JPH09104005A - Robot for precut working - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize a robot capable of performing three-dimensional curve working by freely detachably fitting a working tool to the spindle shaft of the spindle of a working head which is provided three-dimentionally freely movably on a bed. SOLUTION: A column 3 is freely movably provided through a guide rail 4, a motor and a feed screw shaft 5 in the longitudinal Y-axis direction of lumber to be worked. An arm 8 is freely movably provided through the guide rail, a Z-axis motor 10 and a feed screw shaft 9 in the vertical Z-axis direction of the column 3. A working head 13 is freely movably provided through the guide rail, an X-axis motor and a feed screw 14 in the X-axis direction on the side of the arm 8. The spindle fitting member 13b of the working head 13 is turned by an α-axis motor 18. Further, a spindle 20 provided in one end of a horizontal shaft 19 is turned and driven by γ-axis motor 21. A tool 22 is freely detachably fitted to the tip of a spindle shaft 20a driven by a spindle motor 24 through a chuck 20b. Therefore, even a complex shape having a three- dimensional curve is worked in one process with high precision and a man-hour is reduced and productivity is increased.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a precutting robot for precutting a joint or the like on wood such as pillars and beams used when constructing a wooden house by a conventional construction method (frame construction method).

[0002]

2. Description of the Related Art As a pre-cut processing machine for pre-cutting joints and the like on wood used for conventional wooden houses,
For example, JP-A-6-91606 and JP-A-6-28
The one described in Japanese Patent No. 5808 is known. The precut processing machine of the former publication has a plurality of spindles and circular saws that are arranged so as to face each other with a wood transporting table for transporting the wood between them. It is configured to cut and then pre-cut the wood mouth, ridges, and upper and lower grooves with a tool attached to the spindle, without the need for manpower to carry the wood carried in by the wood carrier. Since they can be sequentially processed, they have an effect of saving labor.

In the latter precutting machine, a multi-joint robot operated by a computer is installed between a wood supply table and a wood storage table, and the wood supplied from the wood supply table is supplied to the robot arm. After precutting one by one with the attached tool, the wood is deposited on the wood storage table in the reverse order of the assembling order. The wood of various sizes and joint shapes is automatically used by the robot. It has the effect that it can be processed.

[0004]

However, in the pre-cutting machine of the former publication, the main shaft to which the tool is attached can move in the three-dimensional directions of the longitudinal direction of the wood and the right and left and up and down directions orthogonal to this. However, for example, a notch b having a three-dimensional curve for attaching a corner tree or a valley tree to a girder a used for a roof of a house as shown in FIG. 1 cannot be processed. Since the processing of a special shape must be performed in a separate process, there are problems that the number of processes is increased and the productivity is reduced.

On the other hand, in the robot using the articulated robot of the latter publication, the tool attached to the arm of the robot can be moved along an arbitrary locus in the three-dimensional space. Although it is possible to perform trough notch machining, the joint part cannot counter the reaction force during machining because the arm has multiple joints, resulting in poor machining accuracy and difficult machining with large machining reaction force. There was a problem that it took a long time and productivity was poor. The present invention has been made in order to improve such a conventional problem, and an object of the present invention is to provide a precut processing robot capable of three-dimensional curve processing by an orthogonal robot to improve productivity. To do.

[0006]

In order to achieve the above object, the present invention provides a column movably in the Y-axis direction parallel to the longitudinal direction of wood to be processed on a bed,
An arm is provided on this column so as to be vertically movable (Z-axis direction), and this arm is provided with a horizontal direction (X-axis) orthogonal to the Y-axis.
A machining head is provided so as to be movable in the axial direction), and a spindle is provided in the machining head so as to be rotatable about the vertical axis in the α-axis direction, and the spindle is also rotatable in the γ-axis direction about the horizontal axis. A tool for precutting wood is detachably attached to the spindle shaft of the above spindle. Further, the drive motor for each axis is constituted by a servo motor controlled by the control means.

[0007]

[Effect] With the above configuration, even if the joint has a complicated three-dimensional curve for attaching a corner tree or a valley tree,
In addition to the movement in the axis, Y-axis and Z-axis directions,
By controlling the turning in the axial and γ-axis directions, it is possible to accurately process the joints having these complicated shapes. In addition, since joints with complicated shapes can be processed in the same pre-cut processing line, it is not necessary to remove the joints with complicated shapes from the processing line and process them in a separate process. It is possible to improve the sex. Also, since it is an orthogonal robot, it can withstand a larger processing reaction force than an articulated robot, which enables highly accurate pre-cut processing and heavy cutting, which shortens the processing time and therefore Productivity can also be improved.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described in detail with reference to the drawings shown in FIG. 2 is a plan view of the pre-cut processing robot, FIG. 3 is the same front view, FIG. 4 is the same side view,
FIG. 5 is a perspective view of the processing head portion.

