JPS61136709A - Work machining unit - Google Patents

Abstract

PURPOSE:To enhance accuracy of machining by positioning a hole drilling machine always in a fixed position on a base by means of a reference position setting mechanism and correcting a deviation of a practical pin inplanting hole drilling position from the set position of a pin implanting hole by means of a robot hand. CONSTITUTION:When a hole drilling machine 3 is lifted after a pin implanting hole is drilled, the operation of an engaging lock mechanism 6 is stopped and a floating base 4 becomes slidable. Then, a reference position setting mechanism 7 operates and the hole drilling machine 3 is positioned in the reference position. A deviation of the practical position from the set position of hole drilling is corrected by controlling the control section itself of a robot hand 5 in this way, duly enabling the machining accuracy to be enhanced.

Description

Detailed Description of the Invention [Industrial Application Field] The present invention relates to a workpiece processing device that automatically corrects misalignment of a drilling machine with respect to a drilling position on a workpiece and misalignment of the drilling machine with respect to a base. .

[Prior art] In the process of assembling a piano, there is a process of drilling holes for the tuning pins into the pin plate integrated with the frame (workpiece machining) and driving the tuning pins into these holes. The drilling of the hundreds of holes for the bottles was all done by hand using a drilling machine equipped with a drill.

[Problems to be solved by the invention] As mentioned above, several hundred bottle driving holes must be drilled for each piano, so it is necessary to automate the formation of bottle driving holes during the workpiece processing process. In other words, there has been an attempt to continuously form bottle driving holes by fixing a drilling machine to a robot hand or the like that is N CIII iml. However, when automating the formation of bottle driving holes, due to accuracy errors in the previous process, it is difficult to form bottle driving holes accurately and continuously in alignment with the center of the bushing button embedded in the through hole of the frame. However, the drilling machine still has to be handled manually, which is difficult and hinders automation.

[Means for solving fFfljlii point] The present invention was developed in consideration of the above-mentioned disadvantages of the conventional technology.
The base is supported by a base movable horizontally and vertically by a robot hand or the like whose extension/bending, horizontal movement, and vertical movement are automatically carried out, and by a floating base imprinted on the base. The tip of the drill floats above the base by compressed air injected between the base and the floating base, and the tip of the drill that comes into contact with the guide recess of the bushing button embedded in the bottle driving hole position on the top surface of the workpiece moves to the center of the guide recess. A drilling machine is provided so as to be slidable so as to be guided to a certain position, and a clamp ring is provided at the lower end of a rod that is inserted into the base and the floating base to lock it to the base, and when drilling, the rod is pulled up. It has a locking mechanism that presses the floating base against the base, and a spindle rod that has a substantially conical head corresponding to the tapered positioning recess provided in the base, and the spindle rod when drilling is completed. The above-mentioned disadvantages of the conventional workpiece processing apparatus are solved by providing a workpiece processing apparatus which is equipped with a reference position setting mechanism that is inserted into a positioning recess to position the floating base at a reference position.

[Function] According to the present invention, the drilling machine, which is suspended by compressed air, descends with the drill tip of the drilling machine corresponding to the guide recess, and the drill tip contacts the guide recess and the center of the four guide parts. When the drilling machine is positioned on the center line of the guiding recess, the drilling machine is fixed to the base and a bottle driving hole is drilled, and after drilling, the drilling machine is automatically positioned at the reference position on the base. That's what I do.

[Implementation V141] Next, the present invention will be described in detail based on the -yc1 example shown in FIGS. 1 to 11.

In the figure, reference numeral 1 denotes a workpiece processing device, and the workpiece processing device 1 is composed of a base 2 and a punching machine 3, as shown in FIG. The base 2 is attached to the tip of a robot hand 5 whose expansion/bending, horizontal movement, and vertical movement are automatically controlled, and is supported by the robot hand 5 so as to be movable horizontally and vertically while maintaining a horizontal state. The robot hand 5 is programmed so that the penis 2 moves and stops at a plurality of locations set on the upper surface of the workpiece.

As shown in FIG. 1, the drilling machine 3 has a high frequency motor 3.
0 and a drill 31, and is supported by the O-ting base 4 (shaped like a box), and is inserted into the circular hole 4 of the floating base 4.
A drill 31 is made to protrude downward from 0. The floating base 4 is placed above the base 2, and a drill 31 of the drilling machine 3 protrudes below the base 2 from a circular hole 20 corresponding to the circular hole 40.

