JP7242146B2 - Drilling system and drilling method - Google Patents

Description

The present disclosure relates to a drilling system and a drilling method for punching through holes at a plurality of positions in the circumferential direction of a cylindrical workpiece.

Conventionally, as this type of hole punching system, there is known a system that includes a plurality of dies and punches, and performs hole punching by sequentially moving a workpiece to the plurality of dies (see, for example, Patent Document 1).

Japanese Unexamined Patent Application Publication No. 2003-191098 (Figs. 4, 9 and 10)

However, in the above-described conventional hole punching system, the position of the workpiece with respect to each die varies when moving from one die to another, which causes variations in the distance between the through-holes in the workpiece. was becoming

The invention of claim 1, which has been made to solve the above problems, is a hole punching system for punching through holes at a plurality of positions in the circumferential direction of a cylindrical work, wherein the base end is fixed and the tip side A cylindrical or cylindrical die in which the work is fitted from the outside, a punch that advances and retreats with respect to a punching hole that opens on the side surface of the die, and a raw work that supports the center axis of the work. An unprocessed workpiece supporting part for centering so as to match an origin axis parallel to the die reference axis, which is the central axis of the die, and a plurality of gripping members around the movement reference axis, wherein the plurality of gripping members are provided. a gripping tool that is pressed against the side surface of the workpiece to grip the workpiece and center the workpiece so that the central axis of the workpiece coincides with the movement reference axis; and a second centering position where the movement reference axis coincides with the die reference axis. a tool moving mechanism capable of moving in the axial direction of the reference axis and rotating about the movement reference axis, wherein the workpiece on the unprocessed workpiece support is gripped by the gripping tool and the The workpiece is moved to a position where it is fitted to the die, and the workpiece is punched with the punch in a state where the workpiece is gripped by the gripping tool, and then the workpiece is rotated around the movement reference axis together with the gripping tool. Then, the punch again performs a rotary punching operation to punch the through holes in the work, thereby punching through holes at a plurality of positions in the circumferential direction of the work.

In the robot according to claim 2 , the die reference axis, the origin axis, and the movement reference axis are arranged in parallel with the vertical direction, and the holding tool is assembled to a scalar type robot main body as the tool movement mechanism. The robot main body includes a first arm rotatably supported at its proximal end by a fixed base and driven to rotate about a vertical axis; a second arm that is supported and driven to rotate about a vertical axis and that has a distal end portion passed through the movement reference shaft; and a downward output table that is slidably driven in the axial direction of the movement reference axis, wherein the gripping tool includes the plurality of gripping members radially arranged on the bottom surface and on the top surface 2. The drilling system according to claim 1 , wherein the drive source-equipped chuck has a drive source at the bottom of the output table.

In the invention of claim 3 , the die reference axis, the origin axis and the movement reference axis are arranged in parallel with the vertical direction, and a pair of guide rails extending parallel to the belt conveyor is provided above the belt conveyor. a work conveying device capable of arranging a plurality of the works in an upright state between the pair of guide rails and conveying them toward the unprocessed work supporting portion; 3. The drilling system according to claim 1, further comprising a centering abutment surface that abuts on a side surface of the work conveyed to the work conveying device to center the work on the origin axis.

In the invention according to claim 4 , the work conveying device is provided at a position before the unprocessed work supporting portion, advances and retreats to a work moving area on the belt conveyor, dams the second work from the top, A first damming member is provided for separating the leading work from the second work and moving it to the unprocessed work supporting portion, wherein the first damming member moves the leading work away from the unprocessed work supporting portion. 4. The hole according to claim 3 , wherein when the removed second work becomes a new top work, it moves backward, passes the new top work, and moves forward to block the new second work. It is an open processing system.

According to a fifth aspect of the present invention, the first blocking member has an inclined contact surface inclined with respect to the advancing/retreating direction, and presses the inclined contact surface against the work supported by the unprocessed work support section. 5. The drilling system according to claim 4 , wherein the workpiece is pressed against the centering contact surface of the unmachined workpiece support.

According to a sixth aspect of the present invention, the work conveying device is provided at a position closer to the first damming member than the first damming member, and advances and retreats into the work moving area, and the second work from the top moves to the first damming member. A second damming member is provided for damming the third work from the head when it is dammed, and the second work becomes the new head work, and the first damming member retreats once and advances. 6. After that, the second blocking member retreats to allow the new second work to pass through, and then the second blocking member advances to block the new third and subsequent works. The drilling system described.

