JP4713202B2 - Multi-axis micromachining method and apparatus - Google Patents

Description

  The present invention relates to a multiaxis micromachining method and apparatus, and more particularly to a multiaxis micromachining method and apparatus using a parallel link.

In recent years, in the development of short cycle products such as digital camera casings, in addition to short delivery times and low prices, there is an increasing demand for design for differentiation. Conventionally, as a processing apparatus for manufacturing a digital camera housing or the like, there are various press apparatuses or a precision drawing machine. Currently, the press equipment is multi-step press molding using male / female dies and hand-finished by skilled workers. Moreover, there exists a processing machine of Unexamined-Japanese-Patent No. 2003-168655 as an apparatus which processes a product, ensuring the freedom degree of the movement of the tool provided in the processing operation part of the processing machine.
JP 2003-168655 A

    However, when using a press machine, after finishing the press, manual finishing by skilled workers is necessary, and ultimately, there is a problem in terms of cost and work speed because it is necessary to rely on human hands. In addition, there is a problem that the press technology has a difficulty in obtaining the accuracy of the product.

    On the other hand, a sequential (incremental) processing method that has been put to practical use as a kind of precision drawing has the advantage that the mold is only required on one side and is excellent in cost. However, with this manufacturing method, it is difficult to meet demands for fine design characteristics such as sharp outlines. For example, as shown in FIG. There is a problem in that a gap 4 is formed between the plate material 2 and the die 3 because 2 does not adhere to the die 3 which is a mold (female die).

    The present invention has been made in view of the above-mentioned conventional problems, and an object thereof is to provide a multi-axis micro-machining method and apparatus using a parallel link capable of realizing high-precision and good finishing in the manufacture of products. It is to be. The present invention is aimed at CAM for skilled worker finishing techniques, and aims to fuse on-machine finishing with a sequential machine with a high degree of freedom.

  In order to achieve the above object, in the present invention, as a multi-axis micromachining method, the punch connected to the parallel link is moved at an arbitrary position and angle, and the plate material placed between the punch and the die is moved with respect to the die. In the method of pressing, the plate material is placed on one die, and the punch is swung by a parallel link according to the processing conditions, or sequentially replaced without changing the die. Features.

  In carrying out such a processing method, in the present invention, a load cell is arranged in the punch, the force F applied to the punch is detected, the position X of the punch is obtained by reverse motion calculation, and the force F applied to the punch and the position of the punch are determined. From X, the average spring constant K = F / X or the value of the spring constant ΔK = ΔF / ΔX at each time point is obtained, and the point at which K or ΔK becomes small is obtained to determine the elastic range / A processing method to estimate the progress of the plastic zone is proposed.

  Further, in the present invention, when performing the processing method of the present invention, the force F applied to the punch is alternately applied from F = 0 to F = Fmax, and the deformation of the plate material is obtained by the movement of the punch. We propose a machining method that performs machining while estimating the above.

  ADVANTAGE OF THE INVENTION According to this invention, in the product process using a die | dye, it can respond to the request | requirement of fine design properties, such as a sharp outline matched with the shape of a die | dye.

  Further, according to the present invention, it is possible to realize accuracy and finish close to skilled worker finishing in product processing.

  In addition, according to the present invention, it is possible to achieve multi-functionality by integrating on-machine finishing with a multi-axis micromachining apparatus of a sequential machining type with a high degree of freedom.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing an overall configuration of a multi-axis micromachining apparatus using a parallel link according to an embodiment of the present invention, and FIG. 2 is a machining head which is a main part of the multi-axis micromachining apparatus shown in FIG. It is a perspective view which expands and shows a part.

  As shown in FIG. 1, the multi-axis micromachining apparatus according to the embodiment of the present invention is roughly divided into a frame structure 11 that supports the entire apparatus, and a base disposed at a lower position inside the frame structure 11. 12, a machining head 13 disposed inside the frame structure 11 so as to face the base 12, and a drive for moving the machining head 13 up and down relative to the base 12 and driving the machining head 13 with six degrees of freedom. The mechanism 14 includes a control system (not shown) that controls the machining head 13 and the drive mechanism 14.

  The frame structure 11 includes a top plate 15 that forms a ceiling, a bottom plate 16 that forms a base, and a plurality of columns that extend in the vertical direction between the top plate 15 and the bottom plate 16 to fix the plates 15 and 16. 17. The support column 17 has a plate-like structure, and in this embodiment, six support columns 17 are erected. A drive mechanism 14 for driving the machining head 13 is attached to the inner surface of each column 17.

  The base 12 includes a fixed base 18 installed on the bottom plate 16, a movable base 19 placed on the fixed base 18, and a base movement that moves the movable base 19 in the horizontal direction with respect to the fixed base 18. And a mechanism 20. The movable base 19 can be moved in one direction (X direction) and in a direction perpendicular to the movable base 19 (Y direction) by a base moving mechanism 20. A die 21, which is a female mold, is installed on the upper surface portion of the movable base 19.

