WO2018235429A1 - 機械加工装置用のアタッチメント - Google Patents
機械加工装置用のアタッチメント Download PDFInfo
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- WO2018235429A1 WO2018235429A1 PCT/JP2018/016953 JP2018016953W WO2018235429A1 WO 2018235429 A1 WO2018235429 A1 WO 2018235429A1 JP 2018016953 W JP2018016953 W JP 2018016953W WO 2018235429 A1 WO2018235429 A1 WO 2018235429A1
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- Prior art keywords
- tool
- copying
- arm
- force
- machining
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- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
- B23Q11/005—Devices for removing chips by blowing
-
- 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
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
- B23Q11/0046—Devices for removing chips by sucking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C1/00—Milling machines not designed for particular work or special operations
- B23C1/16—Milling machines not designed for particular work or special operations specially designed for control by copying devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/12—Trimming or finishing edges, e.g. deburring welded corners
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C9/00—Details or accessories so far as specially adapted to milling machines or cutter
-
- 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
- B23Q35/00—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually
- B23Q35/04—Control systems or devices for copying directly from a pattern or a master model; Devices for use in copying manually using a feeler or the like travelling along the outline of the pattern, model or drawing; Feelers, patterns, or models therefor
- B23Q35/08—Means for transforming movement of the feeler or the like into feed movement of tool or work
- B23Q35/10—Means for transforming movement of the feeler or the like into feed movement of tool or work mechanically only
Definitions
- Embodiments of the present invention relate to an attachment for a machining device, a machining device, and a machining method.
- a copying die is installed as a jig on the workpiece side, while an end mill or a machine tool such as a milling machine or router processing device is used.
- a method of performing copying by attaching a guide for contacting the copying die with a cutting tool called a router bit and performing copying.
- the positioning accuracy by the robot is orders of magnitude lower than that of a machine tool capable of positioning a tool at a pitch of 0.01 mm to 0.001 mm. This is because the rigidity of the arm of the robot is lower than that of the spindle of a machine tool such as a machining center or a milling machine.
- machining with a robot is limited to machining with moderate machining accuracy such as chamfering, deburring, polishing or grinding or machining with relatively small reaction force from the workpiece, and tolerance is ⁇ 0.1 mm to ⁇ 1.0 mm.
- external processing such as trimming and pocket processing of workpieces using an end mill that requires a certain degree of processing accuracy, it is necessary to rely on a large-scale and expensive machine tool compared to a robot It has become.
- the present invention enables high-precision cutting machining with a large reaction force from the workpiece such as external shape trimming, external shape roughing, external shape finishing, groove processing, pocket processing or drilling using a robot.
- the purpose is to
- An attachment for a machining apparatus is a copying guide that has a through hole for passing a tool and is in contact with a copying mold installed on the side of a machined object, the tool Air for supplying air to be ejected toward the machined product side through a copying guide on the machining apparatus side attached to a rotating mechanism that holds while rotating, and a gap between the tool and the through hole And a supply path.
- a machining apparatus includes the rotation mechanism, and the attachment described above is attached to the rotation mechanism.
- the copying die while attaching the above-mentioned attachment to the rotation mechanism of the machining device, the copying die is installed on the machined object side, and the copying guide and the copying die are installed.
- a product or a semifinished product is manufactured by carrying out the contour copy processing of the machined product using the tool while being in contact.
- FIG. 1 is a configuration diagram of a machining robot as an example of a machining device according to a first embodiment of the present invention.
- FIG. 2 is a view for explaining a machining method in which a tool is attached to the machining robot shown in FIG. 1 to perform contouring of a machined object.
- FIG. 2 is a functional block diagram of a control system provided in the machining robot shown in FIG. 1;
- FIG. 9 is a view for explaining a method of obtaining a reaction force in the advancing direction of the tool and a reaction force in the radial direction of the tool when the advancing direction of the tool changes during the contouring process using the machining robot shown in FIG. 2.
- FIG. 2 is a view for explaining a machining method in which a tool is attached to the machining robot shown in FIG. 1 to perform contouring of a machined object.
