WO2016199660A1 - Working machine - Google Patents

Working machine Download PDF

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Publication number
WO2016199660A1
WO2016199660A1 PCT/JP2016/066341 JP2016066341W WO2016199660A1 WO 2016199660 A1 WO2016199660 A1 WO 2016199660A1 JP 2016066341 W JP2016066341 W JP 2016066341W WO 2016199660 A1 WO2016199660 A1 WO 2016199660A1
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WO
WIPO (PCT)
Prior art keywords
arc
drive mechanism
axis
processing machine
axis drive
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PCT/JP2016/066341
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French (fr)
Japanese (ja)
Inventor
勇人 須藤
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Thk株式会社
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Publication of WO2016199660A1 publication Critical patent/WO2016199660A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
    • B64C1/06—Frames; Stringers; Longerons ; Fuselage sections
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/14—Riveting machines specially adapted for riveting specific articles, e.g. brake lining machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
    • B21J15/32—Devices for inserting or holding rivets in position with or without feeding arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
    • B23Q1/40—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members using ball, roller or wheel arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/48—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs and rotating pairs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for

Definitions

  • the present invention relates to a processing machine, and more particularly to a processing machine suitable for processing a large structure such as an aircraft fuselage.
  • a 5-axis processing machine with a tilt head is known as a processing machine for processing an aircraft fuselage (drilling, riveting, milling, etc.).
  • This processing machine includes an X-axis, Y-axis, and Z-axis drive mechanism that moves the processing head in three orthogonal directions, and a biaxial rotational drive unit that changes the posture of the processing head.
  • the X-axis, Y-axis, and Z-axis drive mechanisms are driven to move the machining head along the outer periphery of the rounded body. Then, the biaxial rotation drive unit is driven to control the posture of the machining head.
  • Patent Document 1 discloses a processing machine that includes only an X-axis drive mechanism that moves a processing head in the X-axis direction.
  • a pair of support members made of a cylindrical frame are arranged at both ends in the longitudinal direction (X-axis direction) of the fuselage of the cylindrical aircraft. Both ends of the X-axis drive mechanism are detachably attached to the support member.
  • the machining head is equipped with a drill for making a hole in the body and a rivet hammer for driving a rivet into the hole.
  • the present invention provides a processing machine that can automatically move the processing head in both the X-axis direction and the ⁇ -axis direction, and that can simplify the structure of the ⁇ -axis drive mechanism and prevent the apparatus from becoming enormous.
  • the purpose is to provide.
  • an aspect of the present invention includes an arcuate way that is disposed in a vertical plane, and a movable body that is relatively movable along the arcuate way, A ⁇ -axis drive mechanism for turning a machining head attached to the moving body or the arc-shaped track base along an arc-shaped track, and an X-axis drive mechanism for moving the ⁇ -axis drive mechanism in the horizontal X-axis direction; Is a processing machine.
  • the tool mounted on the machining head always faces the center of the arc path while the machining head rotates along the arc path.
  • the structure of the ⁇ -axis drive mechanism can be simplified.
  • the machining head can be automatically moved in both the X-axis direction and the ⁇ -axis direction.
  • FIG. 6A is a front view showing another example of the ⁇ -axis drive mechanism of the processing machine of the present embodiment (FIG. 6A shows the upper end position of the processing head rotated clockwise, and FIG. 6B shows the counterclockwise direction. Shows the lower end position of the swung machining head).
  • FIG. 1 and 2 are perspective views of the processing machine according to the present embodiment.
  • Reference numeral 1 denotes an aircraft fuselage to be processed
  • reference numeral 2 denotes a processing machine
  • reference numeral 3 denotes a processing head of the processing machine.
  • the configuration of the processing machine will be described with the horizontal direction as the X axis, the vertical direction as the Z axis, and the X axis and the axis perpendicular to the Z axis as the Y axis.
  • the processing machine 2 of the present embodiment includes a ⁇ -axis drive mechanism 4 that turns the processing head 3 along an arcuate path, an X-axis drive mechanism 5 that moves the ⁇ -axis drive mechanism 4 in the horizontal X-axis direction, Is provided.
  • the processing machine 2 of this embodiment is used as a riveting device that drives rivets into the fuselage portion 1 of an aircraft, for example.
  • the machining head 3 is equipped with a drill such as a drill for drilling the body portion 1 and a tool such as a rivet hammer for driving a rivet into the drilled portion.
  • the ⁇ -axis drive mechanism 4 includes an arc-shaped first track 6 as an arc-shaped track arranged in the YZ plane that is a vertical plane, and a movable body that can move along the arc-shaped first track 6 As a first moving body 7.
  • the arc-shaped first rail platform 6 and the first moving body 7 constitute a guide device that guides the movement of the machining head 3 along the arc trajectory.
  • FIG. 3 shows a perspective view of the guide device.
  • the arcuate first way 6 is bent into an arc having a radius of curvature R.
  • a large number of rolling elements 24 such as balls are interposed between the arc-shaped first rail 6 and the first moving body 7 so as to allow rolling motion.
  • rolling element rolling portions 6a On both sides of the arc-shaped first rail 6 in the width direction, there are formed rolling element rolling portions 6a on which rolling elements 24 such as balls roll.
  • the first moving body 7 includes a block main body 7-2 and a pair of lid members 7-1 attached to both end surfaces of the block main body 7-2 in the moving direction.
  • the block body 7-2 is formed with a load rolling element rolling part 25 facing the rolling element rolling part 6a and a return path 26 parallel to the load rolling element rolling part 25.
  • Each lid member 7-1 is formed with a U-shaped direction changing path 27 that connects the load rolling element rolling section 25 and the return path 26 of the block body 7-2.
  • a load rolling path, a return path 26, and a pair of direction changing paths 27 constitute a circulation path for circulating the rolling element 24.
  • the rolling element 24 between the arc-shaped first rail 6 and the first moving body 7
  • high-precision guidance of the first moving body 7 and catching of the first moving body 7 are achieved. Smooth movement is guaranteed.
  • the machining head 3 is attached to the first moving body 7.
