JP2012110907A - Machining apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a machining apparatus that is compatible with an increased driving speed and also prevents a breakage without increasing the size of a machining head.SOLUTION: The machining apparatus joins a machining head joining surface 13 and a mounting plate joining surface 43 together to move the machining head 1. The machining apparatus includes: a groove 41 formed in a mounting plate 4 so that a side of the mounting plate joining surface 43 is opened; a support 6 formed on the machining head joining surface 13 so as to come into contact with the groove 41 at a lower part thereof while having a space upward thereof and support the weight of the machining head 1 when inserted into the groove 41; a convex 7 formed in a position lower than the support 6 in a height direction on the machining head joining surface 13; a concave 42 formed so as to enable positioning by inserting the convex 7 into the side of the mounting plate joining surface 43 and also bringing the convex into contact with the side of the mounting plate joining surface; and a permanent electromagnet 51 formed by being embedded between the groove 41 and the concave 42 in a height direction on the mounting plate joining surface 43 so as to be attached to the machining head joining surface 13.

Description

  The present invention relates to processing heads (processing torches) for thermal cutting and welding performed using plasma, laser, gas, etc., fluids such as water jets, sandblasting, plasma spraying, etc., powders, granules In particular, it is intended to reduce contact between a processing head and a workpiece and prevent breakage.

  Conventional processing heads using plasma, laser, gas, water, abrasive grains, etc. are two-dimensional moving means, or so-called two-dimensional processing apparatuses mounted on three-dimensional moving means, and three-dimensional processing apparatuses. Therefore, the machining head is fixed to the mounting plate of the moving means, and the machining head is installed so that there is no play or flutter. Then, while maintaining the fixed state, the moving means is moved along a predetermined trajectory to process a workpiece (hereinafter referred to as a workpiece). However, there is a possibility that a part of the work is warped and one end thereof protrudes from the upper surface of the work. In this state, when the machining head moves to perform the next machining, the machining head collides with the warped portion of the workpiece, and if the impact force is significant, the machining head may be damaged. In addition, the machining head may collide with a workpiece or the like due to an operator's erroneous operation or an apparatus failure.

  Therefore, a conventional machining apparatus includes a breakage prevention device that can suppress an impact force applied to a machining head to a certain value or less when it collides with an obstacle such as a workpiece (see, for example, Patent Document 1). . This damage prevention device embeds a magnet in the joint surface of the mounting plate of the moving means or the joint surface of the processing head to attract the other joint surface, and further joins the joint surface of the mounting plate or the processing head. Detection that detects the displacement of the machining head while holding the machining head at a predetermined position and angle by a plurality of spheres projecting on the surface abutting on conical recesses provided on the other joint surface. It is configured with a vessel. Therefore, since the machining head and the mounting plate are attracted by the magnet, if the machining head collides with an obstacle and a force exceeding the magnet's adsorption force is applied to the machining head, is the machining head pulled away from the mounting plate? Or along the direction of external force action. For this reason, excessive force is not applied to the machining head, and damage to the machining head can be avoided to some extent. When the processing head is displaced, the detector detects this, so that the control device stops the moving means of the processing device and performs processing such as removing an obstacle by the operator. When the machining is resumed, the machining head or the sphere of the joint surface of the mounting plate is brought into contact with the concave portion of the other joint surface, so that the machining head can be mounted at a predetermined position.

  Further, other conventional processing apparatuses include a breakage prevention device only at the tip (hereinafter referred to as a nozzle). This breakage prevention device is provided with a sensor that allows only the nozzle to be moved by an external force and detects the distance from a fixed position of the nozzle. When the nozzle moves due to a collision or the like, the distance is detected, the gas in the nozzle is removed, the moving means of the laser processing apparatus is stopped, and the laser beam irradiation is stopped. In this way, it is possible to avoid a state where the joining cannot be released when the gas pressure in the nozzle is high. Moreover, only a lightweight nozzle can be reattached to a predetermined position (for example, refer patent document 2).

