JP6971498B2 - A work processing device equipped with a dust collector and the dust collector. - Google Patents

Description

The present invention is provided in a machining head of a work machining robot that performs a predetermined machining on a work, specifically, a work machining robot that performs a predetermined machining on a work, and moves a work processing tool in a three-dimensional direction according to the surface state of the work. It relates to a machining head of a workpiece machining robot that can be machined.

The present applicant has a first movable body provided so as to be movable in a predetermined direction of the workpiece set in the positioned state in Patent Document 1, and a first driving member that reciprocates the first movable body in the predetermined direction. A second movable body provided so as to be movable in a direction orthogonal to the predetermined direction with respect to the first movable body, and a second drive member for reciprocating the second movable body in a direction orthogonal to the predetermined direction. The processing jig provided on the second movable body is moved to a predetermined processing start position with respect to the workpiece, and then the first and second movable bodies are moved two-dimensionally in each direction to perform desired processing. We proposed a machining head to perform and an industrial robot equipped with a machining head.

In the above-mentioned machining head, for example, when cutting the inner peripheral surface of an opening provided in a flat surface portion of a work by an end mill, constant cutting is performed in an end mill that has entered the opening in a state of being plane with respect to the work flat surface. Cutting can be performed by controlling the movement of the region in the two-dimensional direction while in contact with the inner peripheral surface of the opening. However, when cutting the inner peripheral surface of the opening provided in the curved portion of the work, FIG. As shown in, the cutting area of the end mill that abuts on the inner peripheral surface of the opening is displaced according to the curved surface of the work, and the inner peripheral surface of the opening cannot always be cut in a constant cutting area, resulting in uneven cutting conditions. Has a problem.

In order to cut the inner peripheral surface of the opening in the work in a certain cutting area of the end mill, the end mill is moved and controlled by turning and rotating the arm so that the cutting area of the end mill with respect to the inner peripheral surface of the opening is always at a constant position. It has to be necessary, and there is a problem that the control of the arm becomes complicated.

Japanese Unexamined Patent Publication No. 2014-176930

The problem to be solved is the machining part of the work tool that comes into contact (pressure contact) with the machined part of the work when the curved work is machined by the machining head that moves the work tool in the two-dimensional direction to machine the work. Is displaced according to the curved state, and the work cannot be machined uniformly.

INDUSTRIAL APPLICABILITY The present invention is provided at the tip of an arm in a work processing robot that performs required processing by controlling the movement of a work processing tool by an arm that swivels and rotates with respect to a work supported (held) in a positioned state. An X-axis movable body that is movably supported in the X-axis direction with respect to the X-axis frame extending in the X-axis direction orthogonal to the longitudinal direction of the arm, and an X-axis movable body with respect to the X-axis frame. An X-axis moving member that moves in the axial direction and a Y-axis that is provided on the X-axis movable body and is movably supported in the Y-axis direction with respect to a Y-axis frame that extends in the Y-axis direction that coincides with the longitudinal direction. A movable body, a Y-axis moving member that moves the Y-axis movable body in the Y-axis direction with respect to the Y-axis frame, and a Y-axis moving body that is provided on the Y-axis movable body and extends in the Z direction orthogonal to the X-axis and the Y-axis. A Z-axis movable body that is movably supported to the Z-axis frame with respect to the Z-axis frame and provided with the work processing tool having an axis in the Z-axis direction, and a Z-axis movable body with respect to the Z-axis frame. A Z-axis moving member that moves in the axial direction, and when the machining location of the work is in a flat state, the work machining tool is provided by the X-axis moving member and the Y-axis moving member that are driven and controlled based on the machining position data. Is moved in the two-dimensional direction to execute workpiece machining, and when the workpiece is in a curved state, the X-axis moving member, Y-axis moving member, and Z-axis moving are driven and controlled based on the machining position data. The most important feature is to move the work tool in the three-dimensional direction by the member and execute the work in the required machining area of the work tool.

