JPH04130108U - punching device - Google Patents

Abstract

(57) [Summary] [Purpose] Attaches to the tip of an industrial robot arm and performs drilling with high countersunk accuracy. [Structure] A frame 5 is attached to the tip of an arm 3 of an industrial robot via an axially deformable damper 4 and an extendable cylinder 6. A rotary motor 7 and a drill feed motor 8 are attached to the frame 5, and the drill feed motor 8
A sleeve 11 containing a spring 14 is inserted into the shaft end of the sleeve 11. A combination drill 12 is installed so as to be guided and held in the inner diameter portion of this sleeve 11. sleeve 1
1, and a template 18 in which a plurality of set holes 19 for receiving the tips of the nose pieces 15 are formed is fixed to the surface of the workpiece 16 where drilling is to be performed.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

The present invention relates to a drilling device, especially one that is attached to the tip of an industrial robot arm and has a high The present invention relates to a punching device used in automatic feed machining that requires high countersinking accuracy.

0002

[Conventional technology]

Generally, large workpieces such as structural parts of aircraft etc. are processed in large numbers over a wide range. Mounting holes are drilled. At this time, securely secure the workpiece to the pallet using clamps, etc. The conventional method is to move the drill a predetermined amount at a time and drill the hole. Also, the workpiece Objects have complex shapes made up of three-dimensional curved surfaces, so the surfaces must have high precision. It is very difficult to make holes. For this reason, we have achieved highly accurate positioning drilling. Various proposals have been made to achieve this goal. For example, the contact point between the workpiece and end mill to perform highly accurate counterboring. is detected electrically and the feed amount from the time of contact to the end of machining is determined by a pulse motor. Controlling countersinking equipment (see Japanese Patent Application Laid-Open No. 1-252311), workpiece and blade The degree of contact with the object is detected by applying electricity or increasing the current, and the feed amount is determined by a digital counter. Device for displaying and controlling (JP-A-57-15648, JP-A-57-13137 (see Publication No.) is proposed.

0003 Additionally, the drill can be fed by extending the hydraulic cylinder attached to the frame that covers the drill. The motor is advanced a predetermined distance onto the work surface, and the nose attached to this frame is By bringing the piece into close contact with the template set on the workpiece, A drilling device that maintains a constant distance between the drill feed motor and the drill feed motor has also been proposed. (See Utility Model Application Publication No. 1-114212).

0004

[Problem that the idea aims to solve]

However, in the above-mentioned counterbore processing equipment, the power detection unit and motor control The equipment size of the controller is large and it is difficult to attach it to the tip of the robot arm. , is not suitable for drilling large fixed workpieces. In addition, in the above-mentioned drilling device, the positional relationship between the workpiece and the drill feed motor is maintained accurately. However, the hole depth accuracy depends on the control accuracy of the feed rate of the drill feed motor alone. However, there is a problem that it is not possible to improve drilling accuracy unless this feed accuracy is sufficient. There is a problem. Therefore, the purpose of the present invention is to solve the problems of the above-mentioned conventional technology, and to A drilling device with a lightweight structure that can be controlled without depending on the feed accuracy of the drill feed motor. It is about providing.

[0005]

[Means to solve the problem]

In order to achieve the above purpose, the present invention is designed to provide an axial direction at the tip of an industrial robot arm. Attach the frame to the frame through a deformable damper and an extendable cylinder, and A drill feed motor is attached to the frame, and a biasing mechanism is attached to the shaft end of this drill feed motor. Insert the sleeve housed inside and guide and hold the sleeve inside the sleeve. Attach the drill, fit the nose piece onto the above sleeve, and then A template with multiple set holes for receiving the tip of the piece is attached to the workpiece. It is characterized by being fixed to the surface where drilling is planned.

[0006]

[Effect]

According to the present invention, an axially deformable damper is installed at the tip of an industrial robot arm. Attach the frame through the telescopic cylinder and feed the drill into this frame A motor is attached to the shaft end of the drill feed motor, and a slider with a biasing mechanism housed inside is attached. Insert the sleeve and guide and hold the drill on the inner diameter of the sleeve. Attach the nose piece through the sleeve, fit the nose piece onto the sleeve, and then A template with multiple set holes for receiving the tip of the base is used to drill the workpiece. Since it is fixed to the planned hole surface, when the cylinder is extended, the frame will move toward the workpiece. The nosepiece, which is moved and fixed to the sleeve, is received into the set hole of the template. to ensure that the drill position is guided in place relative to the workpiece, and then The drill is fed out toward the workpiece by the drive of the drill feed motor, and the drill is axially fed. The hole is started. As the hole progresses and reaches the predetermined countersunk depth, it is housed in the sleeve. The biasing force of the biasing mechanism in the opposite direction to the shaft feed direction acts on the drill drive shaft, inhibiting shaft feed. be done. At this time, the amount of axial feed extension of the drill feed motor is greater than the countersunk depth mentioned above. The extension of the drill shaft due to this shaft feed is mediated by the frame. It is absorbed by the damper. As a result, the drill tip does not move forward in the direction of the workpiece. The axial feed motor itself can move back to absorb the amount of axial feed extension.