Utility Model Registration No. 2539110 JP 2006-7280 A

  In the conventional processing apparatus, the speed of the moving means of the processing apparatus increases as productivity increases. For this reason, the impact force to the machining head at the time of the collision is increased, and the deceleration traveling distance required for stopping the moving means of the machining apparatus is increased. In addition, the acceleration reaching that speed is improved. For this reason, this acceleration (that is, inertial force) acts on the machining head in addition to its own weight. This acceleration may reach twice its own weight. The machining head needs to be fixed with a holding force (magnet attracting force) corresponding to the “self weight + acceleration”. The prior art has the following problems as the speed and acceleration are improved.

The problems in the case of Patent Document 1 are as follows.
<When embedding magnets in a vertical plane>
When the processing head is positioned and fixed, the contact between the spherical surface and the conical surface is used. In order to support the weight of the processing head and the acceleration described above, a strong suction force is required at this contact portion. . Therefore, it is necessary to increase the size of the magnet. When a collision occurs with a strong adsorbing force that supports the processing head's own weight and acceleration, the impact force required to release the bonding also increases, and as a result, the damage to the machining head increases. In other words, when moving quickly, a strong holding force is required,
(1) The magnet becomes larger and the machining head becomes larger. (2) The impact force for releasing the bond becomes stronger and the damage becomes larger.
There was a problem.
<When embedding a magnet in a horizontal plane>
If the moving range of the machining head is sufficiently wide with respect to the deceleration traveling distance required at the time of the collision, the head mounting plate needs to be enlarged. That is, there is a problem that the machining head becomes large.

  Further, there are the following problems in the case of Patent Document 2. In high-speed machining, the gas pressure in the nozzle increases. Therefore, since it takes time for the gas inside the nozzle to be discharged, there is a problem that the moving means moves at that time, and the processing head is damaged (that is, sufficient damage prevention function) Cannot be obtained.) In high-speed machining, the driving speed increases. Therefore, since the decelerating travel distance becomes long, there is a problem that the machining head becomes large when the movement range of the nozzle is sufficiently widened.

  The present invention has been made to solve the above-described problems, and provides a machining apparatus capable of improving the drive speed that can be handled and preventing damage without increasing the size of the machining head. For the purpose.

The present invention includes a machining head, and a mounting plate that is fixed to a moving means for moving the machining head and has a vertical mounting plate joining surface that joins the machining head joining surface of the machining head. A processing device for moving the processing head by bonding a head bonding surface and the mounting plate bonding surface,
A groove formed on the mounting plate so that the mounting plate joint surface side is open;
A support portion formed on the machining head joint surface so as to support the weight of the machining head, with the groove portion and the lower portion abutting when inserted into the groove portion, and having a space above.
At least one convex portion formed at a position below the groove portion and the support portion in the height direction on either one of the processing head joint surface or the mounting plate joint surface;
A concave portion formed so that positioning is possible by inserting and contacting the convex portion on the other joint surface side of the processing head joint surface or the mounting plate joint surface;
At least one magnet that is formed to be embedded between the groove portion and the convex portion or the concave portion in the height direction on the mounting plate joint surface and that adsorbs the machining head joint surface.

The processing apparatus of the present invention includes a processing head and a mounting plate that is fixed to a moving means for moving the processing head and has a vertical mounting plate joint surface that joins the processing head joint surface of the processing head. A processing apparatus for moving the processing head by bonding the processing head bonding surface and the mounting plate bonding surface,
A groove formed on the mounting plate so that the mounting plate joint surface side is open;
A support portion formed on the machining head joint surface so as to support the weight of the machining head, with the groove portion and the lower portion abutting when inserted into the groove portion, and having a space above.
At least one convex portion formed at a position below the groove portion and the support portion in the height direction on either one of the processing head joint surface or the mounting plate joint surface;
A concave portion formed so that positioning is possible by inserting and contacting the convex portion on the other joint surface side of the processing head joint surface or the mounting plate joint surface;
Since the mounting head includes at least one magnet that is embedded and formed between the groove and the convex or the concave in the height direction on the mounting plate bonding surface, the processing head is provided. By supporting the weight of the magnet by the support part and by supporting the magnet by adsorption,
The drive speed that can be dealt with improves, and breakage can be prevented without increasing the size of the machining head.

