JPS6052233A - Machining center for electric machining - Google Patents

Abstract

PURPOSE:To improve the positioning accuracy and the machining accuracy of an electrode by providing a mechanism by means of which the angle of each joint part is fixed, in an electric machine in which a mechanical hand for holding said electrode is provided on the end of its multi-joint arm. CONSTITUTION:In an electric machine such as an electric discharge machine, etc., a mechanical hand 15 for holding an electrode 20 is provided on the main shaft at the end of a multi-joint arm 3 to 5. The replacement of electrodes in a tool magazine is carried out by the action of the multi-joint arm 3 to 5 and the hand 15, to select a required electrode. The electrode 20 is positioned in a desired position at a desired angle on a workpiece 21 by means of the multi- joint arm, and position pins are fitted in engaging holes by operating solenoids 17, 27, 28, to fix the angle of each joint. By means of this locking mechanism, the positioning accuracy and the accuracy of angle of the electrode can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a machining center for electrical machining, and particularly to a machining center for electrical machining using a robot device having a multi-joint arm.

Electrical machining equipment such as electrical discharge machining equipment, electrolytic machining equipment that processes workpieces with electrodes, and electrolytic grinding equipment that grinds workpieces using conductive grindstones, tool magazines, and electrodes etc. from the tool magazines. 2. Description of the Related Art Machining centers for electrical machining are known, which include an automatic tool changer that automatically takes out and re-stores the tool and attaches and detaches electrodes to and from the machining head, and a control device that controls them.

Also, instead of attaching the machining head to the column of the electrical processing device (a robot device with a multi-joint arm is provided, and a machining head with a mechanical hand is attached to the tip of this multi-joint arm, it becomes a mechanical hand!!
Electric processing machining centers that grip and process t% have also been developed and are being used.

In general, multi-jointed arms are arranged in Cartesian coordinates, cylindrical coordinates, mi
Compared to other mani-j breaks such as the S-type, the arm movement is the closest to the movement of a piece to a human, allowing for flexible movement, so it has the advantage of being able to work on a single workpiece from various directions. On the other hand, since it has many rotating parts, the tip of the arm has a servo machine #j that drives each arm.
There is a problem in that the error in η is accumulated and the operation accuracy is lowered.

Therefore, using a 1" pot device equipped with a processing head with a mechanical hand at the tip of a C1 multi-joint arm, the mechanical hand grips the fft pole etc. and performs machining. Is it possible for a machining center for tL machining to process C1 or multiple surfaces of a workpiece of any shape?・On the other hand, it is difficult to maintain the relative position of the electrode, etc. and the workpiece with high precision, and to move the electrode completely when changing the machining feed, resulting in accidents such as short circuits. Its occurrence was inevitable. Particularly in electrical discharge machining, the central angle of the electrode relative to the workpiece is an important factor that affects machining accuracy, but there has been a problem in that it is difficult to keep this angle error low.

The present invention has been made based on the above-mentioned viewpoints, and an object of the present invention is to connect an electrode held by a mechanical hand of a processing head provided at the tip of a multi-jointed arm and a workpiece to be processed. The purpose is to improve machining accuracy by maintaining the positional relationship, including the relative angle with the body, with high precision and allowing machining feed.

The gist of this is that a locking mechanism is installed at the joint of the Tamon Mi arm to maintain the angles between adjacent arms and between the arm and the processing head at predetermined reference values, and to fix the relative positions of the two. It is to establish.

Hereinafter, the present invention will be described in detail based on the drawings.

FIG. 1 is an explanatory view showing one embodiment of a machining center for electrical processing according to the present invention, FIG. 2 is a front view showing details of the locking mechanism, and FIG. 3 is a side view thereof.

In Figures 1, 2 and 3, 1 is the machine base, 2 is the robot device base, 3 to 5 are arms, 3a, 4a, 4a are connecting parts, 4b, 4b are locking holes, 6 is 7 is a servo motor that rotates the arm 3; 8 is a servo motor that rotates the arm 4 relative to the arm 3; 9 is a servo motor that rotates the arm 5 relative to the arm 3;
10 is a servo motor that rotates the processing hand 6; 11;
12 is a servo motor that rotates the processing head 6; 12 is a main shaft inserted into the processing head 6 so as to be slidable and rotatable; 13;
14 is a servo motor that rotates the shaft 12; 14 is a servo motor that expands and contracts the shaft 12; 15 is a mechanical hand that includes a chuck attached to the tip of the shaft 12 and an electromagnetic chuck for gripping; 16 is a rotating shaft; 17 .27.28 is a solenoid, 18 is a solenoid holder, 19 is a control bin, 20 is an electrode, 20a is an electrode holder, 21 is a workpiece,
22 is a processing tank, 23 is an electric processing device stand, 24 is a cross slide table, 25 is a tool magazine, and 26 is a control device.

The arm 3 is rotatably attached to a robot device base 2 fixed to the machine base 1, and rotates around the central axis of the arm (vertical axis in the case shown) by the drive of a servo motor attached to the base 2. I am forced to do it.