In these figures, reference numeral 1 denotes a robot body, which is the longitudinal direction (Y-axis direction) of the wood 2 to be processed on the bed 1a.
The column 3 is movably mounted on the. Column 3 above
Is supported on a pair of guide rails 4 laid on the bed 1a in the Y-axis direction, and a nut member 5a provided at the lower portion is a ball screw provided so as to be parallel to the guide rails Y. It is screwed onto the shaft feed screw shaft 5. One end of the Y-axis feed screw shaft 5 is connected to a Y-axis motor 6 composed of a servomotor attached to the end of the bed 1, and the Y-axis motor 6 rotates the Y-axis feed screw shaft 5 forward and backward. As a result, the column 3 can be moved in the Y-axis direction.

The front surface of the column 3 is vertically (Z
A pair of guide rails 7 are laid in the axial direction, and one end of an arm 8 is supported by these guide rails 7. The arm 8 is horizontally provided in the X-axis direction orthogonal to the Y-axis, and is provided on the bearing portion side of the nut member 9a.
A Z-axis feed screw shaft 9 made of a ball screw provided in parallel with the guide rail 7 is screwed in. The upper end of the Z-axis feed screw shaft 9 is connected to a Z-axis motor 10 composed of a servo motor provided on the upper part of the column 3, and the Z-axis motor 10 rotates the Z-axis feed screw shaft 9 forward and backward. The arm 8 can be moved up and down in the Z-axis direction.

On the other hand, a pair of guide rails 12 are laid on the side surface of the arm 8 in the X-axis direction, and a machining head 13 is supported on these guide rails 12. The processing head 13 includes a slide member 13a and a spindle mounting member 13b having a substantially inverted L shape, which is mounted on the lower portion of the slide member 13a so as to be rotatable in the vertical axis direction (α axis direction). An X-axis feed screw shaft 14 made of a ball screw provided parallel to the guide rail 12 is screwed into the nut member 14a provided at the bottom of the slide member 13a. One end of the X-axis feed screw 14 is connected via an endless belt 16 to an X-axis motor 15 composed of a servomotor attached to the side surface of the arm 8, and this X-axis motor 15 causes the X-axis feed screw shaft 14 to move.
By rotating the machining head 13 forward and backward,
It can be moved in the axial direction.

A vertical shaft 1 is attached to the slide member 13a.
7 is supported, the upper end of the spindle mounting member 13b is connected to the lower end of the vertical shaft 17, and the upper end of the vertical shaft 17 is an α-axis motor composed of a servomotor installed on the slide member 13a. 18 is connected, and by rotating the vertical shaft 17 forward and backward by the α-axis motor 18, the spindle mounting member 13b can be rotated in the α-axis direction.
The spindle 20 is attached to one end of the horizontal shaft 19 supported by the spindle attaching member 13b, and the other end of the horizontal shaft 19 is attached to the spindle attaching member 13b.
A γ-axis motor 21 composed of a servo motor is connected to the γ-axis motor 21, and the γ-axis motor 21 rotates the horizontal shaft 19 forward and backward to rotate the spindle 20 in the γ-axis direction.

The spindle 20 is a spindle shaft 20 which is rotated by a spindle motor 24 provided at the top.
A tool 22 is detachably attached to the tip of the spindle shaft 20a by a tool automatic changing device 23 via a chuck 20b. The automatic tool changer 23 is supported on an upper end of an inverted L-shaped support arm 25 which is erected from the bed 1a, and includes a plurality of tools 2.
Tool magazine 23a containing 2 and tool magazine 23
The change arm 23b is rotatably provided in the vicinity of a. The tool 22 is for pre-cutting a joint or the like on the wood mouth or the wood edge of the wood 2, for example, (a) in FIG.
The tools 22 as shown in (d) to (d) are stored in advance in the tool magazine 23a.

FIG. 6 (a) shows only the corners for processing a mortise hole, etc., FIG. 6 (b) shows only a chain for processing a mortise hole or an elongated hole, and FIG. 6 (c) shows a dovetail groove. FIG. 6D shows a router for processing various grooves and the like. Further, the change arm 23b takes out the tool 22 from the tool magazine 23a based on a command from a control means (not shown) according to a joint to be processed next, attaches it to the spindle shaft 22a, and ends the use of the spindle shaft 22a. The removed tool 22 is stored in a predetermined place of the tool magazine 23a.