Numeral 41 is a compressed air outlet with a tapered diameter on the base side, and a plurality of them are opened at predetermined locations on the floating base 4. As shown in FIG. The compressed air sent out from the tube via the compressed air injection head 42 is sent from this outlet 41 to the lower surface of the floating base 4 and the base 2, which are smoothly provided.
When injected between the top surface of the floating base 4
A gap of about 0.3 feet is created between the base 2 and the floating base 4, and the perforation 1113 floating together with the floating base 4 can slide.

6 is a locking mechanism provided on both left and right sides of the floating base 4, and the locking mechanism 6 is, as shown in FIG.
It consists of an air cylinder 60 fixed to the floating base 4, a rod 61 supported vertically movably by the air cylinder 60, and a clamp ring 62 screwed to the lower end of the rod 61. Said rod 6
1 is a circular hole 43 provided in the floating base 4 below the air cylinder 60 and a large diameter portion 2 provided in the base 2.
2 and an engagement hole 21 consisting of a small diameter portion 23, and the clamp ring 62 is provided so as to be engaged with a stepped portion of the engagement hole 21.

Further, so that the floating base 4 can move slightly in the horizontal direction, the small diameter portion 23 of the engagement hole 21 has an inner diameter larger than the rod diameter, and the large diameter portion 22 has an inner diameter larger than the clamp ring diameter.

To explain the operation of the locking mechanism 6, when the base 2 is moved, the locking mechanism 6 does not operate, and the rod 61 is lowered to be between the clamp ring 62 and the step of the engagement hole 21. A gap of 0.3 to 0.5 cm is provided between the ends (see Figure 3). Even when the drilling machine is floated by injection of compressed air, the locking mechanism does not operate, but the clamp ring 6
2 is locked in the engagement hole 21 to prevent the floating base 4 from rising too much. Although the clamp ring 62 is locked, it does not fix the floating base 4, but allows the floating base 4 to slide (see FIG. 4). The locking mechanism 6 is activated during drilling, and when the air inside the air cylinder 60 is sucked, the rod 61 that simply locks the clamp ring 62 rises, moving the floating base 4 to the base 2.
The perforation 113 is fixed by pressing against it (see Fig. 5).

Reference numeral 7 denotes a pair of reference position W setting mechanisms provided on the left and right sides of the circular hole 20, which positions the drilling machine at a fixed position with respect to the base after drilling is completed. As shown in FIG. 6, the reference position setting mechanism 7 includes an air cylinder 70 fixed to the floating base 4 and a tapered positioning recess 24 supported by the air cylinder 70 so as to be movable up and down and provided in the base 2. Correspondingly, approximately cone-shaped 14 parts 7
2 and a spindle rod 71 having a diameter of 2. After the spindle rod 71 is bored, when compressed air is injected into the air cylinder 70 through the tube, the spindle rod 71 descends through the circular hole 44 below the air cylinder 70, and the head 72 of the spindle rod 71 is inserted into the positioning recess 24. By positioning the floating base 4 at the reference position by using
It is positioned at a position where the center line of the base and the center line of the drilling machine coincide. Note that when the reference position setting mechanism 7 is in operation, the locking mechanism 6 is not in operation and the floating base 4 can be slid.

Next, a method for drilling a bottle driving hole in a tuning bottle will be explained based on the workpiece processing apparatus described above.

A bottle plate is joined to a frame a having a plurality of through holes C at predetermined locations, and a guide recess 8 is preliminarily provided at the center position of a bushing button d embedded in a through hole C of the frame a. ing. Then, the robot hand 5 stops and moves the base 2 so that the drill tip 32 corresponds to the guide recess 8 of the bushing button d which is positioned and fixed. When the base 2 is positioned above the guide recess 8 and lowered by the robot hand 5, the drill tip 32 of the drilling machine 3, which is in a floating state due to the injection of compressed air, is moved into the guide recess 8.
comes into contact with. If the drill tip 32 (the center of the drilling machine is indicated by a break 11B) and the center position If of the guide recess 8 (indicated by a break 1 mA) are misaligned, it means that the drilling machine 3 is in a floating state. The tip 32 is at the center position A of the guide recess 8
The drilling machine 3 slides while being guided by the drill, and the drill tip 32 and the bottle driving hole drilling position coincide with each other.