It is a side view which shows the structure of the processing apparatus of Embodiment 1 of this invention. It is a top view which shows the structure of the processing apparatus shown in FIG. It is a bottom view which shows the structure of the processing apparatus shown in FIG. It is a perspective view which shows the structure of the recessed part of the processing apparatus shown in FIG. It is a perspective view which shows the structure of the fall prevention part of the processing apparatus shown in FIG. It is the front view and side view which show the structure of the process head of the processing apparatus shown in FIG. It is side surface sectional drawing and front view which show the structure of the attachment plate of the processing apparatus shown in FIG. It is a side view which shows the specific example when the process head in the processing apparatus shown in FIG. 1 has shifted | deviated. It is a side view which shows the specific example when the process head in the processing apparatus shown in FIG. 1 has shifted | deviated. It is a side view which shows the specific example when the process head in the processing apparatus shown in FIG. 1 has shifted | deviated. It is a bottom view which shows the specific example when the process head in the processing apparatus shown in FIG. 1 has shifted | deviated. It is a side view which shows the specific example when the process head in the processing apparatus shown in FIG. 1 has shifted | deviated. It is a front view which shows the specific example when the process head in the processing apparatus shown in FIG. 1 has shifted | deviated. It is a side view which shows the specific example when the process head in the processing apparatus shown in FIG. 1 has shifted | deviated. It is a side view which shows the other structure of the processing apparatus of Embodiment 1 of this invention.

Embodiment 1 FIG.
Embodiments of the present invention will be described below. FIG. 1 is a side view showing a configuration of a processing apparatus according to Embodiment 1 of the present invention, and shows a mounting plate and a workpiece in cross section. 2 is a top view showing the configuration of the processing apparatus shown in FIG. 1, FIG. 3 is a bottom view showing the configuration of the processing apparatus shown in FIG. 1, and the mounting plate is shown in cross section. 4 is a perspective view showing the configuration of the concave portion of the processing apparatus shown in FIG. 1. FIG. 4 (a) shows a conical concave shape, and FIG. 4 (b) shows a V-shaped groove. 5 is a perspective view showing the configuration of the fall prevention unit of the processing apparatus shown in FIG. 1, FIG. 6 is a front view and a side view showing the configuration of the processing head of the processing apparatus shown in FIG. 1, and FIG. 8 is a side sectional view and a front view showing the structure of the mounting plate of the processing apparatus shown, FIGS. 8 to 14 are diagrams showing specific examples when the processing head in the processing apparatus shown in FIG. 1 is displaced, and FIG. It is a figure which shows the other structure of the processing apparatus of Embodiment 1.

  In the figure, the processing apparatus includes a processing head 1 and a mounting plate 4 fixed to a moving means (not shown) for moving the processing head 1. The processing head 1 is moved by bonding the processing head bonding surface 13 of the processing head 1 and the mounting plate bonding surface 43 of the mounting plate 4. The processing head 1 is provided with a nozzle 11 on its lower surface. Laser light incident from the upper surface of the processing head 1 is collected by an internal lens (not shown), emitted from the nozzle 11, and used for processing such as cutting of the workpiece 3. On the processing head joint surface 13, there is provided a support portion 6 that is formed to support the weight of the processing head 1 and has a cylindrical shape with a high hardness processing surface formed on the surface. The support portion 6 is formed at a position above the position of the center of gravity 15 of the processing head 1 in order to prevent the processing head 1 from rotating about this.

  Further, on the processing head bonding surface 13, there is formed a substantially hemispherical convex portion 7 formed at a position below the support portion 6 in the height direction and having a hardened surface on the surface. Further, the processing head joint surface 13 is formed of a magnetic material and is attracted to the magnet. A buffer material 61 is installed at the tip of the support portion 6 so as not to damage the mounting plate 4 when the joining is released. The mounting plate 4 has a vertical mounting plate joint surface 43 that joins the machining head joint surface 13. Then, the mounting plate joint surface 43 and the groove portion 41 having a V-shaped horizontal cross section are formed at a position corresponding to the support portion 6 so as to open on the mounting plate joint surface 43 side, and the surface has high hardness to prevent wear. A chemical treatment surface is formed. In addition, although the groove part 41 has shown the example formed in the shape by which the upper part was open | released in this Embodiment 1, it is not restricted to this, When the process head 1 slip | deviates at the time of a collision etc., What is necessary is just to have a space in which the support part 6 can move above the groove part 41.