In the present invention, when machining a curved work, the work processing tool is moved in the plane perpendicular direction together with the two-dimensional direction, and the processing portion of the work is always processed by a predetermined processing portion of the work processing tool. The quality can be made uniform.

It is a schematic perspective view of a work processing robot. It is an enlarged perspective view of a processing head. It is a top view of the work support device. It is a partially broken perspective view which shows the 1st support means. It is a partially broken perspective view which shows the 2nd support means and clamp means. It is a partially broken perspective view which shows the central support means partially broken. It is a partially broken perspective view which shows the work back surface support means. It is an electric block diagram which shows the control means of a work processing robot and a three-dimensional moving processing head. It is a front explanatory view which shows the support (holding) position change state of the 1st support means. It is a front explanatory view which shows the support (holding) position change state of the 2nd support means. It is a plane explanatory view which shows the support (holding) position change state of the 2nd support means. It is a side explanatory view which shows the support (holding) position change state of a central support means. It is a plane explanatory view which shows the clamp position change state of a clamp means. It is a front explanatory view which shows the clamp position change state of the clamp means. It is a partial fracture explanatory view which shows the work clamp state by a clamping means. It is sectional drawing which shows the state which the work processing tool is in contact with the front surface of the work opening peripheral edge, and the back surface support means is in contact with the back surface. It is a plane explanatory view which shows the processing state of the inner peripheral edge of an opening in the work in a plane state. It is sectional drawing which shows the processing state of the inner peripheral edge of an opening in the work in a flat state. It is sectional drawing which shows the processing state of the inner peripheral edge of an opening in the work in a curved state. It is sectional drawing which shows the state at the time of processing a work in a curved state by a conventional processing head.

When the machining location of the work is in a flat state, the work machining tool is moved in the two-dimensional direction by the X-axis moving member and the Y-axis moving member, which are driven and controlled based on the machining position data, and the work is executed. When the machined portion of the work is in a curved state, the work 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 driven and controlled based on the machining position data. The best embodiment is to execute the work processing in the required processing portion of the processing tool.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIG. 1, the work processing apparatus 1 provided with the processing head according to the present invention is composed of a work processing robot 3 and a work support device 5, and the work processing robot 3 swings and swings a plurality of arms 7. It is composed of an articulated robot that rotates and swings the work processing tool 9 provided at the tip of the arm 7 on the tip side by the number of axes according to the number of arms to perform work processing. Since the articulated robot as the work processing 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 tip end portion of the tip 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 drilling tool such as a drill that forms a hole at a predetermined position of the work W, burrs on the peripheral edge of the work W and the peripheral edge of the opening can be removed, and the opening can be cut to a required inner diameter. It may be any of an end mill, a cutting blade for cutting a work W, a cutting blade for forming a hole, a laser beam output head, and the like. 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 moving processing head 1 extends in a direction (X-axis direction) orthogonal to the longitudinal direction of the tip-side arm 7, and its X-axis direction intermediate portion is a numerical value 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. The X-axis movable body 15 is movably supported in the X-axis frame 13 in the X-axis direction, and the X-axis movable body 15 is reciprocated in the X-axis direction in a numerically controllable manner by the X-axis moving member 17.

The base end portion of the Y-axis frame 19 extending in the direction orthogonal to the X-axis (the Y-axis direction corresponding to the longitudinal direction of the distal end arm 7) is fixed to the X-axis movable body 15, and the Y-axis frame is fixed. In 19, the Y-axis movable body 21 is supported so as to be movable in the Y-axis direction. The Y-axis movable body 21 is moved back and forth in the Y-axis direction by the Y-axis moving member 23 so as to be numerically controllable.

The central portion of the Z-axis frame 25 extending in the direction orthogonal to the X-axis and the Y-axis direction (Z-axis direction) is fixed to the Y-axis movable body 21, and the Z-axis frame 25 is fixed to the Z-axis. The movable body 27 is supported so as to be movable in the Z-axis direction. The Z-axis movable body 27 is reciprocated in the Y-axis direction in a numerically controllable manner by the Z-axis moving member 29.