Here, the time from when the drill tip 32 abuts the guide recess 8 until it is guided to the center position mA is considered as a fixed time, and when the drill tip 32 abuts the guide recess 8, the drill tip 32
2 and the center position A of the guide recess 8, for example, a predetermined time after the base 2 is positioned on the guide recess 8 and starts to descend, or a predetermined time after the drill tip 32 comes into contact with the guide recess 8. A locking mechanism 6 is provided to operate, and the bottle driving hole 9 is drilled at a predetermined position while the punching machine 3 is fixed to the base 2.

After the bottle driving hole 9 is drilled, the hole 9 is drilled! ! 3 rises and the drill 31 is released, the locking mechanism 6 stops operating and the floating base 4 becomes able to slide, and the reference position setting JIl 17 operates to position the drilling machine 3 at the reference position and start driving other bottles. O-bot hand 5 to hole drilling position
This causes the perforation 1!13 to move (see Figures 7 to 1).
(See Figure 1).

Note that during drilling, the deviation D between the position set by the control body as the bottle driving hole drilling position (indicated by a broken line C) and the actual bottle driving hole drilling position, that is, the center position A of the guide recess 8, The robot hand 5 has an accuracy smaller than the distance D' from the center position A of the recess 8 to the upper edge of the guide recess 8.
& control is being carried out.

[Effects of the Invention] Therefore, according to the present invention, since the drilling machine is levitated by compressed air and is provided so as to be slidable in the horizontal direction,
By guiding the tip of the drill in the guide recess, it is possible to correct the discrepancy between the position set by the control body of a robot hand, etc. as the bottle driving hole drilling position and the actual bottle driving hole drilling position, and the locking mechanism allows the drilling machine to Because it is fixed,
Even hard workpieces can be drilled accurately and reliably. Furthermore, after drilling, the drilling machine is always positioned at a fixed position on the base by the reference position setting mechanism, so it is possible to improve the machining accuracy without increasing the accuracy of the robot hand. This system has excellent practical effects, such as automating the drilling of bottle driving holes and simplifying the workpiece machining process without requiring manual labor.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing an embodiment of work processing @ stomach according to the present invention, Fig. 2 is a cross-sectional view of the air outlet taken along line If-II in Fig. 1, and Figs. 3 to 5 are one embodiment. Fig. 3 is an explanatory diagram showing the inoperative state when not levitating, Fig. 4 is an explanatory diagram showing the inoperative state when levitating, and Fig. 5 is an explanatory diagram showing the operating state. Fig. 6 is an explanatory diagram showing the reference position setting mechanism in one embodiment, Figs. 7 to 10 show the drilling of the bottle driving hole, and Fig. 7 is a diagram showing the drilling machine when it is lowered. , Fig. 8 shows the drill tip moving, Fig. 9 shows the drilling process, Fig. 10 shows the drilling machine rising, and Fig. 11 shows the drilling machine positioning. It is. 1... Work processing device 2... Base 3... Drilling machine 4... Floating base 6... Locking l! l Structure 60...Air cylinder 61...Londro 2.
... Clamp ring 7 ... Reference position setting mechanism 70 ... Air cylinder 71 ... Spindle rod 8 ... Guide recess 9 ... Bottle driving hole Fig. 3 Fig. 4 Fig. 5 Fig. 6 Figure 8 Figure 11 C Zuhi A (B) Figure 9

Claims (1)

[Claims] A base supported movably in the horizontal and vertical directions by a robot hand or the like whose extension/bending, horizontal movement, and vertical movement are automatically controlled, and a floating base placed on the base. The tip of the drill levitates above the base by compressed air injected between the floating base and slides so that it comes into contact with a guide recess previously provided on the top surface of the workpiece and is guided to the center position of the guide recess. A clamp ring is provided at the lower end of a rod that is inserted between the base and the floating base, and a clamp ring that locks on the base, and a clamp ring that pulls up the rod and presses the floating base against the base during drilling. It has a stop mechanism and a spindle rod having a substantially conical head corresponding to the tapered positioning recess provided in the base, and when drilling is completed, the spindle rod is inserted into the positioning recess and the A workpiece processing device comprising a reference position setting mechanism for positioning a floating base at a reference position.