JP2024044064A - Punching system using gantry type punching device and punching method using gantry type punching device - Google Patents

Abstract

To provide a punching system which can improve efficiency of punching and shorten the work time when punching a workpiece by using a punching device.SOLUTION: A punching system 1 using a gantry type punching device comprises: drill position adjustment means S1 which adjusts a drill position; clamp operation start means S2 which fixes a workpiece; punching means S4 which performs movement control of a drill unit along the Z-axis lower side in conjunction with the clamp operation and performs punching; punching completion detection means which detects completion of the punching; punching drill lifting means which lifts a punching drill; punching drill reaching confirmation means which confirms that the drill tip has reached a workpiece upper surface position; and clamp operation release means which releases the clamp operation of a workpiece clamp in conjunction with the reaching confirmation of the drill tip.SELECTED DRAWING: Figure 1

Description

The present invention relates to a drilling system using a gantry-type drilling device (hereinafter simply referred to as the "drilling system") and a drilling method using the gantry-type drilling device (hereinafter simply referred to as the "drilling method"). More specifically, the present invention relates to a drilling system and a drilling method that control a gantry-type drilling device to perform drilling for forming a plurality of holes in a workpiece.

Traditionally, in drilling processes for making holes in large main plates of steel frames, bridges, and the like, and in small components, a gantry-type drilling device (hereinafter simply referred to as a "drilling device") that enables high-speed cutting using numerical control (NC control) has been used (see, for example, Patent Documents 1 and 2).

Drilling is performed on workpieces such as large main plates, in which holes of a specified size are drilled in multiple predefined positions. The workpieces are then stacked together so that the hole positions match, and the workpieces can be firmly connected to each other by passing bolts through the holes and screwing nuts into them or joining them by welding.

The drilling device includes a mounting table on which a workpiece to be drilled is placed and supported from below, and a pair of guide rails arranged along the longitudinal direction (corresponding to the X-axis direction) of the mounting table. a gate-shaped gantry unit supported on a pair of guide rails and movable along the X-axis direction according to the guide rails; The drill unit is mainly configured to include a drill unit that is freely movable along the Y-axis direction and a drill unit that is freely movable along the Z-axis direction (vertical direction). Thereby, the position of the drilling drill attached to the drill unit can be controlled on the X-axis, Y-axis, and Z-axis, and drilling can be performed at a desired drilling position on the workpiece.

Generally, in order to manufacture large-sized construction materials, etc., a plurality of drilling positions are set for one workpiece, and it is necessary to perform drilling at each drilling position. Therefore, the drill unit of the drilling device is numerically controlled to automatically sequentially perform drilling at a plurality of drilling positions. In this way, it takes a lot of time to complete drilling at all the drilling positions set for one workpiece. It can take up to 10 hours, and the work is sometimes carried out unmanned at night.

More specifically, an example of the flow of drilling a workpiece W using the conventional drilling device 100 will be explained based on FIGS. 9(a) to 9(e). Note that, in FIG. 9, some of the configurations of the punching device 100 are omitted and illustrated schematically to simplify the explanation.

First, the drill unit 102 attached to the gantry unit (not shown) is controlled to move above the drilling position P of the workpiece W placed on the mounting table 101 along the X-axis direction (corresponding to the left-right direction on the paper in FIG. 9) and the Y-axis direction (corresponding to the direction from the front to the back on the paper in FIG. 9).

The drill unit 102 is equipped with a drill tip 103a of the drill tip 103a, which is directed toward the workpiece W. By controlling the movement of the drill unit 102 (drill tip 103a) along the X-axis and Y-axis directions, the drill tip 103a of the drill tip 103a is directed toward the drilling position P of the workpiece W at a predetermined height from the drilling position P of the workpiece W, completing the positioning adjustment in the X-axis and Y-axis directions (see FIG. 9(a)).

After the above positioning adjustment work is completed, the work clamp 104 attached to the drill unit 102 is operated to start the clamping operation for fixing the workpiece W. The clamping operation causes the work clamp 104 to extend downward so that the clamp lower surface 104a comes into contact with the workpiece upper surface W1 of the workpiece W. In other words, the work clamp 104 is operated to lower down the Z axis (corresponding to the downward direction on the paper in Figure 9) (Figure 9(b)).

Here, the work clamp 104 is connected to a well-known driving means (not shown) such as a hydraulic cylinder built into the drill unit 102, and extends from the drill unit 102 along the Z-axis direction. and can be contracted. That is, the work clamp 104 can repeatedly rise and fall along the Z-axis direction.

When the work clamp 104 clamps, the clamping lower surface 104a of the work clamp 104 comes into contact with the work upper surface W1, pressing the work W against the mounting table 101. This fixes the work W in place. As a result, it is possible to prevent problems such as the so-called "springback" that occurs when the drill bit 103 penetrates the work W during drilling, vibration of the work W during cutting, and lifting off the mounting table 101, and the drilling position P does not shift, allowing drilling to be performed with the correct machining accuracy.

Here, "springback" is a phenomenon in which the workpiece W springs up when the pressure on the workpiece W is removed during drilling, bending, etc. In particular, in the case of the above-mentioned drilling apparatus 100, Drilling is performed while pushing down the workpiece W with the drilling drill 103, and when the hole is penetrated, the workpiece W around the hole jumps upward. This may cause a problem in which a part of the workpiece W (the wall of the hole) comes into contact with the drilling drill 103.