- FIG. 2 is a functional block diagram of a control system provided in the machining robot shown in FIG. 1;
- FIG. 9 is a view
- FIG. 13 is a view showing an example in which the direction of the force sensor changes even when the traveling direction of the tool does not change during the contour copying process using the machining robot shown in FIG. 2; 7 is a graph for explaining a control method of an arm in the machining robot shown in FIG. Sectional drawing which shows the detailed structural example of the copying guide provided in the robot for machinings as an example of the machining apparatus which concerns on the 2nd Embodiment of this invention. The figure which shows the state which sent out the tool to the tool axial direction with the rotation mechanism by the feed mechanism shown in FIG.
- FIG. 1 is a block diagram of a machining robot as an example of a machining device according to a first embodiment of the present invention
- FIG. 2 is a machined object with a tool attached to the machining robot shown in FIG. It is a figure explaining the machining method which performs external shape copy processing.
- the machining robot 1 includes a robot 2 and a control system 3 of the robot 2.
- the robot 2 has an arm 4 of a cantilever structure in which links are connected by a plurality of joints.
- a mounting jig 5 is provided at the tip of the arm 4.
- the feed mechanism 6, the rotation mechanism 7, the copying guide 8 and the tool T are attached to the attachment jig 5.
- the arm 4 has a structure capable of moving the feed mechanism 6, the rotation mechanism 7, the copying guide 8 and the tool T attached to the mounting jig 5 in at least two-dimensional directions. For example, if three links are connected by two joints whose rotation axes are parallel and arranged on a plane, the feed mechanism 6, the rotation mechanism 7, the copying guide 8 and the tool T attached to the mounting jig 5 are three.
- the arm 4 can be configured to be movable in a two-dimensional direction on the plane on which the link is disposed.
- the typical robot 2 can move the feed mechanism 6, the rotation mechanism 7, the copying guide 8 and the tool T attached to the mounting jig 5 in three dimensions.
- An arm 4 is provided.
- the arm 4 has a structure in which a plurality of links are connected by a plurality of rotation mechanisms. For this reason, the feed mechanism 6, the rotation mechanism 7, the copying guide 8 and the tool T attached to the mounting jig 5 can not only be translated in three dimensions but also be inclined in a desired direction by rotational movement. be able to.
- the feed mechanism 6 is a device for applying a feed in the direction of the tool axis AX to the tool T.
- the rotation mechanism 7 is a device that holds and rotates the tool T. Therefore, the feed mechanism 6 is configured to indirectly give the tool T a feed operation in the direction of the tool axis AX by giving the feed in the direction of the tool axis AX to the rotation mechanism 7 which holds and rotates the tool T. Be done.
- any of general-purpose pneumatic, hydraulic or electric devices can be used. In the example shown in FIG. 1, both the feed mechanism 6 and the rotation mechanism 7 are pneumatic devices. For this reason, the feed mechanism 6 incorporating the rotation mechanism 7 is connected to the compressed air supply tank. Of course, one or both of the feed mechanism 6 and the rotation mechanism 7 may be an electric device. In that case, a motor provided in one or both of the feed mechanism 6 and the rotation mechanism 7 is connected to the power supply.
- the robot 2 holds the tool T while rotating it by the rotation mechanism 7 and can move the tool T indirectly held by the rotation mechanism 7 in two or three dimensions. Is equipped. Therefore, machining of the workpiece (machined object) W using the tool T can be performed by two-dimensional drive or three-dimensional drive of the arm 4.
- the tools T held by the rotation mechanism 7 include not only chamfering cutters and deburring tools but also various rotary machining tools such as end mills, drills and reamers. Therefore, desired cutting of the work W can be performed by the machining robot 1 to which the rotary tool T is attached.
- cutting processing of plate-like or block-like work W outline trimming, outline roughing, outline finishing, grooving, pocketing to form a recess surrounded by a flange, roughing of the inner surface of a flange, flange
- a wide variety of cutting operations can be performed, such as finishing on the inner surface, drilling, chamfering and deburring.