  As shown in FIGS. 1 and 2, the machining head 13 includes a movable plate 22 operated by the drive mechanism 14, a punch attached to the lower surface of the central portion of the movable plate 22, that is, a tool 23. , One end is connected to the drive mechanism 14, and the other end is connected to the movable plate 22. The link rod 24 is configured to transmit power from the drive mechanism 14 to the movable plate 22. The movable plate 22 has a disc-like structure.

  As shown in more detail in FIG. 2, the drive mechanism 14 includes a guide rail 25 that extends vertically on the inner surface of the support column 17, a slider 26 that is movably connected to the guide rail 25, A drive motor (not shown) is provided between the sliders 26 and moves the slider 26 relative to the guide rail 25. The sliders 26 are provided on the respective struts 17 (therefore, a total of six), and one end of each of the link rods 24 (six) is connected to each slider 26. The other end of the link bar 24 is connected so that two adjacent link bars 24 correspond to each other at positions equidistant from each other on the upper surface of the movable plate 22 at approximately 120 degrees. A universal joint 27 is provided at a connecting portion with each link rod 24 so that it can freely move. A universal joint 28 is also provided at the connecting portion between the slider 26 and each link rod 24 so that it can freely move. The machining head 13 transmits the power of the drive mechanism 14 to the movable plate 22 by the link rod 24, so that the movable plate 22 has three translational degrees of freedom and three degrees of freedom of rotation with respect to a horizontal plane (assumed to be a reference plane). It is a 6-axis parallel link mechanism that exercises a total of 6 degrees of freedom. The machining head 13 is provided with a tool 23 in a 6-axis parallel link mechanism and facing a die 21.

  There are various examples of the 6-axis parallel link mechanism other than those shown in FIGS. 1 and 2. For example, a 6-axis parallel link motion base manufactured by Tokyo Seimitsu Keiki Co., Ltd. driven by a hydraulic cylinder system is used. You can also The 6-axis parallel link motion base is a product name.

  Further, in the machining head 13, a chuck 29 for attaching the tool to the movable plate 22 and a tool actuating member 30 for operating the tool 23 when machining the product are attached to a portion where the tool 23 is attached to the movable plate 22. . The tool actuating member 30 can rotate the tool 23 or cause the tool to translate or knock by a vibration operation.

  The operation of the multi-axis micromachining apparatus using the parallel link having such a configuration will be described below.

  First, the operation of the 6-axis parallel link mechanism will be schematically described. For example, the state shown in FIG. 1 is a state in which the movable plate 22 of the machining head 13 is held in a horizontal posture at a predetermined height position. Show. From this state, when the drive mechanism 14 is operated to lower all the sliders 26, the machining head 13 is lowered while maintaining the posture shown in FIG. 1, and the tool 23 reaches the die 21. FIG. 2 is a view showing a state in which the tool 23 reaches the die 21 by such movement. On the other hand, when the operation of the drive mechanism 14 is controlled in the state shown in FIG. 1 and the sliders 26 are individually given ascending and descending operations, the movable plate 22 moves with 6 degrees of freedom as described above. Do. For example, the slider 26 corresponding to the two link rods 24 (shown as 24a and 24b) located in front in FIG. 1 is lowered, and the slider 26 corresponding to the other link rods 24 (four other than 24a and 24b). If the movement plate 22 is not lowered, the movable plate 22 is inclined to rise from the near side to the far side. As a result, the tool 23 attached to the movable plate 22 changes its direction from vertically downward to obliquely downward. At this time, if the four link rods 24 other than the link rods 24a and 24b are caused to perform an upward movement, the movable plate 22 can be quickly inclined. Then, by causing the six sliders to perform various operations, it is possible to cause the movable plate 22 and thus the tool 23 to perform various motions.

  The operation of processing a product using the motion of the parallel link mechanism as described above will be described below. 3 to 8 show the operation when the plate material is squeezed and applied to a die in the present embodiment. FIG. 3 is a perspective view showing a plate material (Blank) used for the above-mentioned drawing process. FIG. 4 is a perspective view showing a die as a female die used for the squeezing process. FIG. 5 is a perspective view showing the state of the operation of the tool during the machining operation in the drawing process. FIG. 6 is a perspective view showing a state in which the tool is changed during the processing in the same processing. FIG. 7 is a perspective view showing a state in which the tool is further replaced with another one during the processing operation in the same processing. FIG. 8 is a cross-sectional view showing a state in which the forming process is executed without a gap at the corner portion of the die by the narrowing process of the present invention.

