JP3679384B2 - Drilling device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a drilling device capable of drilling with high accuracy in a workpiece used for a structure such as an aircraft and a high-speed vehicle, a car body of an automobile, and a shell of a hull.
[0002]
In the present invention, “drilling” includes cutting that forms a hole that penetrates the workpiece, a bottomed center hole that does not penetrate the workpiece, a dishing surface, and the like.
[0003]
[Prior art]
FIG. 8 is a perspective view showing a workpiece W drilled by a conventional drilling device, and FIG. 9 is a partially enlarged cross-sectional view of the workpiece W shown in FIG. 8 as viewed from the cutting plane line IX-IX. FIG. In the field of aircraft manufacturing in recent years, the use of composite materials for primary structures has increased. As a representative example, a plate-like outer plate 1 made of carbon fiber reinforced plastic (abbreviated as CFRP) is made of a dissimilar material that joins a frame made of an aluminum alloy and a longitudinal frame material 2 such as a stringer (stringer). There is a combination structure panel. In this combined structure panel, since the outer plate 1 and the frame material 2 are coupled by a number of fasteners, the workpiece W in which the outer plate 1 and the frame material 2 are accurately positioned is used as a jig (not shown). Fastener holes 3 for fixing and inserting the fasteners are formed through the outer plate 1 and the frame material 2.
[0004]
FIG. 10 is an enlarged cross-sectional view of a part of the workpiece W for explaining the procedure for forming the fastener hole 3 by the punching device 4, and FIG. 11 is the entire punching device 4 used for forming the fastener hole 3. FIG. 12 is a side view schematically showing the drilling end effector 8 provided on the arm 7 of the articulated robot 6. In the above-described step of drilling a workpiece W, it is necessary to accurately form several hundred fastener holes 3 in one workpiece W in a short time, and therefore the punching device 4 is used. This drilling device 4 includes a multi-joint robot 6 installed on a work stage 5, a drilling end effector 8 provided with a drill 11 provided at the tip of an arm 7 of the multi-joint robot 6, and the drilling end effector 8. 9 for holding the workpiece W perforated by When Have
[0005]
The workpiece W is temporarily attached with the outer plate 1 made of a composite material such as CFRP and the framework material 2 made of an aluminum alloy as described above, for example, with a temporary fastening fastener or the like, and the surface of the workpiece W is fixed at a predetermined position by a jig 9. It is supported almost vertically.
[0006]
When the drilling conditions of the composite material, which is the material of the outer plate 1 of the workpiece W, and the aluminum alloy, which is the material of the frame material 2, are compared, in the composite material, as the material of the drill 11 which is the drilling tool of the drilling device 4 Hard diamond is suitable, and the drill 11 is preferably rotated at a high speed to prevent peeling. In addition, for the aluminum alloy, in order to prevent welding due to frictional heat, the number of rotations of the drill 11 is naturally limited, and high-speed rotation is impossible.
[0007]
When different types of materials having different drilling conditions are manually drilled as described above, there is a problem that the inner surface roughness is lowered and delamination occurs, resulting in variations in the processing quality of the fastener holes 3. For this reason, for the co-drilling of the fastener holes 3 for different materials such as the workpiece W, a drilling device 4 by a robot is used, and the drilling position is taught in advance from a robot controller or teaching pendant, and from the end effector control device. The working conditions are set, and the fastener holes 3 are automatically formed at the respective drilling positions based on the teaching data and the working conditions.
[0008]
Since such a drilling device 4 receives the reaction force of the drill thrust from the workpiece W at the time of drilling, the workpiece W and the drilling end are caused by the bending of the arm 7 due to insufficient rigidity of the articulated robot 6 and the bending of the workpiece W. A positional shift occurs between the effectors 8, and it is difficult to form the frustoconical dishing surface 13 and the right circular cylindrical shaft hole 14 at a precise position with respect to the taught position. To solve this problem, the jig 9 is provided with a drill plate 15, the drilling end effector 8 is provided with the fitting body 16 of the drill plate 15, and the relative displacement between the workpiece W and the drilling end effector 8 is achieved. Is preventing.
[0009]
[Problems to be solved by the invention]
In such a conventional technique, since the drill plate 15 and the fitting body 16 are used in order to eliminate the displacement of the relative position between the workpiece W and the end effector 8 for drilling, the manufacturing cost increases and the drill is performed. There is a problem that the work of attaching and detaching the plate 15 to and from the fitting body 16 requires time and effort, and the efficiency of the drilling work is poor.
