JP6693777B2 - Work processing device - Google Patents

Description

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.

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.

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.

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.

JP, 2014-176930, A

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.

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 .

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.

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 .

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.

It is a schematic perspective view of a workpiece processing robot. It is an expansion perspective view of a processing head. It is a top view of a work supporting device. It is a partially broken perspective view showing the 1st support means. It is a partially broken perspective view which shows a 2nd support means and a clamp means. FIG. 6 is a partially cutaway perspective view showing the central supporting means in a partially broken manner. It is a partially broken perspective view showing a work back surface supporting means. It is an electrical block diagram showing a workpiece processing robot and a control means of a three-dimensional moving processing head. It is a front explanatory view showing a support (holding) position change state of the 1st support means. It is a front explanatory view showing a support (holding) position change state of the 2nd support means. It is a plane explanatory view showing the support (holding) position change state of the 2nd support means. It is a side surface explanatory view which shows the support (holding) position change state of a center support means. It is a plane explanatory view showing a clamp position change state of a clamp means. It is a front explanatory view showing the clamp position change state of the clamp means. It is a partially broken explanatory view showing a work clamped state by a clamp means. 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. 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. 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. 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. 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.

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.

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.

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.

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.

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.

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.

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.

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).

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.

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.

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.

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.

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.

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.

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).

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

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.

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.

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.

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).

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.

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.

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.

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.

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.

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.

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.

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.

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.

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).

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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)

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)

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.

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)

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.

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.

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.

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)

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)

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.

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.

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)

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.

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)

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.

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)

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 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)

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. 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. 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 .

Images