After the clamping operation by the workpiece clamp 104 is completed, that is, after confirming that the workpiece W is fixed, the drill unit 102 and the drilling drill 103 attached to the drill unit 102 are controlled to move along the Z-axis downward, and a predetermined The drill unit 102 is lowered at a drill lowering speed Va (see FIG. 9(c)). The drilling drill 103 is rotating at a predetermined rotational speed according to the drill axis, and the drilling drill 103 contacts the upper surface W1 of the workpiece W and continues lowering beyond the lower surface W2 of the workpiece, thereby reducing the thickness of the workpiece. A hole H passing through the workpiece W of d is formed.

After the hole H is formed by the drilling process and the drill tip 103a reaches a predetermined position, the descent of the drilling drill 103 is stopped and the movement is controlled along the Z-axis upward at a predetermined drill ascent speed Vb. Note that the rotation of the drilling drill 103 along the drill axis continues even during the movement control along the Z-axis upward.

As a result, the drill unit 102 and the drill hole drill 103 rise upward along the Z axis, and continue this movement until the drill tip 103a returns to the position (height) it had before the start of the drilling operation (see FIG. 9(d)). After it is confirmed that the drill tip 103a has returned to the position it had before the operation started, the work clamp 104 releases the workpiece W from its fixation (see FIG. 9(e)). By carrying out the series of processes shown diagrammatically in FIGS. 9(a) to (e), the drilling operation at one drilling position P of the workpiece W is completed.

Then, when the work clamp 104 has returned to a predetermined position, the drill unit 102 is controlled to move in the X-axis direction and the Y-axis direction to a new drilling position P on the work W (see FIG. 9(a)), and drilling processing can be started at the new drilling position P. In this way, even if multiple drilling positions P are set for one work W, the drilling processing operations of FIGS. 9(a) to (e) can be repeated sequentially for each drilling position P, so that the drilling processing for forming multiple holes H in the work W can be automated using the drilling device 100.

JP 2019-084619 A JP2019-084620A

As shown above, in the case of conventional drilling equipment, the timing of controlling the downward movement of the drill unit (drilling drill) downward on the Z-axis and the upward movement on the Z-axis, and the fixation of the workpiece by the workpiece clamp are important. Regarding the control timing of each operation related to the clamp operation, the clamp release operation for releasing the clamp state, etc., after confirming that each operation is completed, the control processing for the next operation is started.

As a result, since the next operation is controlled only after the control for one operation is completed, the drilling operation at the drilling position may take a long time. In particular, as mentioned above, in the case of a workpiece such as a large body plate that requires sequential drilling for a workpiece with multiple drilling positions, the overall drilling time for the workpiece may be prolonged. Ta. Particularly in recent years, there has been a demand for more efficient and labor-saving drilling work, and it has also been expected to shorten the working time itself.

Furthermore, in the case of conventional drilling devices, the amount of movement of the drill unit was preset by numerical control. Therefore, if the drilling device was installed in a location prone to subsidence, such as a reclaimed land, and the drilling device tilted due to long-term use, the drill unit would only be controlled to the amount of movement that was preset, and there was a possibility that sufficient drilling could not be performed on the workpiece.

Therefore, in view of the above-mentioned circumstances, the present invention is capable of shortening the working time in each functional configuration and each process in the drilling process when drilling a workpiece using a drilling device, and provides a workpiece clamp. An object of the present invention is to provide a drilling system and a drilling method that are capable of calculating the cutting start height based on the clamping operation.

According to the present invention, a drilling system and a drilling method that solve the above problems are provided.

[1] A drilling system using a gantry-type drilling device having a drill drill capable of cutting a workpiece to be drilled, a drill unit to which the drill drill is attached and which is formed so that it can be controlled to move along the X-axis, Y-axis, and Z-axis directions and can displace the drill position of the drill tip of the drill drill, and a work clamp that fixes the workpiece during drilling, the drill position adjustment means controlling the movement of the drill unit along the X-axis and Y-axis directions to align the drill position above a drilling position specified for the workpiece, a clamp operation initiation means operating the work clamp after the adjustment of the drill position is completed and initiating a clamp operation to fix the workpiece, and a clamp operation initiation means for moving the drill unit downward along the Z-axis in conjunction with the start of the clamp operation. A drilling system using a gantry-type drilling device that includes a drilling means that cuts and drills holes in the workpiece using the drill drill that moves and controls the drilling unit to move along the Z-axis and descends together with the drill unit, a drilling completion detection means that detects the completion of drilling the workpiece using the drill drill, a drill drill elevation means that, after detecting the completion of drilling the workpiece, controls the drill unit to move upward along the Z-axis, elevates the drill drill, and separates it from the workpiece, a drill drill reach confirmation means that confirms that the tip of the drill has reached the workpiece top surface position, and a clamp operation release means that releases the clamp operation of the work clamp that fixes the workpiece in conjunction with the confirmation that the tip of the drill has reached the workpiece top surface position.

[2] Further comprising a descending speed changing means for changing the descending speed of the drilling drill by the drilling means stepwise, and the descending speed changing means is configured such that the drill tip reaches a drill fast-forwarding standby position from a drill initial position. The gantry according to [1], wherein the gantry is controlled to move at a first descending speed until reaching the drill rapid-forward standby position and reaches the work top surface position at a second descending speed that is lower than the first descending speed. A perforation system using a mold perforation device.

