JP6693777B2 - Work processing device - Google Patents

Work processing device Download PDF

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JP6693777B2
JP6693777B2 JP2016049809A JP2016049809A JP6693777B2 JP 6693777 B2 JP6693777 B2 JP 6693777B2 JP 2016049809 A JP2016049809 A JP 2016049809A JP 2016049809 A JP2016049809 A JP 2016049809A JP 6693777 B2 JP6693777 B2 JP 6693777B2
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suction
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JP2017164828A5 (en
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辰巳 菱川
辰巳 菱川
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スターテクノ株式会社
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本発明は、ワークに所定の加工を行うワーク加工ロボットの加工ヘッド、詳しくはワークに所定加工を行うワーク加工ロボットに設けられ、ワークの表面状態に応じてワーク加工具を三次元方向へ移動して加工することが可能なワーク加工ロボットの加工ヘッドに関する。 INDUSTRIAL APPLICABILITY The present invention is provided in a machining head of a workpiece machining robot for performing a prescribed machining on a workpiece, more specifically, a workpiece machining robot for performing a prescribed machining on a workpiece, and moves the workpiece machining tool in a three-dimensional direction according to the surface condition of the workpiece. The present invention relates to a machining head of a workpiece machining robot that can perform machining by machining.
本出願人は、特許文献1において位置決め状態でセットされた被加工物の所定方向へ移動可能に設けられる第1可動体と、該第1可動体を上記所定方向へ往復移動する第1駆動部材と、第1可動体に対して上記所定方向と直交する方向へ移動可能に設けられる第2可動体と、該第2可動体を上記所定方向と直交する方向へ往復移動する第2駆動部材とを備え、第2可動体に設けられる加工治具を被加工物に対して所定の加工開始位置へ移動した後に第1及び第2可動体をそれぞれの方向へ二次元移動して所望の加工を行う加工ヘッド及び加工ヘッドを備えた産業ロボットを提案した。 The applicant of the present invention discloses a first movable body which is provided in the patent document 1 so as to be movable in a predetermined direction of a workpiece set in a positioned state, and a first drive member which reciprocates the first movable body in the predetermined direction. A second movable body that is movable with respect to the first movable body in a direction orthogonal to the predetermined direction; and a second drive member that reciprocates the second movable body in a direction orthogonal to the predetermined direction. And moving the processing jig provided on the second movable body to a predetermined processing start position with respect to the workpiece, and then two-dimensionally moving the first and second movable bodies in respective directions to perform desired processing. A processing head for performing and an industrial robot equipped with the processing head are proposed.
上記加工ヘッドにあっては、例えばエンドミルによりワークの平面部に設けられた開口内周面を切削加工する際には、ワーク平面に対して面直状態で開口内に進入したエンドミルにおける一定の切削領域を開口内周面に当接させながら二次元方向へ移動制御することにより切削加工することができるが、ワークの湾曲部に設けられた開口内周面を切削加工する際には、図20に示すようにワークの湾曲面に応じて開口内周面に当接するエンドミルの切削領域が変位し、常に一定の切削領域で開口内周面を切削することができず、切削状態が不均一になる問題を有している。 In the processing head, for example, when cutting the inner peripheral surface of the opening provided on the flat surface of the work by the end mill, a constant cutting in the end mill that has entered the opening in a state perpendicular to the work plane. It is possible to perform cutting by controlling the movement in a two-dimensional direction while bringing the region into contact with the inner peripheral surface of the opening. As shown in, the cutting area of the end mill that contacts the inner peripheral surface of the opening is displaced according to the curved surface of the workpiece, and the inner peripheral surface of the opening cannot always be cut in a constant cutting area, resulting in uneven cutting conditions. Have a problem.
ワークにおける開口内周面をエンドミルの一定の切削領域で切削加工するには、開口内周面に対するエンドミルの切削領域を常に一定箇所になるようにアームの旋回及び回動してエンドミルを移動制御しなければならず、アームの制御が複雑化する問題を有している。 In order to cut the inner peripheral surface of the opening in the work in a constant cutting area of the end mill, the arm is swiveled and rotated so that the cutting area of the end mill relative to the inner peripheral surface of the opening is always at a fixed position, and the end mill is moved and controlled. However, it has a problem that the control of the arm becomes complicated.
特開2014−176930号公報JP, 2014-176930, A
解決しようとする問題点は、ワーク加工具を二次元方向へ移動してワークを加工する加工ヘッドにより湾曲したワークを加工すると、ワークの加工箇所に当接(圧接)するワーク加工具の加工部が湾曲状態に応じて変位し、ワークを均一に加工できない点にある。 The problem to be solved is that when a curved work piece is processed by the processing head that moves the work processing tool in the two-dimensional direction to process the work, the processing part of the work processing tool comes into contact (press contact) with the processing point of the work. Is displaced according to the curved state, and the work cannot be uniformly processed.
請求項1は、ークの加工箇所が平面状態と判断された場合には、ーク加工具をX軸方向及びそのX軸方向に直交するY軸方向のみに移動させて前記ワークを加工し、前記ワークの前記加工箇所が湾曲状態と判断された場合には、前記ワーク加工具を前記X軸方向、前記Y軸方向及び前記X軸方向及び前記Y軸方向に直交するZ軸方向に移動させて前記ワークを加工するワーク加工装置において、前記ワークの裏面に配置されたワーク裏面支持手段を備え、前記ワーク裏面支持手段の先端には、前記ワークの裏面に吸着可能な複数の吸着部材と、それら複数の吸着部材とは離間して設けられ、前記複数の吸着部材を結ぶ仮想円よりも小さな直径の裏面集塵フードと、が備えられ、前記裏面集塵フードは、その吸引口が前記吸着部材の吸着孔よりも前記ワークの裏面から離間して配置されており、前記吸着部材が前記ワークの裏面に吸着し弾性変形した際に、前記ワークの裏面に当接することを特徴とする。 Claim 1, when a machining spot of word over click is determined to planar state, said the word over click working tool moves only in the Y-axis direction orthogonal to the X-axis direction and the X-axis direction work processed, if the machining portion of the workpiece is determined to bending state is orthogonal to the workpiece processing tool, the X-axis direction, the Y-axis direction and the X-axis direction and the Y-axis direction Z In a work processing apparatus for processing the work by moving in the axial direction, a work back surface support means disposed on the back surface of the work is provided, and a tip of the work back surface support means has a plurality of members capable of adsorbing to the back surface of the work. The suction member and the plurality of suction members are provided apart from each other, and a back surface dust collecting hood having a diameter smaller than a virtual circle connecting the plurality of suction members is provided, and the back surface dust collecting hood is The suction port sucks the suction member. It is characterized in that it is arranged farther from the back surface of the work than the adhering holes, and comes into contact with the back surface of the work when the suction member sticks to the back surface of the work and elastically deforms .
また、請求項2は、請求項1に記載のワーク加工装置において、前記ワークの両端を固定する複数のクランプ手段を備え、各クランプ手段は、前記ワークの両端に形成された孔に挿嵌される位置決め軸と、前記ワークが挿嵌された位置決め軸へ向かって外側から搖動し、前記位置決め軸に嵌合するクランプ部とを備えていることを特徴とする。 According to a second aspect of the present invention, in the work machining apparatus according to the first aspect, a plurality of clamp means for fixing both ends of the work are provided, and each clamp means is inserted into holes formed at both ends of the work. a positioning shaft that, the workpiece is swinging from the outside toward the positioning shaft which is inserted, characterized that you have a clamp portion fitted with the positioning axis.
さらに、請求項3は、請求項に記載のワーク加工装置において、前記ワーク裏面支持手段と、前記複数のクランプ手段とは、1つの本体に備えられていることを特徴とする。 Furthermore, a third aspect of the present invention is the work processing apparatus according to the second aspect , wherein the work back surface supporting means and the plurality of clamping means are provided in one main body .
本発明は、湾曲したワークを加工する際には、ワーク加工具を二次元方向と共に面直方向へ移動してワークの加工箇所に対して常にワーク加工具における所定の加工部で加工して加工品質を均一にすることができる。 The present invention, when processing a curved work, moves the work processing tool in the two-dimensional direction and in the direction perpendicular to the surface, and always performs processing at a predetermined processing portion of the work processing tool with respect to the processing location of the work. Quality can be made uniform.
