JPH0549424B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a cutting device for cutting such as drilling.

Conventional technology and its problems As a robot for this type of cutting process, for example, as shown in FIG. 6, there is a robot having a structure in which a quill-feed type drilling unit 10 is arranged on an arm 1 of an articulated industrial robot. Are known.

However, since the conventional cutting robots mentioned above are basically configured as general-purpose industrial robots, the drilling unit 10 has been designed to reduce the load on the robot itself.
The weight and therefore the cutting capacity is limited. Moreover,
Since the processing position by the drilling unit 10 is far from the fulcrum of the robot, the rigidity is not sufficient. Therefore, conventional cutting robots are only intended for light-load cutting, and heavy cutting is difficult.

On the other hand, as a quill-feed type drilling unit incorporated into a transfer machine or the like, there is a structure shown in FIG. 7, for example.

As shown in the figure, a quill 102 that is movable in the axial direction is disposed inside a case 101, and the quill 102 has a drill 103 at its tip.
A spindle 104 with . An auxiliary spindle 10 is provided at the rear end of the spindle 104.
5, and these spindles 104 and auxiliary spindles 105 are spline-coupled at a spline portion 104a. Therefore, although the spindle 104 and the auxiliary spindle 105 rotate as a unit, they can move relative to each other in the axial direction.

That is, the pulley 1 is attached to the auxiliary spindle 105.
The output of the motor 109 is transmitted through the V-belt 108 and the auxiliary spindle 105 and the spindle 104, thereby causing the auxiliary spindle 105 and the spindle 104 to rotate together.

The case 101 also includes a spindle 104.
A feed screw 110 such as a ball screw shaft is disposed parallel to the feed screw 110 , and the feed screw 110 is rotationally driven by a motor 112 via a coupling ring 111 . side bracket 11
It is fixed at 4. Therefore, the feed screw 11
The quill 102 is fed by the zero rotation, and the quill 102 moves forward or backward together with the spindle 104.

However, in the structure of such a conventional quill feed type drilling unit, the quill 1
Motor 112 for giving axial feed to 02
Since the axis of the spindle 104 is normally set to be parallel to the axis of the spindle 104, the motor 109 for driving the spindle rotation and the motor 112 for feeding the quill must be installed parallel to each other.

As a result, this poses a particular problem when attempting to manufacture a so-called cutting robot for diagonal hole machining, etc., in which the drilling unit itself is configured to be able to rotate around an axis perpendicular to the spindle 104 and the axis. .

For example, in FIG. 7, when the entire drilling unit is rotated around the horizontal axis O ₂ in the direction perpendicular to the spindle 104, the axis O ₂ and the axes of the motors 109 and 112 naturally do not coincide. As a result, the weight balance of the drilling unit in the front and rear direction around the axis O ₂ is poor.
Sufficient consideration is required when selecting the position of the axis _O2 .

Moreover, when the entire drilling unit is rotated by the swing motor about the above-mentioned axis _O2 , the weight of the two motors 109 and 112 directly becomes the weight load of the swing motor.
A swing motor with large capacity is required to swing the entire drilling unit.

In addition, as mentioned above, the two motors 109 and 11
2 in parallel, the space occupied in the vertical direction at the rear end of the drilling unit becomes larger. Therefore, the drilling unit can be rotated around the axis _O2 , or the drilling unit can be rotated vertically. When the drilling unit is moved in this direction, the range of movement of the drilling unit is significantly restricted, which is undesirable.

The present invention has been made in view of the above-mentioned problems, and it makes it possible to cope with heavy cutting, alleviates the restrictions on the movable range of the quill-feed spindle unit due to the motor layout, and reduces the overall weight of the spindle unit. The object of the present invention is to provide a cutting device that is well-balanced and thereby reduces the load on the motor that rotates the spindle unit.

Means for Solving the Problems The cutting device of the present invention includes a quill in which a rotationally driven spindle is concentrically inserted, and a substantially cylindrical case that slidably guides and supports the quill. a quill-feed type spindle unit that feeds the quill in its axial direction; The carrier is provided with a carrier that is rotatably supported at two positions on both sides thereof, a column that supports the carrier so as to be movable up and down, and a slide drive means that feeds the carrier in the up and down direction.