[3] A drilling system using the gantry-type drilling device described in [1] or [2], further comprising a clamping operation completion detection means for detecting the completion of the clamping operation of the work by the work clamp, a work thickness measurement means for measuring the work thickness of the work based on the detection of the completion of the clamping operation, and a cutting start height calculation means for calculating the cutting start height of the work based on the measured work thickness.

[4] The drilling system using the gantry type drilling device according to [1] or [2], wherein the drilling completion detection means detects a change in the amount of drill shaft current required for rotation of the drill shaft of the drilling drill. .

[5] A drilling method using a gantry-type drilling device having a drilling drill capable of cutting a workpiece to be drilled, a drill unit to which the drilling drill is attached and which is formed so that it can be controlled to move along the X-axis, Y-axis, and Z-axis directions and can displace the drill position of the drill tip of the drilling drill, and a work clamp for fixing the workpiece during drilling, the method comprising: a drill position adjustment step of controlling the movement of the drill unit along the X-axis and Y-axis directions to align the drill position above a drilling position specified for the workpiece; a clamp operation start step of operating the work clamp after the drill position has been adjusted and starting a clamp operation to fix the workpiece; and a clamp operation start step of moving the drill unit downward along the Z-axis in conjunction with the start of the clamp operation. A drilling method using a gantry-type drilling device, comprising: a drilling process in which the drill is moved along the Z-axis and moved down together with the drill unit to cut and drill holes in the workpiece; a drilling completion detection process in which the completion of the drilling process in the workpiece by the drill is detected; a drilling drill ascent process in which the drill unit is moved upward along the Z-axis after the completion of the drilling process in the workpiece is detected, the drilling drill reach confirmation process in which the tip of the drill is confirmed to have reached the workpiece top surface position; and a clamping operation release process in which the clamping operation of the work clamp that fixes the workpiece is released in conjunction with the confirmation that the tip of the drill has reached the workpiece top surface position.

[6] A drilling method using a gantry-type drilling device as described in [5], further comprising a descent speed change step for gradually changing the descent speed of the drilling drill in the drilling step, the descent speed change step controlling the movement of the drill tip from the drill initial position to a drill fast-forward standby position at a first descent speed, and controlling the movement from the drill fast-forward standby position to a workpiece top surface position at a second descent speed slower than the first descent speed.

[7] A drilling method using a gantry-type drilling device according to [5] or [6], further comprising a clamping operation completion detection step for detecting the completion of the clamping operation of the work by the work clamp, a work thickness measurement step for measuring the work thickness of the work based on the detection of the completion of the clamping operation, and a cutting start height calculation step for calculating the cutting start height of the work based on the measured work thickness.

[8] A drilling method using a gantry-type drilling device as described in [5] or [6], in which the drilling completion detection process detects a change in the amount of drill shaft current required to rotate the drill shaft of the drill.

According to the drilling system and drilling method of the present invention, the movement control of the drilling drill that drills the workpiece, and the clamping and unclamping operations by the workpiece clamp are performed in parallel, thereby improving the efficiency of the drilling work and saving labor. This makes it possible to reduce the amount of work required and reduce the work time. In particular, compared to the case of using conventional drilling equipment, it is possible to improve work efficiency when drilling holes in multiple drilling positions for one workpiece, shorten the working time of drilling processing, and It is also possible to save labor by reducing the amount of electricity used. Furthermore, it is possible to eliminate problems in drilling when the drilling device is tilted.

10 is a flowchart showing an example of the process flow of drilling by the drilling system of this embodiment. It is a flowchart which shows an example of the flow of processing of the drilling process by a drilling system. It is a flowchart which shows an example of the flow of processing of the drilling process by a drilling system. It is an explanatory view showing an example of a drill position adjustment means by a drilling system. FIG. 3 is an explanatory diagram showing an example of a clamping operation starting means by the perforation system. FIG. 2 is an explanatory diagram showing an example of a drilling means in the drilling system. It is an explanatory view showing an example of a drilling completion detection means by a drilling system. An explanatory diagram showing an example of a drill lifting means, a drill reach confirmation means, and a clamp operation release means in the drilling system. FIG. 2 is an explanatory diagram schematically showing the process flow of drilling a workpiece using a conventional drilling device.

The drilling system and drilling method of the present invention will be described in detail below with reference to the drawings. The drilling system and drilling method of the present invention are not limited to the following embodiments, and various design changes, modifications, improvements, etc. may be made without departing from the scope of the present invention.

A drilling system 1 according to an embodiment of the present invention (a drilling system using a gantry-type drilling device according to the present invention) is a “gantry-type” drilling device 10 (a gantry-type drilling system according to the present invention) schematically shown in FIGS. A method for cutting a work W to be perforated (e.g., a thick steel plate, etc.) using a drilling machine (equivalent to a perforating device) to form a hole H of a predetermined diameter at a predefined perforation position P. It is something.

The drilling device 10 is equipped with a drilling drill 11 for drilling that can cut a workpiece W, and is equipped with the drilling drill 11, and rotates in the X-axis direction (corresponding to the left-right direction in FIGS. 4 to 7) and the Y-axis direction (FIG. - 7)) and the Z-axis direction (corresponding to the vertical direction of the paper in Figs. 4 to 7), and the drill position of the drill tip 11a of the drilling drill 11 can be freely adjusted. The drill unit 12 is configured to mainly include a drill unit 12 that is movable, a mounting table 13 on which a workpiece W is placed and supported from below, and a workpiece clamp 14 attached to the drill unit 12.