[0010]
An object of the present invention is to provide a drilling device that can improve the efficiency of drilling work at low cost.
[0011]
[Means for Solving the Problems]
The present invention according to claim 1 includes a base,
A piercing tool that is driven to rotate around a rotation axis and is movable in the forward and backward directions along an axis that forms a common line with the rotation axis on the base;
Rotation driving means for driving the punch to rotate about the rotation axis;
Feed means for moving the punch in the forward and backward directions along the axis with respect to the base;
A pressing body in which a punching tool is inserted so as to be rotatable about the rotation axis and movable in the axial direction, and presses a work to be punched by the punching tool;
A pressing force urging means that is provided on the base and applies a pressing force to the pressing body in a direction parallel to the axis of the punching tool;
A pressing position detecting means for detecting a position in the axial direction relative to the base of the pressing body;
A punching position detecting means for detecting a position in the axial direction with respect to the base of the punching tool;
Based on the position of the pressing body by the pressing position detecting means and the position of the punching tool by the punching position detecting means, the feed amount of the punching tool to the workpiece is obtained, and the feeding means is controlled by a feed amount command signal corresponding to this feed amount. And a feed amount control means for controlling the punching device.
[0012]
According to the present invention, the base is provided with the punching tool so as to be movable in the forward and backward directions with respect to the base. The punching tool is driven to rotate around the rotation axis by the rotation driving means, and is moved in the forward direction and the backward direction along the axis that forms a straight line common to the rotation axis by the feeding means. Immediately before the workpiece to be drilled, the drilling tool moves in the forward direction while rotating around the rotation axis, thereby drilling the workpiece to form a cutting hole and moving in the backward direction. It can be detached from the cutting hole.
[0013]
At the time of punching a workpiece with the punching tool, the punching tool is inserted into the pressing body, and in this inserted state, the punching tool is rotatable about the rotation axis and movable in the axial direction. Therefore, the pressing body presses the periphery of the punching position of the workpiece by the punching tool. The pressing force on the workpiece at this time is given by the pressing force urging means provided on the base, and at least during the drilling by the punching tool, the pressing body keeps pressing the workpiece with an appropriate pressing force. Is done.
[0014]
The position in the axial direction with respect to the base of the pressing body is detected by the pressing position detecting means. Further, the position of the punching tool in the axial direction with respect to the base is detected by a punching position detecting means. The feed amount control means obtains the feed amount of the punching tool with respect to the workpiece based on the position of the pressing body by the pressing position detection means and the position of the punching tool by the punching position detection means, and the feed amount corresponding to the feed amount The feeding means is controlled by a command signal.
[0015]
In this way, since the feed amount of the punching tool to the workpiece by the feeding means is controlled by the feed amount control means, the punching tool operates according to the feed amount based on the relative positional relationship with respect to the workpiece. Can be drilled. In addition, in order to obtain the relative positional relationship between the workpiece and the drilling tool, it is not necessary to manually attach the drill plate to the fitting body as in the prior art, so it is possible to prepare for the drilling operation for each of a plurality of workpieces. The time required is shortened, the efficiency of the drilling operation is improved, the manufacturing cost of the drill plate and the fitting body is unnecessary, and the economy is improved.
[0016]
According to a second aspect of the present invention, in the configuration according to the first aspect, the base is provided as an end effector on an arm of an articulated robot.
[0017]
According to the present invention, since the base is provided on the arm of the articulated robot, the drilling position is taught from the teaching pendant for each workpiece to the articulated robot, and the work condition is set from the end effector control device. By doing so, the drilling tool performs the drilling operation with the optimum feed amount for each workpiece as described above at the drilling position arranged by the movement of the arm, drilling multiple workpieces continuously, and the efficiency of drilling work Is greatly improved.
[0018]
According to a third aspect of the present invention, in the configuration according to the first or second aspect, the drilling tool is a drill having a drilling edge at the tip and a dishing edge near the shank. Features.
[0019]
According to the present invention, a drill having a cutting edge for drilling at the tip and having a cutting edge for countersinking near the shank is used as the drilling tool. And the dishing process can be performed in one step, which further improves the efficiency of the drilling operation.