  • the processing head 3 can be supported with high rigidity, and milling, polishing, Functions such as welding can be added, and composite processing can be realized.
  • the center C of the arc of the arc-shaped first way 6 coincides with the center C of the cylindrical body 1.
  • the arc-shaped first rail 6 is disposed concentrically with the cylindrical body 1.
  • the central angle ⁇ of the arcuate first way 6 is not particularly limited, and is set to, for example, less than 180 degrees, or 180 degrees to less than 360 degrees. If the central angle ⁇ is less than 180 degrees, it is possible to prevent the arc-shaped first rail 6 from interfering when the body 1 is installed on the gantry, and to process the wiring of the device mounted on the machining head 3. Becomes easier. If center angle (alpha) is 180 degree
  • the table 8 of the machining head 3 is attached to the first moving body 7.
  • the machining head 3 is driven along the arc-shaped first rail 6 by a rack 9 and a pinion 10.
  • a motor 11 that rotates the pinion 10 is attached to the table 8 of the processing head 3.
  • the arc-shaped first rail 6 is integrally formed with an arc-shaped rack 9 concentric with the arc-shaped first rail 6.
  • the rack 9 may be formed separately from the arcuate first way 6.
  • the arc-shaped first rail 6 is attached to an arc-shaped base plate 12.
  • a pinion 10 meshes with the rack 9.
  • the linear motors 14 and 15 include main body portions 14a and 15a and shafts 14b and 15b that linearly move in the axial direction with respect to the main body portions 14a and 15a.
  • the main body portions 14a and 15a are attached to the table 8 of the machining head 3, and tools 16 and 17 (see FIG. 4) such as a drill and a rivet hammer are attached to the tips of the shafts 14b and 15b.
  • the two linear motors 14 and 15 when viewed from the X-axis direction, are arranged radially shifted in the ⁇ -axis direction. Each linear motor 14 or 15 moves the tool in the radial direction toward or away from the center C of the arc of the arc-shaped first rail 6. The two linear motors 14 and 15 move the tools in the radial direction so that the two tools 16 and 17 are moved toward or away from the center C of the arc of the arc-shaped first rail 6.
  • the X-axis drive mechanism 5 includes a pair of parallel X-axis second rails 19 attached to a base 18 and a plurality of second axes assembled to the X-axis second rails 19 so as to be linearly movable.
  • a moving body 20 A large number of rolling elements such as balls are interposed between the X-axis second rail 19 and the second moving body 20 so as to be capable of rolling motion.
  • the second moving body 20 is provided with a circulation path for circulating the rolling elements. By interposing a rolling element between the X-axis second rail 19 and the second moving body 20, high-precision guidance of the second moving body 20 and smooth movement without catching of the second moving body 20 are guaranteed. Is done.
  • the base plate 12 of the ⁇ -axis drive mechanism 4 is attached to the second moving body 20.
  • an actuator for moving the base plate 12 of the ⁇ -axis drive mechanism 4 in the X-axis direction.
  • the actuator includes, for example, a slider and a drive mechanism including a ball screw, a pulley / belt, a rack / pinion, a linear motor, and the like that move the slider in the X-axis direction.
  • An elongated groove 21 is formed in the base 18 in the X-axis direction.
  • a shaft 22 is fixed to the lower part of the base plate 12 of the ⁇ -axis drive mechanism 4.
  • the shaft 22 is coupled to an actuator slider inside the base 18 through a groove 21. A force that causes the actuator to drive the slider in the X-axis direction is transmitted to the base plate 12 of the ⁇ -axis drive mechanism 4 through the shaft 22.
  • the usage method of the processing machine 2 of the present embodiment is as follows. First, the X-axis drive mechanism 5 is operated to position the machining head 3 in the X-axis direction. Next, the ⁇ -axis drive mechanism 4 is operated to position the machining head 3 in the ⁇ -axis direction. Next, the linear motor 14 to which the drill is attached is operated to make a hole in the body portion 1. Next, the ⁇ -axis drive mechanism 4 is finely moved, and the linear motor 15 to which the rivet hammer is attached is positioned in the hole drilled. Next, the linear motor 15 to which the rivet hammer is attached is operated to drive the rivet into the hole.
  • FIG. 6 is a front view showing another example of the ⁇ -axis drive mechanism 4 of the processing machine 2 of the present embodiment as viewed from the X-axis direction.
  • the arc-shaped first rail 6 is attached to the base plate 12, and the first moving body 7 is attached to the table 8 of the processing head 3.
  • the first moving body 7 is attached to the base plate 12 ′, and the arc-shaped first way 6 is attached to the table 8 of the processing head 3.
  • the first moving body 7, the arc-shaped first rail 6, the machining head 3, and the linear motors 14 and 15 are the same as those shown in FIG.
  • a motor 11 ′ for rotating the pinion 10 ′ is attached to the base plate 12 ′.
  • the pinion 10 ′ meshes with an arcuate rack 9 integrated with the arcuate first way 6.
  • the arcuate first way 6 turns along the arcuate track (moves in the ⁇ -axis direction) and is attached to the arc-shaped first way 6.
  • the head 3 turns (moves in the ⁇ -axis direction) along the circular arc trajectory.
  • FIG. 6A shows the upper end position of the machining head 3 turned clockwise
  • FIG. 6B shows the lower end position of the machining head 3 turned counterclockwise.
  • a tool such as a drill or a rivet hammer is set on the machining head 3 toward the center of the arc of the arc-shaped first rail 6 so that the tool is always circular while the machining head 3 rotates along the arc orbit. Facing the center of In other words, the tool always faces the vertical direction with respect to the cylindrical body portion 1.
  • the structure of the ⁇ -axis drive mechanism 4 can be simplified.
  • the X-axis drive mechanism 5 for moving the ⁇ -axis drive mechanism 4 in the X-axis direction is provided, the machining head 3 can be automatically moved in both the X-axis direction and the ⁇ -axis direction.
  • the linear motors 14 and 15 for moving the tool in the radial direction of the arc-shaped first rail 6 are provided, the tool can be moved in the vertical direction with respect to the cylindrical body 1. For this reason, the cylindrical body part 1 can be easily processed.