  A concave portion 42 is formed in a conical concave shape on the mounting plate joining surface 43 side at a position corresponding to the convex portion 7 of the machining head 1 as shown in FIG. A hardened surface is formed. Furthermore, a detector 2 for detecting the joining state of the attachment processing head 1 is embedded. Further, permanent magnets 51, electromagnets 51a, and electromagnets 51b installed at three locations are formed as magnets 5 embedded on the mounting plate joining surface 43 in the height direction between the grooves 41 and the recesses 42. ing. And it connects with the plate body 44 installed in the attachment plate 4, and the processing head joining surface 13, and surrounds the permanent electromagnet 51, the electromagnet 51a, the electromagnet 51b, and the adsorption | suction location of the processing head joining surface 13 adsorb | sucked to these. Are formed so as to cover the permanent electromagnet 51, the electromagnet 51a, the electromagnet 51b, and the attracting portion with the processing head joint surface 13, the mounting plate joint surface 43, and the stretchable portion 45. ing. Here, the stretchable portion 45 is disposed on the outer periphery so as to cover almost the entire surface of the machining head joint surface 13 and the mounting plate joint surface 43. Further, the stretchable portion 45 can be formed in a bellows structure, and may be stretchable within a range in which the machining head 1 is detached from the mounting plate 4 due to a collision.

  And the fall prevention part 10 arrange | positioned above the gravity center 15 of the process head 1 and fixed to the moving means is provided. The fall prevention unit 10 is formed by a resistance pipe 9 as a fixture fixed to the moving means, and a wire (or chain) 8 slidably disposed in the resistance pipe 9. Is installed in the mounting hole 14 of the machining head 1 and the resistance pipe 9 gives resistance to the wire 8 when sliding. The mounting hole 14 is formed almost directly above the center of gravity 15 of the machining head 1.

  Next, the operation of the processing apparatus of the first embodiment configured as described above will be described. First, the support portion 6 of the machining head 1 is hooked on the groove portion 41 of the mounting plate 4. In this state, the machining head bonding surface 13 of the machining head 1 and the mounting plate bonding surface 43 of the mounting plate 4 are brought into close contact with each other by the attracting force of the permanent electromagnet 51 to be in a bonded state. The weight of the machining head 1 is supported by inserting the support portion 6 into the groove portion 41. A weight load 1G acts on the center of gravity 15 of the processing head 1. If there is no attracting force of the permanent electromagnet 51, the machining head 1 rotates around a point P at the bottom of the mounting plate 4. At this time, the support part 6 slides the groove part 41 in the horizontal direction, the support part 6 comes off the groove part 41, and the processing head 1 falls. Therefore, the attractive force 5F necessary to suppress this rotation is determined by the ratio of the distance LG between the center of gravity 15 and the point P and the distance LF between the permanent electromagnet 51 and the rotation center P. If LG / LF is small, the necessary adsorption force 5F may be small. That is, it is possible to manufacture the processing head 1 with a much smaller suction force than when the weight is supported by the suction force. This means that the machining head 1 can be manufactured without increasing the size.

  At this time, regarding the positioning of the machining head 1, the projection 7 comes into contact with the recess 42, and the machining head 1 is positioned. That is, in the height direction, the groove portion 41 and the support portion 6 are fixed by contact, and the contact between the convex portion 7 and the concave portion 42 is within the plane of the processing head joint surface 13 and the mounting plate joint surface 43. Fixed by. Furthermore, after the nozzle 11 collides and the processing head 1 and the mounting plate 4 are separated, the wire 8 as the fall prevention portion 10 attached to the moving means is prevented from passing through the resistance pipe 9 so that the processing head 1 does not fall. Both ends of the wire 8 are fixed to the mounting holes 14 of the machining head 1 to prevent the wire 8 from falling. A perspective view of the resistance pipe 9 is shown in FIG.