[0020]
According to a fourth aspect of the present invention, in the configuration according to one of the first to third aspects, the pressing force urging means includes a fluid pressure cylinder.
[0021]
According to the present invention, by using the fluid pressure cylinder as the pressing force urging means, the working fluid to the fluid pressure cylinder is pressure-controlled, and the pressing force to the workpiece of the pressing body is easily and accurately set. be able to. As a result, the workpiece can be pressed by the pressing body with an optimum pressing force according to the rigidity of the workpiece, etc., and undesired bending of the workpiece due to the pressing of the pressing body can be prevented, and the workpiece can be more accurately detected. The position can be detected by the pressed position detecting means, and high accuracy can be achieved.
[0022]
According to a fifth aspect of the present invention, in the configuration according to one of the first to fourth aspects, the pressing position detecting unit is opposed to the target fixed to the pressing body side and the target on the base side. And a displacement sensor that electrically detects the amount of displacement of the target.
[0023]
According to the present invention, a displacement sensor and a target are used as the pressed position detection means, and the displacement amount of the target is electrically detected by the displacement sensor. When Even if there are fine cuttings and airborne substances generated by cutting the workpiece between the target and the target, the amount of displacement of the target can be detected without being affected by this, and high environmental resistance is achieved. Have. Accordingly, when the feed amount control means commands the feed amount of the punching tool to the feed means, the feed amount is calculated and obtained with high accuracy based on the displacement amount of the target detected by the displacement sensor. Further, it is possible to perform highly reliable control for the backward movement.
[0024]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a system diagram schematically showing a perforation apparatus 21 according to an embodiment of the present invention. The punching device 21 of the present embodiment drills fastener holes having a countersink surface at a predetermined interval in a work W1 used as an outer wall of an aircraft fuselage, for example, a high height of about +10/1000 inch to −5/1000 inch. Used to form with precision. The workpiece W1 is the same as the workpiece W shown in FIGS. 8 and 9, and has a shape curved in a quadric surface shape or a cubic surface shape, and is made of carbon fiber reinforced plastic (abbreviated as CFRP). A dissimilar material composed of an outer plate 22 and a frame material 23 made of a long aluminum alloy such as a plurality of frames and stringers (longitudinal members), which are temporarily attached to the back surface of the outer plate 22 by a temporary fastening fastener or the like. It is a combination panel. The thicknesses T1 and T2 of the flange portions of the outer plate 22 and the frame member 23 are about 2 mm, respectively.
[0025]
The punching device 21 includes a base 24, a drill 26 as a drilling tool, a rotation driving means 27, a feeding means 28, a pressing body 29, and a pair of double acting as pressing force urging means. air It includes pressure cylinders 30a and 30b, a pair of displacement detectors 31a and 31b as pressing position detection means, a feed amount detector 32 as punching position detection means, and a feed amount control means 33.
[0026]
The drill 26 is rotationally driven around a rotational axis 25 and is provided on the base 24 so as to be movable in a forward direction A1 and a backward direction A2 along an axis forming a straight line common to the rotational axis 25. Such a drill 26 has a perforating cutting edge 36 at the tip, and a dishing cutting edge 37 near the shank. By using such a drill 26, drilling and dishing can be performed in one step by one reciprocating motion of the forward direction A1 and the backward direction A2 of the drill 26, thereby improving the efficiency of the drilling operation. Can be improved.
[0027]
FIG. 2 is a block diagram illustrating an electrical configuration of the punching device 21. The feed amount control means 33 is based on the position of the pressing body 29 by each of the displacement detectors 31a and 31b, and hence the drilling position of the workpiece W1 with which the pressing body 29 abuts, and the position of the drill 26 by the feed amount detector 32. Thus, the feed amount of the drill 26 with respect to the workpiece W1 is obtained, the feed means 28 is controlled by a feed amount command signal corresponding to the feed amount, and the amount of movement of the drill 26 in the axial direction is controlled.
[0028]
FIG. 3 is a perspective view showing the overall appearance of the punching device 21. On the work stage 55 in the factory, a work space is secured by a safety fence 56, and in this work space, a punching end effector 59 constituting a part of the punching device 21 excluding the feed amount control means 33 and A jig 57 for holding the workpiece W1 is provided. Outside the safety fence 56, an end effector control device 58 including the feed amount control means 33 and a robot controller 62 that controls the operation of the articulated robot 61 in which the drilling end effector 59 is connected to the tip of the arm 60. And are provided.