According to the hole punching system and hole punching method of claim 1 , a gripping tool or a robot grips a workpiece, punches a through hole in the workpiece with a punch, rotates the workpiece, and punches the workpiece again. Since the through holes are punched in the work and the through holes are machined at a plurality of positions in the circumferential direction of the work, variations in the intervals between the through holes in the work can be suppressed more than before. In addition, since the same die and punch are used to punch through holes at a plurality of positions in the circumferential direction of the work, the conventional device provided with a die and punch for each through hole punched at different positions in the circumferential direction of the work is used. In comparison, effective utilization of dies and punches is achieved.

In addition, the die may have, for example, a columnar shape with a semicircular or fan-shaped cross section. It is supported from both the inside and the outside and is stable, and the machining accuracy is improved. Further, the unmachined work supporting portion supports the work by centering it on an origin axis parallel to the die reference axis, and the tool moving mechanism has a first centering position where the movement reference axis coincides with the origin axis, and a movement reference. The gripping tool can be positioned and controlled to a second centering position whose axis coincides with the die reference axis, and the gripping tool can be moved in the axial direction of the movement reference axis at the first centering position and the second centering position. As a result, the relative fitting position between the work and the die is stable, the work can be smoothly fitted to the outside of the die, and the position of the through hole to be punched in the work is stable. .

In the configuration of claim 2 , the die reference axis, the origin axis, and the movement reference axis are arranged in parallel with the vertical direction, and a robot is used in which a grasping tool is assembled to a scalar type robot main body as a tool movement mechanism. It is possible to easily cope with changes in the shape of the work by using the teaching playback function of the robot. Also, if a general-purpose scalar robot main body is used, the cost can be reduced.

In the drilling system of claim 3 , a plurality of works can be arranged in a row and smoothly supplied to the unprocessed work supporting portion, so that production efficiency can be improved.

According to the configuration of claim 4 , among the plurality of works conveyed in a row, the leading work is separated from the second and subsequent works and supported by the unmachined work support section. When the workpiece is gripped by the gripping tool, the non-interference range of the gripping tool with the second and subsequent workpieces is widened, and the degree of freedom in the shape and movement path of the gripping tool is increased.

According to the configuration of claim 5 , it is possible to improve the centering accuracy of the workpiece by the unmachined workpiece supporting portion.

According to the configuration of claim 6 , it is possible to sequentially and smoothly separate a plurality of works from other works and supply them to the unprocessed work supporting portion.

Side view of the machined workpiece of the first embodiment Perspective view of the entire drilling system Cross-sectional view of a drilling machine Plan view of die with guide Perspective view of hole punching machine and parts feeder Perspective view of gripping tool Top view of parts feeder Perspective view of parts feeder A plan view for explaining the operation of the first damming member and the second damming member. Block diagram of drilling system The side view of the processed workpiece|work of 2nd Embodiment A plan view of a first damming member and a second damming member according to a modification

A drilling system 10 according to one embodiment will be described below with reference to FIGS. 1 to 10. FIG. FIG. 1 shows a workpiece 90 to be processed by the drilling system 10 of this embodiment. The workpiece 90 has a structure in which the upper end of a cylindrical wall 91 is closed with a bottom wall 93, and through holes 92 are formed at positions that divide the middle part in the vertical direction into a plurality of equal parts (for example, 9 equal parts) in the circumferential direction. It is stamped by processing system 10 .

As shown in FIG. 2, the drilling system 10 of this embodiment includes a drilling machine 20, a robot 60, a parts feeder 40, and the like on a support board 11. As shown in FIG. The support plate 11 has a horizontally long rectangular shape. Hereinafter, the long side direction of the support plate 11 will be referred to as the "horizontal direction H1", the short side direction of the support plate 11 will be referred to as the "front-rear direction H2", and one end of the lateral direction H1 will simply be referred to as the "left side". The opposite side is simply referred to as the "right side", one end side in the front-rear direction H2 is simply referred to as the "front side", and the opposite side is simply referred to as the "rear side".

A first support base 13 and a second support base 14 are fixed side by side in the front-rear direction on the upper surface of the support board 11 on the left side of the center in the horizontal direction H1. The second support base 14 on the rear side is higher than the first support base 13 on the front side. die holder 21 is fixed.

