JP2020131375A - High accuracy processing system and high accuracy processing method - Google Patents

Abstract

To provide a high accuracy processing system and a high accuracy processing method capable of reliably cutting only an unnecessary protrusion.SOLUTION: A high accuracy processing system includes: a fixing tool 3 for fixing a workpiece 2; a cutting tool 4 for cutting an unnecessary protrusion on a processing surface 2A; a high accuracy type industrial robot 6 for moving the cutting tool according to surface data on a site where high accuracy processing required based on shape data 5 on the workpiece is executed; a stylus 7 that comes in contact with the surface of the workpiece; a movable base 8 for supporting the cutting tool and the stylus; a robot control unit 9 for controlling the position and direction of the movable base; a voice coil motor 10 that enables cutting work by the cutting tool to be performed by detecting a fine action when the stylus 7 is moved along the surface of the workpiece, and executing fine driving of the movable base; and a fine action control unit 11 connected to the voice coil motor for executing the fine driving of the movable base and detecting the fine action.SELECTED DRAWING: Figure 1

Description

The present invention relates to a high precision machining system and a high precision machining method.

Conventionally, when processing a high-precision part, finishing processing may be performed by removing protrusions (so-called burrs) generated on the processed surface using a polishing machine such as a disc grinder. Basically, even in the processing using a processing machine that processes parts by automatic operation, it is necessary to perform the same finishing processing manually by the operator.

For example, parts used in aircraft and the like have been subjected to micron-order ultra-precision machining by processing complex-shaped parts using an ultra-precision processing machine such as a discharge precision processing machine. When such a precision processing machine is used, it is necessary to create a deburring program for individual complex-shaped parts and perform micron-order ultra-precision deburring finish for complex-shaped parts.

Patent Document 1 describes an ultra-precision deburring finishing program for performing control for removing burrs generated on a work piece by a tool attached to the tip of an arm of such an industrial robot while correcting the deflection of the arm. An example is shown.

Japanese Unexamined Patent Publication No. 8-39465

However, when performing conventional finishing, it takes a lot of time to finish one complex-shaped part because it is necessary to set both a program for performing precision machining and a program for performing precision finishing. There was a problem.

In addition, when fixing a part to be machined with a complicated shape to a fixing jig of a finishing machine, the fixing position is inevitably different each time, so that it is necessary to readjust the precision machining program for deburring every time. Also occurs.

The present invention has been made in consideration of the above-mentioned matters, and even if the shape of the workpiece to be finished by precision machining is complicated, the finishing program is matched to the shape of the member to be finished. It is an object of the present invention to provide a high-precision machining system and a high-precision machining method capable of reliably cutting only the desired unnecessary protrusions without reinserting.

In order to solve the above problems, the first invention comprises a fixing jig for fixing the object to be machined in a supported state, a cutting tool for cutting unnecessary protrusions on the machined surface of the object to be machined, and the object to be machined. A high-precision industrial robot that moves the cutting tool according to the surface data of the part to be subjected to high-precision machining required based on the shape data of the machine, a stylus that contacts the surface of the object to be machined, and attached to this industrial robot. A movable table that supports a cutting tool and a stylus, a robot control unit that controls the position and direction of the movable table by driving and controlling each part of the industrial robot, and a state in which the stylus is in contact with an object to be machined. When the movable table is moved along the surface of the object to be machined, its fine movement is detected, and when the movable table is moved along the surface of the object to be machined, the movable table is finely driven for cutting. A high-precision machining system characterized by including a voice coil motor that enables cutting with a tool and a fine motion control unit that is connected to the voice coil motor to detect fine drive and fine motion of a movable table. 1) is provided.

The workpiece fixed by the fixing jig is supported in a state where the position is fixed. The high-precision industrial robot is controlled by the robot control unit, and can move the movable table that supports the cutting tool and stylus according to the surface data of the part to be high-precision machined, which is obtained based on the shape data of the object to be machined. it can. Therefore, it is necessary to cut by detecting the fine movement of the movable table by the output of the voice coil motor when the movable table is moved along the surface of the object to be processed with the stylus in contact with the object to be processed. Can detect certain protrusions.

Next, the robot control unit controls the high-precision industrial robot, moves the cutting tool according to the position of the detected protrusion, and finely drives the voice coil motor to cut the protrusion. At the same time, the cutting tool can be driven to cut the protrusion. Since the cutting tool is a motor spindle, deburring and finishing can be performed.

When the protrusion is detected by the voice coil motor with the stylus in contact with the stylus, the movable part is light and the direct drive is used, so that the actuator can move at a higher speed than a general actuator and in accordance with an electric signal. In other words, while it is possible to detect unevenness using an electric signal that follows the fine movement of the stylus and responds at high speed, it also has good responsiveness when the stylus is used to finely drive the cutting tool, making it suitable for fine machining. There is.