ワーク加工ロボットの概略斜視図である。It is a schematic perspective view of a workpiece processing robot. 加工ヘッドの拡大斜視図である。It is an expansion perspective view of a processing head. ワーク支持装置の平面図である。It is a top view of a work supporting device. 第1支持手段を示す一部破断斜視図である。It is a partially broken perspective view showing the 1st support means. 第2支持手段及びクランプ手段を示す一部破断斜視図である。It is a partially broken perspective view which shows a 2nd support means and a clamp means. 中央支持手段を一部破断して示す一部破断斜視図である。FIG. 6 is a partially cutaway perspective view showing the central supporting means in a partially broken manner. ワーク裏面支持手段を示す一部破断斜視図である。It is a partially broken perspective view showing a work back surface supporting means. ワーク加工ロボット及び三次元移動加工ヘッドの制御手段を示す電気的ブロック図である。It is an electrical block diagram showing a workpiece processing robot and a control means of a three-dimensional moving processing head. 第1支持手段の支持(保持)位置変更状態を示す正面説明図である。It is a front explanatory view showing a support (holding) position change state of the 1st support means. 第2支持手段の支持(保持)位置変更状態を示す正面説明図である。It is a front explanatory view showing a support (holding) position change state of the 2nd support means. 第2支持手段の支持(保持)位置変更状態を示す平面説明図である。It is a plane explanatory view showing the support (holding) position change state of the 2nd support means. 中央支持手段の支持(保持)位置変更状態を示す側面説明図である。It is a side surface explanatory view which shows the support (holding) position change state of a center support means. クランプ手段のクランプ位置変更状態を示す平面説明図である。It is a plane explanatory view showing a clamp position change state of a clamp means. クランプ手段のクランプ位置変更状態を示す正面説明図である。It is a front explanatory view showing the clamp position change state of the clamp means. クランプ手段によるワーククランプ状態を示す一部破断説明図である。It is a partially broken explanatory view showing a work clamped state by a clamp means. ワーク開口周縁の表面にワーク加工具を、また裏面に裏面支持手段を当接した状態を示す断面説明図である。FIG. 7 is a cross-sectional explanatory view showing a state in which a work processing tool is in contact with the front surface of the work opening peripheral edge and a back surface supporting means is in contact with the back surface. 平面状態のワークにおける開口内周縁の加工状態を示す平面説明図である。It is a plane explanatory view showing a processing state of an inner peripheral edge of an opening in a work in a plane state. 平面状態のワークにおける開口内周縁の加工状態を示す断面説明図である。It is a cross-sectional explanatory view showing a processing state of an inner peripheral edge of an opening in a work in a planar state. 湾曲状態のワークにおける開口内周縁の加工状態を示す断面説明図である。It is sectional explanatory drawing which shows the processing state of the inner peripheral edge of an opening in the workpiece | work in a curved state. 従来の加工ヘッドにより湾曲状態のワークを加工する際の状態を示す断面説明図である。It is sectional explanatory drawing which shows the state at the time of processing the workpiece | work of a curved state by the conventional processing head.
ワークの加工箇所が平面状態の場合には、加工位置データに基づいて駆動制御される上記X軸移動部材及びY軸移動部材によりワーク加工具を二次元方向へ移動してワーク加工を実行すると共にワークの加工箇所が湾曲状態の場合には、加工位置データに基づいて駆動制御される上記X軸移動部材、Y軸移動部材及びZ軸移動部材によりワーク加工具を三次元方向へ移動してワーク加工具における所要の加工部でワーク加工を実行することを最良の実施形態とする。 When the machining location of the workpiece is in a flat state, the workpiece machining tool is moved in the two-dimensional direction by the X-axis moving member and the Y-axis moving member that are drive-controlled based on the machining position data, and the workpiece machining is executed. When the machining location of the workpiece is in a curved state, the workpiece machining tool is moved in the three-dimensional direction by the X-axis moving member, the Y-axis moving member, and the Z-axis moving member which are drive-controlled based on the machining position data. The best embodiment is to carry out work machining in a required machining section of the machining tool.
以下、本発明の実施例を図に従って説明する。
図1に示すように本発明に係る加工ヘッドが設けられたワーク加工装置1はワーク加工ロボット3と、ワーク支持装置5により構成され、ワーク加工ロボット3としては、複数のアーム7を揺動及び回動して先端側のアーム7先端部に設けられたワーク加工具9をアーム数に応じた軸数で回動及び揺動してワーク加工を行う多関節型ロボットにより構成される。なお、ワーク加工ロボット3としての多関節型ロボットに付いては従来公知であるため、詳細な説明を省略する。
Embodiments of the present invention will be described below with reference to the drawings.
As shown in FIG. 1, a work machining apparatus 1 provided with a machining head according to the present invention includes a work machining robot 3 and a work supporting device 5. As the work machining robot 3, a plurality of arms 7 are swung and moved. It is configured by a multi-joint robot that rotates to rotate and swing the work processing tool 9 provided at the front end of the arm 7 on the front end side with the number of axes according to the number of arms. Since the articulated robot as the work machining robot 3 is conventionally known, detailed description thereof will be omitted.
上記ワーク加工具9は、図2に示すように先端側アーム7の先端部に対し、後述する加工ヘッドとしての三次元移動加工ヘッド11を介して取り付けられる。また、ワーク加工具9としてはワークWの所定箇所に孔を形成するドリル等の穿孔具、ワークWの周縁や開口内周縁のバリ等を除去したり、開口を所要の内径に切削加工したりするエンドミル、ワークWを切断したり、孔を形成したりする切断刃やレーザ光出力ヘッド等のいずれであってもよい。また、ワークWとしては、車種ごとに大きさや形状が異なる合成樹脂製の車両用バンパー、車両用内装パネル(ダッシュパネル、ドアパネル等)に適用できる。 As shown in FIG. 2, the work processing tool 9 is attached to the distal end portion of the distal end side arm 7 via a three-dimensional moving processing head 11 as a processing head described later. Further, as the work processing tool 9, a punching tool such as a drill for forming a hole at a predetermined position of the work W, removing burrs at the periphery of the work W or the inner peripheral edge of the opening, or cutting the opening to a required inner diameter. Any of an end mill for cutting, a cutting blade for cutting the work W or forming a hole, a laser light output head, or the like may be used. Further, the work W can be applied to a vehicle bumper and a vehicle interior panel (dash panel, door panel, etc.) made of synthetic resin having different sizes and shapes depending on the vehicle type.
上記三次元移動加工ヘッド1のX軸フレーム13は、先端側アーム7の長手方向と直交する方向(X軸方向)へ延出し、そのX軸向中間部が先端側アーム7に内蔵された数値制御可能なサーボモータ等の電動モータ(図示せず)の出力軸に固定される。該X軸フレーム13にはX軸可動体15がX軸方向へ移動可能に支持され、該X軸可動体15はX軸移動部材17によりX軸方向へ数値制御可能に往復移動される。 The X-axis frame 13 of the three-dimensional movement processing head 1 extends in a direction (X-axis direction) orthogonal to the longitudinal direction of the tip side arm 7, and an X-axis direction intermediate portion thereof is built in the tip side arm 7. It is fixed to the output shaft of an electric motor (not shown) such as a controllable servo motor. An X-axis movable body 15 is supported on the X-axis frame 13 so as to be movable in the X-axis direction, and the X-axis movable body 15 is reciprocally moved in the X-axis direction by an X-axis moving member 17 in a numerically controllable manner.
上記X軸可動体15には上記X軸と直交する方向(先端側アーム7の長手方向と一致するY軸方向)へ延出するY軸フレーム19の基端部が固定され、該Y軸フレーム19にはY軸可動体21がY軸方向へ移動可能に支持される。該Y軸可動体21はY軸移動部材23によりY軸方向へ数値制御可能に往復移動される。 A base end portion of a Y-axis frame 19 extending in a direction orthogonal to the X-axis (Y-axis direction coinciding with the longitudinal direction of the distal end side arm 7) is fixed to the X-axis movable body 15, and the Y-axis frame is fixed. A Y-axis movable body 21 is supported by 19 so as to be movable in the Y-axis direction. The Y-axis movable body 21 is reciprocally moved in the Y-axis direction by the Y-axis moving member 23 in a numerically controllable manner.
上記Y軸可動体21にはX軸及びY軸方向と直交する方向(Z軸方向)へ延出するZ軸フレーム25のZ軸方向中央部が固定され、該Z軸フレーム25にはZ軸可動体27がZ軸方向へ移動可能に支持される。該Z軸可動体27はZ軸移動部材29によりY軸方向へ数値制御可能に往復移動される。 The Y-axis movable body 21 is fixed with a Z-axis direction central portion of a Z-axis frame 25 extending in a direction (Z-axis direction) orthogonal to the X-axis and Y-axis directions. The movable body 27 is supported so as to be movable in the Z-axis direction. The Z-axis movable body 27 is reciprocally moved in the Y-axis direction by the Z-axis moving member 29 in a numerically controllable manner.
