed and replaced with the drilling unit 70. As a result, it is possible to drill a hole at the detection position shown on the skin 60 without causing a shift in the detection position.

  With reference to FIG. 16, the processing apparatus 50 which concerns on the modification of this embodiment is demonstrated. A nailing unit 80 as a processing unit is attached to the attachment hole 52 instead of the drilling unit 70. The processing apparatus 50 according to this modification couples the plate 100 and the plate 101 by hitting a nail on the plate 100. The plates 100 and 101 are made of a nonmagnetic material. Through the nailing process, a through hole is formed in the plate 100. Furthermore, in this modification, it is possible to use the magnet for detection 66 instead of the magnet for detection 63. The magnet 66 to be detected is fixed to the plate 101 by fixing means such as an adhesive or a double-sided tape.

  Instead of the nailing unit 80, it is also possible to use a hammering unit (not shown). The hammering unit performs a hammering process on the plates 100 and 101. Through the nailing process, a through hole is formed in the plate 100.

(Second Embodiment)
With reference to FIG. 17, the processing apparatus 90 which concerns on the 2nd Embodiment of this invention is demonstrated. The processing apparatus 90 includes a magnetized object detection unit 10, a drilling machine 71 as a processing unit, an XY moving body 93, and a support structure 99. The support structure 99 includes an outer frame 91 as a base, a fixing mechanism 53, an X-axis direction servo drive mechanism 92X, and a Y-axis direction servo drive mechanism 92Y. The fixing mechanism 53 fixes the outer frame 91 to the skin 60. The X-axis direction servo drive mechanism 92X moves the XY moving body 93 parallel to the X-axis with respect to the outer frame frame 91. The Y-axis direction servo drive mechanism 92 </ b> Y moves the XY moving body 93 parallel to the Y axis with respect to the outer frame frame 91. Here, the X axis and the Y axis are the X axis and the Y axis of the swing of the magnet holder 20. The XY moving body 93 supports the magnetized object detection unit 10. The XY moving body 93 includes a Z-axis direction servo drive mechanism 92Z. The Z-axis direction servo drive mechanism 92Z moves the drilling machine 71 in the Z-axis direction. The Z axis direction is perpendicular to the X axis and the Y axis. The Z-axis direction servo drive mechanism 92Z supports the drilling machine 71 so that the axial direction of the drill blade 72 is parallel to the Z-axis direction.

  Referring to FIG. 18, the processing device 90 includes a first swing angle sensor 98A, a second swing angle sensor 98B, a control device 94, and a storage device 95. The first swing angle sensor 98 </ b> A detects a first swing angle of swinging about the X axis of the magnet holder 20. The second swing angle sensor 98B detects a second swing angle of swinging about the Y axis of the magnet holder 20. The storage device 95 stores the relative XY displacement amount 96 of the magnetized object detection unit 10 and the drilling machine 71. The relative XY displacement amount 96 is a fixed value.

  Hereinafter, a processing method according to the second embodiment will be described.

  The outer frame 91 is fixed to the skin 60 using the fixing mechanism 53 in the vicinity of the corresponding position corresponding to the position of the magnet 63 to be detected. The processing device 90 is disposed on the opposite side of the detected magnet 63 with the skin 60 interposed therebetween. The corresponding position is on the extension of the perpendicular drawn from the magnet 63 to be detected to the skin 60.

  Thereafter, the control device 94 moves the XY moving body 93 to the X-axis direction servo drive mechanism 92X and the Y-axis direction servo drive mechanism 92Y so that the first swing angle and the second swing angle are predetermined first angles, respectively. And the corresponding position as a position of the magnetized object detection unit 10 when it becomes a predetermined 2nd angle is searched.

  Thereafter, the control device 94 stores in the storage device 95 the XY coordinates 97 of the XY moving body 93 when the magnetized object detection unit 10 is in the corresponding position.

  Thereafter, the control device 94 moves the XY moving body 93 to the X-axis direction servo drive mechanism 92X, the Y-axis direction servo drive mechanism 92Y, or both based on the relative XY displacement amount 96 and the XY coordinates 97, and the drilling machine 71 is arranged at a corresponding position.

  Thereafter, the control device 94 moves the drilling machine 71 in the Z-axis direction to the Z-axis direction servo drive device 92 </ b> Z to form the through hole 60 a in the skin 60.

  According to this embodiment, the process of forming the through hole 60a in the skin 60 is automated.

(Third embodiment)
A machining apparatus according to a third embodiment of the present invention will be described with reference to FIG. The machining apparatus according to the present embodiment is the second embodiment except that the magnetized object detection unit 10, the first swing angle sensor 98A, and the second swing angle sensor 98B are replaced with a magnetic sensor 110. It is the same as the processing apparatus 90 concerning. The magnetic sensor 110 functions as a magnetized object detection unit that is sensitive to the magnetic field generated by the magnet for detection 63 and is supported by the XY moving body 93.

  Hereinafter, a processing method according to the third embodiment will be described.