  In FIG. 3, various materials such as aluminum, stainless steel, and copper are used as the material of the plate material 31. As shown in FIG. 4, a die 32 corresponding to the shape of a product to be manufactured is formed on the die 21, and a recess 33 into which the plate material 31 is pushed is formed. When the plate material 31 is placed on the die 21 and the drive mechanism 14 is operated, the tool operating member is pressed while the tool 23 attached to the movable plate 22 of the machining head 13 presses the plate material 31 as shown in FIG. 30 is rotated in the direction of arrow A and moved in the direction of arrow B. As a result, the plate material 31 enters while being formed into the recess 33 of the die 21. When the plate material 31 is formed until it substantially matches the die mold, the tool 23 is replaced with another tool 23a capable of performing more precise processing as shown in FIG. Thus, the plate material 31 is formed into a shape more faithful to the mold 32 formed on the die 21. Further, as shown in FIG. 7, the tool 23 is replaced with a tool 23b capable of performing further precise machining, and the tool actuating member 30 is vibrated in the direction of the arrow C while moving in the direction of the arrow B. By doing so, the plate material 31 is formed into a substantially perfect shape with respect to the mold 32 formed on the die 21. This operation is effective when executed in a finishing process in a series of drawing processes.

  In this way, by performing processing by the multi-axis micromachining apparatus using the parallel link according to the present embodiment, in the present invention, as shown in FIG. Processing is executed, sharp outlines can be displayed on the product, and fine design requirements can be met.

  In driving the drive mechanism 14 or the tool actuating member 30, the control device performs various control operations. In the above embodiment, for example, a load cell is arranged on a punch as a tool, a force F applied to the punch is detected, a punch position X is obtained by reverse motion calculation, and the force F applied to the punch and the punch position X From this, the average spring constant K = F / X or the value of the spring constant ΔK = ΔF / ΔX at each time point is obtained, and the point at which K or ΔK becomes small is obtained to determine the elastic region / plastic region of the plate during processing. It is also possible to estimate the progress.

  Further, in the present embodiment, when performing the processing method of the present invention, the force F applied to the punch is alternately applied from F = 0 to F = Fmax, and the deformation of the plate material is determined by the movement of the punch, Machining can also be performed while estimating the plastic deformation level.

  By using the technology as described above, a so-called one-stop order can be made for a processing company in a small-lot, low-volume prototype production business, and the efficiency of processing work can be improved. In addition, the number of mold manufacturing steps can be reduced as much as possible, and the finishing / correcting process can be changed from manual finishing to machining, resulting in a significant productivity improvement. Further, in detecting the force F and the like, not only the machining status and machining results are detected from the actual machine, but also physical quantities (reaction force and displacement) from the machining model built on the computer. It can also be used as a machining simulator by sending the result directly to the machining device and presenting the control amount to enhance the realistic feeling of the operation or reflecting the skill of skilled workers by delicate manual work .

  As an actual processing machine facility for realizing this, a multi-axis fine processing apparatus (incremental processing machine) using a parallel link mechanism having a high degree of freedom and a high moving speed is suitable.

  In product processing using dies, it is possible to meet the demands for fine design such as sharp outlines that match the shape of the dies. In addition, it is possible to achieve accuracy and finish close to skilled worker finishing in product processing, and to achieve multi-functionality by combining on-machine finishing processing with a multi-axis fine processing device of sequential processing type with a high degree of freedom. Can do.

It is a perspective view which shows the whole structure of the multi-axis micromachining apparatus using the parallel link used as embodiment of this invention. It is a perspective view which expands and shows the process head part which is the principal part of the multi-axis fine processing apparatus shown by FIG. It is a perspective view which shows the board | plate material used for the drawing process in embodiment of this invention. It is a perspective view showing the die | dye as a female metal mold | die used for the drawing process. It is a perspective view which shows the mode of operation | movement of the tool in the process operation in the same drawing process. It is a perspective view which shows a mode that a tool is replaced | exchanged in the middle of a processing operation in the same processing. It is a perspective view which shows a mode that a tool is further changed into another thing in the middle of the processing operation in the same processing. It is sectional drawing which shows a mode that the shaping | molding process was performed without the clearance gap in the corner part of die | dye by the drawing process in the said embodiment. It is sectional drawing which shows a mode that the shaping | molding process in which a clearance gap is formed in the corner part of die | dye in the conventional drawing process was performed.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Frame structure 12 Base 13 Processing head 14 Drive mechanism 15 Top plate 16 Bottom plate 17 Column 18 Fixed base 19 Movable base 20 Base moving mechanism 21 Die 22 Movable plate 23 Tool 24 Link rod 25 Guide rail 26 Slider 27, 28 Universal joint 29 Chuck 30 Tool operating member

Claims (1)

In the method of moving the punch connected to the parallel link at an arbitrary position and angle and pressing the plate material placed between the punch and the die against the die,
A plate material is placed on one die, and without changing the die, the punch is swung by a parallel link according to the processing conditions, or sequentially replaced and processed .
When processing with the punch,
Place a load cell on the punch, detect the force F applied to the punch,
Find the position X of the punch by reverse motion calculation,
From the force F applied to the punch and the position X of the punch, an average spring constant
K = F / X
Alternatively, the spring constant at each time point
ΔK = ΔF / ΔX
The value of is calculated, the point where K or ΔK becomes small is calculated, the progress of the elastic region / plastic region of the plate material during processing is estimated, and then,
A multi-axis micro-machining method characterized in that a force F applied to the punch is alternately applied from F = 0 to F = Fmax, the deformation of the plate is obtained by the movement of the punch, and the plastic deformation level is estimated to perform the machining. .

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