上記X軸移動部材17、Y軸移動部材23及びZ軸移動部材29は対応するX軸フレーム13、Y軸フレーム19及びZ軸フレーム25内にてそれぞれの長手方向に軸線を有して回転可能に軸支されると共に対応するX軸可動体15、Y軸可動体21及びZ軸可動体27に設けられたナット(図示せず)に噛合わされる送りねじ(図示せず)と、それぞれの送りねじに駆動連結される数値制御可能なサーボモータ等の電動モータとにより構成され、各電動モータの駆動に伴って対応するX軸可動体15、Y軸可動体21及びZ軸可動体27をそれぞれの方向へ移動させる。なお、符号17,23及び29はX軸移動部材17、Y軸移動部材23及びZ軸移動部材29を構成する各電動モータを示す。 The X-axis moving member 17, the Y-axis moving member 23, and the Z-axis moving member 29 are rotatable in the corresponding X-axis frame 13, Y-axis frame 19, and Z-axis frame 25 with their respective axes in the longitudinal direction. And a feed screw (not shown) that is axially supported by and is meshed with nuts (not shown) provided on the corresponding X-axis movable body 15, Y-axis movable body 21, and Z-axis movable body 27. An X-axis movable body 15, a Y-axis movable body 21, and a Z-axis movable body 27, which are constituted by an electric motor such as a numerically controllable servo motor drive-coupled to the feed screw, are driven by each electric motor. Move in each direction. It should be noted that reference numerals 17, 23 and 29 denote electric motors forming the X-axis moving member 17, the Y-axis moving member 23 and the Z-axis moving member 29.
上記Z軸可動体27には上記したワーク加工具9が取り付けられる。図はワークに予め形成された孔の内周円を切削加工するエンドミルを取り付けた例を示し、Z軸可動体27に対してZ軸方向に軸線を有した電動モータ34の出力軸に固着されたスピンドルに対してエンドミルのワーク加工具9がチャック等(図示せず)を介して着脱可能に取り付けられる。 The work processing tool 9 described above is attached to the Z-axis movable body 27. The drawing shows an example in which an end mill for cutting an inner circumference of a preformed hole is attached to a work, and is fixed to an output shaft of an electric motor 34 having an axis in the Z-axis direction with respect to the Z-axis movable body 27. The workpiece processing tool 9 of the end mill is detachably attached to the spindle via a chuck or the like (not shown).
また、Z軸可動体27に固着された取付け板33には図示する下端が開放し、上記ワーク加工具9の周囲に対して間隙を有して覆い、図示しない吸引集塵装置に集塵パイプ35を介して接続された表面集塵フード37の基端部が取り付けられる。該表面集塵フード37としては加工時にワークW表面に対する圧接により伸縮してワークWの表面とワーク加工具9の周囲に閉鎖空間を形成する蛇腹ブーツ等が適している。 Further, a mounting plate 33 fixed to the Z-axis movable body 27 has a lower end shown in the drawing, and covers the work processing tool 9 with a gap, and a dust collecting pipe in a suction dust collecting device (not shown). The base end of the surface dust collection hood 37 connected via 35 is attached. As the surface dust collecting hood 37, a bellows boot or the like that expands and contracts by pressure contact with the surface of the work W during processing to form a closed space around the surface of the work W and the work processing tool 9 is suitable.
上記ワーク支持装置5は図3乃至図7に示すように本体39にワークWの中央部を支持する中央支持手段41、ワークWの後側(ワーク加工ロボット3側)を支持する第1支持手段43、ワークWの前側を支持する第2支持手段45及びワークWの両端部を把持するクランプ手段47を配置して構成される。 The work supporting device 5 is, as shown in FIGS. 3 to 7, a central supporting means 41 for supporting the central portion of the work W on the main body 39, and a first supporting means for supporting the rear side of the work W (work processing robot 3 side). 43, a second support means 45 for supporting the front side of the work W, and a clamp means 47 for gripping both ends of the work W are arranged.
なお、後述する第1支持手段43、第2支持手段45及びクランプ手段47は左右一対として配置されるものであるが、説明の便宜上、各構成部材に付いては1個の符号を付して説明する。 It should be noted that the first support means 43, the second support means 45, and the clamp means 47, which will be described later, are arranged as a left and right pair, but for convenience of explanation, each constituent member is given a single reference numeral. explain.
本体39の後側(ワーク加工ロボット3側)において所定の高さ位置に配置される第1支持手段43の左右支持フレーム49は本体39又はワークWの長手方向(左右方向とも称する。)に対応する長さで本体39の長手方向へ延出し、図示する左右方向へ2区分される。各区画内に応じた左右支持フレーム49には第1左右走行体53がそれぞれ上記左右方向へ独立して移動可能に支持される。 The left and right support frames 49 of the first support means 43 arranged at a predetermined height position on the rear side of the body 39 (workpiece processing robot 3 side) correspond to the longitudinal direction (also referred to as the left-right direction) of the body 39 or the work W. The main body 39 in the longitudinal direction, and is divided into two parts in the left-right direction as shown. The first left and right traveling bodies 53 are supported by the left and right support frames 49 corresponding to the respective compartments so as to be independently movable in the left and right directions.
また、各区画内に応じた左右支持フレーム49には上記左右方向に軸線を有し、上記第1左右走行体53にそれぞれ設けられたナット部(図示せず)に噛合う第1送りねじ55がそれぞれ回転可能に軸支される。各第1送りねじ55の軸端部には左右支持フレーム49にそれぞれ固定された数値制御可能なサーボモータ等の第1電動モータ57がそれぞれタイミングベルト(図示せず)等を介して駆動連結される。各第1左右走行体53は対応する第1電動モータ57の駆動に伴って互いに独立して上記左右方向へ往復移動される。 Further, the first feed screw 55 having an axis line in the left-right direction in the left-right support frame 49 corresponding to each compartment and meshing with nut portions (not shown) provided in the first left-right traveling body 53, respectively. Are rotatably supported. A first electric motor 57 such as a numerically controllable servomotor fixed to the left and right support frames 49 is drivingly connected to the shaft end of each first feed screw 55 via a timing belt (not shown) or the like. It Each first left-right traveling body 53 is reciprocally moved in the left-right direction independently of each other as the corresponding first electric motor 57 is driven.
各第1左右走行体53には上下方向へ延出する第1上下フレーム59がそれぞれ設けられ、各第1上下フレーム59には第1昇降体61が昇降可能にそれぞれ支持される。各第1上下フレーム59には上下方向に軸線を有し、第1昇降体61に設けられたナット部(図示せず)に噛合う第2送りねじ63がそれぞれ回転可能にそれぞれ軸支され、各第2送りねじ63の軸端部には対応する第1左右走行体53に設けられた数値制御可能なサーボモータ等の第2電動モータ65がタイミングベルト(図示せず)等を介してそれぞれ駆動連結される。各第1昇降体61は対応する第2電動モータ65の駆動に伴って互いに独立してそれぞれ昇降される。 A first vertical frame 59 extending in the vertical direction is provided on each of the first left-right traveling bodies 53, and a first elevating body 61 is supported by each of the first vertical frames 59 so as to be vertically movable. Each of the first upper and lower frames 59 has an axis line in the vertical direction, and second feed screws 63 that mesh with a nut portion (not shown) provided on the first lifting body 61 are rotatably supported respectively. A second electric motor 65 such as a numerically controllable servo motor provided on the corresponding first left-right traveling body 53 is provided at a shaft end portion of each second feed screw 63 via a timing belt (not shown) or the like. Drive-coupled. Each of the first elevating bodies 61 is independently moved up and down in accordance with the driving of the corresponding second electric motor 65.
各第1昇降体61には前側へ延出した後に起立する第1取付けアーム67がそれぞれ取り付けられ、各第1取付けアーム67の上端部にはワークWの裏面を弾性的に支持する第1支持部材69がそれぞれ取り付けられる。第1支持部材69としては負圧発生源(図示せず)に接続され、ワークWの裏面を吸着する吸着部材(図示せず)、ワークW裏面に設けられた突片をクランプするクランプ部材(図示せず)としてもよい。 A first mounting arm 67, which extends to the front side and stands upright, is attached to each first elevating body 61, and a first support that elastically supports the back surface of the work W is attached to the upper end of each first mounting arm 67. Each member 69 is attached. As the first support member 69, a suction member (not shown) that is connected to a negative pressure generation source (not shown) and that sucks the back surface of the work W, and a clamp member that clamps a protrusion provided on the back surface of the work W ( (Not shown).
上記第2支持手段45の第1前後フレーム71は本体39の図示する左右側にそれぞれ取り付けられ、各第1前後フレーム71には第1前後走行体75が上記前後方向へそれぞれ移動可能に支持される。 The first front-rear frames 71 of the second support means 45 are attached to the left and right sides of the main body 39 shown in the figure, and the first front-rear traveling bodies 75 are supported by the first front-rear frames 71 so as to be movable in the front-rear direction. It
また、各第1前後フレーム71には上記前後方向に軸線を有し、対応する第1前後走行体75にそれぞれ設けられたナット部(図示せず)に噛合う第3送りねじ77がそれぞれ回転可能に軸支され、各第3送りねじ77の軸端部には対応する第1前後フレーム71の一方端部に設けられた数値制御可能なサーボモータ等の第3電動モータ79がタイミングベルト(図示せず)等を介してそれぞれ駆動連結される。各第1前後走行体75は対応する第3電動モータ79の駆動に伴って互いに独立して前後方向へ移動される。 Further, each first front-rear frame 71 has an axis line in the front-rear direction, and each third feed screw 77 that meshes with a nut portion (not shown) provided on the corresponding first front-rear traveling body 75 rotates. A third electric motor 79 such as a numerically controllable servomotor provided at one end of the corresponding first front and rear frame 71 is rotatably supported by the timing belt ( Each of them is drive-coupled via (not shown) or the like. Each of the first front-rear traveling bodies 75 is moved in the front-rear direction independently of each other when the corresponding third electric motor 79 is driven.