Furthermore, the drilling device 10 has other conventionally known configurations, such as a pair of X-axis guide rails, a gantry unit supported by the X-axis guide rails and to which the drill unit 12 can be installed, and the drill unit 12 and others. Each of them is equipped with a movement control section and the like for controlling movement of the gantry unit and the like based on a predetermined amount of change. Note that the configuration of the X-axis guide rail and the like is well known, and illustration thereof is omitted to simplify the explanation.

By using the drilling device 10 of this configuration, a drilling process can be performed at a predefined drilling position P of a workpiece W supported on a mounting table 13 using a drilling drill 11 that rotates according to the drill axis, and a hole H of a preset hole diameter can be made. The drilling drill 11 and the drill unit 12 can numerically control the amount of movement in the X-axis, Y-axis, and Z-axis directions, operation timing, drill position, etc., based on prestored drilling data and instructions from the movement control unit. The drilling method of the present invention (a drilling method using a gantry-type drilling device) is a method for drilling a workpiece W and making a hole H by using these drilling devices 10 and employing the drilling system 1.

The workpiece W for which the hole H is drilled using the drilling system 1 and the drilling method of the present embodiment is, for example, used to manufacture a steel frame used for an expressway bridge pier, etc. as a final product, and is made of iron. It is made up of thick plates. In the drilling system 1 of this embodiment as well, the following description will be made assuming that a flat plate having a predetermined workpiece thickness d is a workpiece W. Note that the workpiece W to be subjected to drilling is not limited to those for manufacturing the above-mentioned steel frames, etc., but is used, for example, for manufacturing various products such as box columns and H-beams. The perforation system and perforation method of the present invention can also be employed in perforation processing.

The process or step flow of the drilling system 1 and drilling method of this embodiment will be explained below based on the flowcharts in Figures 1 to 3 and the explanatory diagrams in Figures 4 to 7 which show schematic diagrams of various operations of the drilling device 10 on the workpiece W.

The main functional components of the drilling system 1 of this embodiment are a drill position adjustment means S1, a clamp operation start means S2, a drilling means S4, a hole penetration position confirmation means S12 and a drill shaft current amount monitoring means S14, which correspond to the drilling completion detection means, a drilling drill raising means S15, a drilling drill arrival confirmation means S16, and a clamp operation release means S17.

Furthermore, the drilling system 1 includes, as other functional configurations, a first descending speed changing means S9 and a second descending speed changing means S11 corresponding to the descending speed changing means, a clamping operation completion detecting means S5, and a workpiece thickness measuring means S6. , and a cutting start height calculation means S7, and a plurality of other means for performing processing between each functional configuration.

Below, we will specifically explain each functional configuration in the drilling system 1 of this embodiment and the drilling method using the drilling system 1. Here, each functional configuration (...means) in the drilling system 1 corresponds to each process in the drilling method of the present invention, such as a drill position adjustment process.

As shown diagrammatically in FIG. 4, the drill position adjustment means S1 in the drilling system 1 of this embodiment controls the movement of the drill unit 12 attached to the gantry unit (not shown) along the X-axis and Y-axis directions, and aligns the position of the drill tip 11a of the drilling drill 11 (drill position) above a predefined drilling position P of the workpiece W supported by the mounting table 13 (corresponding to the drill position adjustment process in this invention).

Here, at the beginning of the system start of the drilling system 1, the drill tip 11a of the drilling drill 11 is located at a drill initial position ZP0 (see FIG. 4) which is at a predetermined height from the work top surface W1 of the work W. In other words, the drill position is set while maintaining the height of the drill initial position ZP0, in other words, while only movement in the X-axis direction and Y-axis direction is permitted without controlling movement in the Z-axis direction. adjustments will be made.

While the process of the drill position adjustment means S1 is being carried out, the work clamp 14 attached to the drill unit 12 is on standby at a position where the lower surface 14a of the clamp is separated from the drill tip 11a by a certain height (clamp initial position CP0). are doing.

After the adjustment of the drill position by the drill position adjusting means S1 is completed, as shown in FIG. 5, a process of starting the clamping operation by the workpiece clamp 14 is performed (clamping operation starting means S2, clamping operation starting step). That is, the work clamp 14, which is in a standby state at the height of the clamp initial position CP0 described above, is started to operate, and the work clamp 14 is lowered toward the work W supported on the mounting table 13.

The work clamp 14 attached to the drill unit 12 includes a hydraulic cylinder 15 that serves as a driving source for raising and lowering the work clamp 14 provided in the drill unit 12, and a rotary encoder 16 for detecting the amount of change in the work clamp 14. connected via.

Thereby, the work clamp 14 can be lowered and raised in accordance with the extension and contraction operations of the cylinder shaft (not shown) by the hydraulic cylinder 15. The workpiece clamp 14 is controlled to descend to a position where the clamp lower surface 14a contacts the workpiece upper surface W1 of the workpiece W by the clamp operation starting means S2. As a result, it becomes possible to press the workpiece W against the mounting table 13 side (Z-axis downward type), and to sandwich the workpiece W from above and below between the workpiece clamp 14 and the mounting table 13, and to control the movement of the workpiece W. Can be regulated. That is, the workpiece W can be fixed by the workpiece clamp 14 (see FIG. 5).