The X-axis moving member 17, Y-axis moving member 23, and Z-axis moving member 29 can rotate in the corresponding X-axis frame 13, Y-axis frame 19, and Z-axis frame 25 with axes in their respective longitudinal directions. A lead screw (not shown) meshed with a nut (not shown) provided on the corresponding X-axis movable body 15, Y-axis movable body 21 and Z-axis movable body 27, and their respective axes. The X-axis movable body 15, the Y-axis movable body 21, and the Z-axis movable body 27, which are composed of an electric motor such as a numerically controllable servo motor that is driven and connected to the lead screw and correspond to the driving of each electric motor, are formed. Move in each direction. Reference numerals 17, 23 and 29 indicate the electric motors constituting 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 figure shows an example in which an end mill for cutting the inner peripheral circle of a hole formed in advance is attached to the work, and is fixed to the 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 work processing tool 9 of the end mill is detachably attached to the spindle via a chuck or the like (not shown).

Further, the lower end of the mounting plate 33 fixed to the Z-axis movable body 27 is opened to cover the periphery of the work processing tool 9 with a gap, and a dust collecting pipe is provided in a suction dust collector (not shown). The base end portion of the surface dust collecting hood 37 connected via the 35 is attached. As the surface dust collecting hood 37, bellows boots or the like that expand and contract by pressure contact with the surface of the work W during processing to form a closed space between the surface of the work W and the periphery of the work processing tool 9 are suitable.

As shown in FIGS. 3 to 7, the work support device 5 has a central support means 41 that supports the central portion of the work W on the main body 39, and a first support means that supports the rear side of the work W (work processing robot 3 side). 43, a second supporting means 45 that supports the front side of the work W, and a clamping means 47 that grips both ends of the work W are arranged and configured.

The first support means 43, the second support means 45, and the clamp means 47, which will be described later, are arranged as a pair on the left and right, but for convenience of explanation, each component is designated by one 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 main body 39 (work processing robot 3 side) correspond to the longitudinal direction (also referred to as the left and right direction) of the main body 39 or the work W. It extends in the longitudinal direction of the main body 39 and is divided into two in the left-right direction shown in the figure. The first left and right traveling bodies 53 are independently movably supported in the left and right directions on the left and right support frames 49 corresponding to each section.

Further, the left-right support frame 49 corresponding to each section has an axis in the left-right direction, and a first feed screw 55 that meshes with a nut portion (not shown) provided in each of the first left-right traveling bodies 53. Are rotatably supported. A first electric motor 57 such as a numerically controllable servomotor fixed to each of the left and right support frames 49 is driven and connected to the shaft end of each first feed screw 55 via a timing belt (not shown) or the like. NS. Each of the first left and right traveling bodies 53 is reciprocated in the left-right direction independently of each other as the corresponding first electric motor 57 is driven.

Each of the first left and right traveling bodies 53 is provided with a first upper and lower frame 59 extending in the vertical direction, and each of the first upper and lower frames 59 is supported by a first elevating body 61 so as to be able to move up and down. Each of the first upper and lower frames 59 has an axis in the vertical direction, and a second feed screw 63 that meshes with a nut portion (not shown) provided on the first elevating body 61 is rotatably supported. A second electric motor 65 such as a numerically controllable servomotor provided on the corresponding first left and right traveling bodies 53 is attached to the shaft end 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 moved up and down independently of each other as the corresponding second electric motor 65 is driven.

A first mounting arm 67 that stands up after extending to the front side 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. The first support member 69 is 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). (Not shown) may be used.

The first front-rear frame 71 of the second support means 45 is attached to the left and right sides shown in the main body 39, respectively, and the first front-rear traveling body 75 is movably supported by each of the first front-rear frame 71 in the front-rear direction. NS.

Further, each first front-rear frame 71 has an axis in the front-rear direction, and a third feed screw 77 that meshes with a nut portion (not shown) provided on each of the corresponding first front-rear traveling bodies 75 rotates. A third electric motor 79 such as a numerically controllable servo motor provided at one end of the corresponding first front and rear frames 71 is a timing belt (at the shaft end of each third feed screw 77). It is driven and connected via (not shown) and the like. Each of the first front-rear traveling bodies 75 is moved in the front-rear direction independently of each other as the corresponding third electric motor 79 is driven.