各第1前後走行体75には図示する左右方向へ延出する第1左右フレーム81がそれぞれ取り付けられ、各第1左右フレーム81には第2左右走行体83が左右方向へ移動可能にそれぞれ支持される。各第1左右フレーム81には上記左右方向に軸線を有し、対応する第2左右走行体83に設けられたナット部(図示せず)に噛合う第4送りねじ87がそれぞれ回転可能に軸支される。各第4送りねじ87の軸端部には第1左右フレーム81の一方端部に取付けられた数値制御可能なサーボモータ等の第4電動モータ89がタイミングベルト(図示せず)等を介してそれぞれ駆動連結される。各第2左右走行体83は対応する第4電動モータ89の駆動に伴って互いに独立して左右方向へ移動される。 First left / right frames 81 extending in the left / right direction shown in the drawing are attached to the respective first front / rear traveling bodies 75, and second left / right traveling bodies 83 are movably supported in the left / right directions on the respective first left / right frames 81. To be done. Each first left / right frame 81 has an axis line in the left / right direction, and a fourth feed screw 87 that meshes with a nut portion (not shown) provided on the corresponding second left / right traveling body 83 is rotatably shafted. Supported. A fourth electric motor 89 such as a numerically controllable servomotor attached to one end of the first left and right frames 81 is attached to the shaft end of each fourth feed screw 87 via a timing belt (not shown) or the like. Each is drive-coupled. Each of the second left and right traveling bodies 83 is moved in the left and right direction independently of each other as the corresponding fourth electric motor 89 is driven.
各第2左右走行体83には所要の高さの第2上下フレーム91がそれぞれ立設され、各第2上下フレーム91には第2昇降体93が昇降可能にそれぞれ支持される。各第2上下フレーム91には上下方向に軸線を有し、対応する第2昇降体93に設けられたナット部(図示せず)に噛合う第5送りねじ97が回転可能にそれぞれ軸支される。各第5送りねじ97の軸端部には対応する第2左右走行体83に設けられた数値制御可能なサーボモータ等の第5電動モータ99がタイミングベルト(図示せず)等を介してそれぞれ駆動連結され、各第2昇降体93は対応する第5電動モータ99の駆動に伴って互いに独立して昇降される。 A second upper and lower frame 91 having a required height is erected on each of the second left and right traveling bodies 83, and a second elevating body 93 is supported on each of the second upper and lower frames 91 so as to be vertically movable. Each of the second upper and lower frames 91 has an axis in the vertical direction, and a fifth feed screw 97 that meshes with a nut portion (not shown) provided on the corresponding second elevating body 93 is rotatably supported. It A fifth electric motor 99 such as a numerically controllable servo motor provided on the corresponding second left and right traveling body 83 is provided on the shaft end of each fifth feed screw 97 via a timing belt (not shown) or the like. The second elevating bodies 93 are drivingly connected to each other, and each second elevating body 93 is moved up and down independently of each other when the corresponding fifth electric motor 99 is driven.
各第2昇降体93には後側へ延出した後に起立する第2取付けアーム101がそれぞれ取り付けられ、各第2取付けアーム101の上端部にはワークWの裏面を弾性的に支持する第2支持部材103がそれぞれ取り付けられる。第2支持部材103としては負圧発生源(図示せず)に接続され、ワークWの裏面を吸着する吸着部材(図示せず)、ワークW裏面に設けられた突片をクランプするクランプ部材(図示せず)としてもよい。 A second mounting arm 101, which extends to the rear side and stands upright, is attached to each second elevating body 93, and a second supporting arm 101 elastically supports the back surface of the work W at the upper end portion of each second mounting arm 101. The support members 103 are attached respectively. As the second support member 103, a suction member (not shown) that is connected to a negative pressure generation source (not shown) and sucks the back surface of the work W, and a clamp member that clamps a protrusion provided on the back surface of the work W ( (Not shown).
上記各第1前後フレーム71の第1支持手段43側にはクランプ手段47の第2前後走行体105が前後方向へそれぞれ移動可能に支持される。各第1前後フレーム71には各第3送りねじ77と平行する軸線を有し、対応する第2前後走行体105に設けられたナット部(図示せず)に噛合う第6送りねじ107が回転可能にそれぞれ軸支される。 The second front-rear traveling body 105 of the clamp means 47 is supported on the first supporting means 43 side of each of the first front-rear frames 71 so as to be movable in the front-rear direction. Each first front-rear frame 71 has a sixth feed screw 107 that has an axis parallel to each third feed screw 77 and that meshes with a nut portion (not shown) provided on the corresponding second front-rear traveling body 105. Each is rotatably supported.
各第6送りねじ107の軸端部には対応する第1前後フレーム71に設けられた数値制御可能なサーボモータ等の第6電動モータ108がそれぞれ駆動連結され、各第2前後走行体105は対応する第6電動モータ108の駆動に伴って互いに独立して移動される。 A sixth electric motor 108 such as a numerically controllable servomotor provided on the corresponding first front and rear frame 71 is drivingly connected to the shaft end portion of each sixth feed screw 107, and each second front and rear traveling body 105 is When the corresponding sixth electric motor 108 is driven, they are moved independently of each other.
各第2前後走行体105には図示する左右方向へ延出する第2左右フレーム109がそれぞれ取り付けられ、各第2左右フレーム109には第3左右走行体110が左右方向へ移動可能にそれぞれ支持される。各第2左右フレーム109には左右方向に軸線を有し、対応する第3左右走行体110に設けられたナット部(図示せず)に噛合う第7送りねじ111が回転可能にそれぞれ軸支される。各第7送りねじ111の軸端部には対応する第2左右フレーム109に設けられた数値制御可能なサーボモータ等の第7電動モータ113がタイミングベルト(図示せず)等を介してそれぞれ駆動連結され、各第3左右走行体110は対応する第7電動モータ113の駆動に伴って互いに独立して移動される。 Each of the second front-rear traveling bodies 105 is attached with a second left-right frame 109 extending in the illustrated left-right direction, and each second left-right frame 109 is supported by a third left-right traveling body 110 movably in the left-right direction. To be done. Each of the second left and right frames 109 has an axis line in the left and right direction, and a seventh feed screw 111 that meshes with a nut portion (not shown) provided on the corresponding third left and right traveling body 110 is rotatably supported. To be done. A seventh electric motor 113 such as a numerically controllable servo motor provided on the corresponding second left and right frame 109 is driven at the shaft end of each seventh feed screw 111 via a timing belt (not shown) or the like. The third left and right traveling bodies 110 are connected to each other and are moved independently of each other when the corresponding seventh electric motor 113 is driven.
各第3左右走行体110には第3上下フレーム115がそれぞれ立設され、各第3上下フレーム115には第3昇降体117がそれぞれ昇降可能に支持される。各第3昇降体117には対応する第3上下フレーム115の上部及び下部に回転可能に軸支された回転体(図示せず)に掛渡されたタイミングベルト121がそれぞれ固定される。 A third upper and lower frame 115 is erected on each of the third left and right traveling bodies 110, and a third elevating body 117 is supported on each of the third upper and lower frames 115 so as to be vertically movable. A timing belt 121 is fixed to each of the third elevating bodies 117. The timing belt 121 is wound around a rotating body (not shown) that is rotatably supported on the upper and lower portions of the corresponding third upper and lower frames 115.
また、下部の各回転体には対応する第3上下フレーム115に設けられた数値制御可能なサーボモータ等の第8電動モータ123がそれぞれ駆動連結され、各第3昇降体117は対応する第8電動モータ123の駆動に伴って走行するタイミングベルト121によりそれぞれ昇降される。 Further, an eighth electric motor 123 such as a numerically controllable servo motor provided on the corresponding third upper and lower frame 115 is drivingly connected to each of the lower rotating bodies, and each third elevator 117 is associated with the corresponding eighth moving body 117. The timing belt 121, which runs along with the driving of the electric motor 123, moves up and down.