Furthermore, the drilling system 1 of this embodiment can determine the movement amount (amount of change per unit time) of the work clamp 14 by using the rotary encoder 16 connected to the work clamp 14. That is, by subtracting the position of the clamp bottom surface 14a of the work clamp 14 from the position (height) of the drill tip 11a of the drilling drill 11 in the Z-axis direction, the drill-clamp distance LZC1 (see FIG. 4), which is the distance between the drill tip 11a and the clamp bottom surface, can be calculated.

Then, the value of the drill-clamp distance LZC1 is compared with a predefined set value (set value comparison means S3). If the drill-clamp distance LZC1 is equal to or greater than the set value (YES in the set value comparison means S3), the descent (drill fast-forward descent) of the drilling drill 11 attached to the drill unit 12 is started at a first descent speed V1 (drilling means S4, drilling process). Here, the drilling drill 11 is rotated at high speed according to the drill axis at the same time as the drilling system 1 of this embodiment is started, and is in a state where it is possible to cut the workpiece W.

On the other hand, if the drill-clamp distance LZC1 is smaller than the set value (NO in the set value comparison means S3), for example when the work clamp 14 is located at the height indicated by the dashed line in FIG. 4, the work clamp 14 continues to descend and the drill drill 11 does not start to descend. As a result, if the work clamp 14 rises to a position close to the underside of the drill unit 12 before the start of the drilling system 1 and is at a position higher than the drill tip 11a, the timing of the descent of the drill drill 11 is shifted, and a time difference is set between the clamping operation of the work clamp 14 and the descent operation of the drill drill 11, and adjustments can be made.

Such adjustment by setting a time difference between the machining operations of the drilling drill 11 and the work clamp 14 is performed only during the drilling process for the first drilling position P of the drilling system 1 of this embodiment, and is not performed for the drilling process for the next drilling position P. Sometimes, the drill tip 11a and the clamp lower surface 14a are positioned in advance in a relationship that satisfies the condition of "LZC1≧setting value".

By satisfying the conditions defined by the set value comparing means S3, the drilling operation (piercing means S4, drilling process) for cutting the workpiece W is performed in conjunction with the start of the clamping operation of the workpiece clamp 14 (clamping operation starting means S2). This is done at almost the same timing (see Figure 5).

In other words, unlike conventional drilling devices, the lowering operation of the drill drill 11 begins without waiting for the completion of the clamping operation by the work clamp 14. The drill drill 11 continues to descend at the first descent speed V1 until it reaches the preset drill fast-forward standby position ZP1.

Furthermore, the drilling system 1 starts a clamping operation by the work clamp 14 while continuing the process related to the lowering operation of the drilling drill 11, and then detects the completion of the clamping operation (clamping operation completion detection means S5, clamping operation completion detection process). The completion of the clamping operation is detected based on the amount of change per unit time by the rotary encoder 16 described above.

That is, when the clamp lower surface 14a of the workpiece clamp 14 comes into contact with the workpiece upper surface W1 of the workpiece W and further descent is restricted, the amount of change per unit time by the rotary encoder 16 becomes "0". Therefore, it is determined that the clamping operation has been completed (YES in the clamping operation completion detection means S5). On the other hand, if the amount of change in the rotary encoder is not "0" (NO in the clamp operation completion detection means S5), it is assumed that the clamp operation has not been completed, and the process of the clamp operation completion detection means S5 is repeated to determine whether the clamp operation is complete. Continue detection.

Furthermore, the drilling system 1 calculates the workpiece thickness d (distance between the workpiece upper surface W1 and the workpiece lower surface W2) of the workpiece W to be drilled (workpiece thickness measuring means S6, workpiece thickness measuring step). The workpiece thickness d can be calculated by using the rotary encoder 16 to determine the height of the clamping lower surface 14a of the workpiece clamp 14 after the clamping operation has been completed using the table top surface of the mounting table 13 as a reference. Furthermore, a cutting start height ZP2' (Z-axis cutting start height) is calculated based on the calculated workpiece thickness d (cutting start height calculation means S7, cutting start height calculation step). Here, the calculated cutting start height ZP2' approximates the work top surface position ZP2 corresponding to the height of the work top surface W1 of the work W (ZP2'≈ZP2).

The drilling system 1 further continues to lower the drilling drill 11 downward along the Z axis at the first lowering speed V1, and checks whether the drill tip 11a has reached the drill fast-forward standby position ZP1 (drill fast-forward standby position confirmation means S8). If the drill tip 11a has reached the drill fast-forward standby position ZP1 (YES in the drill fast-forward standby position confirmation means S8), the descent speed of the drilling drill 11 is changed to the second descent speed V2 (first descent speed change means S9 (descent speed change means), descent means change process).

As a result, the drilling drill 11 continues to descend toward the work W while the descending speed changes stepwise to the second descending speed V2. In addition, in the drilling system 1 of this embodiment, the first descending speed V1 is 10,000 mm/min, whereas the second descending speed V2 is set to 5,000 mm/min. That is, at a position closer to the workpiece W, control is performed to switch the lowering speed of the drilling drill 11 to a slightly slower speed.