  In addition, one end of the stretchable portion 45 is attached to the plate body 44 attached to the attachment plate 4 so that dust or the like does not enter the joint surfaces 13 and 43 after the processing head 1 and the attachment plate 4 are separated at the time of collision. The other end is attached to the machining head joint surface 13 of the machining head 1. With this configuration, the attracting surface by the magnet 5 is completely shielded from the outside, and no dust enters. Therefore, it is possible to prevent dust, particularly iron powder, from being adsorbed on the adsorption surface, prevent the adsorption surface from being scratched, and suppress the reduction in adsorption force due to dust biting.

Next, securing position reproducibility at the time of attachment when attaching to the attachment plate 4 after the machining head 1 is displaced will be described. First,
(1) Release the attractive force of the permanent electromagnet 51, the electromagnet 52a, and the electromagnet 52b.
(2) The support portion 6 of the machining head 1 is hooked on the groove portion 41.
(3) The convex portion 7 is brought into contact with the concave portion 42.
(4) The attraction force of the permanent electromagnet 51, the electromagnet 52a, and the electromagnet 52b is generated.
This completes the mounting and positioning. Since the permanent electromagnet 51 retains the attractive force even when the power is cut off, the machining head 1 does not fall even when the moving means is stopped.

Next, the case where the processing head 1 is removed from the mounting plate 4 will be described.
(1) Release the attractive force of the permanent electromagnet 51, the electromagnet 52a, and the electromagnet 52b.
(2) The processing head 1 is removed.
This completes the removal.
Thus, attachment and removal are easy, and positioning adjustment is not required for attachment.

  Since attachment and removal are performed in this way, the contact surfaces of the groove 41, the recess 42, the support 6 and the projection 7 are subjected to an impact force and wear during a collision. Therefore, in the first embodiment, the upper surface (contact surface) of the groove portion 41, the concave portion 42, the support portion 6, and the convex portion 7 is formed with a hardened surface having a higher degree of curing than other portions, and wear. Is preventing. Therefore, since each contact surface does not wear, position reproducibility at the time of attachment of processing head 1 is secured over a long period of time. As specific examples of the hardening treatment, methods such as quenching, nitriding, plating, alumite treatment, ceramic spraying, and the like are conceivable. Here, in order to increase the wear resistance of each contact surface, a hardened surface is applied to ensure positioning reproducibility. However, depending on the actual impact force and the weight of the processing head 1, this high hardness It is not necessary to form the chemical treatment surface.

  In the first embodiment, the groove 41 is formed in a V-shaped cross section in the horizontal direction with the mounting plate joint surface 43, and the support 6 is formed in a cylindrical shape. The two contacts are the two bus bars of the column of the support 6. Therefore, these contacts can suppress the surface pressure lower than that of a point or a single line. Therefore, since the deformation and wear of the contact surface are reduced in these contacts, the position reproducibility at the time of reattachment can be ensured high.

  Next, an operation when the machining head 1 collides with the sled portion 31 of the workpiece 3 will be described. During normal processing, the processing head 1 receives acceleration by the moving means and moves at high speed. And it stops by receiving the acceleration in the reverse direction. This basic operation is processed in a desired shape of the workpiece 3 by combining in a complex manner in the biaxial direction or the triaxial direction. Therefore, during the machining, a sufficient suction force is required so that the bonding state between the machining head 1 and the mounting plate 4 is not released corresponding to the acceleration received by the machining head 1. However, if this attractive force is too strong, the joined state is not released at the time of collision, and the machining head 1 is damaged. Therefore, the value of the current flowing through the electromagnet 52a and the electromagnet 52b is controlled to generate an attractive force that is sufficient for processing and that can easily release the joined state at the time of collision. And at the time of a collision, an electric current is cut | disconnected and an attractive force is lost. That is, the electromagnets 52a and 52b can be controlled to increase or decrease the attractive force according to the value of the current that flows without increasing the size of the magnet 5.

Therefore,
(1) It is not necessary to use a large magnet, and the processing head 1 is not increased in size.
(2) It can be controlled to the minimum adsorption force required depending on the processing conditions, and damage at the time of collision can be minimized.
(3) Control to remove the attractive force at the time of collision is possible, and the effect of preventing breakage can be enhanced. Since the suction force can be released when the processing head 1 and the mounting plate 4 are attached / detached, the attachment / detachment is facilitated.
In FIG. 1, when the nozzle 11 collides with the warped portion 31 of the workpiece 3 due to the movement in the X direction, the lower part of the machining head joint surface 13 opens as shown in FIG. 8, and the permanent electromagnet 51, electromagnet 52a and electromagnet 52b. As a result, a gap is generated between the machining head joint surface 13. The attractive force of the magnet is inversely proportional to the square of the gap. Therefore, the suction force is rapidly reduced, and the joined state of the machining head 1 is released.