各第3昇降体117にはエアーシリンダ等の作動部材125の作動によりクランプ動作してワークW端部の所定箇所を把持して固定する把持部材127がそれぞれ設けられる。各把持部材127としては、例えば固定側に、ワークW端部に設けられた突片Wbに予め設けられた位置決め孔Waに挿嵌可能に複数個(図は3個の例を示す)の位置決め軸127aが設けられると共に可動側に設けられた作動部材125が連結され、ワークWの位置決め孔Waに挿嵌して外側へ突出する位置決め軸127aの先端部に嵌合するクランプ部127bを揺動可能に支持した構成からなる。 Each third elevating body 117 is provided with a gripping member 127 that clamps by operation of an actuating member 125 such as an air cylinder to grip and fix a predetermined portion of the end of the work W. As each gripping member 127, for example, a plurality of (three examples are shown in the figure) positioning on the fixed side so that they can be inserted into the positioning holes Wa provided in advance in the projecting piece Wb provided at the end of the work W. A shaft 127a is provided, and an operating member 125 provided on the movable side is connected to the clamp part 127b. The clamp part 127b is fitted into the positioning hole Wa of the work W and protrudes outward to fit the tip of the positioning shaft 127a. It consists of a structure that supports it as much as possible.
なお、各把持部材127としては、固定側を受板とすると共にクランプ部にワークWの位置決め孔Waに挿嵌可能に少なくとも2個の位置決め突部を設けた構成としてもよい。また、受板及びクランプ部材の対向面に、ゴム板等の摩擦係数が高い部材を取り付け、ワークWの端部を摩擦力で把持する部材であってもよい。 Note that each gripping member 127 may have a configuration in which the fixed side is a receiving plate and at least two positioning protrusions are provided in the clamp portion so that they can be inserted into the positioning holes Wa of the work W. Further, a member having a high friction coefficient such as a rubber plate may be attached to the facing surfaces of the receiving plate and the clamp member, and the end portion of the work W may be gripped by the friction force.
本体39の図示する左右方向中央部には中央支持手段41が上記第1支持手段43より前側に位置するように配置される。該中央部支持手段41の起立フレーム131には前後方向へ延出する第2前後フレーム133の後端部が取り付けられ、該第2前後フレーム133には第3前後走行体135が前後方向へ移動可能に支持される。 A central support means 41 is arranged at the central portion in the left-right direction of the main body 39 shown in the figure so as to be positioned in front of the first support means 43. A rear end portion of a second front-rear frame 133 extending in the front-rear direction is attached to the standing frame 131 of the central portion support means 41, and a third front-rear traveling body 135 moves in the front-rear direction on the second front-rear frame 133. Supported as possible.
上記第2前後フレーム133には前後方向に軸線を有し、第3前後走行体135に設けられたナット部(図示せず)に噛合う第8送りねじ137が回転可能に軸支され、該第8送りねじ137は第2前後フレーム133に取付けられた数値制御可能なサーボモータ等の第9電動モータ139に駆動連結される。上記第3前後走行体135は第9電動モータ139の駆動に伴って回転する第8送りねじ137の回転により前後方向へ移動される。 The second front-rear frame 133 has an axis line in the front-rear direction, and an eighth feed screw 137 which is meshed with a nut portion (not shown) provided on the third front-rear traveling body 135 is rotatably supported. The eighth feed screw 137 is drivingly connected to a ninth electric motor 139 such as a numerically controllable servomotor attached to the second front and rear frames 133. The third front-rear traveling body 135 is moved in the front-rear direction by the rotation of the eighth feed screw 137 which is rotated by the driving of the ninth electric motor 139.
上記第3前後走行体135には所定の高さからなる起立アーム141が設けられ、該起立アーム141の上部にはワークW裏面の中央部を支持する第3支持部材143が取り付けられる。該第3支持部材143としては負圧発生源(図示せず)に接続され、ワークWの裏面を吸着する吸着部材(図示せず)、ワークW裏面中央部に設けられた突片をクランプするクランプ部材(図示せず)としてもよい。 A standing arm 141 having a predetermined height is provided on the third front-rear traveling body 135, and a third support member 143 that supports the central portion of the back surface of the work W is attached to the upper part of the standing arm 141. The third support member 143 is connected to a negative pressure generation source (not shown), and a suction member (not shown) that sucks the back surface of the work W, and a protrusion provided at the center of the back surface of the work W are clamped. It may be a clamp member (not shown).
上記中央支持手段41の左右両側に応じた本体39には、ワーク裏面支持手段151がそれぞれ設けられる。各ワーク裏面支持手段151は、上記ワーク加工ロボット3と同様に複数本のアーム153が互いに揺動及び回動するように連結され、先端側のアーム153先端部に設けられた後述する複数個の吸着支持部材155を三次元移動してワークW裏面における加工箇所周縁に位置して支持するように駆動制御される。 Workpiece back surface support means 151 are provided on the main body 39 corresponding to the left and right sides of the central support means 41, respectively. Each work back surface supporting means 151 is connected to a plurality of arms 153 so as to swing and rotate with respect to each other as in the case of the work machining robot 3, and a plurality of arms 153, which will be described later, are provided at the tip of the arm 153 on the tip side. The suction support member 155 is driven and controlled so as to move three-dimensionally and be positioned and supported at the periphery of the processing location on the back surface of the work W.
先端側のアーム153先端部に取付けられた取付け板157には、図示しない負圧発生手段に接続され、ワークW裏面における各加工箇所に圧接して負圧吸着する吸着パッド155aが設けられた複数個(図は3個の場合を示す)の吸着部材155が周方向の等分割位置に取付けられる。 The attachment plate 157 attached to the tip of the arm 153 on the tip side is provided with a plurality of suction pads 155a which are connected to a negative pressure generating means (not shown) and are brought into pressure contact with respective processing points on the back surface of the workpiece W to attract negative pressure. A single suction member 155 (the drawing shows a case of three) is attached at equal division positions in the circumferential direction.
また、上記取付け板157の中央部には、図示しない吸引集塵装置に吸引パイプ161aを介して接続され.図示する上面が開放した裏面集塵フード161が取り付けられる。該裏面集塵フード161は上面開口が各吸着部材155を結ぶ仮想円より若干小径で、その吸引口が吸着パッド159aの吸着孔より若干下方に位置するように取り付けられる。 Further, a central portion of the mounting plate 157 is connected to a suction dust collector (not shown) via a suction pipe 161a. A back surface dust collecting hood 161 whose upper surface is open is attached. The back surface dust collecting hood 161 is attached such that the upper surface opening has a diameter slightly smaller than an imaginary circle connecting the suction members 155, and the suction port is located slightly lower than the suction holes of the suction pad 159a.
上記裏面集塵フード161はワークW裏面に対して各吸着パッド155aが吸着して縮小方向へ弾性変形した際にその上面開口がワークW裏面の加工箇所周縁に近接または当接させられる。 When the suction pads 155a adsorb to the back surface of the work W and elastically deform in the contraction direction, the back surface dust hood 161 has an upper surface opening close to or in contact with the periphery of the processing site on the back surface of the work W.
ワークWを加工制御するワーク加工ロボット3及び三次元移動加工ヘッド11によりワーク加工具9を移動制御する制御手段を説明すると、図8に示すように制御手段171のCPU173にはプログラム記憶手段175及び作業データ記憶手段177が接続され、プログラム記憶手段175には後述するアームの旋回動作及び回動動作を実行してワーク加工具9をワークWに予め設定された加工箇所へ移動するためのプログラムデータや補完動作保実行するためのプログラムデータ等の各種プログラムデータが記憶される。 The work processing robot 3 for controlling the work W and the control means for controlling the movement of the work processing tool 9 by the three-dimensional moving processing head 11 will be described. As shown in FIG. 8, the CPU 173 of the control means 171 stores the program storage means 175 and The work data storage means 177 is connected to the program storage means 175, and program data for executing the turning motion and the turning motion of the arm, which will be described later, to move the work processing tool 9 to a processing location preset on the work W. And various program data such as program data for executing complementary operation protection are stored.
また、作業データ記憶手段177はワークWの加工箇所の三次元位置データを記憶する加工位置データ記憶領域177a、切削位置の三次元加工データを記憶する加工データ記憶領域177b、ワーク加工具9の三次元移動位置データを記憶する移動位置データ記憶領域177c、X軸移動部材17、Y軸移動部材23及びZ軸移動部材29の駆動データを記憶する駆動データ記憶領域177d等を備えている。 Further, the work data storage means 177 stores a machining position data storage area 177a that stores three-dimensional position data of a machining location of the work W, a machining data storage area 177b that stores three-dimensional machining data of a cutting position, and a tertiary of the work machining tool 9. A movement position data storage area 177c for storing original movement position data, a drive data storage area 177d for storing drive data of the X-axis movement member 17, the Y-axis movement member 23, and the Z-axis movement member 29 are provided.
CPU173には比較判別手段179が接続され、該比較判別手段179は加工データ領域177bに記憶されたワークWの三次元加工位置データと移動位置データ記憶領域177cに記憶されたワーク加工具9の三次元移動位置データと比較して三次元方向に対するワーク加工具9の移動量を判別し、駆動データ記憶領域177dに差分データを記憶させる。 The CPU 173 is connected to the comparison / determination means 179, and the comparison / determination means 179 is the tertiary of the workpiece processing tool 9 stored in the three-dimensional processing position data of the workpiece W stored in the processing data area 177b and the movement position data storage area 177c. The amount of movement of the work processing tool 9 in the three-dimensional direction is determined by comparing with the original movement position data, and the difference data is stored in the drive data storage area 177d.