A first left and right frame 81 extending in the left-right direction as shown is attached to each of the first front and rear traveling bodies 75, and a second left and right traveling body 83 is movably supported in each of the first left and right frames 81. Will be done. Each of the first left and right frames 81 has an axis 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 and right traveling body 83 can rotate. Be provided. At the shaft end of each fourth feed screw 87, a fourth electric motor 89 such as a numerically controllable servomotor attached to one end of the first left and right frames 81 is via a timing belt (not shown) or the like. Each is driven and connected. Each of the second left and right traveling bodies 83 is moved in the left-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 able to move up and down. 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. NS. At the shaft end of each fifth feed screw 97, a fifth electric motor 99 such as a numerically controllable servomotor provided on the corresponding second left and right traveling bodies 83 is attached via a timing belt (not shown) or the like. The second elevating body 93 is driven and connected, and each of the second elevating bodies 93 is moved up and down independently of each other as the corresponding fifth electric motor 99 is driven.

A second mounting arm 101 that stands up after extending to the rear side is attached to each of the second elevating bodies 93, and a second mounting arm 101 elastically supports the back surface of the work W at the upper end of each second mounting arm 101. The support members 103 are attached to each. The second support member 103 includes 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). (Not shown) may be used.

The second front-rear traveling body 105 of the clamp means 47 is supported on the first support 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 an axis parallel to each third feed screw 77, and a sixth feed screw 107 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 driven and connected to the shaft end of each sixth feed screw 107, and each second front and rear traveling body 105 is connected. They are moved independently of each other as the corresponding sixth electric motor 108 is driven.

A second left and right frame 109 extending in the left-right direction as shown is attached to each of the second front and rear traveling bodies 105, and a third left and right traveling body 110 is movably supported in each of the second left and right frames 109. Will be done. Each of the second left and right frames 109 has an axis in the left-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. Will be done. At the shaft end of each 7th feed screw 111, a 7th electric motor 113 such as a numerically controllable servomotor provided on the corresponding 2nd left and right frames 109 is driven via a timing belt (not shown) or the like. Connected, the third left and right traveling bodies 110 are moved independently of each other as 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 able to move up and down. A timing belt 121 is fixed to each of the third elevating bodies 117, which is rotatably supported by a rotating body (not shown) at the upper part and the lower part of the corresponding third upper and lower frame 115.

Further, an eighth electric motor 123 such as a numerically controllable servomotor provided on the corresponding third upper and lower frame 115 is driven and connected to each of the lower rotating bodies, and each third elevating body 117 is associated with the corresponding eighth. It is moved up and down by the timing belt 121 that travels with the drive of the electric motor 123.

Each third elevating body 117 is provided with a gripping member 127 that clamps and fixes a predetermined portion of the work W end by operating a working member 125 such as an air cylinder. As each gripping member 127, for example, positioning of a plurality of gripping members 127 (the figure shows three examples) so as to be insertable into the positioning holes Wa previously provided in the projecting pieces Wb provided at the end of the work W on the fixed side. The shaft 127a is provided and the actuating member 125 provided on the movable side is connected, and the clamp portion 127b fitted to the tip of the positioning shaft 127a that is inserted into the positioning hole Wa of the work W and protrudes outward is swung. It consists of a structure that supports it as much as possible.

In addition, each gripping member 127 may have a structure in which the fixed side is a receiving plate and at least two positioning protrusions are provided in the clamp portion so as to be insertable into the positioning hole 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 frictional force.

The central support means 41 is arranged in the central portion of the main body 39 in the left-right direction so as to be located in front of the first support means 43. The rear end portion of the second front-rear frame 133 extending in the front-rear direction is attached to the upright frame 131 of the central portion support means 41, and the third front-rear traveling body 135 moves in the front-rear direction to the second front-rear frame 133. Supported as possible.