Next, the operation of the precut machining robot configured as described above will be described. The above-mentioned precut processing robot is installed and used in a precut processing line or the like for continuously precutting the wood 2, but it may of course be used alone. Now, when the wood 2 is carried in and positioned and fixed by the carrying means (not shown), the axis motors 6, 10, 15, 18, 21 are rotated by a command from the control means, and the tool 22 attached to the spindle 20 is moved. The wood 2 is positioned at the beginning to be processed.

For example, when the mortise 2a is to be machined in the upper end of the wood 2 as shown in FIG. 7, the automatic tool changer 23 causes the spindle 20 to machine only the corner (see FIG. 6). ) Or a chain only (b in FIG. 6) is attached, and then the column 3 is moved to the machining position along the longitudinal direction of the wood 2 by the Y-axis motor 6, and at the same time the machining head 13 is moved by the X-axis motor 15. Is moved in the X-axis direction to above the processing section. When the spindle 20 reaches above the processing portion, the spindle motor 24 rotates the spindle shaft 20a, and the tool 22 attached to the spindle shaft 20a is used to move the mortise 2a to the upper end of the wood 2 as shown in FIG.
When pre-cutting the mortise 2a or groove 2b in the wood edge of the wood 2, the γ-axis motor 21 rotates the spindle mounting member 13b 90 ° in the γ-axis direction. It will also be possible to perform precut processing of wood edges.

By controlling the shaft motors 6, 10, 15, 18, and 21 by the control means as described above, the tool 22 attached to the spindle 20 pre-cuts joints at the wood mouth, wood end, and top end of the wood 20. In addition to being capable of being processed, when precutting is performed on the lower end (tobacco) of the wooden piece 2, the precutting processing can be performed in the same manner as described above by reversing the wooden piece 2 by a reversing means (not shown). Further, since the processing reaction force acting on the spindle 20 during the pre-cut processing is supported by the bed 1a via the arm 8 and the column 3, the position of the spindle 20 does not deviate with respect to a large processing reaction force. Since it is possible to perform high machining and heavy cutting, the machining time can be shortened and the productivity can be improved accordingly.

On the other hand, when performing three-dimensional curved processing such as a notch b for mounting a corner tree or a trough on a beam material a as shown in FIG. 1, the spindle 20 is moved in the X-axis, Y-axis and Z-axis directions. Simultaneously with the movement control, the α-axis motor 18 and the γ-axis motor 21 also rotate in the α-axis and γ-axis directions. As a result, by attaching a tool 22 such as a router to the spindle 20 in advance for machining, it becomes possible to machine a three-dimensional curve, which was difficult with the conventional orthogonal robot.
As the range of joints that can be pre-cut expands, conventionally, joints with a special shape were processed in a separate process, but since special joints can be processed on the pre-cut processing line, the number of processes can be reduced. .

[Brief description of the drawings]

[Fig.1] The corner tree notch that has been pre-cut into the corner tree and the valley tree,
It is explanatory drawing which shows a trough lack.

FIG. 2 is a plan view of a precut processing robot according to an embodiment of the present invention.

FIG. 3 is a front view of a precut processing robot according to an embodiment of the present invention.

FIG. 4 is a side view of a precut processing robot according to an embodiment of the present invention.

FIG. 5 is a perspective view of a processing head provided in a precut processing robot according to an embodiment of the present invention.

6A to 6D are explanatory views of a tool used in the precut machining robot according to the embodiment of the present invention.

FIG. 7 is an explanatory view showing a processing example by a precut processing robot according to an embodiment of the present invention.

[Explanation of symbols]

 1a ... Bed 3 ... Column 6 ... Y-axis motor 8 ... Arm 10 ... Z-axis motor 13 ... Processing head 15 ... X-axis motor 17 ... Vertical axis 18 ... α-axis motor 19 ... Horizontal axis 20 ... Spindle 20a ... Spindle axis 21 ... γ-axis motor 22 ... Tool.

Claims (2)

[Claims] 1. A column 3 is provided on a bed 1a so as to be movable in a Y-axis direction parallel to a longitudinal direction of a wood 2 to be processed,
An arm 8 is provided on the column 3 so as to be movable in the vertical direction (Z axis direction), and a processing head 13 is provided on the arm 8 so as to be movable in the horizontal direction (X axis direction) orthogonal to the Y axis. 13 is provided with a spindle 20 rotatable about the vertical axis 17 in the α-axis direction, and this spindle 20
And a tool 22 for pre-cutting the wood 2 is detachably attached to the spindle shaft 20a of the spindle 20. 2. Drive motors 6, 10, 15, 1 for each axis
The precut machining robot according to claim 1, wherein the servomotors 8 and 21 are controlled by a control means.