A motor for rotationally driving the spindle is disposed at the rear end of the quill-feed spindle unit on the same line as the spindle, and one of both sides of the carrier feeds the quill. motor,
On the other hand, the motors for rotating the quill-feed spindle unit are arranged so as to face each other on the center of rotation of the quill-feed spindle unit.

Function According to this structure, the cutting device has a total of three axes of freedom, including the feeding direction of the quill, one axis of rotation, two axes of linear movement, and it is possible to perform diagonal hole machining while maintaining the same degree of freedom as before. It can perform heavy cutting processes including

The only motor directly attached to the quill-feed type spindle unit is the motor for driving the spindle rotation at the rear end of the spindle unit, and the other two motors are arranged oppositely on the carrier side over the center of rotation of the spindle unit. Therefore, the shape of the spindle unit is simplified and the overall weight balance is improved. Moreover, by arranging the two motors facing each other on the center of rotation of the spindle unit as described above, at least the weight of the motor that feeds the quill becomes a weight load on the motor that rotates the spindle unit. do not have.

Embodiment FIGS. 1 to 3 are diagrams showing a more specific embodiment of the present invention, and show an example of a cutting device intended for drilling.

As shown in FIGS. 1 to 3, a slide base 22 is mounted on a base 21 equipped with a pair of guide rails 20, and a column 23 is integrally erected on the slide base 22. There is.
The slide base 22 is given horizontal feed by a servo motor 24, and slides in the Y direction together with the column 23.

The column 23 has a pair of guide rails 25, and a carrier 26 is disposed on the guide rails 25. Vertical feed is applied to the carrier 26 by a servo motor 27 and a feed screw 28, and the carrier 26 slides in the Z direction. Thereby, the servo motor 27 and the feed screw 28 function as a slide drive means for sliding the carrier 26 in the vertical direction.

A quill-feed type spindle unit, that is, a drilling unit 29 is mounted on the carrier 26, and this drilling unit 29 can be rotated in the θ direction with the axis of the motor 51 as the rotation center by the action of the motor 51, as will be described later. can.

Therefore, by turning the drilling unit 29 by a predetermined amount in the θ direction and extending the quill 32 in the X direction, as shown in FIG. Can perform hole machining.

FIG. 5 shows details of the drilling unit 29, and corresponds to the cross section taken along the line -- in FIG.

A substantially cylindrical case 31 supports an axially movable quill 32, and a ball screw nut 34 serving as a feed nut is fixed to the rear end of the quill 32 via a bracket 33.
Further, a spindle 36 that is concentric with the quill 32 is rotatably supported within the quill 32 via a bearing 35 .

The spindle 36 has a drill 38 held by a holder 37 at its tip, and a ball spline shaft 39 is integrally formed at its rear end.

A ball screw shaft 40 as a feed screw is provided in the case 31 and is parallel to the spindle 36 . The ball screw shaft 40 is rotatably supported by a bearing 41, while
It is screwed into a ball screw nut 34. A bevel gear 42 is fixed to one end of the ball screw shaft 40, while an input shaft of a rotary encoder 43 is connected to the other end. This rotary encoder 43 is the quill 3
Detect the feed amount of 2. 44 is a stopper that determines the stroke end of the quill 32.

An auxiliary spindle 45 is disposed concentrically at the rear end of the spindle 36. The auxiliary spindle 45 is rotatably supported by a bearing 46, and a ball spline bush 47 is integrally attached to the tip. and,
A ball spline bush 47 is spline connected to the ball spline shaft 39.

A servo motor 48 for rotationally driving the spindle 36 is attached to the rear end of the case 31. This motor 48 is located on the same axis as the spindle 36, and its output shaft 49 is integrally connected to the rear end of the auxiliary spindle 45 via a shuppan ring.

In other words, the motor 48 rotates the spindle 36 via the auxiliary spindle 45, the ball spline bush 47, and the ball spline shaft 39.

On both sides of the front end of the case 31 are a servo motor 50 for feeding the quill 32 in the axial direction (X direction in Figure 4), and a servo motor 50 for rotating the entire drilling unit 29 in the θ direction (Figure 4). The servo motors 51 are arranged so as to face each other. These two motors 50 and 51 are both located on a horizontal axis Q in a direction orthogonal to the spindle 36.