The second front-rear frame 133 has an axis in the front-rear direction, and an eighth feed screw 137 that meshes with a nut portion (not shown) provided on the third front-rear traveling body 135 is rotatably supported by the shaft. The eighth lead screw 137 is driven and connected to a ninth electric motor 139 such as a numerically controllable servomotor attached to the second front and rear frame 133. The third front-rear traveling body 135 is moved in the front-rear direction by the rotation of the eighth feed screw 137 that rotates with the drive of the ninth electric motor 139.

The third front-rear traveling body 135 is provided with an upright arm 141 having a predetermined height, and a third support member 143 that supports the central portion of the back surface of the work W is attached to the upper portion of the upright arm 141. The third support member 143 is connected to a negative pressure generation source (not shown) and clamps 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. It may be a clamp member (not shown).

The work back surface supporting means 151 is provided on the main body 39 corresponding to both the left and right sides of the central supporting means 41. Similar to the work processing robot 3, the work back surface supporting means 151 is connected to each other so that a plurality of arms 153 swing and rotate with each other, and a plurality of arms 153 to be described later 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 to be positioned and supported at the peripheral edge of the machined portion on the back surface of the work W.

The mounting plate 157 attached to the tip of the arm 153 on the tip side is provided with a plurality of suction pads 155a connected to a negative pressure generating means (not shown) and pressure-contacted with each processed portion on the back surface of the work W to suck the negative pressure. The number of suction members 155 (the figure shows the case of three pieces) is attached to the equidistant positions in the circumferential direction.

Further, a suction dust collector (not shown) is connected to the central portion of the mounting plate 157 via a suction pipe 161a. A back surface dust collecting hood 161 with an open upper surface is attached. The back surface dust collecting hood 161 is attached so that the upper surface opening has a diameter slightly smaller than the virtual circle connecting the suction members 155 and the suction port is located slightly below the suction hole of the suction pad 159a.

When each suction pad 155a is attracted to the back surface of the work W and elastically deforms in the shrinking direction, the upper surface opening of the back surface dust collecting hood 161 is brought close to or in contact with the peripheral edge of the processed portion on the back surface of the work W.

Explaining the control means for moving and controlling the work processing tool 9 by the work processing robot 3 for processing and controlling the work W and the three-dimensional moving processing head 11, the CPU 173 of the control means 171 has the program storage means 175 and the program storage means 175 as shown in FIG. The work data storage means 177 is connected, and the program data for moving the work processing tool 9 to the processing location preset in the work W by executing the rotation operation and the rotation operation of the arm described later to the program storage means 175. And various program data such as program data for performing complementary operation maintenance are stored.

Further, the work data storage means 177 has a processing position data storage area 177a for storing the three-dimensional position data of the processing portion of the work W, a processing data storage area 177b for storing the three-dimensional processing data of the cutting position, and a tertiary of the work processing tool 9. It includes a moving position data storage area 177c for storing the original moving position data, a driving data storage area 177d for storing the driving data of the X-axis moving member 17, the Y-axis moving member 23, and the Z-axis moving member 29.

The comparison discrimination means 179 is connected to the CPU 173, and the comparison discrimination means 179 is a tertiary of the work processing tool 9 stored in the three-dimensional processing position data of the work W stored in the processing data area 177b and the moving position data storage area 177c. The movement amount 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 means 181 is connected to the CPU 173, and the arm drive control means 181 swivels and controls the arm 7 based on the three-dimensional position data of the machined portion of the work W stored in the machined position data storage area 177a. The work processing tool 9 is moved to the processing location of the work W.

The machining head drive control means 183 is connected to the CPU 173, and the machining head drive control means 1 is connected.
The 83 drives and controls the X-axis moving member 17, the Y-axis moving member 23, and the Z-axis moving member 29, respectively, based on the difference data stored in the drive data storage area 177d, to move the workpiece 9 in the three-dimensional direction. ..