CPU173にはアーム駆動制御手段181が接続され、アーム駆動制御手段181は加工位置データ記憶領域177aに記憶されたワークWの加工箇所の三次元位置データに基づいてアーム7を旋回及び回動制御してワーク加工具9をワークWの加工箇所へ移動させる。 An arm drive control unit 181 is connected to the CPU 173, and the arm drive control unit 181 controls the swing and rotation of the arm 7 based on the three-dimensional position data of the processing location of the work W stored in the processing position data storage area 177a. The work processing tool 9 is moved to the processing location of the work W by the work.
CPU173には加工ヘッド駆動制御手段183が接続され、加工ヘッド駆動制御手段183は駆動データ記憶領域177dに記憶された差分データに基づいてX軸移動部材17、Y軸移動部材23及びZ軸移動部材29をそれぞれ駆動制御してワーク加工具9を三次元方向へ移動させる。 The machining head drive control means 183 is connected to the CPU 173, and the machining head drive control means 183 is based on the difference data stored in the drive data storage area 177d, and the X-axis moving member 17, the Y-axis moving member 23, and the Z-axis moving member. The work processing tool 9 is moved in the three-dimensional direction by drivingly controlling each of the work pieces 29.
次に、上記のように構成されたワーク加工装置1によるワーク加工作用を説明する。
先ず、例えば合成樹脂成形された車輛バンパーや内装パネル、計器パネル等のワークWにあっては車種により大きさや形状が異なるため、該ワークWに孔を形成したり、周縁に形成されたバリを除去したり、形成された開口を所要の内径に切削加工したりするワーク加工に先立ってワークWの種類(大きさや形状等)に応じてワーク支持装置5による支持位置(保持位置)及びワークW端部のクランプ位置を変更する必要がある。
Next, a work processing operation by the work processing apparatus 1 configured as described above will be described.
First, for example, in a work W such as a vehicle bumper, an interior panel, and an instrument panel formed by synthetic resin, the size and the shape are different depending on the vehicle type. Therefore, a hole is formed in the work W or a burr formed on the periphery is removed. Prior to the work machining such as removing or machining the formed opening to a desired inner diameter, the support position (holding position) and the work W by the work supporting device 5 are determined according to the type (size, shape, etc.) of the work W. It is necessary to change the clamp position at the end.
支持(保持)されるワークWの大きさや形状等に応じてその支持(保持)位置を変更するには、例えばワーク支持装置5の第1乃至第3支持部材69,103,143に対してサンプルワークを載置して仮支持(仮保持)させた後、先ず、各第1電動モータ57をそれぞれ駆動制御して対応する第1左右走行体53をワークW後側の左右方向中心に対して互いに離間する方向または近づく方向へそれぞれ移動して各第1支持部材69をワークW後側における左右方向側の支持(保持)位置へ移動させた後、各第2電動モータ65をそれぞれ駆動制御して対応する第1昇降体61を上方へそれぞれ移動して第1支持部材69をワークW後側における左右方向側の支持(保持)可能な高さ位置へそれぞれ移動して支持(保持)可能にさせる。(図9参照) In order to change the supporting (holding) position of the work W to be supported (held) according to the size or shape of the work W, for example, the first to third support members 69, 103, 143 of the work supporting device 5 are sampled. After the work is placed and temporarily supported (temporarily held), first, the respective first electric motors 57 are individually drive-controlled to move the corresponding first left and right traveling bodies 53 with respect to the center of the rear side of the work W in the left-right direction. After the first support members 69 are moved in the directions of separating from each other or in the directions of approaching the first support members 69 to the supporting (holding) positions in the left-right direction on the rear side of the work W, the respective second electric motors 65 are individually driven and controlled. The corresponding first elevating body 61 is moved upward to move the first support member 69 to a height position where it can be supported (held) in the left-right direction on the rear side of the work W and can be supported (held). Let (See Figure 9)
上記動作後又は上記動作と並行して各第1支持部材69によるワークW後側における左右方向側の支持(保持)を基準に第9電動モータ139を駆動制御して第3前後走行体135を前後方向へ移動して第3支持部材143をワークWの前後方向中央部に位置するように移動して支持(保持)可能にさせる。(図12参照) After the above operation or in parallel with the above operation, the ninth electric motor 139 is drive-controlled based on the support (holding) on the rear side of the work W by each first support member 69, and the third front-rear traveling body 135 is moved. By moving in the front-rear direction, the third support member 143 is moved so as to be positioned at the center of the work W in the front-rear direction so that it can be supported (held). (See Figure 12)
上記動作後又は上記動作と並行して各第3電動モータ79をそれぞれ駆動制御して対応する第1前後走行体75を前側へそれぞれ移動して各第2支持部材103をワークW前側の支持(保持)位置側へそれぞれ移動させる。また、上記動作後又は上記動作と並行して各第4電動モータ89をそれぞれ駆動制御して対応する第2左右走行体83を左右方向へそれぞれ移動して各第2支持部材103をワークW前側における左右方向側の支持(保持)位置側へそれぞれ移動させる。 After the above operation or in parallel with the above operation, each third electric motor 79 is drive-controlled to move the corresponding first front-rear traveling body 75 to the front side to support each second support member 103 on the front side of the work W ( Hold) Move each to the position side. Further, after or in parallel with the above operation, the respective fourth electric motors 89 are drive-controlled to move the corresponding second left and right traveling bodies 83 in the left and right directions to move the respective second support members 103 to the work W front side. To the support (holding) position side in the left-right direction.
更に、上記動作後又は上記動作と並行して各第5電動モータ99をそれぞれ駆動制御して対応する第2昇降体93を上方へそれぞれ移動して各第2支持部材103をワークW前側における左右方向側の支持(保持)可能な高さ位置へそれぞれ移動して支持(保持)可能にさせる。(図10及び図11参照) Further, after or in parallel with the above operation, each fifth electric motor 99 is drive-controlled to move the corresponding second elevating / lowering body 93 upward to move each second supporting member 103 to the left and right on the front side of the work W. Each of them is moved to a height position where it can be supported (held) on the direction side so that it can be supported (held). (See FIGS. 10 and 11)
なお、中央支持手段41によるワークW中央部(左右方向及び前後方向の中央部)の支持高さが一定であるため、ワーク支持(保持)の基準高さになる。このため、ワークWをその上面が水平状態で支持(保持)する場合には第1及び第2支持部材69,103の支持高さを中央支持手段41による支持高さに一致するように移動制御すればよい。 In addition, since the supporting height of the central portion of the work W by the central supporting means 41 (the central portion in the left-right direction and the front-rear direction) is constant, it becomes the reference height for supporting (holding) the work. Therefore, when the upper surface of the work W is supported (held) in a horizontal state, movement control is performed so that the support heights of the first and second support members 69 and 103 match the support height of the central support means 41. do it.
また、ワークWをその上面が後側を向くように傾動して支持(保持)する場合には、中央支持手段41による支持高さに対して後側の第1支持部材69による支持高さを低くすると共に前側の第2支持部材103による支持高さを高くするように移動制御すればよい。更に、ワークWをその上面が前側を向くように傾動して支持(保持)する場合には、中央支持手段41による支持高さに対して後側の第1支持部材69による支持高さを高くすると共に前側の第2支持部材103による支持高さを低くするように移動制御すればよい。 Further, when the work W is tilted so that its upper surface faces the rear side and is supported (held), the support height by the rear side first support member 69 is set to the support height by the central support means 41. The movement may be controlled so as to lower the height and increase the support height of the second support member 103 on the front side. Further, when the work W is tilted so that its upper surface faces the front side and is supported (held), the support height by the rear first support member 69 is higher than the support height by the central support means 41. In addition, movement control may be performed so that the support height of the second support member 103 on the front side is reduced.
次に、上記のように左右方向及び上下方向へ移動された第1支持部材69、前後方向、左右方向及び上下方向へ移動された第2支持部材103及び前後方向へ移動された第3支持部材143によりそれぞれ支持(保持)された状態で先ず、各第6電動モータ108を駆動制御して対応する第2前後走行体105を前後方向へそれぞれ移動して各把持部材127をワークW裏面の左右端部に設けられた位置決め孔Waに一致する前後方向位置へそれぞれ移動させる。 Next, as described above, the first support member 69 moved in the left-right direction and the up-down direction, the second support member 103 moved in the front-rear direction, the left-right direction, and the up-down direction, and the third support member moved in the front-rear direction. In a state where they are supported (held) by 143, first, each sixth electric motor 108 is drive-controlled to move the corresponding second front-rear traveling body 105 in the front-rear direction to move each gripping member 127 to the left and right of the back surface of the work W. It is moved to the front-rear direction position corresponding to the positioning hole Wa provided at the end.