The high-precision industrial robot is an articulated robot such as a 6-axis robot having excellent versatility, but an orthogonal robot, a parallel link robot, or the like may be adopted. It is preferable that the movable table is a table whose moving direction is accurately regulated in the linear direction by being supported by using a linear motion portion such as an LM guide.

The second invention is a robot operation program that uses the high-precision machining system to move the movable table to the robot control unit so that the movable table follows the surface of the processing object based on the surface data of the processing object. Is executed, and the fine motion control unit processes the object to be machined using the detection current of the voice coil motor generated when the movable table is moved while the stylus provided on the movable table is in contact with the object to be machined. A detection process for detecting minute irregularities on a surface, a recording process for recording the distribution of the minute irregularities in the recording unit of the fine operation control unit, and an extraction of irregularities to be cut that require finishing from the distribution of the minute irregularities. At the same time, a movement process that transfers the position information that moves the cutting tool to the position of the cutting target to the robot control unit, and a cutting process that drives the cutting tool to perform finishing after arranging the cutting tool by the industrial robot. The present invention provides a high-precision machining method (claim 2), which comprises executing a precision finishing machining program for executing a series of processes comprising.

With the robot control unit executing the robot operation program, the fine operation control unit executes the precision finishing machining program, and the robot control unit moves the movable table along the surface of the object to be machined by the detection process. The stylus can be brought into contact with the surface to detect the minute irregularities on the processed surface as if they were palpated, and the distribution of the minute irregularities can be recorded on the recording unit by the recording process. Further, the cutting tool can be moved by extracting the location and amount of the uneven portion requiring the finishing process from the distribution of the minute unevenness by the moving process, and the finishing process can be performed by using the cutting tool by the cutting process.

It is considered that the robot operation program to be executed by the robot control unit is created by the teach pendant given to the high-precision industrial robot.

As described above, according to the present invention, a high-precision machining system and high-precision machining system capable of reliably and efficiently cutting only unnecessary protrusions without re-entering the machining program for finishing of a workpiece having a complicated shape. A processing method can be provided.

It is a figure which shows the high precision processing system which concerns on embodiment of this invention. It is a figure which shows the typical structure of the high precision processing system. It is a figure which shows the structure of the fixing jig of the processing object. It is a figure which shows the relationship between the stylus of a high precision machining system, and a cutting tool. It is a figure which shows the example of the high precision processing method.

Hereinafter, the configuration of the high-precision machining system 1 according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 5. As shown in FIGS. 1 and 2, the high-precision machining system 1 of the present invention has a fixing jig 3 for fixing the machining object 2 in a supported state and unnecessary protrusions on the machining surface 2A of the machining object 2. A cutting tool 4 to be cut, a high-precision industrial robot 6 that moves the cutting tool 4 according to the surface data of the machining surface 2A that performs high-precision machining obtained based on the shape data 5 of the machining object 2, and a machining object. The stylus 7 that comes into contact with the surface of the industrial robot 2, the movable base 8 that is attached to the industrial robot 6 to support the cutting tool 4 and the stylus 7, and the movable base 8 by driving and controlling each part of the industrial robot 6. When the robot control unit 9 that controls the position and direction and the movable base 8 are moved along the surface of the machining object 2 with the stylus 7 in contact with the machining object 2, the minute movement is detected. A voice coil motor 10 that enables cutting by a cutting tool 4 by finely driving the movable table 8 when moving the movable table 8 along the surface of the object 2 to be machined, and a voice coil thereof. It is provided with a fine motion control unit 11 which is connected to the motor 10 and performs fine drive of the movable base 8 and detection of fine motion.

The fixing jig 3 and the high-precision industrial robot and 6 constituting the high-precision machining system 1 are fixed on a workbench 1A formed at a height that is easy for an operator to work. The processing object 2 requires high-precision processing of, for example, a turbine blade used in the aircraft industry, and requires an extremely small amount and a wide variety of products. Then, the high-precision machining system 1 performs high-precision machining (deburring) as secondary machining on the machining object 2 which has been machined in a basic shape in the primary machining. Further, the fixing jig 3 includes a height-adjustable base portion 12 and a support portion 13 supported by the base portion 12.

As shown in FIG. 3, the fixing jig 3 fixes the machining object 2, and includes a contact plate portion 14 that abuts on the side surface of the machining object 2, a base portion 15 on which the machining object 2 is placed, and a base portion 15. By providing holding members 16 and 17 that come into contact with each part of the object to be machined 2 and a clamp 18 that applies a force to press the object to be machined 2, the clamp 18 can be fixed by one-touch operation and can be released by one-touch operation. is there.