Next, the work processing operation by the work processing apparatus 1 configured as described above will be described.
First, for example, a work W such as a vehicle bumper, an interior panel, or an instrument panel molded from synthetic resin has a different size and shape depending on the vehicle type. The support position (holding position) and the work W by the work support device 5 according to the type (size, shape, etc.) of the work W prior to the work processing such as removing or cutting the formed opening to the required inner diameter. It is necessary to change the clamp position at the end.

To change the support (holding) position according to the size and shape of the work W to be supported (held), for example, a sample is provided for the first to third support members 69, 103, 143 of the work support device 5. After the work is placed and temporarily supported (temporarily held), first, the corresponding first left and right traveling bodies 53 are driven and controlled by each of the first electric motors 57 with respect to the center in the left-right direction on the rear side of the work W. After moving each of the first support members 69 in a direction away from each other or in a direction approaching each other to a support (holding) position on the left-right direction side on the rear side of the work W, each second electric motor 65 is driven and controlled. The corresponding first elevating body 61 is moved upward, and the first support member 69 is moved to a height position on the rear side of the work W where it can be supported (held) on the left-right direction side so that it can be supported (held). Let me. (See Fig. 9)

After the above operation or in parallel with the above operation, the ninth electric motor 139 is driven and controlled based on the support (holding) on the left-right direction side on the rear side of the work W by each first support member 69 to control the third front-rear traveling body 135. The third support member 143 is moved in the front-rear direction so as to be located at the center of the work W in the front-rear direction so that it can be supported (held). (See Fig. 12)

After the above operation or in parallel with the above operation, each of the third electric motors 79 is driven and controlled to move the corresponding first front and rear traveling bodies 75 to the front side, respectively, and the second support member 103 is supported on the front side of the work W ( Hold) Move to the position side respectively. Further, after the above operation or in parallel with the above operation, each of the fourth electric motors 89 is driven and controlled to move the corresponding second left and right traveling bodies 83 in the left-right direction, respectively, and each second support member 103 is moved to the front side of the work W. Move to the support (holding) position side on the left-right direction side in.

Further, after the operation or in parallel with the operation, the fifth electric motor 99 is driven and controlled to move the corresponding second elevating body 93 upward, and the second support member 103 is moved to the left and right on the front side of the work W. Move to a height position that can be supported (held) on the directional side so that it can be supported (held). (See FIGS. 10 and 11)

Since the support height of the central portion of the work W (central portion in the left-right direction and the front-rear direction) by the central support means 41 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, the movement control is performed so that the support heights of the first and second support members 69 and 103 match the support heights of the central support means 41. do it.

Further, when the work W is tilted and supported (held) so that its upper surface faces the rear side, the support height by the first support member 69 on the rear side is set with respect to the support height by the central support means 41. The movement may be controlled so as to lower the height and increase the height supported by the second support member 103 on the front side. Further, when the work W is tilted and supported (held) so that its upper surface faces the front side, the support height by the first support member 69 on the rear side is higher than the support height by the central support means 41. At the same time, the movement may be controlled so as to lower the support height by the second support member 103 on the front side.

Next, the first support member 69 moved in the left-right direction and the up-down direction as described above, the second support member 103 moved in the front-back direction, the left-right direction and the up-down direction, and the third support member moved in the front-back direction. In a state of being supported (held) by 143, first, each sixth electric motor 108 is driven and controlled to move the corresponding second front-rear traveling body 105 in the front-rear direction, and each gripping member 127 is moved to the left and right of the back surface of the work W. It is moved to a position in the front-rear direction corresponding to the positioning hole Wa provided at the end.