- GFRP Glass fiber reinforced plastics
- CFRP Carbon Fiber Reinforced Plastics
- the copying guide 8 is a jig for copying processing on the side of the arm 4 attached to the side of the arm 4 in order to contact with the copying type J1 installed on the side of the work W. Not only the guide for positioning the tool T in the tool radial direction D by contacting the copying die J with the copying die J 1 in the tool radial direction D, but also by contacting the copying die J 1 in the tool axis AX direction A guide can be provided for positioning the tool T in the direction of the tool axis AX.
- the copying guide 8 in which the cylindrical portion 8B is coaxially formed on one surface of the disk-shaped member 8A provided with the through hole for passing the tool T has a rotation mechanism. 7 is fixed to the casing 6A of the feed mechanism 6 having the 7 therein.
- the disc-shaped member 8A functions as a guide for positioning the tool T in the tool axis AX direction by contacting the copying die J1 in the tool axis AX direction.
- the cylindrical portion 8B functions as a guide for positioning the tool T in the tool radial direction D by contacting the copying die J1 with the tool radial direction D.
- the tool T can be made to project from the through hole formed on the central axis of the copying guide 8 toward the workpiece W.
- the copying guide 8 may be rotatably mounted on the arm 4 through a rotation mechanism such as a bearing.
- a rotation mechanism such as a bearing.
- carbon dust may clog the gap of the bearing. Therefore, by fixing the copying guide 8 to the arm 4 side without the rotation mechanism such as a bearing, while the configuration of the copying guide 8 is simplified, it is possible to prevent the dust of the composite material from being mixed in the rotation mechanism.
- the copying guide 8 may be rotatably attached to the arm 4 side by a shield bearing having a structure for preventing the mixing of dust into the inside.
- the shape of the copying guide 8 and the attachment position to the arm 4 can be freely determined according to the shape and position of the work W itself and the shape and position of the copying die J1 installed on the work W side.
- the copying type J1 is a jig for copying processing installed on the work W side.
- the copying die J1 has a surface in contact with the copying guide 8 in the tool radial direction D, and a surface in contact with the tool axis AX. For this reason, positioning the tool T in both the tool radial direction D and the tool axis AX direction can be performed by bringing the copying type J1 into contact with the copying guide 8 at the two contact surfaces. Then, by moving the arm 4 while bringing the copying guide 8 on the side of the arm 4 into contact with the copying type J 1 installed on the side of the work W, it is possible to carry out the outline copying of the work W using the tool T. .
- an I-type stringer (longitudinal stringer) which is one of the aircraft parts is the work W.
- Type I stringers are stringers that are I-shaped in cross section. That is, the type I stringer has a structure in which two flanges are formed on both sides of the web.
- FIG. 2 has shown the example which manufactures I-type stringer by cut
- the shape of the copying die J1 is a shape which is offset from the shape of the workpiece W after machining by the distance between the contact surface of the copying guide 8 with the copying die J1 and the cutting surface of the tool T ing. That is, the end face offset by a fixed distance according to the structure of the copying guide 8 with respect to the position of the end face of the flange after machining is formed in the copying die J1.
- the diameter of the cylindrical portion 8B of the copying guide 8 can be 14 mm to 15 mm.
- the distance between the side surface of the cylindrical portion 8B of the copying guide 8 and the cutting surface of the tool T is 2 mm to 2.5 mm.
- the offset amount between the end face of the copying mold J1 and the shape of the workpiece W after machining is 2 mm to 2.5 mm.
- the shape and position of the copying type J1 can be freely determined according to the shape and position of the work W and the shape and position of the copying guide 8 attached to the arm 4 side.
- the arm 4 is provided with a force sensor 9 for detecting a force applied to the arm 4.
- the force sensor 9 is a sensor for detecting a force applied to the arm 4 at least from the tool T. That is, in the case of performing external shape processing of the workpiece W with the cutting edge formed on the side surface of the tool T, the tool radial direction D perpendicular to the traveling direction F of the tool T and the traveling direction F of the tool T from the workpiece W A reaction force, which is a main component, acts on the tool T.
- a reaction force mainly comprising the tool axis AX direction and the tool radial direction D acts on the copying type J1 to the copying guide 8.
- the reaction force from the workpiece W and the copying mold J 1 includes the advancing direction F of the tool T, the tool radial direction D perpendicular to the advancing direction F of the tool T, and the tool axis AX direction.