  • the plurality of linear motors 14 and 15 are radially arranged on the machining head 3 as viewed from the X-axis direction, the plurality of tools can be moved in the vertical direction with respect to the cylindrical body 1.
  • a processing machine is disposed outside the body part, and the body part is processed from the outside to the inside of the body part.
  • a processing machine inside the body part and to process from the inside to the outside of the body part.
  • one processing machine is installed on one side of the body part.
  • two processing machines can be installed on both sides of the body part.
  • the linear motor as the radial drive mechanism is directly attached to the table of the machining head, but the swivel drive that swings the linear motor between the linear motor as the radial drive mechanism and the table of the machining head. It is also possible to provide a mechanism.
  • the X-axis second way is attached to the base and the second moving body is attached to the base plate.
  • the second moving body can be attached to the base and the X-axis second way can be attached to the base plate.
  • SYMBOLS 1 Aircraft body part, 2 ... Processing machine, 3 ... Processing head, 4 ... (theta) axis drive mechanism, 5 ... X-axis drive mechanism, 6 ... Arc-shaped first way (arc-type way), 7 ... 1st moving body (moving body), 8 ... table, 9 ... rack, 10 ... pinion, 11 ... motor, 12 ... base plate, 14, 15 ... linear motor (radial direction drive mechanism), 16, 17 ... tool, 18 ... Base, 19 ... X-axis second way, 20 ... Second moving body, 21 ... Groove, 22 ... Axis, C ... Center of arc-shaped first way, ⁇ ... Center angle of arc-shaped first way

Abstract

This working machine is provided such that a working head can be automatically moved in an X-axis direction as well as in a θ-axis direction, and the structure of a θ-axis drive mechanism can be simplified in order to prevent the working machine from becoming extremely large. The working machine (2) has: an arc-like track base (6) arranged in a vertical plane; and a moving body (7) capable of moving along the arc-like track base (6). The working machine is provided with a θ-axis drive mechanism (4) for causing a working head (3), which is attached to the moving body (7) or to the arc-like track base (6), to revolve along the arc-like track; and an X-axis drive mechanism (5) for moving the θ-axis drive mechanism (4) in the X-axis direction, that is, a horizontal direction. The working head (3) is provided with at least one radial drive mechanism (14, 15) for moving a tool in the radial direction of the arc-like track base (6).

Description

加工機Processing machine
　本発明は、加工機に関し、特に航空機の胴体部等の大きな構造物を加工するのに適する加工機に関する。 The present invention relates to a processing machine, and more particularly to a processing machine suitable for processing a large structure such as an aircraft fuselage.
　航空機の胴体部を加工（ドリル加工、リベッティング、ミーリング等）する加工機として、チルトヘッド付き５軸加工機が知られている。この加工機は、加工ヘッドを直交する３軸方向に移動させるＸ軸、Ｙ軸及びＺ軸駆動機構と、加工ヘッドの姿勢を変化させる２軸の回転駆動部と、を備える。円筒形の胴体部を加工するとき、Ｘ軸、Ｙ軸及びＺ軸駆動機構を駆動させ、丸みを帯びた胴体部の外周に沿って加工ヘッドを移動させる。そして、２軸の回転駆動部を駆動させ、加工ヘッドの姿勢を制御する。 A 5-axis processing machine with a tilt head is known as a processing machine for processing an aircraft fuselage (drilling, riveting, milling, etc.). This processing machine includes an X-axis, Y-axis, and Z-axis drive mechanism that moves the processing head in three orthogonal directions, and a biaxial rotational drive unit that changes the posture of the processing head. When machining the cylindrical body, the X-axis, Y-axis, and Z-axis drive mechanisms are driven to move the machining head along the outer periphery of the rounded body. Then, the biaxial rotation drive unit is driven to control the posture of the machining head.
　しかし、この加工機には、胴体部の天井部を加工するとき、Ｘ軸、Ｙ軸及びＺ軸駆動機構のコラムのオーバーハング量が大きくなり、コラムの撓みを抑制するために加工機が巨大化するという課題がある。加工機の巨大化は、加工機の製造コストの増大、加工機を収容するための空間の巨大化を招く。 However, in this processing machine, when the ceiling part of the body part is processed, the amount of overhang of the columns of the X-axis, Y-axis and Z-axis drive mechanisms becomes large, and the processing machine is huge in order to suppress column deflection. There is a problem of becoming. The enlargement of the processing machine causes an increase in the manufacturing cost of the processing machine and an increase in the space for accommodating the processing machine.
　この課題を解決する加工機として、特許文献１には、加工ヘッドをＸ軸方向に移動させるＸ軸駆動機構のみを備える加工機が開示されている。円筒形の航空機の胴体部の長手方向（Ｘ軸方向）の両端部には、円筒形のフレームからなる一対の支持部材が配置される。支持部材には、Ｘ軸駆動機構の両端部が着脱可能に取り付けられる。加工ヘッドには、胴体部に孔を開けるドリル、孔にリベットを打ち込むリベットハンマが搭載される。Ｘ軸駆動機構によって加工ヘッドをＸ軸方向に移動させることで、胴体部の長手方向に多数のリベットを打ち込むことができる。 As a processing machine that solves this problem, Patent Document 1 discloses a processing machine that includes only an X-axis drive mechanism that moves a processing head in the X-axis direction. A pair of support members made of a cylindrical frame are arranged at both ends in the longitudinal direction (X-axis direction) of the fuselage of the cylindrical aircraft. Both ends of the X-axis drive mechanism are detachably attached to the support member. The machining head is equipped with a drill for making a hole in the body and a rivet hammer for driving a rivet into the hole. By moving the machining head in the X-axis direction by the X-axis drive mechanism, a large number of rivets can be driven in the longitudinal direction of the body portion.