Further, as shown in FIG. 9, even when the collision direction is the opposite direction of FIG. 8, the upper part of the machining head bonding surface 13 opens, and the permanent electromagnet 51, the electromagnet 52 a and the electromagnet 52 b, and the machining head bonding surface 13 A gap will be generated.
In FIG. 1, when the nozzle 11 collides with the workpiece 3 due to movement in the Z direction, the machining head 1 is lifted as shown in FIG. 10, and the convex portion 7 slides the mounting plate joint surface 43 of the concave portion 42 obliquely upward. As a result, the lower part of the machining head bonding surface 13 is opened, and a gap is generated between the permanent electromagnet 51, the electromagnet 52a and the electromagnet 52b, and the machining head bonding surface 13.

Further, when the nozzle 11 collides with the workpiece 3 due to the movement in the Y direction shown in FIG. 3, the collision state as shown in FIG. The convex part 7 slides in the concave part 42, and the lower part of the processing head joint surface 13 opens. As a result, as shown in FIG. 12, a gap is generated between the permanent electromagnet 51, the electromagnet 52a and the electromagnet 52b, and the machining head joint surface 13.
Thus, no matter what direction the workpiece 3 or the like collides with the nozzle 11, a gap is generated between the mounting plate joining surface 43 and the machining head joining surface 13. Therefore, since the mounting plate joint surface 43 and the machining head joint surface 13 do not slide with each other, the surface is not scratched. At the same time, the attractive force is significantly reduced. Therefore, it is prevented that the convex part 7 damages the attachment plate joint surface 43 by this adsorption force. In the first embodiment, since the convex portion 7 is formed in a substantially spherical shape, the possibility of damaging the mounting plate 4 is low. Therefore, an example in which no cushioning material is installed is shown, but when the impact force is strong, etc. A cushioning material may be installed at the tip of the convex portion 7 so as not to damage the mounting plate 4. Moreover, even if the convex part 7 is a substantially spherical shape, you may install a shock absorbing material.

  Next, an operation after collision and separation of the processing head 1 and the mounting plate 4 will be described. First, when a gap is generated between the mounting plate joint surface 43 and the machining head joint surface 13 due to a collision, the detector 2 detects separation and stops emission of laser light. At the same time, the moving means is stopped. Then, the energy of the collision is converted into the pendulum kinetic energy of the wire 8 and the machining head 1 caused by the collision. As a result, as shown in FIG. 13, the machining head 1 swings left and right. However, in the first embodiment, since the wire 8 is slidably supported by the resistance pipe 9 having a large sliding resistance, energy is converted into frictional heat when the wire 8 moves in the resistance pipe 9. The pendulum movement does not last. Therefore, the occurrence of secondary damage in which the machining head 1 collides with another part of the machining apparatus due to the pendulum movement is prevented. The resistance pipe 9 can easily increase the sliding resistance by coating the inner wall with rubber or the like.

  Further, when the collision direction is a direction orthogonal to FIG. 13, left and right vibrations occur in the plane of FIG. 14. However, since the opening of the resistance pipe 9 is formed in a fan shape as shown in FIG. 5, the vibration slides in the resistance pipe 9 due to this vibration, but receives resistance, so that energy is converted into frictional heat, and the pendulum Exercise does not last. And since the process head 1 will be in the state suspended with the wire 8, it does not fall. Therefore, damage due to dropping can be avoided. Further, since the wire 8 is attached to the wire fixing hole 14 above the center of gravity of the machining head 1, the machining head 1 does not rotate and fall even in a suspended state. Therefore, secondary damage in which the machining head collides with other parts such as the machining apparatus due to rotation and overturning does not occur.