The die holder 21 has a rectangular parallelepiped outer shape, and holds therein the die 22 with a guide shown in FIG. Guided die 22 consists of die 23 and guide sleeve 24 . The die 23 has a structure in which a cylindrical portion 23B is erected from the center of the upper surface of a base portion 23A having a rectangular planar shape. The lower end of the cylindrical portion 23B is provided with a large-diameter portion 23C whose diameter is increased stepwise. Also, the center hole 23H of the cylindrical portion 23B extends to the lower surface of the base portion 23A.

As shown in FIG. 4(A), the guide sleeve 24 is a rectangular prism having the same planar shape as that of the base portion 23A. As shown, a boss 24B concentric with the central hole 24A protrudes from the upper surface in a stepped manner. A large-diameter portion 24C having a stepped shape is provided at the lower end of the central hole 24A, and a height-adjusting protrusion 24G is provided on the lower surface of the guide sleeve 24.

Then, the cylindrical portion 23B of the die 23 is inserted into the central hole 24A of the guide sleeve 24, and the large-diameter portions 23C and 24C of the die 23 are aligned by fitting and abutting each other. A receiving space 22W is formed. The guide sleeve 24 is vertically positioned with respect to the die 23 by the contact between the height adjusting projection 24G and the base portion 23A, and the die 23 and the upper surface of the guide sleeve 24 are arranged flush with each other. there is The height adjustment protrusion 24G is ground as necessary to adjust the height of the guide sleeve 24 with respect to the die 23. As shown in FIG.

The guide-equipped die 22 is fitted into a receiving hole 21Z having a rectangular cross section formed in the die holder 21 to prevent rotation, and a boss 24B of the guide-equipped die 22 is fitted in a through hole 21K passing through the upper surface wall 21W of the die holder 21. The upper surface of the die holder 21 and the upper surface of the die 22 with the guide are arranged flush with each other. The die holder 21 is formed with a discharge hole 21H extending downward from the center hole 23H of the die 23, the first support 13 is formed with a discharge hole 13H, and the support plate 11 is formed with the discharge holes 13H and 21H. It faces the recovery box through a through hole (not shown).

At a position near the upper end of the die 22 with guide, a punched hole 22H extending in the front-rear direction is formed through the die 23 and the guide sleeve 24 in the radial direction. A punch guide hole 21G having a larger inner diameter than the punching hole 22H is formed on the coaxial extension line of the punching hole 22H in the die holder 21 on the front side of the die 22 with the guide, and the punch 31 is received therein.

The punch 31 is a round bar that is just fitted in the punch guide hole 21G and supported so as to be linearly movable. has a stepped shape. A base end portion of the punch 31 is held by the punch driving device 30 of the punching machine 20 .

As shown in FIG. 5, the punch drive device 30 can slide one end of a slider 33 extending in the front-rear direction H2 onto a slide support 34 fixed on the upper surface of the first support base 13 at a position forward of the die holder 21. support and prepare for The other end of the slider 33 protrudes forward from the first support base 13, and the engagement block 33G fixed to the lower surface thereof overlaps the upper surface of the upper support piece 35A that protrudes from the front surface of the first support base 13. It is Then, for example, a cam (not shown) that is rotatably supported by the upper support piece 35A and rotates eccentrically is engaged with a cam groove (not shown) formed on the lower surface of the engagement block 33G. It is rotationally driven by a servomotor 30M supported by a lower support beam 35B. As a result, the punch 31 linearly moves back and forth in the front-rear direction H2 together with the slider 33, and advances and retreats into the punching hole 22H of the die 23. As shown in FIG. Specifically, as shown in FIG. After entering the punching hole 22H, the tip surface 31S of the punch 31 reciprocates to and from the plunge position located in the center hole 23H of the die 23 (see FIG. 4A).

As shown in FIG. 2, the robot 60 has a gripping tool 70 attached to a general-purpose scalar robot main body 60H. The robot main body 60H is connected to a fixed base 61 fixed to the upper surface of the second support table 14, and is connected to the fixed base 61 and extends horizontally from the connecting portion. A first arm 62 that is rotationally driven, and a second arm 63 that is connected to the distal end of the first arm 62 and extends horizontally from the connection portion and is rotationally driven about the vertical axis with respect to the first arm 62. is arranged at the lower end of a shaft portion 64 that vertically penetrates the tip portion of the second arm 63, and is linearly moved up and down with respect to the second arm 63 together with the shaft portion 64, and is rotationally driven at an arbitrary height. and an output table 65 .