One motor 50 is fixed to a housing 52, and the housing 52 is fixed to the carrier 26. Further, an output shaft 53 of the motor 50 is connected to an intermediate shaft 55 via a coupling 54. A bevel gear 56 is attached to the intermediate shaft 55, and this bevel gear 56 meshes with the bevel gear 42 on the ball screw shaft 40 side. Therefore, the action of motor 50 provides axial feed to quill 32 via ball screw shaft 40 and ball screw nut 34.

Note that the connection between the output shaft 53 and the coupling ring 54,
Both the coupling ring 54 and the intermediate shaft 55 are connected by a coupling ring.

Inside the housing 52 is a brake unit 57.
A rotating shaft 58 is arranged concentrically with the output shaft 53. The pivot shaft 58 is fixed to the case 31,
It is rotatably supported by the carrier 26 via a bearing 59. Also, the brake unit 5
7 itself is fixed to the carrier 26, the brake disc 60 is fixed to a collar 61, and the collar 61 is further connected to the pivot shaft 58 by a shuppan ring.

The other motor 51 is fixed to a housing 62, and the housing 62 is fixed to the carrier 26. Inside the housing 62, a speed reduction mechanism (commercially available product name: Harmonic Drive) 63 and a pivot shaft 64 are arranged concentrically.

The pivot shaft 64 is fixed to the case 31 similarly to the pivot shaft 58 described above, and is rotatably supported by the carrier 26 via a bearing 65. Therefore, the drilling unit 29 rotates around the horizontal rotation axes 58 and 64 in a direction perpendicular to the axis of the spindle 36, and connects the carrier 26 to two locations on both sides of the quill 32 in the case 31. It is rotatably supported on both ends.

The speed reduction mechanism 63 includes a generator 66 having a ball bearing arranged around the outer periphery of an elliptical cam, an elastically deformable cup-shaped ring gear 67 having a spline formed on the outer periphery, and a spline meshing with the ring gear 67 formed on the inner periphery. and a ring gear 68.

The generator 66 is connected to the output shaft 69 of the motor 51, the ring gear 67 is fixed to the pivot shaft 64, and the ring gear 68 is fixed to the housing 62. Further, the number of teeth of the ring gear 68 is set to be two more than that of the ring gear 67, for example. Therefore, when the generator 66 rotates once due to the action of the motor 51, the ring gear 67 and thus the drilling unit 29 rotate in the θ direction by the difference in the number of teeth. The turning center at this time is the turning axis 5 on the axis Q.
It is 8.64.

Here, the two motors 50 and 51 are both so-called brake motors that have a built-in brake separate from the brake unit 57, and the motor 51 is equipped with a rotary encoder 70 as a displacement detector. There is.

The cutting device configured in this way operates as follows.

For example, assuming that the drilling unit 29 is in a horizontal position as shown in FIG. 1, the motor 48 is activated to rotate the spindle 36 equipped with the drill 38 via the auxiliary spindle 45 and the ball spline bush 47.

Similarly, by starting the motor 50, the bevel gear 5
Ball screw shaft 40 via 6, 42
rotates. The rotational displacement of the ball screw shaft 40 is converted into a sliding displacement of the quill 32 by the screw engagement with the ball screw nut 34, and the quill 32 moves forward (or backward) in the axial direction together with the spindle 36. At this time, the spline connection between the ball spline shaft portion 39 and the ball spline bush 47 allows the spindle 36 to move in the axial direction.

As shown in FIGS. 1 to 3, the movement of the slide table 22 in the Y direction and the movement of the carrier 26
By positioning the drilling unit 29 using the Z-direction movement and applying cutting feed to the quill 32, it becomes possible to machine a horizontal hole at any position.

Furthermore, by starting the motor 51, the deceleration mechanism 63
In response to the output, the drilling unit 29 pivots in the θ direction in FIG. 1 about the pivot shafts 58 and 64. When the drilling unit 29 turns by a preset amount, the brake unit 57
is actuated to lock the drilling unit 29 in its pivot position.

Therefore, by applying cutting feed in the axial direction to the quill 32 in this state, it becomes possible to process an oblique hole as shown in FIG. 4.

Here, the feed amount of the quill 32 is detected by a rotary encoder 43 provided at the rear end of the ball screw shaft 40, but the mounting position of the rotary encoder 43 must be on the axis parallel to the spindle 36. be done.