  Further, as shown in FIG. 1, the wire 8 is inclined to the front side of the processing apparatus, so that a gap is easily formed between the processing head 1 and the mounting plate 4 at the time of separation. Therefore, coupled with the effect of the resistance pipe 9, the support portion 6 and the convex portion 7 of the machining head 1 do not come into contact with the mounting plate joint surface 43. Therefore, since the attachment plate joint surface 43 is not damaged, positioning reproducibility at the time of reattachment can be ensured.

  In addition, by making the mounting plate joint surface 43 vertical, the machining head 1 can move in a wide space on the front surface partitioned by the mounting plate joint surface 43 after separation. This is a signal from the detector 2 and there is no problem when the moving means can be stopped. However, if this stop function does not work due to an erroneous operation or failure, if the machining head 1 does not have a large motion space, the separated machining head There is a possibility that 1 may collide with the moving means or the work 3 again to cause a large damage. That is, by making the mounting plate joint surface 43 vertical, it is possible to avoid damage due to such secondary collision.

In the first embodiment, the convex portion 7 is formed on the machining head 1 and the concave portion 42 is formed on the mounting plate 4. However, as shown in FIG. 15, the concave portion 12 is formed on the machining head 1 and the convex portion 70 is formed on the mounting plate 4. It may be formed. The operation and effect are the same as those in the first embodiment.
In the first embodiment, an example in which the shape of the concave portion 42 is formed in the conical concave shape 42a as shown in FIG. 4A is shown. However, some processing apparatuses do not have a function of moving in the Z direction. is there. In that case, the collision state as shown in FIG. 10 does not occur. Therefore, the shape of the recess 42 may be formed like a V-shaped groove 42b as shown in FIG. If formed in this way, the position adjustment in the height direction (Z direction) of the recess is not required in the manufacture of the processing apparatus, and the manufacturing can be easily performed.

  According to the first embodiment configured as described above, since the weight of the machining head is supported by bringing the support portion into contact with the groove portion, the magnet attracting force for supporting the weight of the machining head is almost required. do not do. Therefore, when the speed and acceleration of the moving means are improved, especially when the machining head is driven vertically upward, a large attracting force is required, but it is not necessary to increase the size of the magnet, and the machining head itself is large. Do not turn. In addition, since the magnet's attractive force can be smaller than in the conventional case, the impact force at the time of collision is reduced, and the damage prevention effect is high.

  Furthermore, by embedding magnets in the mounting plate joint surface that is vertical, the range of movement of the machining head at the time of a collision is the entire space in front of the mounting plate joint surface, and there is no need to increase the size of the machining head. The moving distance of the machining head can be obtained. Therefore, after the machining head is separated at the time of collision, the machining head has a wide range of movement, so that a sufficient distance for stopping the moving means during high-speed movement can be secured. Therefore, a secondary collision that occurs because the processing head moves beyond the range can be avoided, and damage to the processing head and the processing apparatus can be prevented.

  Furthermore, since it is possible to cope with the required attraction force by adjusting the amount of current to the electromagnet when the speed is increased (the size is increased in the case of a normal permanent magnet), the size is not increased. . Since the minimum suction force required depending on the processing conditions can be set and controlled, damage during a collision can be minimized. Furthermore, it is possible to control the removal of the adsorption force at the time of collision, and the damage prevention effect can be enhanced. Since the adsorption force can be released when the processing head and the mounting plate are attached / detached, attachment / detachment is facilitated.

Further, since the permanent electromagnet is provided, the machining head can be held even when the power is shut off, unlike the electromagnet, so that the machining head can be held and the machining head does not fall off, so that the machining head is prevented from being damaged.
Further, since the upper surface of at least one of the groove, the support, the convex, or the concave is formed with a hardened surface that has a higher degree of curing than other portions, Since wear is suppressed, position reproducibility during re-installation can be maintained over a long period of time.
Furthermore, in the positioning adjustment of the contact between the convex portion and the concave portion, it can be easily adjusted by adjusting only in the depth direction.
Further, when the machining head collides from below, the spherical shape moves along the conical concave shape, so that the joint surface rises simultaneously with the collision. Therefore, since the joining surface does not slide, the joining surface can be prevented from being damaged.