Hereinafter, when describing the drive unit of the robot 60, the drive shaft for rotating the first arm 62 with respect to the fixed base 61 is referred to as the "first rotation drive shaft", and the first arm 62 is referred to as the second arm 63. , the drive shaft that rotates the output table 65 with respect to the second arm 63 is referred to as the "third rotation drive shaft," and the output table 65 with respect to the second arm 63 is referred to as the "second rotation drive shaft." The drive shaft that vertically moves the is referred to as a "linear drive shaft".

As shown in FIG. 6, the gripping tool 70 is constructed by stacking a speed reducer 72G and a servomotor 72 on the upper surface of a general-purpose chuck 71, and is attached via a bracket 79 to an output table 65 of a robot body 60H. ing.

Specifically, the chuck 71 includes, for example, a plurality of (eg, three) gripping members 74 radially arranged around the central axis of the lower surface of a disk-shaped chuck base 71A. These gripping members 74 receive power from the servomotor 72 and equally approach and separate from the central axis of the chuck base 71A. As a result, the workpiece 90 placed in the center of the chuck 71 is gripped by the plurality of gripping members 74 and the central axis of the workpiece 90 is aligned with the central axis of the chuck 71 . Hereinafter, moving the plurality of gripping members 74 to the central axis side of the chuck base 71A is referred to as "closing the chuck 71", and moving to the opposite side is referred to as "opening the chuck 71".

The bracket 79 has a flat plate shape bent into an L shape, one piece of which is overlapped and fixed to one side surface of the servo motor 72, and the other piece of which is attached to the chuck 71 with the servo motor 72 and the speed reducer 72G interposed therebetween. are mounted facing each other from above. The other piece of the bracket 79 is superimposed on the lower surface of the output table 65 of the robot body 60H, and positioned and fixed so that the central axis of the chuck base 71A and the central axis of the output table 65 are aligned. . The central axis common to the chuck 71 and the output table 65 is the movement reference axis J3 in the claims. Further, the center axis of the die 23 described above forms a die reference axis J2 in the claims. Then, for example, the attitude of the die 23 is adjusted by an attitude adjustment mechanism (not shown) provided in the die holder 21 so that the movement reference axis J3 and the die reference axis J2 are parallel.

As shown in FIG. 5, the parts feeder 40 is arranged on the right side of the hole punching machine 20 and has a belt conveyor 41 extending horizontally in the horizontal direction H1 to convey a plurality of works 90 to the hole punching machine 20. . The belt conveyor 41 has a pair of side bars 41B on both sides in the width direction (front-rear direction H2), and a belt 41A is stretched so as to cover a plurality of rollers (not shown) extending between them. . One end of the pair of side bars 41B of the belt conveyor 41 is fixed to the upper surface of the first support base 13, and a plurality of positions in the longitudinal direction of the pair of side bars 41B are attached to a plurality of support stands 41C. Supported. The plurality of support stands 41C are erected from the support plate 11 or an extension plate 11E projecting laterally from the support plate 11. As shown in FIG.

A pair of guide rails 42 are provided above the belt 41A. The pair of guide rails 42 are in the form of strips extending in the horizontal direction H1, supported at a plurality of positions in the longitudinal direction by a plurality of support brackets 45, and spaced approximately the same as the outer diameter of the workpiece 90 in the front-rear direction. They are facing each other at H2. A plurality of works 90 conveyed in an upright state on the belt 41A move in a work movement region R1 between a pair of guide rails 42, and are aligned in a line to the punching machine 20 side. and move.

Each support bracket 45 has a composition in which a pair of support pipes 43 extend from a pair of support blocks 44 that are fixed to a pair of side bars 41B and protrude upward from the side bars 41B so as to approach each other. A pair of guide rails 42 are fixed to the tip of the support pipe 43 . Also, the pair of guide rails 42 is lower than the workpiece 90 standing on the belt 41A.

Above the left side of the belt 41A (the end on the punching machine 20 side), there is provided a work stopper 50 corresponding to the "unprocessed work support section" in the scope of claims. The work stopper 50 is bridged between the pair of side bars 41B and arranged at a position substantially at the same height as the guide rails 42 . As shown in FIG. 7, a pair of guide rails 42 abut against the work stopper 50 from the sides, and a work positioning recess 51 is formed on the extension of the work moving region R1 of the work stopper 50. ing.