[0029]
4 is a side view showing a specific configuration of the piercing end effector 59, FIG. 5 is a plan view of the piercing end effector 59, and FIG. 6 is a plan view of the piercing end effector 59 viewed from the left side of FIG. It is a rear view. The parts corresponding to those in FIGS. 1 to 3 are denoted by the same reference numerals. The base 24 is fixed by a fixed substrate 65, a movable substrate 66 movable on the fixed substrate 65 in the forward direction A1 and the backward direction A2, and a plurality of bolts on both sides of the long side of the fixed substrate 65. A pair of side plates 67, 68, an end plate 69 fixed by a plurality of bolts to each side of the short side of the fixed substrate 65 and each side plate 67, 68, and a plurality of plates at the upper end of each side plate 67, 68 And a top plate 70 fixed by bolts. The end plate 69 is fixed with the tip of the arm 60 of the articulated robot 61, and the end effector 59 for drilling is attached to the arm 60 of the articulated robot 61 in this way.
[0030]
The drill rotating motor 38 is mounted on the movable substrate 66. On the lower surface of the fixed substrate 65 facing downward in FIG. , De A reel feed motor 40 is provided. A pulley 71 is fixed to the output shaft of the drill feed motor 40. A nut 42 is fixed to the lower surface of the movable substrate 66, and a pulley 72 is fixed to one end of the screw shaft 41 in the axial direction. A timing belt 73 is wound around each of the pulleys 71 and 72, and the rotation of the output shaft of the drill feed motor 40 is transmitted to the screw shaft 41 to move the movable substrate 66 in the forward direction A1 and the reverse direction A2. Can be displaced.
[0031]
The rotation drive means 27 includes a drill rotation motor 38 that rotates the drill 26 about the rotation axis 25, and a rotation shaft 39 that transmits the rotation of the output shaft of the drill rotation motor 38 to the drill 26.
[0032]
The feed means 28 is mounted with a drill feed motor 40 fixed to the base 24, a screw shaft 41 that is rotationally driven by the drill feed motor 40, and the drill rotation motor 38. And a ball screw nut 42 to be inserted and screwed. The drill feed motor 40 may be realized by a step motor or may be realized by a hydraulic motor. By such feeding means 28, the drill 26 can be moved together with the rotation driving means 27 in the forward direction A1 and the backward direction A2 along the axis with respect to the base 24.
[0033]
The pressing body 29 includes an annular contact portion 44 in which a drill insertion hole 43 into which the drill 26 is rotatably inserted around the rotation axis 25 and is movable in the axial direction is formed. A frustoconical tapered portion 45 continuous to the outer peripheral portion, a straight cylindrical tubular portion 46 coaxially connected to the tapered detail 45, and the tubular portion 46 are fixed vertically, and the output shaft of the drill rotating motor 38 or the drill 26 And a moving body 48 in which a through hole 47 is formed. The contact surface 44 a of the contact portion 44 is formed in a virtual plane that is perpendicular to the axis of the drill 26.
[0034]
Such a pressing body 29 is lightweight, has high rigidity so as not to be easily deformed, and is made of a material having high wear resistance and corrosion resistance, such as a stainless alloy, and should be drilled by the drill 26. The annular abutting surface of the abutting portion 44 is almost entirely abutted around the perforation position of the workpiece W1, and is stably pressed with an optimal pressing force according to the rigidity of the workpiece W1, etc. Can be kept in contact with the workpiece W1.
[0035]
The pair of double-acting pneumatic cylinders 30 a and 30 b are provided on the base 24 and apply a pressing force in a direction parallel to the axis of the drill 26 to the pressing body 29. Each double-acting pneumatic cylinder 30a, 30b has cylinder bodies 50a, 50b and piston rods 51a, 51b. One end of each piston rod 51a, 51b in the axial direction is fixed to the moving body 48 of the pressing body 29. The axis of each piston rod 51a, 51b is parallel to the axis of the drill 26.