特開昭６０－１２７９３０号公報JP-A-60-127930
　しかし、特許文献１に記載の加工機にあっては、円筒形の胴体部のθ軸方向の異なった位置にリベットを打ち込むために、Ｘ軸駆動機構を円筒形の胴体部のθ軸方向に設置し直す必要があり、この作業に手間がかかるという課題がある。また、加工ヘッドは孔開けとリベッティングの専用となっており、これら以外のミーリング、ポリッシング、溶接等の機能を追加するのには、加工ヘッドのボリュームに限界があるという課題もある。 However, in the processing machine described in Patent Document 1, in order to drive rivets at different positions in the θ-axis direction of the cylindrical body part, the X-axis drive mechanism is moved in the θ-axis direction of the cylindrical body part. There is a problem that it is necessary to re-install, and this work takes time. Further, the machining head is dedicated to drilling and riveting, and there is a problem that the volume of the machining head is limited to add other functions such as milling, polishing, and welding.
　そこで本発明は、加工ヘッドをＸ軸方向にもθ軸方向にも自動的に移動させることができ、またθ軸駆動機構の構造を簡素化して装置が巨大化するのを防止できる加工機を提供することを目的とする。 Therefore, the present invention provides a processing machine that can automatically move the processing head in both the X-axis direction and the θ-axis direction, and that can simplify the structure of the θ-axis drive mechanism and prevent the apparatus from becoming enormous. The purpose is to provide.
　上記課題を解決するために、本発明の一態様は、垂直面内に配置される円弧形軌道台、及び前記円弧形軌道台に沿って相対的に移動可能な移動体を有し、前記移動体又は前記円弧形軌道台に取り付けられる加工ヘッドを円弧の軌道に沿って旋回させるθ軸駆動機構と、前記θ軸駆動機構を水平方向のＸ軸方向に移動させるＸ軸駆動機構と、を備える加工機である。 In order to solve the above-described problem, an aspect of the present invention includes an arcuate way that is disposed in a vertical plane, and a movable body that is relatively movable along the arcuate way, A θ-axis drive mechanism for turning a machining head attached to the moving body or the arc-shaped track base along an arc-shaped track, and an X-axis drive mechanism for moving the θ-axis drive mechanism in the horizontal X-axis direction; Is a processing machine.
　本発明によれば、円弧の軌道に沿って加工ヘッドが旋回する間、加工ヘッドに搭載される工具が常に円弧の軌道の中心を向く。この特性を利用することで、θ軸駆動機構の構造の簡素化が実現できる。また、θ軸駆動機構をＸ軸方向に移動させるＸ軸駆動機構を設けることで、加工ヘッドをＸ軸方向にもθ軸方向にも自動的に移動させることができる。 According to the present invention, the tool mounted on the machining head always faces the center of the arc path while the machining head rotates along the arc path. By utilizing this characteristic, the structure of the θ-axis drive mechanism can be simplified. Further, by providing an X-axis drive mechanism that moves the θ-axis drive mechanism in the X-axis direction, the machining head can be automatically moved in both the X-axis direction and the θ-axis direction.
本発明の一実施形態の加工機の斜視図である。It is a perspective view of the processing machine of one Embodiment of this invention. 本実施形態の加工機の、航空機の胴体部側から見た斜視図である。It is the perspective view seen from the fuselage | body part side of the aircraft of the processing machine of this embodiment. 本実施形態の加工機の案内装置の斜視図である（一部断面図を含む）。It is a perspective view of a guide device of a processing machine of this embodiment (including a partial sectional view). 本実施形態の加工機の、Ｘ軸方向から見た正面図である。It is the front view seen from the X-axis direction of the processing machine of this embodiment. 本実施形態の加工機のθ軸駆動機構の拡大図である。It is an enlarged view of the θ-axis drive mechanism of the processing machine of the present embodiment. 本実施形態の加工機のθ軸駆動機構の他の例を示す正面図である（図６（ａ）は時計方向に旋回した加工ヘッドの上端位置を示し、図６（ｂ）は反時計方向に旋回した加工ヘッドの下端位置を示す）。FIG. 6A is a front view showing another example of the θ-axis drive mechanism of the processing machine of the present embodiment (FIG. 6A shows the upper end position of the processing head rotated clockwise, and FIG. 6B shows the counterclockwise direction. Shows the lower end position of the swung machining head).
　以下、添付図面に基づいて、本発明の一実施形態の加工機を詳細に説明する。ただし、本発明の加工機は種々の形態で具体化することができ、本明細書に記載される実施形態に限定されるものではない。本実施形態は、明細書の開示を十分にすることによって、当業者が発明の範囲を十分に理解できるようにする意図をもって提供されるものである。 Hereinafter, a processing machine according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. However, the processing machine of the present invention can be embodied in various forms, and is not limited to the embodiments described in this specification. This embodiment is provided with the intention of enabling those skilled in the art to fully understand the scope of the invention by fully disclosing the specification.
　図１及び図２は、本実施形態の加工機の斜視図を示す。符号１は加工対象である航空機の胴体部であり、符号２は加工機、符号３は加工機の加工ヘッドである。以下の明細書においては、図１に示すように、水平方向をＸ軸、垂直方向をＺ軸、Ｘ軸及びＺ軸に直交する軸をＹ軸として、加工機の構成を説明する。 1 and 2 are perspective views of the processing machine according to the present embodiment. Reference numeral 1 denotes an aircraft fuselage to be processed, reference numeral 2 denotes a processing machine, and reference numeral 3 denotes a processing head of the processing machine. In the following description, as shown in FIG. 1, the configuration of the processing machine will be described with the horizontal direction as the X axis, the vertical direction as the Z axis, and the X axis and the axis perpendicular to the Z axis as the Y axis.
　本実施形態の加工機２は、加工ヘッド３を円弧の軌道に沿って旋回させるθ軸駆動機構４と、θ軸駆動機構４を水平方向のＸ軸方向に移動させるＸ軸駆動機構５と、を備える。本実施形態の加工機２は、例えば航空機の胴体部１にリベットを打ち込むリベッティング装置として使用される。この場合、加工ヘッド３には、胴体部１に孔開け加工するためのドリル、孔開け箇所にリベットを打ち込むリベットハンマ等の工具が搭載される。 The processing machine 2 of the present embodiment includes a θ-axis drive mechanism 4 that turns the processing head 3 along an arcuate path, an X-axis drive mechanism 5 that moves the θ-axis drive mechanism 4 in the horizontal X-axis direction, Is provided. The processing machine 2 of this embodiment is used as a riveting device that drives rivets into the fuselage portion 1 of an aircraft, for example. In this case, the machining head 3 is equipped with a drill such as a drill for drilling the body portion 1 and a tool such as a rivet hammer for driving a rivet into the drilled portion.