The inner surface of the work positioning recess 51 has a semicircular centering contact surface 51A with an inner diameter that is substantially the same as the outer diameter of the work 90, and a centering contact surface 51A. A pair of second guide surfaces 51B inclined with respect to the horizontal direction H1 so as to slightly separate from each other toward the opening of the work positioning recess 51, and a pair of second guide surfaces 51B to the work positioning recess 51. It is composed of a pair of first guide surfaces 51C inclined with respect to the horizontal direction H1 so as to be slightly separated from each other with a steep slope toward the opening. The center axis of the centering contact surface 51A forms the origin axis J1 of the claims, and the work 90 is pressed against the centering contact surface 51A, so that the center axis of the work 90 coincides with the origin axis J1. It is centered as The work stopper 50 is provided with a sensor 50S for detecting whether or not the work 90 is positioned within the work positioning recess 51. As shown in FIG.

As shown in FIG. 8, only the leading workpiece 90 is separated from a plurality of workpieces 90 guided by a pair of guide rails 42 and arranged in a row toward the workpiece positioning recess 51 and received in the workpiece positioning recess 51 . For this purpose, a first blocking member 52 is provided in front of the work stopper 50 on the belt conveyor 41, and a second blocking member 55 is provided further in front of the first blocking member 52. ing.

The first damming member 52 is attached to a slider 58S of an air actuator 58 arranged on the front side of the belt conveyor 41 and advances and retreats from the front side with respect to the work moving region R1. is attached to the slider 59S of the air actuator 59 arranged on the rear side of the , and advances and retreats from the rear side with respect to the work moving region R1. The air actuators 58 and 59 are fixed separately to the side surface of the front side bar 41B and the side surface of the rear side bar 41B.

The first damming member 52 and the second damming member 55 have the same band plate shape extending in the front-rear direction H2, and are positioned slightly above the work stopper 50 and the guide rail 42 in the work moving region R1. Advance and retreat. Further, as shown in FIG. 7, a V-shaped recessed portion 53 is formed at the center in the width direction of the tip portion of the first damming member 52 and the second damming member 55 on the work moving region R1 side. A pair of outer slopes 54A, 54B are formed on both sides of the V-shaped recess 53 so as to be folded back from a pair of inner slopes 53A, 53B of the V-shaped recess 53, and the overall shape is left-right symmetrical. The opening angle of the pair of inner slopes 53A and 53B of the V-shaped recess 53 is 90 degrees, and the intersection angle between the inner slope 53A (53B) and the adjacent outer slope 54A (54B) of the V-shaped recess 53 is also 90 degrees. It's 90 degrees.

The belt conveyor 41 is turned on and off by a switch of a power supply box 41Z (see FIG. 2) provided on the front surface thereof. continue to deliver Further, the air actuators 58 and 59 holding the first damming member 52 and the second damming member 55 are controlled as follows by a sub-controller 82 provided in the controller 80, which will be described later.

In the initial state before the drilling system 10 starts operating, for example, as shown in FIG. , one outer slope 54A of the first blocking member 52 abuts on the leading work 90 positioned in the work positioning recess 51, and the other outer slope 54B abuts on the second work 90 from the top. The outer slope 54A, the inner slopes 53A and 53B, and the outer slope 54B of the second blocking member 55 come into contact with the second, third, and fourth workpieces 90, respectively.

In this initial state, the drilling system 10 starts operating, and as shown in FIG. Based on the detection result, the first damming member 52 retreats from the work moving region R1, and the work 90 newly at the head moves into the work positioning recess 51 as shown in FIG. 9(B). to the belt conveyor 41. During that time, the new second and subsequent works 90 are dammed by the second damming member 55 .

Then, when the sensor 50S detects that the new leading work 90 has been received in the work positioning recess 51, the first blocking member 52 moves to the work movement region R1 as shown in FIG. 9(C). , one of the outer slopes 54A is pressed against the work 90 in the work positioning recess 51, and then the second blocking member 55 retreats. Then, a new second workpiece 90 advances by the belt conveyor 41 and comes into contact with the outer slope 54B of the first blocking member 52 . Substantially simultaneously with or after that, the second damming member 55 advances and returns to the initial state. By repeating this operation, the leading work 90 among the plurality of works 90 arranged in a row is separated from the succeeding work 90 and received in the work positioning recess 51 as described above.