[0036]
The pair of displacement detectors 31a and 31b includes eddy current displacement sensors 52a and 52b fixed on the base 24 side, and piston rods of the pressing body 29 facing the eddy current displacement sensors 52a and 52b. It includes a target 53a, 53b made of a conductor fixed perpendicularly to the other axial end of 51a, 51b. Each of the eddy current displacement sensors 52a and 52b detects the distances La1 and Lb1 to the targets 53a and 53b, and detects the position of the pressing body 29 in the axial direction with respect to the base 24 based on a displacement amount from a predetermined initial value. can do.
[0037]
The feed amount detector 32 is realized by a rotary encoder and is used for a predetermined initial value. Drill rotation motor 38 Output shaft The position of the drill 26 in the axial direction relative to the base 24 can be detected based on the change in the rotation amount.
[0038]
FIG. 7 is a diagram for explaining a specific configuration of the displacement detector 31a. Since each displacement detector 31a, 31b is configured in the same manner, one displacement detector 31a will be described, and the other displacement detector 31b will not be redundantly described. The displacement detector 31a includes an eddy current displacement sensor 52a and a target 53a. The eddy current displacement sensor 52a includes an oscillation circuit 80 that generates a high-frequency magnetic field, and an LC resonance type conversion circuit 81 in which an oscillation and detection coil L and a capacitor C are connected in parallel.
[0039]
When a high-frequency excitation current is passed through the coil L, a magnetic field that changes periodically is generated accordingly. As a result, an eddy current is generated in the target by electromagnetic induction, a high-frequency magnetic field generated by the eddy current is detected by the coil L, and the distance to the target is detected as a change in the impedance of the coil L. That is, when the frequency of the excitation electromagnetic wave, the conductivity of the target, and the magnetic permeability are constant, the impedance of the coil L is a function of only the distance between the coil L and the target. That is, the displacement of the pressing body 29 with respect to the base 24 is known. Thus, the position of the workpiece W1 relative to the base 24 in the axial direction can be detected.
[0040]
Such an eddy current type displacement sensor 52a can take a high oscillation frequency and has a high response because the capacitance component of the oscillation circuit is small. Further, the magnetic resistance of the target 53a is smaller as it is ferromagnetic (or a good conductor). In other words, the magnetic permeability is increased, the inductance of the magnetic circuit can be greatly changed, and high sensitivity can be obtained. Therefore, as the target 53a uses a material having high conductivity such as iron or stainless steel, a longer detection distance can be obtained. In addition, if the thickness of the target 53a is small, eddy currents flow in a concentrated manner on the surface and the periphery due to the skin effect, so that the sensitivity can be increased, but conversely, if the thickness is large, the skin effect is small and the reverse occurs. The influence of the magnetic flux on the oscillation coil L is reduced, and the detection distance is shortened.
[0041]
Based on such characteristics, the oscillating frequency of the eddy current displacement sensor 52a and the material and thickness of the target 53a are determined according to the drilling position caused by the bending of the workpiece W1 and the displacement of the articulated robot 61, which are assumed in advance. The maximum measurement distance is set in consideration of variations in the front-rear position along the axial direction and a marginal space between the workpiece W1 and the pressing body 29 during the drilling operation.
[0042]
At the time of drilling the workpiece W1 by the drill 26 of the drilling device 21 configured as described above, the position of the pressing body 29 in the axial direction with respect to the base 24 is detected by the displacement detectors 31a and 31b. The position of the drill 26 in the axial direction with respect to the base 24 is detected by a feed amount detector 32. Based on the position of the pressing body 29 by the displacement detectors 31a and 31b and the position of the drill 26 by the feed amount detector 32, the feed amount control means 33 obtains the feed amount of the drill 26 with respect to the workpiece W1. The feeding means 28 is controlled by a feed amount command signal corresponding to the amount.
[0043]
In this way, the feed amount of the drill 26 with respect to the workpiece W1 by the feed means 28 is controlled by the feed amount control means 33, so that the drill 26 operates by the feed amount based on the relative positional relationship with respect to the workpiece W1, thereby increasing the amount of The workpiece W1 can be drilled with accuracy. Further, in order to obtain the relative positional relationship between the workpiece W1 and the drill 26 while suppressing the deflection of the drill, there is no need to manually attach the drill plate to the fitting body as in the above-described conventional technique. The time required for preparation of the drilling work for each W1 can be shortened, and the efficiency of the drilling work can be improved.