After the third elevating body 117 corresponding to the drive control of each of the eighth electric motors 123 is moved to a position corresponding to the height of the positioning hole Wa of the work W by each gripping member 127 in the above state. The corresponding third left and right traveling bodies 110 are driven and controlled by each of the seventh electric motors 113, and the corresponding third left and right traveling bodies 110 are moved in the left-right direction so that the positioning shaft 127a of each gripping member 127 is inserted into the positioning hole Wa of the work W. To position. (See FIGS. 13 and 14)

In this state, each operating member 125 is operated, and the corresponding clamp portion 127b is inserted into the positioning hole Wa of the work W and swung toward the positioning shaft 127a protruding outward, so that each end portion of the work W in the left-right direction. Is fixed in the positioned state. (See Fig. 15)

Depending on the type of the work W, the gripping points at both ends of the work W in the left-right direction by each gripping member 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 of the second front-rear traveling bodies 105 in the front-rear direction is dealt with, and the driving amount of the third left-right traveling body 110 corresponding to the movement amount of each third left-right traveling body 110 in the left-right direction is dealt with. Each gripping member 127 is desired by making the drive amount of the seventh electric motor 113 different from that of the eighth electric motor 123 corresponding to the amount of elevation of each third elevating body 117 in the vertical direction. It is individually moved to the front-rear direction, the left-right direction, and the up-down position so that the portions at both ends of the work W in the left-right direction can be gripped.

The drive data of the first to ninth electric motors 57, 65, 79, 89, 99, 108, 113, 123, 139 described above correspond to each sample work and the first to third support members 69, 103, respectively. , 143 are taught and moved to input and set. The drive data for each of the first to ninth electric motors 57, 65, 79, 89, 99, 108, 113, 123, 139 includes dimensional data of the work W to be machined in addition to the above-mentioned teaching input. Numerical data calculated based on the support (holding) position data may be directly input and set.

Then, 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 according to the size and shape of the work W processed as described above. The arm 153 of each work back surface supporting means 151 is supported (held) on the left-right side, the center portion in the front-rear direction and the left-right direction, and the left-right side on the front side, and each end portion in the left-right direction is fixed by the clamping means 47. The suction pad 155a of each suction support member 155 is sucked and supported on the back surface of the peripheral edge of the machined portion in the work W by controlling the rotation and rotation. In this state, the back surface dust collecting hood 161 is positioned so that the upper end opening covers the entire peripheral surface surface including the processed portion. (See Fig. 16)

When the work is supported (held) in the positioned state by the work support device 5 by the above operation, each arm 7 of the work processing robot 3 is swiveled and swiveled based on the three-dimensional position data stored in the processing position data storage area 177a. Rotation control is performed to allow the work processing tool 9 to enter, for example, into the center of the opening Wb previously formed in the work W so as to be in a plane-oriented state with respect to the work W. In this state, the lower end of the surface dust collecting hood 37 abuts (presses) on the upper surface of the peripheral edge of the opening Wb to form a closed space.

If the opening of the work W to be machined is planar, the X-axis moving member 17 and the Y-axis moving member 23 are stored in the drive data storage area 177d while entering the center of the opening Wb. Of the drive data, the work tool 9 is driven and controlled based on the drive data of the X-axis and the Y-axis, and the workpiece 9 is brought into contact (pressure contact) with the cutting start position of the inner peripheral surface of the opening Wb, and then the opening is performed. It moves along the inner peripheral surface of Wb and cuts the inner peripheral surface to a preset thickness. At this time, the inner peripheral surface of the opening Wb is machined in a certain cutting region in the work tool 9. (See FIGS. 17 and 18)

Further, when the work processing tool 9 is moved and controlled as described above when the opening portion of the work W to be cut is curved, it comes into contact with the inner peripheral surface of the opening Wb (pressure contact) as shown in FIG. Since the cutting area to be cut is displaced according to the curved state, the cutting state becomes uneven 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. By driving and controlling the workpiece 9 to move in the Z-axis direction corresponding to the curved state of the opening Wb, the inner peripheral surface of the opening Wb is always cut in a predetermined cutting region in the workpiece 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 curvature of the opening Wb in the work W is obtained. A predetermined difference in the work tool 9 is determined by calculating the corresponding difference data in the Z-axis direction and driving and controlling the Z-axis moving member 29 based on the difference data in the Z-axis direction to move the work tool 9 in the Z-axis direction. The inner peripheral surface is cut in the cutting area of, enabling uniform cutting. (See Fig. 19)