As shown in FIG. 5, behind the parts feeder 40, a chute 12 is provided for collecting the processed workpieces 90. As shown in FIG. The chute 12 is formed by bending a sheet metal into a rectangular groove structure, extends obliquely in the horizontal direction H1, and is higher on the first support base 13 side. The lower end of the chute 12 faces a work storage box (not shown) through an opening formed in the support plate 11 at the other end from obliquely above.

FIG. 10 shows the control section 80 of the drilling system 10. As shown in FIG. The control unit 80 includes a main control unit 81 for controlling servo motors of the robot body 60H, the gripping tool 70, and the hole punching machine 20, and an air supply circuit for supplying compressed air to the air actuators 58 and 59. and a sub-controller 82 that controls the valve that is connected to the valve. Further, the detection signal of the sensor 50S is taken into the main control section 81 and the sub-control section 82 .

The memory 83 of the main control unit 81 stores a basic operation program that causes the drilling system 10 to repeatedly perform the following operations. The basic operation program is created by general teaching. That is, the robot 60 is manually moved, and commands to be executed by the robot 60 are written while storing the position data of each servomotor at a plurality of positions (teaching points) including the first to thirteenth positions described below. A basic operation program is created by the teaching work. By playing back (teaching playback) the basic operation program, the drilling system 10 operates as follows.

When the basic operation program is executed, the robot 60 opens the chuck 71, places it above the work stopper 50, and positions it at the first position where the movement reference axis J3 and the origin axis J1 are aligned. When the sensor 50S detects that the work 90 is present in the work positioning recess 51, the robot 60 operates only the linear drive shaft to lower the chuck 71 from the first position to the second position. A workpiece 90 in the workpiece positioning recess 51 is received in the central portion of the chuck 71 . After closing the chuck 71 and gripping the work 90, the work 90 is returned to the above-described first position. Note that the first position and the second position correspond to the "first centering position" in the claims.

From there, the robot 60 operates the first rotary drive shaft and the second rotary drive shaft to move the workpiece 90 to the third position where the movement reference axis J3 and the die reference axis J2 are aligned. At this time, in the punching machine 20 , the punch 31 is arranged at a retracted position out of the punching hole 22</b>H of the die 23 . Then, the robot 60 operates only the linear drive shaft to lower the chuck 71 from the third position to the fourth position, fitting the workpiece 90 to the outside of the die 23 .

Then, the punch 31 moves to the plunge position where it plunges into the punching hole 22H of the die 23, and then returns to the retracted position. As a result, the through hole 92 is punched in the workpiece 90 held by the holding tool 70 . Then, the robot 60 moves the workpiece 90 together with the chuck 71 by 360/n [DEG] (n is the number of through holes 92 formed in the workpiece 90) from the fourth position by operating only the third rotary drive shaft. 5th position. Then, the punch 31 reciprocates again between the plunge position and the retracted position, and the through hole 92 is punched in the workpiece 90 .

After repeating such a punching operation n times (for example, nine times), the robot 60 operates the linear drive shaft to return the chuck 71 to the aforementioned third position, and the first rotary drive shaft and the second rotary drive shaft. When the shaft is operated and the chuck 71 is moved to the thirteenth position above the upper end of the chute 12 , the chuck 71 is opened and the workpiece 90 is discharged to the chute 12 . Then, the chuck 71 returns to the first position. The above operation is repeated by playback of the basic operation program. The third to twelfth positions correspond to the "second centering position" in the claims.

The above is the description of the configuration of the drilling system 10 of the present embodiment. According to the hole punching system 10 of the present embodiment and the hole punching method using the same, the robot 60 punches the work 90 with the punch 31 to punch the through hole 92 while the robot 60 is holding the work 90 . 60 rotates the work 90, and the punch 31 again punches through holes 92 in the work 90, and the through holes 92 are machined at a plurality of positions in the circumferential direction of the work 90. Variation is suppressed than before. Further, since the same die 23 and punch 31 are used to punch the through holes 92 at a plurality of positions in the circumferential direction of the workpiece 90, the die 23 and the punch 31 are provided for each of the through holes 92 at different positions in the circumferential direction. Effective use of the die 23 and the punch 31 is achieved as compared with the conventional one.