[0007]

【Example】

An embodiment of a drilling device according to the present invention will be described below with reference to the accompanying drawings. In FIG. 1, reference numeral 1 indicates an embodiment of a punching device according to the present invention. The drilling device 1 is attached to the tip of an industrial robot arm 3 via a connecting part 2. . A disc-shaped damper 4 is attached to the side of the connecting portion 2 facing the workpiece. this The damper 4 is an oil damper filled with hydraulic oil, and is used to prevent the drilling of the drilling device 1 from occurring. When a force is applied in the axial direction due to drilling, it is smaller than the thrust of the drill of the drilling device 1. At lower values, the thickness in the axial direction decreases and deforms. Furthermore, this damper A disk-shaped frame 5 is fixed to the frame 4 . This frame 5 has multiple hydraulic systems. The cylinders 6, 6... are fixed, and the rotary motor 7 and drill feed motor 8 are It is installed coaxially and can give rotation and feed to the drill drive shaft 9. It has become so. Also, at the shaft end of the drive shaft 9 connected to the drill feed motor 8, A shaft 10 with an enlarged diameter is attached. This shaft 10 is a cylindrical slot. It is inserted into the inside of the sleeve 11 and cooperates with this sleeve 11 to form a combination. The drill holder is configured to guide and hold the extension drill 12 and constitute a drill holder. Ma In addition, a ball bearing 13 is inserted into the bore formed in the sleeve 11, and a controller is inserted into the bore. A spring 14 is loaded so as to surround the bination drill 12. Furthermore, A cylindrical nosepiece 15 is fitted to the tip of the rib 11. This no A neck-shaped fitting portion 15a is formed at the tip of the piece 15. On the other hand, a clamp (not shown) is placed in a state where a plurality of workpieces 16, 16... are stacked. It is fixed on the pallet 17 by. The surface of this workpiece 16 to be drilled is A template 18 is attached. This template 18 has a plurality of set holes 1. 9 is bored, and the fitting part 15a of the nose piece 15 is received in this set hole 19. It is now possible to guide the combination drill 12 that is sent into the machine to a predetermined position. ing. Note that the outer peripheral edge of the tip of the fitting portion 15a and the inner peripheral edge of the set hole 19 are not fitted together. Chamfering is done to make it easier.

[0008] Next, the operation of the embodiment according to the present invention will be explained with reference to FIGS. 1 and 2. First, operate arm 3 of the industrial robot using a teaching box, etc. (not shown). Then, set the punching device 1 at the teaching position of the robot. Figure 1 shows the drilling device 1 The robot arm is shown set at the predetermined teaching position. The joints linked to 3 are locked in this state. In this state, the hydraulic cylinders 6, 6... is driven to extend the rod 6a, and the fitting part 15a at the tip of the nosepiece 15 is moved to a tension position. Fit into the set hole 19 of the plate 18. As a result, the tip of the punching device 1 is subjected to stress. It is accurately guided to the drilling position of the workpiece 16 and firmly fixed.

[0009] When the rotary motor 7 and the drill feed motor 8 are driven in this fixed state, the drill is driven. Rotation and shaft feed are transmitted to the shaft 9, and drilling is started. and drill feed motor When the combination drill 12 is fed to the set countersunk depth by 8, the three The combination drill 12 moves forward due to the urging force of the spring housed in the drill bit 11. thwarted. At this time, the drill feed motor 8 continues the feed operation until the set feed amount is reached. He tries to continue, but the combination drill 12 itself is prevented from moving forward. Therefore, the axial feeding force is absorbed by the damper 4, and the frame 5 adjusts the drill feeding direction. Retreat in the opposite direction. This allows the workpiece 16 to be accurately countersunk to a predetermined depth. perforated. Note that in the above embodiment, an oil damper was used as the damper, but a friction damper You can also use PA etc.

0010

[Effect of the idea]

As is clear from the above explanation, according to the present invention, the feed rate of the drill drive shaft is controlled at a predetermined value. Set it slightly higher than the feed rate, and when the drilling feed reaches the specified amount, , the drill feeding movement is suppressed by the biasing mechanism inside the sleeve of the drill holder. In addition, the excess feed amount is absorbed by the damper, allowing for highly accurate drilling and countersinking operations. This has the advantage of being able to reliably perform the following steps.

[Brief explanation of drawings]

FIG. 1 is a partially sectional front view of an embodiment of a drilling device according to the present invention.

FIG. 2 is a front view showing a state in which the drilling device shown in FIG. 1 is drilling a workpiece.

[Explanation of symbols]

1 Drilling device 3 Industrial robot arm 4 Damper 5 frames 6 Hydraulic cylinder 8 Drill feed motor 11 Sleeve 12 Combination drill 14 Spring 15 Nose piece 16 Workpiece 18 Template 19 Set hole

Claims (1)

[Scope of utility model registration request] Claim 1: A frame is attached to the tip of an industrial robot arm via an axially deformable damper and an extendable cylinder, a drill feed motor is attached to the frame, and the shaft end of the drill feed motor is attached. A sleeve housing a biasing mechanism therein is inserted into the sleeve, a drill is installed by being guided and held in the inner diameter of the sleeve, a nose piece is externally fitted onto the sleeve, and a plurality of holes are inserted into the sleeve to receive the tip of the nose piece. A drilling device characterized in that a template in which set holes are formed is fixed to a surface of a workpiece to be drilled.