　θ軸駆動機構４は、垂直面であるＹＺ平面に配置される円弧形軌道台としての円弧形第一軌道台６と、円弧形第一軌道台６に沿って移動可能な移動体としての第一移動体７と、を備える。円弧形第一軌道台６と第一移動体７とは、円弧の軌道に沿う加工ヘッド３の運動を案内する案内装置を構成する。 The θ-axis drive mechanism 4 includes an arc-shaped first track 6 as an arc-shaped track arranged in the YZ plane that is a vertical plane, and a movable body that can move along the arc-shaped first track 6 As a first moving body 7. The arc-shaped first rail platform 6 and the first moving body 7 constitute a guide device that guides the movement of the machining head 3 along the arc trajectory.
　図３は案内装置の斜視図を示す。図３に示すように、円弧形第一軌道台６は曲率半径Ｒの円弧に曲げられる。円弧形第一軌道台６と第一移動体７との間には、転がり運動可能に多数のボール等の転動体２４が介在する。円弧形第一軌道台６の幅方向の両側には、ボール等の転動体２４が転がり運動する転動体転走部６ａが形成される。 FIG. 3 shows a perspective view of the guide device. As shown in FIG. 3, the arcuate first way 6 is bent into an arc having a radius of curvature R. A large number of rolling elements 24 such as balls are interposed between the arc-shaped first rail 6 and the first moving body 7 so as to allow rolling motion. On both sides of the arc-shaped first rail 6 in the width direction, there are formed rolling element rolling portions 6a on which rolling elements 24 such as balls roll.
　第一移動体７は、ブロック本体７－２と、ブロック本体７－２の移動方向の両端面に取り付けられる一対の蓋部材７－１と、を備える。ブロック本体７－２には、転動体転走部６ａに対向する負荷転動体転走部２５、負荷転動体転走部２５に平行な戻し路２６が形成される。各蓋部材７－１には、ブロック本体７－２の負荷転動体転走部２５と戻し路２６とを接続するＵ字状の方向転換路２７が形成される。転動体転走部６ａと負荷転動体転走部２５との間に負荷転走路、戻し路２６、及び一対の方向転換路２７によって、転動体２４を循環させる循環路が構成される。 The first moving body 7 includes a block main body 7-2 and a pair of lid members 7-1 attached to both end surfaces of the block main body 7-2 in the moving direction. The block body 7-2 is formed with a load rolling element rolling part 25 facing the rolling element rolling part 6a and a return path 26 parallel to the load rolling element rolling part 25. Each lid member 7-1 is formed with a U-shaped direction changing path 27 that connects the load rolling element rolling section 25 and the return path 26 of the block body 7-2. Between the rolling element rolling part 6a and the loaded rolling element rolling part 25, a load rolling path, a return path 26, and a pair of direction changing paths 27 constitute a circulation path for circulating the rolling element 24.
　上記のように、円弧形第一軌道台６と第一移動体７との間に転動体２４を介在させることで、第一移動体７の高精度の案内及び第一移動体７のひっかかりのない円滑な移動が保証される。第一移動体７には、加工ヘッド３が取り付けられる。加工ヘッド３の旋回に円弧形第一軌道台６及び第一移動体７を使用することで、加工ヘッド３を高い剛性で支持することができ、加工ヘッド３にリベッティング以外のミーリング、ポリッシング、溶接等の機能を付加することができ、複合加工が実現できる。 As described above, by interposing the rolling element 24 between the arc-shaped first rail 6 and the first moving body 7, high-precision guidance of the first moving body 7 and catching of the first moving body 7 are achieved. Smooth movement is guaranteed. The machining head 3 is attached to the first moving body 7. By using the arc-shaped first rail 6 and the first moving body 7 for turning the processing head 3, the processing head 3 can be supported with high rigidity, and milling, polishing, Functions such as welding can be added, and composite processing can be realized.
　図４の正面図に示すように、Ｘ軸方向から見るとき、円弧形第一軌道台６の円弧の中心Ｃは、円筒形の胴体部１の中心Ｃと一致する。また、円弧形第一軌道台６は、円筒形の胴体部１と同心円上に配置される。円弧形第一軌道台６の中心角αは、特に限定されるものではなく、例えば１８０度未満、又は１８０度以上３６０度未満に設定される。中心角αが１８０度未満であれば、胴体部１を架台に据え付けるときに円弧形第一軌道台６が邪魔になるのを防止できるし、加工ヘッド３に搭載される装置の配線の処理が容易になる。中心角αが１８０度以上３６０度未満であれば、胴体部１の天井付近まで加工することが可能になる。 As shown in the front view of FIG. 4, when viewed from the X-axis direction, the center C of the arc of the arc-shaped first way 6 coincides with the center C of the cylindrical body 1. The arc-shaped first rail 6 is disposed concentrically with the cylindrical body 1. The central angle α of the arcuate first way 6 is not particularly limited, and is set to, for example, less than 180 degrees, or 180 degrees to less than 360 degrees. If the central angle α is less than 180 degrees, it is possible to prevent the arc-shaped first rail 6 from interfering when the body 1 is installed on the gantry, and to process the wiring of the device mounted on the machining head 3. Becomes easier. If center angle (alpha) is 180 degree | times or more and less than 360 degree | times, it will become possible to process to the ceiling vicinity of the trunk | drum 1.