Further, in this embodiment, since the die 23 has a cylindrical shape, the workpiece 90 is supported both inside and outside by the gripping tool 70 and the die 23 during drilling, thereby improving the machining accuracy. The workpiece stopper 50 supports the workpiece 90 by centering it on the origin axis J1 parallel to the die reference axis J2, and the robot 60 moves the gripping tool 70 to a position where the movement reference axis J3 coincides with the origin axis J1. , the movement reference axis J3 can be controlled to a position where it coincides with the die reference axis J2, and can be moved in the axial direction of the movement reference axis J3 at those positions. , the work 90 can be smoothly fitted to the outside of the die 23, and the position of the through hole 92 punched in the work 90 is stabilized.

In this embodiment, the parts feeder 40 is provided with a pair of guide rails 42 so that a plurality of works 90 can be arranged in a line and smoothly supplied to the work stopper 50, thereby increasing production efficiency. In addition, by the first damming member 52 , the leading work 90 among the plurality of works 90 conveyed in a row is separated from the second and subsequent works 90 and supported by the work stopper 50 . When the workpiece 90 is gripped by the gripping tool 70, the range of non-interference between the gripping tool 70 and the second and subsequent workpieces 90 is widened, and the degree of freedom in the shape and movement path of the gripping tool 70 is increased. Furthermore, since one outer slope 54A of the first blocking member 52 is pressed against the side surface of the work 90 of the work stopper 50, the accuracy of centering the work 90 by the work stopper 50 can be increased.

[Second embodiment]
FIG. 11 shows a workpiece 90V which is a different machining target from that of the first embodiment. This work 90V has through holes 92 that divide the circumferential direction into a plurality of equal parts (for example, 9 equal parts) at a plurality of positions on a cylindrical wall 91, and is different from the first embodiment only in the drilling method. In this embodiment, as in the first embodiment, the robot 60 lowers the chuck 71 from the third position to the fourth position to fit the workpiece 90 to the outer side of the die 23, and the punch 31 attaches to the workpiece 90V. After the through hole 92 is punched, the robot 60 operates only the linear drive shaft to linearly move the gripping tool 70, change the fitting depth of the work 90V with the die 23, and punch the work 90V again with the punch 31. A through hole 92 is punched out at 90V. When this operation is repeated to punch through holes 92 in the same column, the robot 60 operates the third rotary drive shaft to rotate the workpiece 90V together with the chuck 71, and then operates the linear drive shaft to rotate the workpiece 90V. Drop 90V. After repeating such a punching operation, the workpiece 90 is discharged to the chute 12 in the same manner as in the first embodiment. This drilling method also provides the same effects as the first embodiment.

The method of punching the workpiece 90V is not limited to the method described above. For example, after punching all the through holes 92 in the uppermost stage of the workpiece 90V, the punching process is performed to punch the through holes 92 in the middle stage. There may be. Also in this case, the same effect can be obtained.

[Other embodiments]
(1) In the above embodiment, the scalar type robot 60 is used as the "tool moving mechanism" in the claims. A device rotatably provided in the If a general-purpose scalar robot 60 is used, costs can be reduced.

(2) In the above embodiment, the work 90 is supplied to the work positioning recess 51 of the work stopper 50, and the robot 60 grips the work 90 in the work positioning recess 51. The unprocessed workpieces 90 are accommodated in a spaced state, and the positions of gripping the workpieces 90 on the robot 60 side are sequentially changed to grip the workpieces 90 in the container in a predetermined order. good too.

(3) In the above embodiment, the die 23 has a cylindrical shape, but it may have, for example, a crescent shape or fan shape in cross section.

(4) In the above-described embodiment, the workpiece 90 is rotated while being fitted to the die 23. However, after the workpiece 90 is temporarily removed from the die 23 and rotated in the air, it is fitted to the die 23 again. It may be configured to be stamped.

(5) Although the first damming member 52 and the second damming member 55 are provided in the above-described embodiment, the configuration may be such that they are not provided.

(6) In the above embodiment, the first damming member 52 has a strip shape, and the first damming member 52 abuts on both the second workpiece 90 from the top and the workpiece 90 supported by the workpiece stopper 50. However, for example, as shown in FIG. 12A, the first damming member 52 is rod-shaped and arranged with a gap from the workpiece 90 supported by the workpiece stopper 50. It may be configured such that it contacts only the second workpiece 90 from the top.

Further, the first damming member 52 of the above-described embodiment has the V-shaped groove 53 at the center in the width direction and has the inclined contact surfaces 54A and 54B at both corners. As shown in B), the groove portion 53 may not be provided, and the tapered shape extending so as to intersect the inclined contact surfaces 54A and 54B may be employed.