上記状態にて各第8電動モータ123をそれぞれ駆動制御して対応する第3昇降体117を、それぞれの把持部材127がワークWの位置決め孔Waの高さに一致する位置へそれぞれ移動した後に、各第7電動モータ113をそれぞれ駆動制御して対応する第3左右走行体110を、それぞれの把持部材127の位置決め軸127aがワークWの位置決め孔Waに挿嵌するように左右方向へそれぞれ移動して位置決めさせる。(図13及び図14参照) In the above state, after driving and controlling the respective eighth electric motors 123 to move the corresponding third elevating bodies 117 to the positions where the respective gripping members 127 coincide with the height of the positioning holes Wa of the workpiece W, Each seventh electric motor 113 is driven and controlled to move the corresponding third left / right traveling body 110 in the left / right direction so that the positioning shaft 127a of each gripping member 127 is fitted into the positioning hole Wa of the work W. Position it. (See FIGS. 13 and 14)
この状態にて各作動部材125を作動して対応するクランプ部127bをワークWの位置決め孔Waに挿嵌されて外側へ突出した位置決め軸127a側へ搖動することによりワークWの左右方向各端部を位置決め状態で固定する。(図15参照) In this state, each actuating member 125 is operated to swing the corresponding clamp portion 127b toward the positioning shaft 127a which is inserted into the positioning hole Wa of the work W and protrudes to the outside. Fixed in the positioning state. (See Figure 15)
なお、ワークWの種類によっては、各把持部材127によるワークWの左右方向両端部における把持箇所が前後方向、左右方向及び高さにおいて異なる場合がある。その場合には前後方向に対する各第2前後走行体105の移動量に応じて対応する第6電動モータ108の駆動量を、また左右方向に対する各第3左右走行体110の移動量に応じて対応する第7電動モータ113の駆動量を、更に上下方向に対する各第3昇降体117の昇降量に応じて対応する第8電動モータ123の駆動量をそれぞれ異ならせることにより各把持部材127を所望の前後方向、左右方向及び上下位置へそれぞれ個別に移動してワークWの左右方向両端部における箇所を把持可能にさせる。 Depending on the type of the work W, the gripping points at the left and right ends of the work W by the gripping members 127 may differ in the front-rear direction, the left-right direction, and the height. In that case, the drive amount of the sixth electric motor 108 corresponding to the movement amount of each second front-rear traveling body 105 in the front-rear direction and the movement amount of each third left-right traveling body 110 in the left-right direction are responded to. Each gripping member 127 is made to have a desired value by varying the drive amount of the seventh electric motor 113 and the corresponding drive amount of the eighth electric motor 123 in accordance with the vertical movement amount of each third elevating body 117. The work W is individually moved to the front-rear direction, the left-right direction, and the up-down position so that the work W can be gripped at the end portions in the left-right direction.
上記した各第1乃至第9電動モータ57,65,79,89,99,108,113,123,139の駆動データは、各サンプルワークに対応して各第1乃至第3支持部材69,103,143をそれぞれ教示移動させることにより教示入力して設定する。なお、各第1乃至第9電動モータ57,65,79,89,99,108,113,123,139の駆動データとしては、上記した教示入力の他に加工しようとするワークWの寸法データ及び支持(保持)位置データに基づいて演算された数値データを直接入力して設定してもよい。 The drive data of each of the first to ninth electric motors 57, 65, 79, 89, 99, 108, 113, 123, 139 described above corresponds to each of the sample workpieces and the first to third support members 69, 103. , 143 are taught and input to set the teaching. The drive data for the first to ninth electric motors 57, 65, 79, 89, 99, 108, 113, 123, 139 include, in addition to the above-described teaching input, dimension data of the workpiece W to be machined and Numerical data calculated based on the supporting (holding) position data may be directly input and set.
そして上記のように加工されるワークWの大きさや形状等に対応して前後方向、左右方向及び上下方向へ移動された各第1乃至第3支持部材69,103,143によりワークWの後側の左右側、前後方向及び左右方向の中央部及び前側の左右側が支持(保持)され、かつクランプ手段47により左右方向の各端部が固定された状態で各ワーク裏面支持手段151のアーム153を旋回及び回動制御して各吸着支持部材155の吸着パッド155aをワークWにおける加工箇所周縁の裏面に吸着させて支持する。この状態にて裏面集塵フード161はその上端開口が加工箇所を含む周縁裏面の全体を覆うように位置される。(図16参照) The rear side of the work W is moved by the first to third support members 69, 103, 143 moved in the front-rear direction, the left-right direction, and the up-down direction in accordance with the size and shape of the work W processed as described above. The left and right sides, the front-rear direction and the left-right center portion, and the front left-right side are supported (held), and the left and right ends are fixed by the clamp means 47. By controlling the turning and rotating, the suction pad 155a of each suction support member 155 is sucked and supported by the back surface of the workpiece W on the periphery of the processing location. In this state, the rear surface dust collecting hood 161 is positioned so that the upper end opening thereof covers the entire peripheral rear surface including the processed portion. (See Figure 16)
上記作用によりワーク支持装置5によりワークが位置決め状態での支持(保持)が完了すると、ワーク加工ロボット3の各アーム7を加工位置データ記憶領域177aに記憶された三次元位置データに基づいて旋回及び回動制御してワーク加工具9を、例えばワークWに予め形成された開口Wbの中心部内へ、ワークWに対して面直状態になるように進入させる。この状態において表面集塵フード37はその下端が開口Wb周縁の上面に当接(圧接)して閉鎖空間を形成する。 When the work supporting device 5 completes the support (holding) of the work in the positioned state by the above operation, each arm 7 of the work machining robot 3 is swung based on the three-dimensional position data stored in the machining position data storage area 177a. By controlling the rotation, the work processing tool 9 is inserted into the center of the opening Wb formed in the work W in advance so that the work W is in a state of being flush with the work W, for example. In this state, the lower end of the surface dust collection hood 37 abuts (presses) on the upper surface of the peripheral edge of the opening Wb to form a closed space.
今、切削加工しようとするワークWの開口箇所が平面状の場合には、開口Wbの中心部に進入した状態でX軸移動部材17及びY軸移動部材23を駆動データ記憶領域177dに記憶された駆動データの内、に基づいてX軸及びY軸の駆動データに基づいて駆動制御してワーク加工具9を開口Wbの内周面の切削加工開始位置に当接(圧接)させた後に開口Wbの内周面に沿って移動し、該内周面を予め設定された厚さで切削加工する。このとき、開口Wbの内周面はワーク加工具9における一定の切削領域で切削加工される。(図17及び図18参照) If the opening portion of the workpiece W to be cut is flat, the X-axis moving member 17 and the Y-axis moving member 23 are stored in the drive data storage area 177d in a state of entering the center of the opening Wb. The drive data is controlled based on the X-axis and Y-axis drive data based on the drive data, and the workpiece processing tool 9 is brought into contact (press contact) with the cutting start position on the inner peripheral surface of the opening Wb, and then the opening is performed. It moves along the inner peripheral surface of Wb, and the inner peripheral surface is cut to a preset thickness. At this time, the inner peripheral surface of the opening Wb is cut in a constant cutting region of the work processing tool 9. (See FIGS. 17 and 18)
また、切削加工しようとするワークWの開口箇所が湾曲状の場合にワーク加工具9を上記のように移動制御すると、図20に示すようには開口Wbの内周面に当接(圧接)する切削領域が湾曲状態に応じて変位するため、切削状態が不均一になり、切削品質が悪くなる恐れがある。これを回避するため、上記したX軸移動部材17及びY軸移動部材23の駆動制御に加えて駆動データ記憶領域177dに記憶された駆動データのZ軸の駆動データに基づいてZ軸移動部材29を駆動制御してワーク加工具9を、開口Wbにおける湾曲状態に対応してZ軸方向へ移動することにより開口Wbの内周面を常にワーク加工具9における所定の切削領域で切削させる。 When the workpiece processing tool 9 is controlled to move as described above when the opening portion of the workpiece W to be cut is curved, as shown in FIG. 20, it abuts (presses) on the inner peripheral surface of the opening Wb. Since the cutting area to be moved is displaced according to the curved state, the cutting state becomes non-uniform and the cutting quality may deteriorate. In order to avoid this, in addition to the drive control of the X-axis moving member 17 and the Y-axis moving member 23 described above, the Z-axis moving member 29 is based on the Z-axis drive data of the drive data stored in the drive data storage area 177d. Is controlled to move the work processing tool 9 in the Z-axis direction in accordance with the curved state of the opening Wb, so that the inner peripheral surface of the opening Wb is always cut in a predetermined cutting region of the work processing tool 9.