[0044]
Further, since the end effector 59 for drilling is provided on the arm 60 of the articulated robot 61 as described above, the drilling position is taught from the teaching pendant for each workpiece W1 to the articulated robot 61, and from the end effector. By setting the working conditions, the drill 26 performs a drilling operation at an optimum feed amount for each workpiece W1 at the drilling position arranged by the movement of the arm 50, and continuously drills a plurality of workpieces W1. The efficiency of the drilling operation can be greatly improved.
[0045]
Further, by using the double-acting pneumatic cylinders 30a and 30b as a means for urging the pressing body 29 to apply a pressing force, the air pressure to each of the double-acting pneumatic cylinders 30a and 30b is controlled so that the work of the pressing body 29 is performed. The pressing force to W1 can be set easily and accurately. Accordingly, the workpiece W1 can be pressed by the pressing body 29 with an optimal pressing force according to the rigidity of the workpiece W1 and the undesired bending of the workpiece W1 due to the pressing of the pressing body 29 is prevented. It becomes possible to detect the position of the workpiece W1 more accurately, and it is possible to increase the accuracy of hole formation.
[0046]
In the embodiment described above, a drill is used as the drilling tool. However, in another embodiment of the present invention, other cutting tools such as a milling cutter, an end mill, and a reamer are selectively used instead of the drill. May be.
[0047]
In still another embodiment of the present invention, each double-acting pneumatic cylinder 30a, 30b includes a lock mechanism that locks the piston rod when the pressing body contacts the workpiece. Warehouse It may be configured to. When the pressing body comes into contact with the workpiece, the displacement of the workpiece is fixed, the detection values detected by the displacement detectors 31a and 31b are kept constant, and the drill 26 is detected by the feed amount detector 32. It is possible to control based on only the feed amount that has been made.
[0048]
In still another embodiment of the present invention, a double-acting fluid pressure cylinder using hydraulic pressure or hydraulic pressure may be used instead of the above-described double-acting pneumatic cylinders 30a and 30b.
[0049]
In still another embodiment of the present invention, the pressing position detecting means is not limited to the eddy current type displacement sensor, but a primary coil is wound around the center of the bobbin, for example. A secondary potentiometer (abbreviated as LVDT, linear variable differential transformer) that directly detects the position of the iron core is provided in which the two secondary coils are wound and the iron core is provided in the center of the bobbin so as to be movable up and down. Good. In this LVDT, since the two secondary coils are connected in opposite directions, the secondary voltage is 0 if the iron core is in the center, and is induced to the secondary coil if the iron core is displaced in either direction. Since the applied voltage differs, the voltage corresponding to the displacement of the coil is observed as a differential component, and the response speed is determined by the excitation frequency applied to the primary coil, so that dynamic measurement and static measurement are possible. The measuring range is about 10 cm to 1 m depending on the model. Since the object to be measured only has an iron core, the measured system is not disturbed, there is no friction part, and there is no hysteresis, so the position of the drill is measured with high accuracy. be able to.
[0050]
【The invention's effect】
According to the first aspect of the present invention, since the feed amount of the punching tool to the workpiece by the feeding means is controlled by the feed amount control means, the punching tool operates according to the feed amount based on the relative positional relationship with respect to the workpiece. Holes can be drilled in the workpiece with accuracy. Also, the relative between the workpiece and the drilling tool Target In order to obtain the positional relationship, it is not necessary to manually attach the drill plate to the fitting body as in the prior art, so that the efficiency of the drilling operation can be improved and the drill plate and the fitting body can be manufactured. Cost is unnecessary, and economic efficiency can be improved.
[0051]
According to the second aspect of the present invention, since the base is provided on the arm of the articulated robot, the drilling position is taught from the teaching pendant for each workpiece to the articulated robot, and the end effector control device is provided. By setting the working conditions from the above, the drilling tool performs the drilling operation with the optimum feed amount for each workpiece as described above at the drilling position arranged by the movement of the arm, and drills multiple workpieces continuously. As a result, the efficiency of the drilling operation can be significantly improved.
[0052]
According to the third aspect of the present invention, a drill having a cutting edge for drilling at the tip and having a cutting edge for dishing near the shank is used as the drilling tool. By the operation, the drilling process and the dishing process can be performed in one step, and the efficiency of the drilling process can be further improved.