For example, the rotary encoder 43 is connected to the motor 5.
Although it is possible to detect the feeding amount of the quill 32 even if the quill 32 is provided on the zero axis, in that case, if the drilling unit 29 is tilted as shown in FIG.
This is because a detection error occurs compared to the case where 9 is horizontal, and it is necessary to perform some kind of correction.

As described above, according to this embodiment, the spindle 36
On a horizontal axis Q perpendicular to the axis of It is made to match. Therefore, the weight balance of the unit as a whole is good, and the quill 32
The weight of the motor 50 for giving feed to the motor 51 for turning the drilling unit 29
Since this does not result in a heavy load, the load on the motor 51 for rotating the drilling unit can be reduced.

Further, since the motor 48 for driving the spindle rotation is located on the same axis as the spindle 36, the structure of the rear end of the drilling unit is simple, and the restrictions on the turning space of the drilling unit 29 are alleviated.

Effects of the Invention As described above, according to the present invention, when supporting a quill-feed type spindle unit, the quill feed type spindle unit is rotated about a horizontal axis perpendicular to the axis of the spindle. The carrier is rotatably supported at two places on both sides of the robot, and the carrier is supported by a column so that it can move up and down. Compared to the structure, the support rigidity of the spindle unit is improved, and the limitations on the cutting ability of the quill-feed spindle unit can be alleviated, and it can also fully handle heavy cutting, which was previously considered difficult.

Further, at the rear end of the quill-feed spindle unit, a motor for rotating the spindle is arranged on the same axis as the spindle, and a motor for feeding the quill is arranged on either side of the carrier. On the other hand, the motors for rotating the quill-feed type spindle unit are arranged so as to face each other on the center of rotation of the quill-feed type spindle unit, so that although it is a quill-feed type spindle unit, it is attached to the spindle unit side. By using only one motor, the spindle unit can be made smaller and lighter, improving the overall weight balance of the spindle unit. On the other hand, the weight of the motor for feeding the quill is greater than the weight of the motor for turning the spindle unit. Since there is no weight load, the load on the motor for turning the spindle unit can be significantly reduced and the motor can be made smaller.

Furthermore, as mentioned above, the motor for driving the spindle rotation is located on the same axis as the spindle at the rear end of the spindle unit, which simplifies the structure of the rear end of the spindle unit and occupies less space. Therefore, when the spindle unit is rotated or moved in the vertical direction, it is less likely to interfere with other structures, which has the effect of easing restrictions on the range of movement of the spindle unit and ensuring a wide range of movement.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing one embodiment of the present invention, and FIG.
The figure is a left side view of Fig. 1, Fig. 3 is a plan view of Fig. 2, Fig. 4 is an explanatory diagram of the operation of Fig. 1, and Fig. 5 is a sectional view of the drilling unit, taken along the - line in Fig. 1. The corresponding figures, FIG. 6, are a perspective view of a conventional robot intended for cutting, and FIG. 7 is a cross-sectional view showing an example of a conventional quill-feed type drilling unit. 22...Slide base, 23...Column, 24...
Servo motor, 26...Carrier, 27...Servo motor as slide drive means, 28...Feed screw as slide drive means, 29...Drilling unit as quill feed spindle unit, 31...Case, 32...Quill, 36...Spindle, 38...Drill, 40...Ball screw shaft, 48...Servo motor, 50...Servo motor, 51...Servo motor, 58, 64...Swivel axis.

Claims (1)

[Scope of Claims] 1. A rotationally driven spindle has a quill inserted concentrically and a substantially cylindrical case that slidably guides and supports the quill, a quill-feed type spindle unit that provides a feed rate of 1,000 yen, and a quill-feed type spindle unit that rotates at two places on both sides of the quill in the case of the quill-feed type spindle unit, with the quill feed type spindle unit as a rotation center about a horizontal axis in a direction perpendicular to the axis of the spindle. The quill-feed type spindle unit includes a carrier that can be supported on both sides, a column that supports the carrier so that it can move vertically, and a slide drive means that feeds the carrier in the vertical direction. , a motor for rotationally driving the spindle is disposed on the same axis as the spindle, a motor for feeding the quill is provided on one of both sides of the carrier, and the quill feed type spindle unit is provided on the other side. A cutting device characterized in that motors for making a turning motion are arranged so as to face each other on the turning center of the quill-feed spindle unit.