即ち、例えば開口Wb内周面における切削開始位置のX軸、Y軸及びZ軸の三次元位置データに対して次位の三次元加工位置データを比較し、ワークWにおける開口Wb箇所の湾曲に対応するZ軸方向の差分データを演算し、Z軸方向の差分データに基づいてZ軸移動部材29を駆動制御してワーク加工具9をZ軸方向へ移動することによりワーク加工具9における所定の切削領域で内周面を切削し、均一な切削を可能にする。(図19参照) That is, for example, the next three-dimensional machining position data is compared with the three-dimensional position data of the X-axis, Y-axis, and Z-axis of the cutting start position on the inner peripheral surface of the opening Wb, and the bending of the position of the opening Wb in the work W is determined. The corresponding difference data in the Z-axis direction is calculated, and the Z-axis moving member 29 is drive-controlled based on the difference data in the Z-axis direction to move the work processing tool 9 in the Z-axis direction, thereby causing a predetermined value in the work processing tool 9. The inner peripheral surface is cut in the cutting area of to enable uniform cutting. (See Figure 19)
なお、上記開口Wb内周面の切削時には開口周縁の裏面が吸着支持部材155により保持されているため、ワークWが切削抵抗や振動等により回転する位置ずれするのを防止することができる。また、開口Wb内周面の切削時に排出される切削屑は開口Wb周縁の上面及び裏面にそれぞれ当接(圧接)する表面集塵フード37及び裏面集塵フード161内にて負圧吸引されて回収される。 Since the back surface of the peripheral edge of the opening is held by the suction support member 155 during cutting of the inner peripheral surface of the opening Wb, it is possible to prevent the work W from rotating and being displaced due to cutting resistance or vibration. Further, the cutting dust discharged during cutting of the inner peripheral surface of the opening Wb is sucked in a negative pressure in the front surface dust collecting hood 37 and the rear surface dust collecting hood 161 which are in contact (press contact) with the upper surface and the rear surface of the peripheral edge of the opening Wb, respectively. Be recovered.
1 ワーク加工装置
3 ワーク加工ロボット
5 ワーク支持装置
7 アーム
9 ワーク加工具
11 三次元移動加工ヘッド
13 X軸フレーム
15 X軸可動体
17 X軸移動部材
19 Y軸フレーム
21 Y軸可動体
23 Y軸移動部材
25 Z軸フレーム
27 Z軸可動体
29 Z軸移動部材
33 取付け板
34 電動モータ
35 集塵パイプ
37 表面集塵フード
39 本体
41 中央支持手段
43 第1支持手段
45 第2支持手段
47 クランプ手段
49 左右支持フレーム
53 第1左右走行体
55 第1送りねじ
57 第1電動モータ
59 第1上下フレーム
61 第1昇降体
63 第2送りねじ
65 第2電動モータ
67 第1取付けアーム
69 第1支持部材
71 第1前後フレーム
75 第1前後走行体
77 第3送りねじ
79 第3電動モータ
81 第1左右フレーム
83 第2左右走行体
87 第4送りねじ
89 第4電動モータ
91 第2上下フレーム
93 第2昇降体
97 第5送りねじ
99 第5電動モータ
101 第2取付けアーム
103 第2支持部材
105 第2前後走行体
107 第6送りねじ
108 第6電動モータ
109 第2左右フレーム
110 第3左右走行体
111 第7送りねじ
113 第7電動モータ
115 第3上下フレーム
117 第3昇降体
121 タイミングベルト
123 第8電動モータ
125 作動部材
127 把持部材
127a 位置決め軸
127b クランプ部
131 起立フレーム
133 第2前後フレーム
135 第3前後走行体
137 第8送りねじ
139 第9電動モータ
141 起立アーム
143 第3支持部材
151 ワーク裏面支持手段
153 アーム
155 吸着支持部材
155a 吸着パッド
157 取付け板
161 裏面集塵フード
161a 吸引パイプ
171 制御手段
173 CPU
175 プログラム記憶手段
177 作業データ記憶手段
177a 加工位置データ記憶領域
177b 加工データ記憶領域
177c 移動位置データ記憶領域
177d 駆動データ記憶領域
179 比較判別手段
181 アーム駆動制御手段
183 加工ヘッド駆動制御手段
W ワーク
Wa 位置決め孔
Wb 開口
1 Work processing device 3 Work processing robot 5 Work support device 7 Arm 9 Work processing tool 11 Three-dimensional moving processing head 13 X-axis frame 15 X-axis movable body 17 X-axis moving member 19 Y-axis frame 21 Y-axis movable body 23 Y-axis Moving member 25 Z-axis frame 27 Z-axis movable body 29 Z-axis moving member 33 Mounting plate 34 Electric motor 35 Dust collecting pipe 37 Surface dust collecting hood 39 Main body 41 Central supporting means 43 First supporting means 45 Second supporting means 47 Clamping means 49 left and right support frame 53 first left and right traveling body 55 first feed screw 57 first electric motor 59 first upper and lower frame 61 first elevating body 63 second feed screw 65 second electric motor 67 first mounting arm 69 first support member 71 first front-rear frame 75 first front-rear traveling body 77 third feed screw 79 third electric motor 81 first left-right frame 83 2 left and right traveling body 87 fourth feed screw 89 fourth electric motor 91 second upper and lower frame 93 second elevating body 97 fifth feed screw 99 fifth electric motor 101 second mounting arm 103 second support member 105 second front and rear traveling body 107 sixth feed screw 108 sixth electric motor 109 second left / right frame 110 third left / right traveling body 111 seventh feed screw 113 seventh electric motor 115 third upper / lower frame 117 third elevating body 121 timing belt 123 eighth electric motor 125 Operating member 127 Gripping member 127a Positioning shaft 127b Clamp portion 131 Standing frame 133 Second front and rear frame 135 Third front and rear traveling body 137 Eighth feed screw 139 Ninth electric motor 141 Standing arm 143 Third supporting member 151 Work back surface supporting means 153 Arm 155 Suction support member 155a Suction pad 15 7 Mounting plate 161 Back side dust collecting hood 161a Suction pipe 171 Control means 173 CPU
175 Program storage means 177 Work data storage means 177a Machining position data storage area 177b Machining data storage area 177c Moving position data storage area 177d Drive data storage area 179 Comparison determination means 181 Arm drive control means 183 Machining head drive control means W Work Wa positioning Hole Wb opening

Claims (3)

  1. ークの加工箇所が平面状態と判断された場合には、ーク加工具をX軸方向及びそのX軸方向に直交するY軸方向のみに移動させて前記ワークを加工し、前記ワークの前記加工箇所が湾曲状態と判断された場合には、前記ワーク加工具を前記X軸方向、前記Y軸方向及び前記X軸方向及び前記Y軸方向に直交するZ軸方向に移動させて前記ワークを加工するワーク加工装置において、
    前記ワークの裏面に配置されたワーク裏面支持手段を備え、
    前記ワーク裏面支持手段の先端には、前記ワークの裏面に吸着可能な複数の吸着部材と、それら複数の吸着部材とは離間して設けられ、前記複数の吸着部材を結ぶ仮想円よりも小さな直径の裏面集塵フードと、が備えられ、
    前記裏面集塵フードは、その吸引口が前記吸着部材の吸着孔よりも前記ワークの裏面から離間して配置されており、前記吸着部材が前記ワークの裏面に吸着し弾性変形した際に、前記ワークの裏面に当接することを特徴とするワーク加工装置。
    When the machining spot Wa over click is determined to planar state, a word over click working tool, is moved only in the Y-axis direction orthogonal to the X-axis direction and the X axis direction processing the workpiece, the when the working portion of the workpiece is determined to bending state, the workpiece processing tool, the X-axis direction, is moved in the Z axis direction perpendicular to the Y-axis direction and the X-axis direction and the Y-axis direction In the work processing device for processing the work by
    A work back surface support means arranged on the back surface of the work,
    At the tip of the work back surface supporting means, a plurality of suction members that can be sucked onto the back surface of the work and a plurality of suction members that are provided apart from each other and have a diameter smaller than a virtual circle connecting the plurality of suction members. And a back side dust collection hood of
    The back surface dust collection hood is arranged such that its suction port is more distant from the back surface of the work than the suction hole of the suction member, and when the suction member is sucked and elastically deformed on the back surface of the work, A work processing device that is in contact with the back surface of a work.
  2. 前記ワークの両端を固定する複数のクランプ手段を備え、
    各クランプ手段は、前記ワークの両端に形成された孔に挿嵌される位置決め軸と、前記ワークが挿嵌された位置決め軸へ向かって外側から搖動し、前記位置決め軸に嵌合するクランプ部とを備えていることを特徴とする請求項1に記載のワーク加工装置。
    A plurality of clamping means for fixing both ends of the work,
    Each clamping means includes a positioning shaft that is inserted into holes formed at both ends of the work, and a clamp portion that swings from the outside toward the positioning shaft into which the work is inserted and that fits into the positioning shaft. work machining apparatus according to claim 1, characterized that you have provided a.
  3. 前記ワーク裏面支持手段と、前記複数のクランプ手段とは、1つの本体に備えられていることを特徴とする請求項に記載のワーク加工装置。 The work processing apparatus according to claim 2 , wherein the work back surface support means and the plurality of clamp means are provided in one main body .
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