[0053]
According to the fourth aspect of the present invention, since the fluid pressure cylinder is used as the pressing force urging means, the working fluid to the fluid pressure cylinder is pressure-controlled so that the pressing force of the pressing body to the workpiece can be easily and It can be set accurately. As a result, the workpiece can be pressed by the pressing body with an optimum pressing force according to the rigidity of the workpiece, etc., and undesired bending of the workpiece due to the pressing of the pressing body can be prevented, and the workpiece can be more accurately detected. The position can be detected by the pressed position detecting means, and high accuracy can be achieved.
[0054]
According to the fifth aspect of the present invention, since the position of the drill is detected by electrically measuring the distance to the target by the displacement sensor as the pressing position detecting means, it exists between the displacement sensor and the target. It is less susceptible to the effects of fine cutting scraps and airborne matter, and can calculate the feed amount of the drill with high accuracy and perform highly reliable control on the forward and backward movements of the drilling tool.
[Brief description of the drawings]
FIG. 1 is a system diagram schematically showing a perforation apparatus 21 according to an embodiment of the present invention.
FIG. 2 is a block diagram showing an electrical configuration of a punching device.
FIG. 3 is a perspective view showing the overall appearance of the punching device 21. FIG.
FIG. 4 is a side view showing a specific configuration of an end effector 59 for drilling.
FIG. 5 is a plan view of an end effector 59 for drilling.
6 is a rear view of the piercing end effector 59 as seen from the left side of FIG. 4;
FIG. 7 is a diagram for explaining a configuration of a pressed position detection unit.
FIG. 8 is a perspective view showing a workpiece W that has been drilled by a conventional punching device.
9 is a partial enlarged cross-sectional view of the work W shown in FIG. 8 as viewed from a cutting plane line IX-IX.
FIG. 10 is an enlarged cross-sectional view for explaining a procedure for forming the fastener hole 3 by the punching device 4;
FIG. 11 is a side view schematically showing the entire punching device 4 used to form the fastener hole 3;
12 is a side view schematically showing a drilling end effector 8 provided on an arm 7 of the articulated robot 6. FIG.
[Explanation of symbols]
21 Drilling device
22 Outer plate
23 Frame materials
24 base
25 axis of rotation
26 Drill
27 Rotation drive means
28 Feeding means
29 Pressing body
30a, 30b Double acting pneumatic cylinder
31a, 31b displacement detector
32 Feed amount detector
33 Feed amount control means
36 Cutting edge for drilling
37 Cutting blade for dish removal
38 Drill rotation motor
39 Rotating shaft
40 Drill feed motor
41 Screw shaft
42 nuts
43 Drill insertion hole
44 Contact part
45 details
46 Tube
50a, 50b Cylinder body
51a, 51b Piston rod
52a, 52b Eddy current displacement sensor
53a, 53b Target
59 End effector for drilling
60 arms
61 Articulated robot
62 Robot controller

Claims (5)

The base,
A piercing tool that is driven to rotate around a rotation axis and is movable in the forward and backward directions along an axis that forms a common line with the rotation axis on the base;
Rotation driving means for driving the punch to rotate about the rotation axis;
Feed means for moving the punch in the forward and backward directions along the axis with respect to the base;
A pressing body in which a punching tool is inserted so as to be rotatable about the rotation axis and movable in the axial direction, and presses a work to be punched by the punching tool;
A pressing force urging means that is provided on the base and applies a pressing force to the pressing body in a direction parallel to the axis of the punching tool;
A pressing position detecting means for detecting a position in the axial direction relative to the base of the pressing body;
A punching position detecting means for detecting a position in the axial direction with respect to the base of the punching tool;
Based on the position of the pressing body by the pressing position detecting means and the position of the punching tool by the punching position detecting means, the feed amount of the punching tool to the workpiece is obtained, and the feeding means is controlled by a feed amount command signal corresponding to this feed amount. A punching device comprising: a feed amount control means for controlling. The perforating apparatus according to claim 1, wherein the base is provided as an end effector on an arm of an articulated robot. The punching device according to claim 1 or 2, wherein the punching tool is a drill having a cutting edge for punching at a tip portion and a cutting edge for dishing near the shank. The perforating apparatus according to claim 1, wherein the pressing force urging unit includes a fluid pressure cylinder. The pressing position detecting means includes a target fixed to the pressing body side, and a displacement sensor fixed to the base side facing the target and electrically detecting the displacement of the target. The perforation apparatus according to claim 1.

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