The arm 4 is rotated by a servo motor 8 provided at a joint between the arms 3 and 4 within a plane defined by the axis of the arm 3 and an axis perpendicular to the axis.

Arm 5 has a lip at the joint between arm 4 and arm 5)
Similarly to the arm 4, the servo motor 9 rotates (swings) relative to the arm 4.

The movement of the arms 3 to 5 provides three degrees of freedom, and the processing hand 6 attached to the tip of the arm 5 can take any position in a three-dimensional space within the operating range.

The processing hand 6 is rotated by a servo motor 10 with respect to the arm 5 within a plane including the axis 12, and
It is rotated in a plane perpendicular to the above-mentioned one plane by the Z-bomoke I.

The main shaft 12 is inserted through the processing hand 6, rotated by a servo motor 13 as needed, and moved in the axial direction by a servo motor 14.

The mechanical hand 15 attached to the tip of the C1 main shaft 12 can take any posture by the operation of the processing hand 6 and the main shaft 12.

Next, the locking mechanism, which is the gist of the present invention, will be explained with reference to FIGS. 2 and 3.

Although FIGS. 2 and 3 show details of the structure of the joint between the arms 3 and 4, the structures of the other joints are also similar to this.

A pair of joint parts 3a, 3a are formed at one end of the arm 3, and are opposed to each other with an appropriate interval between them. is provided.

A joint part 4a is formed at one end of the arm 4,
This joint part 4a has an insertion hole with approximately the same diameter as the insertion hole provided in the arm 3, its thickness is set approximately equal to the distance between the opposing joint parts 3a and 3B of the arm 3, and its outer diameter is set appropriately larger than the outer diameter of the joint part 3a13a.

Joint part 4a of arm 4 and pair of joint parts 3 of arm 3
A rotation shaft 16 is inserted into the insertion hole provided in the arm 4, and the rotation shaft 16 is rotatably supported by the pair of joint parts 3a, 3a of the arm 4. is connected unrotatably by a key and a keyway, and by the reduction gear E1 Nervo motor 8 attached to the joint part 3a! U is moved.

Holes 4b, 4b are provided in the side surfaces of the parts of the joint part 4a that protrude from the joint parts 3a, 3a, at positions that form a predetermined angle with the central axis of the arm 4, centered on the axis of the rotation shaft 16. .

A solenoid 17 with a built-in spring is attached to the joint part 3a of the arm 3 by a holder 18, and the control pin 19, which is slidably inserted into the solenoid 1'17, has a tapered tip, so that the solenoid 17 is When the solenoid 17 is in the conductive state, it protrudes in the direction of the joint part 4a of the Arno 4 due to the elastic force of the spring, fits into the holes 4b, 4b, and assumes a position where the arms 3 and 4 are relatively fixed, and the solenoid 17 is in the conductive state. At this time, the solenoid 1 is pulled into the interior of the solenoid 1, leaving a gap from the joint part 4a, and releasing the fixation of the relative position between the solenoid 4 and the arm 3.

The holes 4b, 4b, placed in the joint part 4a, are arranged so that the center of each hole is in the position of the solenoid 17, with the arms 4 and 3 not forming the angle through which they are passed during machining and when attaching and removing electrodes, etc. Set to match the center of the control bin 19.

The mechanical hand 15 has, for example, claws 15a and 15'a that can grip the shaft of the electrode holder 20a.
.

15a is driven by a servo motor (not shown) provided inside the mechanical hand 15.

In this embodiment, a servo motor is used as the actuator of the servo mechanism that moves and sets the arms 3 to 5, the machining hand 6, the shaft +2, and the claws 15a, 15a of the mechanical hand 15. A stethobin motor, hydraulic cylinder, hydraulic motor, etc. can be used as necessary.

In the illustrated state, the electrode 20 (held by the claws 15a, 15a of the J mechanical hand 15) faces the part of the workpiece 21 to be machined.

[To be applied] The integral body 21 is attached to a machining tank 22 in which a machining fluid is stored by an appropriate fitting.

The processing tank 22 is attached to a cross slide table 24 attached to an electroprocessing device base 23, and is moved arbitrarily on the xY plane.

During processing, the electrode 2 is connected by a processing pulse power source (not shown).
A machining voltage pulse is applied to the machining gap between the 0 and the workpiece 21 facing each other.

The tool magazine 25 stores various electrodes or conductive grindstones depending on the purpose of machining, and these are
gA is moved along a track provided along one circumference of the tool magazine 25, and one desired electrode or conductive grindstone is moved to a predetermined take-out position (this position is within the working range of the machining/grip 6). It is configured so that it can be moved to

The control device 26 operates according to a predetermined program.
-J-3-5, Processing"y F 6 and 'J fil+
12%? JI J-Rusapo Sochita 7~]
, 13.14, controls the solenoid 17.27.28 and the Lee ('' motor (not shown)) that drives the mechanical handle 1'15.