As shown in FIG. 4, the cutting tool 4 includes a deburring tool 4B that is rotationally driven by a motor spindle 4A, and is mounted on the movable base 8. Therefore, the cutting tool 4 moves in the vertical direction shown in the drawing as the movable base 8 moves. It is configured to be possible. Further, the movable base 8 is driven by a voice coil motor 10 provided at the tip of the high-precision industrial robot 6, and is supported by, for example, an LM guide so as to be linearly movable in the substantially vertical direction shown in the drawing, and is made as light as possible. It is provided with a movable portion 8A. In addition, the movable portion 8A is provided with a stylus 7 and a cutting tool 4.

The high-precision industrial robot 6 is preferably a vertical articulated robot having a degree of freedom similar to that of a human arm and capable of performing precise work, and is controlled with a fine resolution on the order of microns. Is something that can be done. The high-precision industrial robot 6 of the present embodiment includes a joint drive unit that rotatably supports on the five rotation axes 6A to 6E, and an advance / retreat drive unit that supports the robot 6 so as to advance and retreat in the direction of the double-headed arrow 6F. By controlling each drive unit according to a command from the teach pendant as an example of the shape data 5, the movable base 8 is moved according to the surface data of the object to be machined obtained based on the shape data 5, and the movable base 8 is moved. The angle is set so that the moving direction of the stylus 7 or the cutting tool 4 driven by the voice coil motor 10 is substantially perpendicular to the surface of the workpiece 2.

The robot control unit 9 can execute a robot operation program P1 that can adjust the position and angle of the movable base 8 by appropriately controlling the drive unit of the high-precision industrial robot 6 according to the instruction of the shape data 5. In the high-precision machining system 1 of the present embodiment, the shape data 5 is further transferred to the fine motion control unit 11 according to an instruction command from the fine motion control unit 11, or by an instruction command from the fine motion control unit 11. The stylus 7 can be brought into contact with the machined surface, or the convex portion of the machined surface can be moved so as to be cut by the cutting tool 4. The tip of the stylus 7 is formed in a circular shape so as not to damage the surface of the object 2 to be processed with which the stylus 7 comes into contact.

The voice coil motor 10 can detect the amount of movement of the movable base 8 in a state where the movable base 8 is moved and the stylus 7 is lightly brought into contact with the machined surface, and the rotary-driven cutting tool 4 is finely driven. It is configured so that only this protrusion can be cut by contacting it with the protrusion on the machined surface. The voice coil motor 10 can move the movable portion 8A of the movable base 8 quickly and with high accuracy by applying an electric signal, and also generates an electric signal according to the amount of movement of the movable portion 8A without delay. be able to. That is, in addition to the operation as an actuator, the operation as a position detector can also be performed.

By executing the precision finishing processing program P2, the fine motion control unit 11 executes the robot motion program P1 using the shape data 5, controls the fine motion by the voice coil motor 10, and also controls the fine motion by the voice coil motor 10. By accurately detecting the movement amount of the movable table 8 by the signal from 10, the detection process, the recording process, the movement process, and the cutting process can be executed.

FIG. 5 is a diagram showing an example of a high-precision machining method using the high-precision machining system 1 having the above configuration. As shown in FIG. 5, the robot control unit 9 first moves the movable table 8 along the surface of the processing object 2 based on the shape data 5 of the processing object 2. The program P1 is executed (step S1).

Further, a voice coil motor generated when the fine motion control unit 11 executes the precision finishing processing program P2 to move the movable table 8 in a state where the stylus 7 provided on the movable table 8 is in contact with the object to be processed 2. A detection process for detecting minute irregularities on the machined surface 2A of the machined object 2 is executed using the detection current of 10 (step S2).

At this time, even if the processing target portion 2 has a complicated shape, by selecting the stylus 7 using the surface data 5, the movable base 8 can be brought into contact with the processing surface 2A at the tip of the stylus 7. The stylus 7 can be used for palpation by moving the stylus along the machined surface 2A so as to maintain a predetermined distance. When the movable base 8 is moved along the machining surface 2A, the electric signal such as the current value generated by the linear movement of the movable portion 8A of the movable base 8 is surely used as a feedback signal even if it has a complicated shape. Can be detected.

Next, a recording process for recording the distribution of the minute irregularities in the recording unit 11A of the fine movement control unit 11 is executed (step S3).

The minute irregularities recorded by the recording process are on the order of microns, and it is conceivable that a slight positional deviation may occur during the fixing operation of the workpiece 2, but such a positional deviation is relative to the movement of the movable table 8. Since it appears as a positional deviation that does not fluctuate, or as an amount of deviation that increases or decreases in proportion to the moving distance, burrs generated on the machined surface 2A by recording the distribution of minute irregularities on the recording section student 11A. The position of can be specified.