Since the back surface of the peripheral edge of the opening is held by the suction support member 155 when the inner peripheral surface of the opening Wb is cut, it is possible to prevent the work W from rotating due to cutting resistance, vibration, or the like. Further, the cutting debris discharged when cutting the inner peripheral surface of the opening Wb is sucked under negative pressure in the front surface dust collecting hood 37 and the back surface dust collecting hood 161 that abut (press contact) with the upper surface and the back surface of the peripheral surface of the opening Wb, respectively. Will 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 1st left and right traveling body 55 1st feed screw 57 1st electric motor 59 1st upper and lower frame 61 1st elevating body 63 2nd feed screw 65 2nd electric motor 67 1st mounting arm 69 1st support member 71 1st front and rear frame 75 1st front and rear traveling body 77 3rd feed screw 79 3rd electric motor 81 1st left and right frame 83 2nd left and right traveling body 87 4th feed screw 89 4th electric motor 91 2nd upper and lower frame 93 2nd Elevating body 97 5th feed screw 99 5th electric motor 101 2nd mounting arm 103 2nd support member 105 2nd front and rear traveling body 107 6th feed screw 108 6th electric motor 109 2nd left and right frame 110 3rd left and right traveling body 111 7th feed screw 113 7th electric motor 115 3rd upper and lower frame 117 3rd elevating body 121 Timing belt 123 8th electric motor 125 Acting member 127 Gripping member 127a Positioning shaft 127b Clamp part 131 Standing frame 133 2nd front and rear frame 135 3rd Front and rear traveling body 137 8th feed screw 139 9th electric motor 141 Standing arm 143 3rd support member 151 Work back surface support means 153 Arm 155 Suction support member 155a Suction pad 157 Mounting plate 161 Back surface dust collection hood 161a Suction pipe 171 Control means 173 CPU
175 Program storage means 177 Work data storage means 177a Processing position data storage area 177b Processing data storage area 177c Movement position data storage area 177d Drive data storage area 179 Comparison discrimination means 181 Arm drive control means 183 Processing head drive control means W Work Wa positioning Hole Wb opening

Claims (7)

A suction member that can be sucked onto the work and
A dust collecting hood, which is provided apart from the suction member and collects dust in the vicinity of the work,
Equipped with
The dust collection hood, the suction port is disposed spaced apart from the workpiece than the suction holes of the suction member, to abut against the workpiece by the suction member is adsorbed elastically deformed to said workpiece, dust collector according to claim dust collection can and Do Rukoto the vicinity of the workpiece. Negative pressure generating means and
A suction member that can be sucked to the work by the negative pressure generating means,
A suction dust collector different from the negative pressure generating means,
A dust collecting hood provided separately from the suction member and collecting dust in the vicinity of the work by the suction dust collecting device, and a dust collecting hood.
Equipped with
The dust collecting hood is arranged so that its suction port is separated from the work by the suction hole of the suction member, and the suction member is attracted to the work by the negative pressure generating means and elastically deformed. A dust collector that comes into contact with a work and is capable of collecting dust in the vicinity of the work by the suction dust collector. A plurality of the suction members are provided on the outer periphery of the dust collecting hood.
In the dust collecting hood, a plurality of the suction members provided on the outer periphery of the dust collecting hood are attracted to the work and elastically deformed to come into contact with the work, and dust can be collected in the vicinity of the work. The dust collector according to claim 1 or claim 2. The dust collecting device according to any one of claims 1 to 3, wherein the suction member and the dust collecting hood are provided at the tip of one work supporting means. The dust collector according to any one of claims 1 to 3 and
A plurality of clamping means for fixing both ends of the work, and
Equipped with
Each clamp means has a positioning shaft 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 fits into the positioning shaft. A work processing device characterized by being equipped with. The dust collector according to claim 4 and
A plurality of clamping means for fixing both ends of the work, and
Equipped with
Each clamp means has a positioning shaft 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 fits into the positioning shaft. A work processing device characterized by being equipped with. The work processing apparatus according to claim 6 , wherein the work supporting means and the plurality of clamping means are provided in one main body.

Images