(7) In the above embodiment, the workpiece positioning recess 51 of the workpiece stopper 50 is U-shaped. may be

10 drilling system 20 drilling machine 23 die 31 punch 40 parts feeder 50 work stopper 51 work positioning recess 51A centering contact surface 52 first blocking member 55 second blocking member 60 robot 70 gripping tool 90, 90V Work J1 Origin axis J2 Die reference axis J3 Movement reference axis

Claims (6)

A hole punching system for punching through holes at a plurality of positions in the circumferential direction of a cylindrical work,
A cylindrical or columnar die with a base end fixed and to which the work is fitted from the tip side to the outside;
a punch that advances and retreats with respect to a punching hole that opens in the side surface of the die;
an unprocessed work support for supporting an unprocessed work and centering the work so that the center axis of the work is aligned with an origin axis parallel to the die reference axis, which is the center axis of the die;
A plurality of gripping members are provided around a movement reference axis, the plurality of gripping members are pressed against the side surface of the work to grip the work, and centering is performed so that the central axis of the work coincides with the movement reference axis. a grasping tool for
Positioning of the gripping tool is controllable between a first centered position where the movement reference axis coincides with the origin axis and a second centered position where the movement reference axis coincides with the die reference axis, and a tool moving mechanism capable of moving in the axial direction of the movement reference axis at the first centered position and the second centered position and capable of rotating about the movement reference axis;
The workpiece of the unprocessed workpiece support portion is gripped by the gripping tool and moved to a position where the workpiece is fitted to the die, and while the workpiece is gripped by the gripping tool, the through hole is formed in the workpiece by the punch. After punching, the workpiece is rotated about the movement reference axis together with the gripping tool, and a rotary punching operation is performed to punch the through hole in the workpiece again by the punch, thereby penetrating the workpiece at a plurality of positions in the circumferential direction. A punching system that punches holes. The die reference axis, the origin axis and the movement reference axis are arranged in parallel with the vertical direction,
a robot in which the grasping tool is assembled to a scalar robot main body as the tool moving mechanism;
The robot main body includes a first arm rotatably supported at its base end by a fixed base and driven to rotate about a vertical axis, and a base end rotatably supported by the distal end of the first arm. a second arm that is rotatably driven about a vertical axis and has a distal end portion penetrated by the movement reference axis; a downward output table that is rotatably driven and slidably driven in the axial direction of the movement reference axis;
2. The gripping tool according to claim 1, wherein the gripping tool is a chuck with a driving source having the plurality of gripping members arranged radially on the bottom surface and a driving source on the top surface, and is fixed to the bottom surface of the output table. Drilling system. The die reference axis, the origin axis and the movement reference axis are arranged in parallel with the vertical direction,
A pair of guide rails extending parallel to the belt conveyor is provided above the belt conveyor, and a plurality of the works are arranged in a row in an upright state between the pair of guide rails and directed toward the unprocessed work support part. a workpiece transfer device that can be transferred by
3. A centering abutment surface provided on said unmachined work supporting portion, and abutting on a side surface of a work conveyed by said work conveying device for centering said work on said origin axis. The drilling system according to . It is provided in the front position of the unprocessed work support part in the work conveying device, advances and retreats to the work movement area on the belt conveyor, dams the second work from the top, and moves the top work to the second work. A first damming member that moves away from the workpiece and moves to the unprocessed workpiece support,
When the leading work is removed from the unprocessed work supporting portion and the second work becomes a new leading work, the first blocking member retreats to allow the new leading work to pass through. 4. The drilling system according to claim 3, wherein the drilling system advances from and dams a new second workpiece. The first damming member has an inclined contact surface that is inclined with respect to the advancing/retreating direction, and presses the inclined contact surface against the work supported by the unprocessed work support portion to move the work to the unprocessed work. 5. The drilling system according to claim 4, wherein the work supporting portion is pressed against the centering contact surface. Provided in the work conveying device at a position closer to the first damming member than the first damming member, advances and retreats into the work movement area, and when the second work from the top is dammed by the first damming member A second damming member that dams the third workpiece from the top,
After the second work becomes the new leading work and the first blocking member retreats once and advances, the second blocking member retreats and allows the new second work to pass through. 6. The perforating system according to claim 4 or 5, wherein said second damming member advances to dam new third and subsequent works.

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