Thereafter, it is detected whether the drill tip 11a of the drilling drill 11, which continues to descend at the second descending speed V2, has reached the workpiece top surface position ZP2 (≒ cutting start height ZP2') of the workpiece W (workpiece top surface position confirmation Means S10).

That is, as shown in FIG. 6, when the drill tip 11a reaches the work top surface position ZP2 (YES in the work top surface position confirmation means S10), in other words, the cutting calculated based on the clamping operation of the work clamp 14 When the starting height ZP2' and the position (height) of the drill tip 11a in the Z-axis direction become the same height, the descending speed of the drilling drill 11 is further changed stepwise to the cutting speed V3 (second descending speed). The changing means S11 (lowering speed changing means) (lowering speed changing step) continues the downward movement of the drilling drill 11 along the Z-axis. As a result, a part of the workpiece W is scraped off by the drilling drill 11 in contact with the workpiece W, and a hole H is formed (see FIG. 6).

On the other hand, if the drill tip 11a has not reached the workpiece top surface position ZP2 (NO in the workpiece top surface position confirmation means S10), the processing of the workpiece top surface position confirmation means S10 continues, and the drill tip 11a of the drill hole drill 11 continues to descend at the second descent speed V2 until it reaches the workpiece top surface position ZP2.

When the second descent speed change means S11 changes the descent speed and the drill drill 11 starts to descend at the cutting speed V3, a timer (not shown) built into the drilling system 1 is controlled to operate (timer operation means S13). Then, in accordance with the timer operation, monitoring of the drill shaft current amount required for the rotation of the drill shaft (not shown) of the drill drill 11 is started (drill shaft current amount monitoring means S14 (drilling completion detection means), drilling completion detection process). Here, when the workpiece W is being cut at the cutting speed V3, a certain load is generated in the rotation of the drill shaft of the drill drill 11. On the other hand, when the workpiece W is not being cut, there is no load, and the amount of current required for the drill shaft rotation is significantly different in both cases.

Therefore, the drilling system 1 of this embodiment monitors and detects the amount of drill shaft current required to rotate the drill shaft to determine whether cutting into the workpiece W has been completed, i.e., whether the hole H has penetrated (=detection of completion of drilling) (drilling completion detection means, drilling detection process).

When completion of hole penetration is detected by drill shaft current monitoring (YES in drill shaft current amount monitoring means S14), that is, the amount of current required to rotate the drill shaft is smaller than when cutting is started (when timer operation is started). If the change occurs, it is determined that a hole H penetrating between the workpiece top surface position ZP2 and workpiece bottom surface position ZP3 of the workpiece W has been formed, and the process proceeds to the next process. If completion of hole penetration is not detected by drill shaft current monitoring (NO in drill shaft current amount monitoring means S14), the processing of drill shaft current monitoring is continued.

Here, the drilling system of this embodiment detects whether the drill tip 11a of the drilling drill 11 has reached a preset hole penetration position ZP4 (hole penetration position confirmation means S12 (drilling completion detection means), drilling completion detection process) in parallel with the detection of completion of penetration of the hole H by the drill shaft current amount monitoring means S14 described above, i.e., the drilling completion detection process. In other words, the drilling system 1 of this embodiment is equipped with two drilling completion detection means (drilling completion detection process), the drill shaft current amount monitoring means S14 and the hole penetration position confirmation means S12.

As already explained, the drill tip 11a of the drill hole drill 11 reaches the workpiece upper surface position ZP2 of the workpiece W, and the descent speed changes to cutting speed V3 as the drill hole drill 11 continues to descend, cutting from the workpiece upper surface W1 to the workpiece lower surface W2, and after passing through the workpiece lower surface position ZP3 corresponding to the workpiece lower surface W2, the descent continues further, and continues to the preset hole penetration position ZP4 (Figure 7). When the drill tip 11a reaches the hole penetration position ZP4, a hole H that penetrates the workpiece W is formed.

When reaching the hole penetration position ZP4 is detected (YES in the hole penetration position confirmation means S12), the descent of the drilling drill 11 is stopped and the drilling drill 11 is raised upward on the Z axis (the drilling drill raising means S15, drilling drill raising process). Here, in this embodiment, the drilling drill 11 is raised at a rising speed V4 (Z-axis rapid traverse rise). Note that the ascending speed V4 is set to 10,000 mm/min, which is the same as the first descending speed V1. Note that the drilling drill raising means S15 is executed when the conditions of the drilling completion detection means of either the drill shaft current amount monitoring means S14 or the hole penetration position confirmation means S12 described above are satisfied.

Then, it is confirmed whether the drill tip 11a of the drill 11, which is controlled to move upward along the Z axis by the drill lifting means S15, has reached the workpiece top surface position ZP2 (drill reach confirmation means S16, drill reach confirmation process). In other words, it is confirmed whether the drill tip 11a has risen to the cutting start height ZP2' calculated by the cutting start height calculation means S7 already described.

It should be noted that even during the process of the drilling drill arrival confirmation means S16, the process of raising the Z-axis upward is continued at the raising speed V4 (drilling drill raising means S18, drilling drill raising step), and then the drilling drill 11 It is detected that the drill has risen to the fast-forward standby position ZP1 (drill fast-forward standby position confirmation means S19).

On the other hand, if the drilling drill 11 has not reached the drill fast-forwarding standby position ZP1 (NO in drill fast-forwarding standby position confirmation means S19), the drilling drill 11 continues to rise (drilling drill raising means S18) and the drill fast-forwarding standby position Detection processing is performed until reaching ZP1 (drill fast forward standby position confirmation means S19).