　図５のθ軸駆動機構４の拡大図に示すように、第一移動体７には、加工ヘッド３のテーブル８が取り付けられる。加工ヘッド３は、ラック９及びピニオン１０によって円弧形第一軌道台６に沿って駆動される。加工ヘッド３のテーブル８には、ピニオン１０を回転駆動させるモータ１１が取り付けられる。円弧形第一軌道台６には、円弧形第一軌道台６と同心円の円弧形のラック９が一体に形成される。ただし、これには限定されず、ラック９は、円弧形第一軌道台６と別体に形成されてもよい。円弧形第一軌道台６は、円弧形のベースプレート１２に取り付けられる。ラック９には、ピニオン１０が噛み合う。モータ１１がピニオン１０を回転駆動させると、ピニオン１０がラック９に沿って旋回（θ軸方向に移動）し、ピニオン１０と一緒に加工ヘッド３が円弧の軌道に沿って旋回（θ軸方向に移動）する。 As shown in the enlarged view of the θ-axis drive mechanism 4 in FIG. 5, the table 8 of the machining head 3 is attached to the first moving body 7. The machining head 3 is driven along the arc-shaped first rail 6 by a rack 9 and a pinion 10. A motor 11 that rotates the pinion 10 is attached to the table 8 of the processing head 3. The arc-shaped first rail 6 is integrally formed with an arc-shaped rack 9 concentric with the arc-shaped first rail 6. However, the present invention is not limited to this, and the rack 9 may be formed separately from the arcuate first way 6. The arc-shaped first rail 6 is attached to an arc-shaped base plate 12. A pinion 10 meshes with the rack 9. When the motor 11 drives the pinion 10 to rotate, the pinion 10 turns along the rack 9 (moves in the θ-axis direction), and the machining head 3 turns along the arc path along with the pinion 10 (in the θ-axis direction). Moving.
　加工ヘッド３のテーブル８には、工具を円弧形第一軌道台６の半径方向（円弧形第一軌道台６の円弧の中心Ｃを向く方向）に移動させる少なくとも一つの、この実施形態では２つの、半径方向駆動機構としてのリニアモータ１４，１５が設けられる。半径方向駆動機構としては、リニアモータ以外にボールねじ等を用いることもできる。リニアモータ１４，１５は、本体部１４ａ，１５ａと、本体部１４ａ，１５ａに対して軸方向に直線運動する軸１４ｂ，１５ｂと、を備える。本体部１４ａ，１５ａが加工ヘッド３のテーブル８に取り付けられ、軸１４ｂ，１５ｂの先端にドリル、リベットハンマ等の工具１６，１７（図４参照）が取り付けられる。 At least one embodiment in which the tool is moved on the table 8 of the machining head 3 in the radial direction of the arc-shaped first rail 6 (the direction toward the center C of the arc of the arc-shaped first rail 6). Then, two linear motors 14 and 15 as radial drive mechanisms are provided. As the radial drive mechanism, a ball screw or the like can be used in addition to the linear motor. The linear motors 14 and 15 include main body portions 14a and 15a and shafts 14b and 15b that linearly move in the axial direction with respect to the main body portions 14a and 15a. The main body portions 14a and 15a are attached to the table 8 of the machining head 3, and tools 16 and 17 (see FIG. 4) such as a drill and a rivet hammer are attached to the tips of the shafts 14b and 15b.
　図４に示すように、Ｘ軸方向から見て、２つのリニアモータ１４，１５は放射状にθ軸方向に位置をずらして配置される。各リニアモータ１４又は１５は、円弧形第一軌道台６の円弧の中心Ｃに向かって、又は中心Ｃから離れるように、半径方向に工具を移動させる。２つのリニアモータ１４，１５は、２つの工具１６，１７を円弧形第一軌道台６の円弧の中心Ｃに向かって、又は中心Ｃから離れるように、半径方向に工具を移動させる。 As shown in FIG. 4, when viewed from the X-axis direction, the two linear motors 14 and 15 are arranged radially shifted in the θ-axis direction. Each linear motor 14 or 15 moves the tool in the radial direction toward or away from the center C of the arc of the arc-shaped first rail 6. The two linear motors 14 and 15 move the tools in the radial direction so that the two tools 16 and 17 are moved toward or away from the center C of the arc of the arc-shaped first rail 6.
　図１に示すように、Ｘ軸駆動機構５は、ベース１８に取り付けられる平行な一対のＸ軸第二軌道台１９と、Ｘ軸第二軌道台１９に直線運動可能に組み付けられる複数の第二移動体２０と、を備える。Ｘ軸第二軌道台１９と第二移動体２０との間には、転がり運動可能に多数のボール等の転動体が介在する。第二移動体２０には、転動体を循環させる循環路が設けられる。Ｘ軸第二軌道台１９と第二移動体２０との間に転動体を介在させることで、第二移動体２０の高精度の案内及び第二移動体２０のひっかかりのない円滑な移動が保証される。第二移動体２０には、θ軸駆動機構４のベースプレート１２が取り付けられる。 As shown in FIG. 1, the X-axis drive mechanism 5 includes a pair of parallel X-axis second rails 19 attached to a base 18 and a plurality of second axes assembled to the X-axis second rails 19 so as to be linearly movable. A moving body 20. A large number of rolling elements such as balls are interposed between the X-axis second rail 19 and the second moving body 20 so as to be capable of rolling motion. The second moving body 20 is provided with a circulation path for circulating the rolling elements. By interposing a rolling element between the X-axis second rail 19 and the second moving body 20, high-precision guidance of the second moving body 20 and smooth movement without catching of the second moving body 20 are guaranteed. Is done. The base plate 12 of the θ-axis drive mechanism 4 is attached to the second moving body 20.