- a two-dimensional reaction force is indirectly loaded through the tool T, the rotation mechanism 7 and the feed mechanism 6.
- the force sensor 9 capable of detecting forces in the directions of three axes orthogonal to each other can be attached to the attachment jig 5 at the tip of the arm 4.
- the mounting jig 5 is attached to the arm 4 via the stepped disk-like force sensor 9.
- the force sensor 9 can detect the force being applied.
- the force sensor 9 can also detect the force applied to the arm 4 from the copying type J1 during the contour copying process of the workpiece W.
- the casing 6A of the feed mechanism 6 incorporating the rotation mechanism 7 for rotating the tool T is attached such that the tool axis AX is perpendicular to the connection surface of the force sensor 9.
- the casing 6A of the feed mechanism 6 incorporating the rotation mechanism 7 for rotating the tool T is attached to the attachment jig 5 so that the tool axis AX is parallel to the connection surface of the force sensor 9 There is.
- the direction in which the tool T, the rotation mechanism 7 and the feed mechanism 6 are attached to the arm 4 can be freely determined in accordance with the structures of the work W, the copying guide 8 and the copying type J1.
- the force sensor 9 can detect each component of the reaction force in the direction of movement F of the tool T, the tool radial direction D perpendicular to the direction of movement F of the tool T, and the direction of the tool axis AX. As a specific example, as shown in FIG.
- the traveling direction F of the tool T is the X axis
- the tool T can be attached to the arm 4 so that the tool radial direction D perpendicular to the advancing direction F of the tool T is parallel to the Y axis direction and the tool axis AX direction is parallel to the Z axis direction.
- the force detected by the force sensor 9 is output to the control system 3.
- the control system 3 is configured to control the arm 4 based on the force detected by the force sensor 9.
- FIG. 3 is a functional block diagram of a control system 3 provided in the machining robot 1 shown in FIG.
- the control system 3 can be configured using a computer 12 in which the input device 10 and the display device 11 are connected.
- An arithmetic device such as a CPU (central processing unit) of the computer 12 reads and executes a control program of the robot 2 to obtain a load acquisition unit 13, a control signal generation unit 14, a control information storage unit 15, and a warning information generation unit 16. Act as.
- the control system 3 further includes an arm control unit 17 and a tool control unit 18.
- the arm control unit 17 may be a function of the computer 12. That is, processing circuits for reading a control program for configuring the arm control unit 17, and processing circuits functioning as the load acquisition unit 13, control signal generation unit 14, control information storage unit 15, and warning information generation unit 16 are included. It may be common.
- the load acquisition unit 13 has a function of acquiring the force detected by the force sensor 9 and notifying the control signal generation unit 14 and the warning information generation unit 16 of the force.
- the force acquisition unit 13 includes a force including the force in the advancing direction F of the tool T, the force in the tool radial direction D perpendicular to the advancing direction F of the tool T, and the force in the tool axis AX.
- the control signal generation unit 14 and the warning information generation unit 16 are notified of the force acquired from the above and having the acquired components of the three directions.
- the control signal generation unit 14 has a function of controlling the arm 4, the feed mechanism 6, and the rotation mechanism 7 based on the machining control program stored in the control information storage unit 15 as control information.
- a machining control program composed of a control program of the arm 4, a control program of the feed mechanism 6, and a control program of the rotation mechanism 7 is created, and the created machining control program is used as a control robot for the machining information storage unit 15. It can be stored as control information of 1.
- control signal generation unit 14 refers to the machining control program stored in the control information storage unit 15 and controls each control signal of the arm 4, the feed mechanism 6 and the rotation mechanism 7 according to the machining control program referred to. While outputting the control signal of the function to generate and the generated control signal of the arm 4 to the drive unit of the arm 4 through the arm control unit 17, the control signal of the generated feed mechanism 6 and the rotation mechanism 7 is transmitted through the tool control unit 18
- the rotation mechanism 7 is provided with a function of outputting each.
- control signal generation unit 14 generates and generates a control signal of the arm 4 for contour copying based on the force notified from the load acquisition unit 13 and the control program of the arm 4 for contour copying.