The drill fast-forward standby position confirmation means S19 has the same basic function as the drill fast-forward standby position confirmation means S8 already described, and the difference is that the drill tip 11a of the drill hole 11 moves from above the Z axis downward or from below the Z axis upward.

On the other hand, when it is confirmed that the drill tip 11a of the drilling drill 11 has reached the workpiece upper surface position ZP2 (YES in the drilling drill arrival confirmation means S16, see FIG. 8), the clamping operation of the workpiece clamp 14 that was holding the workpiece W from above is stopped. Release (clamp action release means S17, clamp action release step). As a result, the hydraulic cylinder 15 starts lifting the work clamp 14 .

As already explained, in parallel with the lifting operation of the work clamp 14, the lifting operation of the drilling drill 11 by the drilling drill arrival confirmation means S16 and the drilling drill raising means S18 is continuously performed.

On the other hand, if reaching the work top surface position ZP2 is not confirmed (NO in the drilling drill arrival confirmation means S16), that is, the drill tip 11a is below the work bottom surface position ZP3 or between the work top surface position ZP2 and the work bottom surface position ZP3. If it is located, the process of confirming that the drill tip 11a of the drilling drill 11 has reached the work top surface position ZP2 is continued.

The clamp operation release means S17 of the work clamp 14 detects whether the work clamp 14 has reached the initial clamp initial position CP0 before drilling starts (clamp initial position confirmation means S20). If the workpiece clamp 14 has not reached the clamp initial position CP0 (NO in the clamp initial position confirmation means S20), the process returns to the clamp operation release means S17 and the clamp release operation processing is continued.

On the other hand, the work clamp 14 has reached the clamp initial position CP0 (YES in the clamp initial position confirmation means S20), and the above-mentioned drilling drill 11 has risen to the drill fast-forward standby position ZP1 (drill fast-forward standby position confirmation means S19). If the two conditions (YES) are met, the drilling system 1 detects the presence or absence of a drilling position P on the workpiece W to be drilled next (next drilling position confirmation means S21).

Here, when the drilling process for one drilling position P is completed and there is a drilling position P that requires new drilling process for the same work W (YES in the next drilling position confirmation means), the drill position is adjusted. Returning to the processing of the means S1, the drill position is adjusted to control the movement of the drill unit 12 and the drilling drill 11 upward to the next drilling position P in the X-axis direction and the Y-axis direction. Thereby, the drilling process for the new drilling position P is continued. As a result, it is possible to sequentially perform drilling at a plurality of drilling positions P on one workpiece W.

On the other hand, if there is no next drilling position P to be drilled (NO in the next drilling position existence confirmation means S21), in other words, if drilling has been completed for all drilling positions P on the workpiece W, a process to terminate the drilling system 1 is performed (system termination means S22).

As explained above, according to the drilling system 1 of the present embodiment and the drilling method for the workpiece W by the drilling system 1, the timing of movement control for lowering and raising the drilling drill 11 along the Z-axis direction, The timing of the clamp operation and the clamp release operation by the clamp 14 can be performed in parallel. As a result, it becomes possible to reduce the time required for drilling at one drilling position P, and especially when drilling is repeated at multiple drilling positions P for one workpiece W, the time required for drilling is reduced. It can be significantly shortened. Thereby, it is possible to improve the efficiency of the drilling work and reduce the work cost.

Furthermore, since it is possible to calculate the cutting start height based on the clamping action of the work clamp, the work thickness d of the work W can be calculated for each drilling process even if the drilling device itself is tilted to one side due to ground subsidence, reducing the possibility of defects such as poor processing.

According to the drilling system and drilling method of the present invention, the work efficiency of a gantry-type drilling device used in the manufacturing process of manufacturing steel frames, etc. used in expressways, other box columns, H-beams, etc. can be improved. , it can be usefully used by shortening the working time, and has industrial applicability, especially useful for punching workpieces in which a plurality of punching positions are defined.

1: Drilling system (drilling system using a gantry-type drilling device), 10, 100: Drilling device (gantry-type drilling device), 11, 103: Drilling drill, 11a, 103a: Drill tip, 12, 102: Drill unit, 13, 101: Loading table, 14, 104: Work clamp, 14a, 104a: Clamp bottom, 15: Hydraulic cylinder, 16: Rotary encoder, CP0: Clamp initial position, H: Hole, LZC1: Drill-clamp distance, P: Drilling position, S1 S2: Drill position adjustment means (drill position adjustment process), S3: Set value comparison means, S4: Drilling means (drilling process), S5: Clamping operation completion detection means (clamping operation completion detection process), S6: Work thickness measurement means (work thickness measurement process), S7: Cutting start height calculation means (cutting start height calculation process), S8, S19: Drill fast-forward standby position confirmation means, S9: First descent speed change means (descent speed change means), S10: Work top surface position confirmation confirmation means, S11: second descent speed change means (descent speed change means, descent speed change process), S12: hole penetration position confirmation means (drilling completion detection means, drilling completion detection process), S13: timer operation means, S14: drill shaft current amount monitoring means (drilling completion detection means, drilling completion detection process), S15, S18: drilling drill lifting means (drilling drill lifting process), S16: drilling drill arrival confirmation means (drilling drill arrival confirmation process), S17: clamping operation release means (clamping operation release process). , S20: Clamp initial position confirmation means, S21: Next drilling position presence/absence confirmation means, S22: System termination means, V1: First descent speed, V2: Second descent speed, V3: Cutting speed, V4: Ascending speed, Va: Drill descent speed, Vb: Drill ascending speed, W: Work, W1: Work top surface, W2: Work bottom surface, ZP0: Drill initial position, ZP1: Drill fast-forward standby position, ZP2: Work top surface position, ZP2': Cutting start height, ZP3: Work bottom surface position, ZP4: Hole penetration position, d: Work thickness.