　ベース１８の内部には、θ軸駆動機構４のベースプレート１２をＸ軸方向に移動させるアクチュエータ（図示せず）が組み込まれる。アクチュエータは例えば、スライダと、スライダをＸ軸方向に移動させるボールねじ、プーリ・ベルト、ラック・ピニオン、リニアモータ等からなる駆動機構と、を備える。ベース１８には、Ｘ軸方向に細長い溝２１が形成される。図４に示すように、θ軸駆動機構４のベースプレート１２の下部には、軸２２が固定される。軸２２は溝２１を介してベース１８の内部のアクチュエータのスライダに結合される。アクチュエータがスライダをＸ軸方向に駆動させる力が、軸２２を介してθ軸駆動機構４のベースプレート１２に伝達される。 In the base 18, an actuator (not shown) for moving the base plate 12 of the θ-axis drive mechanism 4 in the X-axis direction is incorporated. The actuator includes, for example, a slider and a drive mechanism including a ball screw, a pulley / belt, a rack / pinion, a linear motor, and the like that move the slider in the X-axis direction. An elongated groove 21 is formed in the base 18 in the X-axis direction. As shown in FIG. 4, a shaft 22 is fixed to the lower part of the base plate 12 of the θ-axis drive mechanism 4. The shaft 22 is coupled to an actuator slider inside the base 18 through a groove 21. A force that causes the actuator to drive the slider in the X-axis direction is transmitted to the base plate 12 of the θ-axis drive mechanism 4 through the shaft 22.
　本実施形態の加工機２の使用方法は、以下のとおりである。まず、Ｘ軸駆動機構５を作動させ、加工ヘッド３をＸ軸方向に位置決めする。次に、θ軸駆動機構４を作動させ、加工ヘッド３をθ軸方向に位置決めする。次に、ドリルが取り付けられたリニアモータ１４を作動させ、胴体部１に孔を開ける。次にθ軸駆動機構４を微動させ、リベットハンマが取り付けられたリニアモータ１５をドリルで開けた孔に位置決めする。次に、リベットハンマが取り付けられたリニアモータ１５を作動させ、孔にリベットを打ち込む。 The usage method of the processing machine 2 of the present embodiment is as follows. First, the X-axis drive mechanism 5 is operated to position the machining head 3 in the X-axis direction. Next, the θ-axis drive mechanism 4 is operated to position the machining head 3 in the θ-axis direction. Next, the linear motor 14 to which the drill is attached is operated to make a hole in the body portion 1. Next, the θ-axis drive mechanism 4 is finely moved, and the linear motor 15 to which the rivet hammer is attached is positioned in the hole drilled. Next, the linear motor 15 to which the rivet hammer is attached is operated to drive the rivet into the hole.
　図６は、本実施形態の加工機２のθ軸駆動機構４の他の例を示すＸ軸方向から見た正面図である。図５に示すθ軸駆動機構４では、ベースプレート１２に円弧形第一軌道台６を取り付け、加工ヘッド３のテーブル８に第一移動体７を取り付けている。しかし、この例では、図６に示すように、ベースプレート１２´に第一移動体７を取り付け、加工ヘッド３のテーブル８に円弧形第一軌道台６を取り付けている。第一移動体７、円弧形第一軌道台６、加工ヘッド３、リニアモータ１４，１５は、図５に示すものと同一なので、同一の符号を附してその説明を省略する。ベースプレート１２´には、ピニオン１０´を回転駆動させるモータ１１´が取り付けられる。ピニオン１０´は、円弧形第一軌道台６に一体の円弧形のラック９に噛み合う。モータ１１´がピニオン１０´を回転させると、円弧形第一軌道台６が、円弧の軌道に沿って旋回（θ軸方向に移動）し、円弧形第一軌道台６に取り付けられる加工ヘッド３が円弧の軌道に沿って旋回（θ軸方向に移動）する。図６（ａ）は、時計方向に旋回した加工ヘッド３の上端位置を示し、図６（ｂ）は、反時計方向に旋回した加工ヘッド３の下端位置を示す。 FIG. 6 is a front view showing another example of the θ-axis drive mechanism 4 of the processing machine 2 of the present embodiment as viewed from the X-axis direction. In the θ-axis drive mechanism 4 shown in FIG. 5, the arc-shaped first rail 6 is attached to the base plate 12, and the first moving body 7 is attached to the table 8 of the processing head 3. However, in this example, as shown in FIG. 6, the first moving body 7 is attached to the base plate 12 ′, and the arc-shaped first way 6 is attached to the table 8 of the processing head 3. The first moving body 7, the arc-shaped first rail 6, the machining head 3, and the linear motors 14 and 15 are the same as those shown in FIG. A motor 11 ′ for rotating the pinion 10 ′ is attached to the base plate 12 ′. The pinion 10 ′ meshes with an arcuate rack 9 integrated with the arcuate first way 6. When the motor 11 ′ rotates the pinion 10 ′, the arcuate first way 6 turns along the arcuate track (moves in the θ-axis direction) and is attached to the arc-shaped first way 6. The head 3 turns (moves in the θ-axis direction) along the circular arc trajectory. FIG. 6A shows the upper end position of the machining head 3 turned clockwise, and FIG. 6B shows the lower end position of the machining head 3 turned counterclockwise.
　本実施形態の加工機２によれば、以下の効果を奏する。加工ヘッド３にドリル、リベットハンマ等の工具を円弧形第一軌道台６の円弧の中心に向けてセットすることで、円弧の軌道に沿って加工ヘッド３が旋回する間、工具が常に円弧の中心を向く。すなわち、円筒形の胴体部１に対して工具が常に垂直方向を向く。この特性を利用することで、θ軸駆動機構４の構造の簡素化が実現できる。また、θ軸駆動機構４をＸ軸方向に移動させるＸ軸駆動機構５を設けるので、加工ヘッド３をＸ軸方向にもθ軸方向にも自動的に移動させることができる。 According to the processing machine 2 of the present embodiment, the following effects are obtained. A tool such as a drill or a rivet hammer is set on the machining head 3 toward the center of the arc of the arc-shaped first rail 6 so that the tool is always circular while the machining head 3 rotates along the arc orbit. Facing the center of In other words, the tool always faces the vertical direction with respect to the cylindrical body portion 1. By utilizing this characteristic, the structure of the θ-axis drive mechanism 4 can be simplified. Further, since the X-axis drive mechanism 5 for moving the θ-axis drive mechanism 4 in the X-axis direction is provided, the machining head 3 can be automatically moved in both the X-axis direction and the θ-axis direction.