  The outer frame 91 is fixed to the skin 60 using the fixing mechanism 53 in the vicinity of the corresponding position corresponding to the position of the magnet 63 to be detected. The processing apparatus according to the present embodiment is disposed on the opposite side of the magnet 63 to be detected with the skin 60 interposed therebetween. The corresponding position is on the extension of the perpendicular drawn from the magnet 63 to be detected to the skin 60.

  Thereafter, the control device 94 moves the XY moving body 93 to the X-axis direction servo drive mechanism 92X and the Y-axis direction servo drive mechanism 92Y, and the corresponding position as the position of the magnetic sensor 110 at which the sensitivity of the magnetic sensor 110 is maximized. Explore.

  Thereafter, the control device 94 stores in the storage device 95 the XY coordinates 97 of the XY moving body 93 when the magnetic sensor 110 is at the corresponding position.

  Thereafter, the control device 94 moves the XY moving body 93 to the X-axis direction servo drive mechanism 92X, the Y-axis direction servo drive mechanism 92Y, or both based on the relative XY displacement amount 96 and the XY coordinates 97, and the drilling machine 71 is arranged at a corresponding position.

  Thereafter, the control device 94 moves the drilling machine 71 in the Z-axis direction to the Z-axis direction servo drive device 92 </ b> Z to form the through hole 60 a in the skin 60.

  According to this embodiment, the process of forming the through hole 60a in the skin 60 is automated.

  In the second embodiment and the third embodiment, the drilling machine 71 can be replaced with a nail driving unit 80 or a hammering unit. In this case, the skin 60, the rib 61, and the magnet for detection 63 are replaced with the plate 100, the plate 110, and the magnet for detection 66.

  The present invention has been described above with reference to the embodiment, but the present invention is not limited to the above embodiment. Various modifications can be made to the above embodiment. The above embodiments can be combined with each other.

  For example, the processing apparatus and the processing method according to each of the embodiments described above can be applied to a case where a wall material, a ceiling material, or the like is drilled and nailing from the surface in a blind state on a back bone of a building or the like. According to each of the embodiments described above, since the search accuracy of the part to be drilled and nailing is high, the contact surface between the back bone and the wall material, ceiling material, etc. can be reduced, and the cost is reduced.

10 ... Magnetized object detection unit 11 ... Housing (support frame)
DESCRIPTION OF SYMBOLS 20 ... Magnet holder 21 ... Magnet 22 ... Displacement display part 23 ... Point pattern 24 ... Circular pattern 25 ... Supporting point 30 ... Support part 31 ... 1st bearing part 32 ... 2nd bearing part 40 ... Posture display part 41 ... Mask plate 42 ... Perspective hole (index part)
43a-43d ... Triangular hole (direction indicating fluoroscopic hole)
44 ... Lens 50 ... Processing device 51 ... Main body 52 ... Mounting hole 53 ... Fixing mechanism (fixing means)
54 ... Suction cup 59 ... Suction port (suction mechanism)
60 ... Skin (obstacle)
60a ... Through hole 61 ... Rib 61a ... Plate surface 61b ... Staff 62 ... Fixing holes 63, 66 ... Magnet for detection (magnetized material)
64 ... Flanged cylinder 70 ... Drilling unit 71 ... Drilling machine 72 ... Drill blade 73 ... Guide bush 80 ... Nailing unit (striking unit)
90 ... Processing device 91 ... Outer frame 92X ... X-axis direction servo drive mechanism 92Y ... Y-axis direction servo drive mechanism 92Z ... Z-axis direction servo drive mechanism 93 ... XY moving body 94 ... Control device 95 ... Storage device 96 ... Relative XY Displacement 97 ... XY coordinate 98A ... first swing angle sensor 98B ... second swing angle sensor 99 ... support structure 100, 101 ... plate 110 ... magnetic sensor

Claims (13)