Further, since the cushioning material is provided on the support part and the convex part, the support part or the convex part does not directly contact the joint surface at the time of separation of the collision, so that the joint surface can be prevented from being damaged.
Furthermore, since the elastic part is provided, it is possible to prevent dust, particularly iron powder, from being adsorbed to the joining surface, to prevent the joining surface from being scratched, and to suppress the reduction of the adsorbing force due to dust biting. Furthermore, position reproducibility at the time of reattachment can be ensured.
Furthermore, since the fall prevention part is provided, at the time of separation after the collision of the machining head, the machining head can be prevented from being damaged due to dropping. Since the machining head does not rotate due to separation at the time of collision, secondary damage can be prevented.
Furthermore, since the wire or chain is supported by the resistance pipe, secondary damage due to recoil of the machining head can be prevented by converting the collision energy into the sliding resistance energy when the machining head collides. Therefore, it is possible to provide a machining head satisfying a sufficient holding force (adsorptive force) of the machining head and a sufficient function for preventing damage at the time of collision without increasing the size of the machining head even when the driving speed is improved.

1 processing head, 2 detector, 3 workpiece, 4 mounting plate, 5 magnet, 6 support part,
7 convex part, 8 wire, 9 resistance pipe, 10 fall prevention part, 12 concave part,
13 machining head joint surface, 15 center of gravity, 41 groove part, 42 concave part, 42a conical concave shape, 42b V-shaped groove, 43 mounting plate joint surface, 45 stretchable part, 51 permanent electromagnet,
52a, 52b Electromagnet, 61 cushioning material, P point.

Claims (11)

A machining head, and a mounting plate fixed to a moving means for moving the machining head and having a vertical attachment plate joining surface that joins the machining head joining surface of the machining head, and the machining head joining surface; A processing apparatus for moving the processing head by bonding the mounting plate bonding surface,
A groove formed on the mounting plate so that the mounting plate joint surface side is open;
A support portion formed on the machining head joint surface so as to support the weight of the machining head, with the groove portion and the lower portion abutting when inserted into the groove portion, and having a space above.
At least one convex portion formed at a position below the groove portion and the support portion in the height direction on either one of the processing head joint surface or the mounting plate joint surface;
A concave portion formed so that positioning is possible by inserting and contacting the convex portion on the other joint surface side of the processing head joint surface or the mounting plate joint surface;
And at least one magnet that is formed to be embedded between the groove portion and the convex portion or the concave portion in the height direction on the mounting plate joint surface and that adsorbs the machining head joint surface. Processing equipment. The processing apparatus according to claim 1, wherein the support portion is formed at a position above the center of gravity of the processing head. The groove portion is formed in a V-shaped cross section in the horizontal direction with the mounting plate joint surface,
The processing apparatus according to claim 1, wherein the support portion is formed in a cylindrical shape. The upper surface of the convex part is formed in a spherical shape,
4. The processing according to claim 1, wherein the recess has a V-shaped cross section perpendicular to the processing head bonding surface or the mounting plate bonding surface. apparatus. The processing device according to claim 4, wherein the concave portion is formed by a conical concave shape or a V-shaped groove. The processing apparatus according to claim 1, wherein the magnet is formed of an electromagnet or a permanent electromagnet. The upper surface of at least one of the groove portion, the support portion, the convex portion, or the concave portion is formed with a hardened surface having a higher degree of curing than other portions. The processing apparatus according to any one of claims 1 to 6. The processing apparatus according to claim 1, wherein at least one end of the support portion or the convex portion includes a buffer material. A stretchable portion formed so as to surround the magnet and an adsorption portion of the machining head joint surface that is attracted to the magnet, and the machining head joint surface, the mounting plate joint surface, and the stretchable portion, The processing apparatus according to claim 1, wherein the magnet and the attracting portion are covered. The processing apparatus according to any one of claims 1 to 9, further comprising a fall prevention unit that is disposed above the center of gravity of the processing head and is fixed to the moving device. The fall prevention part is formed by a fixture fixed to the moving device and a wire or chain slidably disposed in the fixture, and both ends of the wire or chain are connected to the machining head. The processing apparatus according to claim 10, wherein the processing device is installed and the fixing member provides resistance to the wire or the chain when sliding.

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