Therefore, the distribution (tactile data) of the minute unevenness recorded in the recording unit 11A is analyzed to extract the uneven portion to be cut that requires finishing, and the cutting tool is placed in the robot control unit 9 at the position of the cutting target. A deburring program for moving to the robot control unit 9 can be created to execute a moving process for transferring the position information of the deburring processing target to the robot control unit 9 (step S4).

As the position of the uneven portion to be cut that requires finishing in the moving process, for example, a convex portion having an allowable height of 50 μm or more can be extracted as a burr, but a burr that requires finishing by cutting is present. It is possible that there is no such thing. Therefore, it is determined whether or not the machined surface 2A has minute irregularities to be cut (step S5).

When it is determined in step S5 that there is a burr to be cut, a cutting process is executed in which the cutting tool is driven to perform finishing after the cutting tool is arranged by the industrial robot (step S6). ..

At this time, the robot control unit 9 controls each part of the high-precision industrial robot 6 according to the position information of the deburring target received from the fine motion control unit 11 with the cutting tool 4 selected, thereby performing the cutting tool. The movable base 8 can be moved along the machining surface 2A so as to maintain a predetermined distance so that the tip portion of the 4 is flush with the machining surface 2A. Since this cutting tool 4 cuts only the convex portion to be cut and creates a deburring program so as to be flush with the peripheral machining surface 2A, unnecessary cutting is performed. There is no need to do it, and the finishing process can be performed more quickly, and there is no damage to the part where burrs are not generated, so there is an advantage that the finish becomes more beautiful.

By repeating the above steps S2 to S6, deburring by a high-precision machining method can be performed extremely easily, burrs above the allowable height can be reliably removed, and burrs on the machined surface 2A have the allowable height. After confirming that the height is less than or equal to that in step S6, the finishing process can be completed.

In particular, the deburring work of the processing object 2 having a complicated shape in the aircraft industry has conventionally been performed manually by a craftsman with a high level of technology, but the high-precision processing system 1 and high-precision processing of the present invention have been performed manually. By using the method, it is possible to robotize the work that requires craftsmanship, and it is possible to automate the finishing work of deburring. It is also possible to carry out the finishing work continuously for 24 hours 365 days.

Further, in the high-precision machining system 1 of the present invention, the cutting tool 4 and the fixing jig 3 can be replaced according to the machining object 2. That is, even deburring of different parts can be handled relatively easily, and the versatility of the high-precision machining system that performs ultra-high-precision machining is improved.

1 High-precision machining system 2 Machining object 3 Fixing jig 4 Cutting tool 5 Shape data 6 High-precision industrial robot 7 Stylus 8 Movable table 9 Robot control unit 10 Voice coil motor 11 Fine motion control unit P1 Robot motion program P2 Precision Finishing processing program

Claims (2)

A fixing jig that supports and fixes the object to be processed,
A cutting tool that cuts unnecessary protrusions on the machined surface of this work object,
A high-precision industrial robot that moves cutting tools according to the surface data of the part to be machined with high precision obtained based on the shape data of the object to be machined.
A stylus that comes into contact with the surface of the object to be processed,
A movable base that is attached to this high-precision industrial robot to support cutting tools and styluses,
A robot control unit that controls the position and direction of the movable base by driving and controlling each part of the high-precision industrial robot,
When the movable table is moved along the surface of the processing object with the stylus in contact with the object to be processed, its fine movement is detected and the movable table is moved along the surface of the object to be processed. A voice coil motor that enables cutting with a cutting tool by finely driving the movable base when making it
A high-precision machining system characterized by being connected to this voice coil motor and provided with a fine motion control unit for finely driving the movable table and detecting fine motions. A robot operation program that uses the high-precision machining system according to claim 1 to move the movable table to the robot control unit so that the movable table follows the surface of the processing object based on the surface data of the processing object. To execute,
The fine movement control unit uses the detection current of the voice coil motor generated when the stylus provided on the movable table is in contact with the object to be processed and is generated when the movable table is moved. Detection processing to detect
A recording process for recording the distribution of the minute irregularities in the recording unit of the fine movement control unit,
A movement process that extracts the uneven part of the cutting target that requires finishing from the distribution of minute unevenness and transfers the position information that moves the cutting tool to the position of the cutting target to the robot control unit.
A high-precision machining method characterized by executing a precision finishing machining program that executes a series of processes consisting of a cutting process in which a cutting tool is driven to perform finishing after the cutting tool is arranged by an industrial robot. ..

Images