A magnetized object detection unit that is sensitive to a magnetic field generated by a magnetized object on one side of the work piece, sandwiching the work piece from the opposite side of the one side;
A processing unit for performing processing on the workpiece from the opposite side;
A processing apparatus comprising: a support structure that supports the magnetized object detection unit at the first position on the opposite side and supports the processing unit at the first position. The magnetized object detection unit includes:
A magnet holder including a magnet that magnetically attracts the magnetized object on one end side;
A support frame for swingably supporting the magnet holder with the center of gravity of the magnet holder as a fulcrum;
The magnet holder swings around the fulcrum according to the relative positional relationship between the displacement display portion provided at the end of the magnet holder opposite to the magnet and the indicator portion provided at the support frame. The processing apparatus according to claim 1, further comprising a posture display unit that displays a dynamic posture. The support structure includes a mounting portion,
The processing apparatus according to claim 2, wherein each of the magnetized object detection unit and the processing unit is detachably attached to the attachment portion. The attachment portion includes a through hole formed in the support structure,
The processing unit is
A guide bush inserted into the through hole;
With a drilling machine equipped with a drill blade,
The processing apparatus according to claim 3, wherein the guide bush guides the drilling machine in an axial direction of the drill blade. A control device;
A storage device;
A first swing angle sensor;
A second swing angle sensor;
The magnetized object detection unit includes:
A magnet holder including a magnet that magnetically attracts the magnetized object on one end side;
A support frame that swingably supports the magnet holder with the center of gravity of the magnet holder as a fulcrum;
The support frame is
A first bearing portion that supports the magnet holder so as to be swingable about the X axis;
A second bearing portion supporting the first bearing portion so as to be swingable about a Y axis perpendicular to the X axis;
The first swing angle sensor detects a first swing angle of swinging around the X axis of the magnet holder,
The second swing angle sensor detects a second swing angle of swinging around the Y axis of the magnet holder;
The support structure is
A base fixed to the workpiece;
A moving body that supports the magnetized object detection unit and the processing unit;
A servo drive mechanism for moving the movable body parallel to the X axis with respect to the base and moving the movable body parallel to the Y axis with respect to the base;
The controller is
The position of the magnetized object detection unit when the movable body is moved to the servo drive mechanism and the first swing angle and the second swing angle become a predetermined first angle and a predetermined second angle, respectively. Searching for the first position as
XY coordinates of the moving body when the magnetized object detection unit is in the first position are stored in the storage device;
The machining unit according to claim 1, wherein the moving unit is moved to the servo drive mechanism based on the relative displacement amount of the magnetized object detection unit and the machining unit and the XY coordinates, and the machining unit is arranged at the first position. apparatus. A control device;
A storage device,
The magnetized object detection unit includes a magnetic sensor,
The support structure is
A base fixed to the workpiece;
A moving body that supports the magnetized object detection unit and the processing unit;
A servo drive mechanism for moving the movable body relative to the base,
The controller is
Searching for the first position as the position of the magnetized object detection unit where the sensitivity of the magnetic sensor is maximized by moving the moving body to the servo drive mechanism;
Storing the coordinates of the movable body when the magnetized object detection unit is in the first position in the storage device;
The processing apparatus according to claim 1, wherein the processing unit is arranged at the first position by moving the movable body to the servo drive mechanism based on the relative displacement amount and the coordinates of the magnetized object detection unit and the processing unit. . The processing apparatus according to claim 1, wherein the processing is a drilling process using a drill, a nailing process, or a hammering process. Disposing a magnetized object detection unit that is sensitive to a magnetic field generated by a magnetized object on one side of the workpiece from the opposite side of the one side at a first position on the opposite side; ,
Disposing a processing unit at the first position;
The processing unit includes a step of performing a processing process on the workpiece. The magnetized object detection unit includes:
A magnet holder including a magnet that magnetically attracts the magnetized object on one end side;
A support frame for swingably supporting the magnet holder with the center of gravity of the magnet holder as a fulcrum;
The magnet holder swings around the fulcrum according to the relative positional relationship between the displacement display portion provided at the end of the magnet holder opposite to the magnet and the indicator portion provided at the support frame. A posture display unit for displaying a dynamic posture,
The step of disposing the magnetized object detection unit at the first position on the opposite side includes a step of moving a support structure that supports the magnetized object detection unit while looking at the posture display unit,
The step of disposing the processing unit at the first position includes:
Removing the magnetized object detection unit from the support structure;
The processing method according to claim 8, further comprising: attaching the processing unit to the support structure. The magnetized object detection unit includes:
A magnet holder including a magnet that magnetically attracts the magnetized object on one end side;
A support frame that swingably supports the magnet holder with the center of gravity of the magnet holder as a fulcrum;
The support frame is
A first bearing portion that supports the magnet holder so as to be swingable about the X axis;
A second bearing portion supporting the first bearing portion so as to be swingable about a Y axis perpendicular to the X axis;
The step of disposing the magnetized object detection unit at the first position on the opposite side includes:
Detecting a first swing angle of swinging about the X axis of the magnet holder;
Detecting a second swing angle of swinging about the Y axis of the magnet holder;
The movable body that supports the magnetized object detection unit and the machining unit is moved in parallel with the X axis and in parallel with the Y axis so that the first swing angle and the second swing angle are respectively predetermined. Searching for the first position as the position of the magnetized object detection unit when the first angle and the predetermined second angle are
Storing the XY coordinates of the movable body when the magnetized object detection unit is in the first position,
The step of disposing the processing unit at the first position may include moving the movable body parallel to the X axis or the Y based on the relative displacement amount of the magnetized object detection unit and the processing unit and the XY coordinates. The processing method according to claim 8, comprising a step of moving parallel to the axis. The magnetized object detection unit includes a magnetic sensor,
The step of disposing the magnetized object detection unit at the first position on the opposite side includes:
Searching for the first position as the position of the magnetized object detection unit where the sensitivity of the magnetic sensor is maximized by moving a movable body supporting the magnetized object detection unit and the processing unit;
Storing the coordinates of the movable body when the magnetized object detection unit is in the first position;
The process of disposing the processing unit at the first position includes a step of moving the moving body based on a relative displacement amount and the coordinates of the magnetized object detection unit and the processing unit. Method. The workpiece is an aircraft wing skin;
The processing method according to claim 8, wherein the processing process is a drilling process using a drill. The processing method according to claim 8, wherein the processing processing is drilling processing using a drill, nailing processing, or hammering processing.

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