　円弧形第一軌道台６の半径方向に工具を移動させるリニアモータ１４，１５を設けるので、円筒形の胴体部１に対して垂直方向に工具を移動させることができる。このため、円筒形の胴体部１の加工が容易になる。 Since the linear motors 14 and 15 for moving the tool in the radial direction of the arc-shaped first rail 6 are provided, the tool can be moved in the vertical direction with respect to the cylindrical body 1. For this reason, the cylindrical body part 1 can be easily processed.
　加工ヘッド３に、Ｘ軸方向から見て、複数のリニアモータ１４，１５を放射状に配置するので、複数の工具を円筒形の胴体部１に対して垂直方向に移動させることができる。 Since the plurality of linear motors 14 and 15 are radially arranged on the machining head 3 as viewed from the X-axis direction, the plurality of tools can be moved in the vertical direction with respect to the cylindrical body 1.
　なお、本発明は上記実施形態に具現化されるのに限られることはなく、本発明の要旨を変更しない範囲で様々な実施形態に具現化可能である。例えば、上記実施形態では、胴体部の外側に加工機を配置し、胴体部の外側から内側に向かって胴体部を加工している。しかし、胴体部の内側に加工機を配置し、胴体部の内側から外側に向かって加工することも可能である。 Note that the present invention is not limited to the embodiment described above, and can be embodied in various embodiments without changing the gist of the present invention. For example, in the above-described embodiment, a processing machine is disposed outside the body part, and the body part is processed from the outside to the inside of the body part. However, it is also possible to arrange a processing machine inside the body part and to process from the inside to the outside of the body part.
　上記実施形態では、胴体部の片側に１台の加工機を設置している。しかし、加工効率を２倍にするために胴体部の両側に２台の加工機を設置することも可能である。 In the above embodiment, one processing machine is installed on one side of the body part. However, in order to double the processing efficiency, two processing machines can be installed on both sides of the body part.
　上記実施形態では、半径方向駆動機構としてのリニアモータを加工ヘッドのテーブルに直接取り付けているが、半径方向駆動機構としてのリニアモータと加工ヘッドのテーブルとの間にリニアモータを首振りさせる旋回駆動機構を設けることも可能である。 In the above embodiment, the linear motor as the radial drive mechanism is directly attached to the table of the machining head, but the swivel drive that swings the linear motor between the linear motor as the radial drive mechanism and the table of the machining head. It is also possible to provide a mechanism.
　上記実施形態では、ベースにＸ軸第二軌道台を取り付け、ベースプレートに第二移動体を取り付けているが、ベースに第二移動体を取り付け、ベースプレートにＸ軸第二軌道台を取り付けることもできる。 In the above embodiment, the X-axis second way is attached to the base and the second moving body is attached to the base plate. However, the second moving body can be attached to the base and the X-axis second way can be attached to the base plate. .
　本明細書は、２０１５年６月１２日出願の特願２０１５－１１８９１６に基づく。この内容はすべてここに含めておく。 This specification is based on Japanese Patent Application No. 2015-118916 filed on June 12, 2015. All this content is included here.
１…航空機の胴体部、２…加工機、３…加工ヘッド、４…θ軸駆動機構、５…Ｘ軸駆動機構、６…円弧形第一軌道台（円弧形軌道台）、７…第一移動体（移動体）、８…テーブル、９…ラック、１０…ピニオン、１１…モータ、１２…ベースプレート、１４，１５…リニアモータ（半径方向駆動機構）、１６，１７…工具、１８…ベース、１９…Ｘ軸第二軌道台、２０…第二移動体、２１…溝、２２…軸、Ｃ…円弧形第一軌道台の中心、α…円弧形第一軌道台の中心角
  DESCRIPTION OF SYMBOLS 1 ... Aircraft body part, 2 ... Processing machine, 3 ... Processing head, 4 ... (theta) axis drive mechanism, 5 ... X-axis drive mechanism, 6 ... Arc-shaped first way (arc-type way), 7 ... 1st moving body (moving body), 8 ... table, 9 ... rack, 10 ... pinion, 11 ... motor, 12 ... base plate, 14, 15 ... linear motor (radial direction drive mechanism), 16, 17 ... tool, 18 ... Base, 19 ... X-axis second way, 20 ... Second moving body, 21 ... Groove, 22 ... Axis, C ... Center of arc-shaped first way, α ... Center angle of arc-shaped first way

Claims (4)

  1. 　垂直面内に配置される円弧形軌道台、及び前記円弧形軌道台に沿って相対的に移動可能な移動体を有し、前記移動体又は前記円弧形軌道台に取り付けられる加工ヘッドを円弧の軌道に沿って旋回させるθ軸駆動機構と、
    　前記θ軸駆動機構を水平方向のＸ軸方向に移動させるＸ軸駆動機構と、を備える加工機。     An arc-shaped track that is disposed in a vertical plane, and a moving head that is relatively movable along the arc-shaped track, and is attached to the moving body or the arc-shaped track A θ-axis drive mechanism for turning the
    An X-axis drive mechanism that moves the θ-axis drive mechanism in the horizontal X-axis direction.
  2. 　前記加工ヘッドは、
    　前記円弧形軌道台の半径方向に工具を移動させる少なくとも一つの半径方向駆動機構を備えることを特徴とする請求項１に記載の加工機。     The processing head is
    The processing machine according to claim 1, further comprising at least one radial drive mechanism that moves a tool in a radial direction of the arcuate track.
  3. 　前記加工ヘッドに、前記Ｘ軸方向から見て、複数の前記半径方向駆動機構を放射状に配置することを特徴とする請求項２に記載の加工機。 3. The processing machine according to claim 2, wherein a plurality of the radial drive mechanisms are radially arranged on the processing head as viewed from the X-axis direction.
  4. 　前記加工機は、航空機の胴体部を加工するのに用いられることを特徴とする請求項１ないし３のいずれか１項に記載の加工機。
          The processing machine according to claim 1, wherein the processing machine is used for processing a fuselage of an aircraft.
PCT/JP2016/066341 2015-06-12 2016-06-02 Working machine WO2016199660A1 (en)

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JP2002028745A (en) * 2000-07-10 2002-01-29 Mitsubishi Heavy Ind Ltd Riveting device
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