Claims (8)

A perforation drill capable of cutting a workpiece to be perforated, the perforation drill being mounted thereon and configured to be movable and controllable along the X-axis direction, Y-axis direction, and Z-axis direction; A drilling system using a gantry type drilling device having a drill unit capable of displacing the drill position and a work clamp for fixing the work during drilling,
Drill position adjusting means for controlling the movement of the drill unit along the X-axis direction and the Y-axis direction and aligning the drill position above a drilling position defined on the workpiece;
Clamping operation starting means for activating the workpiece clamp and starting a clamping operation for fixing the workpiece after the adjustment of the drill position is completed;
A drilling means that controls the movement of the drill unit along the Z-axis downward in conjunction with the start of the clamping operation, and cuts the workpiece using the drilling drill that descends together with the drill unit to perform drilling;
a drilling completion detection means for detecting completion of drilling into the workpiece by the drilling drill;
After detecting completion of the drilling process on the workpiece, a drilling drill lifting means controls the movement of the drill unit along the Z-axis upward to raise the drilling drill and separate it from the workpiece;
drilling drill arrival confirmation means for confirming that the tip of the drill has reached a position on the upper surface of the workpiece;
A drilling system using a gantry-type drilling device, comprising a clamp operation release means for releasing a clamping operation of the work clamp that fixes the workpiece in conjunction with confirmation of arrival of the drill tip to the upper surface position of the workpiece. The drilling device further includes a lowering speed change means for gradually changing a lowering speed of the drilling drill by the drilling means,
The descent speed changing means is
The drill tip is controlled to move at a first descending speed from the drill initial position until it reaches a drill fast-forward standby position;
A drilling system using a gantry-type drilling device as described in claim 1, wherein movement is controlled at a second descent speed slower than the first descent speed from the drill fast-forward standby position to reach the workpiece top surface position. a clamping operation completion detection means for detecting completion of the clamping operation of the workpiece by the workpiece clamp;
a work thickness measuring means for measuring a thickness of the work based on detection of completion of the clamping operation;
3. A drilling system using a gantry-type drilling device according to claim 1 or 2, further comprising a cutting start height calculation means for calculating a cutting start height of the workpiece based on the measured thickness of the workpiece. The drilling completion detection means includes:
A drilling system using a gantry-type drilling device according to claim 1 or 2, wherein a change in the amount of drill shaft current required for rotation of the drill shaft of the drilling drill is detected. A drilling method using a gantry-type drilling device having a drill drill capable of cutting a workpiece to be drilled, a drill unit to which the drill drill is attached and which is formed so as to be movable controllably along an X-axis direction, a Y-axis direction, and a Z-axis direction and capable of displacing a drill position of a drill tip of the drill drill, and a work clamp for fixing the workpiece during drilling,
a drill position adjustment process for controlling the movement of the drill unit along the X-axis direction and the Y-axis direction to align the drill position above a drilling position defined in the workpiece;
a clamping operation initiation process of operating the work clamp and initiating a clamping operation for fixing the work after the drill position is adjusted;
A drilling process in which the drill unit is moved downward along the Z axis in conjunction with the start of the clamping operation, and the drilling drill is moved downward together with the drill unit to cut the workpiece and perform drilling.
a drilling completion detection step of detecting completion of drilling into the workpiece by the drill;
a drill drill lifting step of controlling the movement of the drill unit along an upward Z-axis after detecting the completion of the drilling process on the workpiece, lifting the drill drill and separating it from the workpiece;
a drilling drill arrival confirmation step for confirming that the tip of the drill has reached the workpiece upper surface position of the workpiece;
and a clamp operation release step of releasing the clamping operation of the work clamp that secures the work in conjunction with confirmation that the tip of the drill has reached the work top surface position. Further comprising a descending speed changing step of changing the descending speed of the drilling drill in steps during the drilling step,
The descending speed changing step is
Controlling the movement of the drill tip at a first descending speed from the drill initial position to the drill fast-forwarding standby position;
6. The drilling method using a gantry-type drilling device according to claim 5, wherein the drill movement is controlled at a second descending speed lower than the first descending speed until the drill reaches the work top surface position from the rapid feed standby position. a clamping operation completion detection step of detecting completion of the clamping operation of the workpiece by the workpiece clamp;
a workpiece thickness measuring step of measuring the workpiece thickness of the workpiece based on detection of completion of the clamping operation;
The drilling method using a gantry type drilling device according to claim 5 or 6, further comprising a cutting start height calculation step of calculating a cutting start height of the workpiece based on the measured thickness of the workpiece. The drilling completion detection step includes:
7. The drilling method using a gantry-type drilling device according to claim 5 or 6, wherein a change in the amount of drill shaft current required for rotation of the drill shaft of the drilling drill is detected.

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