Therefore, at the time of Mj M, the solenoids 17, 27, 2B of the IJ soking device provided at each joint are in a non-energized state, and each control bottle is fitted into a hole provided at the joint. The relative positions between each arm and between Arno and Machining\71 are fixed.

In this state, the solenoid of the locking mechanism provided at the joint of the desired arm or processing head to be moved is activated by the command from the control device 26, and the control bottle is moved away from the hole provided in the joining area and adjacent to the desired arm or processing head. The fixation of the relative positions between the matching arms or between the arms and the processing head is released.

Thereafter, a desired arm starts to move by driving a servo motor provided at the joint according to a command from the control device 26. When the desired arm has finished moving, the solenoid stops operating in response to a command from the control device 26, and the control bottle is pressed against the joining area by the elastic force of the spring built into the solenoid and placed in a predetermined position. After fitting into the holes and completing the movement, the relative positions between the arms and between the arms and the processing head are fixed again.

As described above, since the angle between adjacent arms or between an arm and the processing head is fixed at a predetermined angle by the locking mechanism provided at each joint, the angular error between the arms can be kept extremely low.

With the above configuration, Aj, 3 to 5 and Kani\
At the same time, the mechanical hand 15, which is attached to the tip of the main shaft 12, moves to the tool removal position of the tool/engine 25. , a desired electrode or the like stored in the tool magazine 25 is driven by the belt and moved to the tool take-out position, and the mechanical hand I5 and the desired electrode face each other.

At this position, the main shaft 12 extends and extends, and the mechanical hand 15 stops at a position close to the desired @pole.The claws 15a, 15a of the mechanical hand 15 grip the electrode, and the main shaft 2 contracts, causing the electrode to After being taken out from the tool magazine 25, the arms 3 to 5 and the head section 6 are moved by the servo motors that drive them, and the desired electrode 20 held by the mechanical hand 15 is moved to the workpiece 21.
move to a position facing the desired machining surface.

When the mechanical hand 15 finishes moving to the above position, the main shaft 12 is driven and extended by the drive of the servo motor 14, and the electrode 20 held by the mechanical hand 15 maintains a predetermined direction with respect to the workpiece 21. It moves parallel to the workpiece 20 by a minute distance and approaches the workpiece 21, and a machining voltage pulse is applied to the machining gap between the electric current 20 and the workpiece 21 to perform machining.

When the machining is completed, the above process is repeated in reverse, and the electrode 20 held by the mechanical hand 15 is stored again at a predetermined position in the tool magazine 25.

Since the present invention is constructed as described above, according to the present invention, machining can be carried out while maintaining the relative positional relationship between the electrode, etc. and the workpiece with I%i accuracy, resulting in high machining accuracy. An electrical processing device can be provided.

The structure of the present invention is not limited to the above-mentioned embodiments, and the structure of the locking mechanism is not limited to one that uses a solenoid, but may also use an electromagnet, etc. In the embodiment, a locking mechanism that locks the control bin Although a configuration in which it fits into a hole is shown, both may be configured with a cam and a groove.

In addition, in the above embodiment, one surface of the workpiece is
), but the present invention is particularly useful when machining multiple machining surfaces or machining parts of a large workpiece; The corresponding predetermined m crosspieces are selected from the electrode magazine, gripped by a mechanical hand, opposed to respective corresponding processing parts, and fed for processing.

Further, the design of the setting of the degree of freedom of the arm and hand and the configuration of the servo mechanism that drives them can be freely changed in accordance with the purpose of the present invention @ pronation, and the present invention encompasses all of these. .

[Brief explanation of drawings]

FIG. 1 shows a machining center for electrical processing according to the present invention.
・Explanatory drawings showing the embodiment, FIG. 2 is a front view showing details of the locking mechanism provided at each joint, and FIG. 3 is a side view thereof. １－－－－－－－－－・－－１－－－－－－－－
・-Machine 3 to 5----・-1---------------
---Arm 6-----, --------
---Head part 8~11.13.14------
−Servo motor 12−−−−−−−−−−−−−1・
------ One main shaft 15 --------- One ------
------------Mechanical handle 1″17.26.
27---------Solenoid 19------
−−−−−−−−−−−−−−−−−− Control bin 20
−−−−−−−−−−−−−−−−−−One electrode 21−−
−1−−−1−−−1−−−1−−−−−−・−Workpiece 22−−−−−−−−−−−−−−−1 Processing tank 24−
1----------------------Cross slide table 25--------------
−−−−Tool magazine 26−− −−−1−−−−−−
-------Control device patent applicant Inoue Japax Research Institute Agent (7524) Mogami Todabe

Claims (1)

[Claims] A robot device having a multi-joint arm equipped with a mechanical hand capable of gripping a tool such as an electrode or a conductive grindstone;
In a machining center for electrical machining, which is equipped with a tool magazine storing a plurality of electrodes or conductive grindstones, etc., and an electric machining device that processes using the electrodes or conductive grindstones, etc., The electric processing machining center described above is further provided with a locking mechanism for maintaining and fixing the angles between adjacent arms and between the arms and the machining head at predetermined reference values.