- the control signal is output to the arm 4 to automatically control the arm 4 so that the outline copying process is performed.
- the control program of the arm 4 for external shape copying processing is a program that teaches the trajectory and moving speed of the arm 4 so that the copying guide 8 moves while being in contact with the copying type J1. That is, the control program for contour copying processing is a program for teaching the moving direction and moving speed of the arm 4 by specifying the teaching position and the teaching speed. Therefore, the control program for the contour copying process is created based on the shape information of the copying type J1.
- control program can be created.
- processing is performed with a change in curvilinear or tool axis AX direction by the copying type J1, based on two-dimensional or three-dimensional shape information of the contact surface with the copying guide 8 of the copying type J1. It is possible to create a control program for contour copying processing that teaches the spatial position and movement direction of the arm 4.
- the created control program of the contour copy processing arm 4 can be stored in the control information storage unit 15 so that the control signal generation unit 14 can refer to the contour copy processing of the workpiece W.
- the control signal generation unit 14 acquires from the force sensor 9 through the load acquisition unit 13 as well as the control program for the arm 4 for external shape copying processing when performing external shape copying processing of the workpiece W
- the control signal of the arm 4 is also generated based on the force.
- the force from the force sensor 9 is a force including the force in the advancing direction F of the tool T, the force in the tool radial direction D perpendicular to the advancing direction F of the tool T and the force in the tool axis AX as components. It can be acquired through the acquisition unit 13. As exemplified in FIG. 2, an X-axis in which the force sensor 9 can detect force by the advancing direction F of the tool T, the tool radial direction D perpendicular to the advancing direction F of the tool T, and the tool axis AX direction.
- the force in the traveling direction F of the tool T directly based on the force including the three orthogonal components acquired from the force sensor 9 through the load acquisition unit 13;
- the force in the tool radial direction D perpendicular to the advancing direction F of the tool T and the force in the tool axis AX direction can be obtained.
- a tool radial direction D and a tool axis AX direction perpendicular to the direction of travel F of the tool T, the direction of travel F for the tool T, and an X axis direction, Y axis direction and Z where force can be detected by the force sensor 9
- the force in the direction of the tool axis AX When the axial direction is inclined or rotated without changing at a known angle, the force in the advancing direction F of the tool T, the tool radial direction D perpendicular to the advancing direction F of the tool T by coordinate conversion processing And the force in the direction of the tool axis AX.
- the tool radial direction D and the tool axis AX direction perpendicular to the tool moving direction F, the tool T moving direction F, and the X axis direction, Y axis direction and Z direction in which the force can be detected by the force sensor 9 Even if the geometrical positional relationship with the axial direction changes during copying, the traveling direction F of the tool T, based on the shape information of at least one of the copying type J1 and the workpiece W after processing, The tool radial direction D perpendicular to the advancing direction F of the tool T and the tool axis AX direction can be specified.
- FIG. 4 shows the reaction force in the direction of movement F of the tool T and the reaction force in the direction of the tool radial direction D when the direction of movement F of the tool T changes during the contouring process using the machining robot 1 shown in FIG. It is a figure explaining the method of asking for.
- the traveling direction F of the tool T is the outer shape and copying of the workpiece W after processing It will change in the tangential direction of type J1.
- the direction of the reaction force acting on the copying guide 8 in the tool radial direction D is the normal direction perpendicular to the cutting surface of the workpiece W, that is, the surface of the workpiece W after processing and the surface of the copying die J1.
- X-axis direction and Y-axis direction in which the force can be detected by the force sensor 9 and the tool T can be obtained by performing external shape trimming with the direction of the tool axis AX as the Z-axis direction without changing the direction of the force sensor 9.
- the relative relationship between the traveling direction F of the tool and the tool radial direction D in which the copying guide 8 receives a reaction force changes.
- the tool T and the copying guide 8 have a direction perpendicular to the surface of the workpiece W after processing or the surface of the copying die J1 based on the copying die J1 or the two-dimensional shape of the workpiece W after processing. It can specify as tool diameter direction D which receives a reaction force from work W and copying type J1, respectively.
- the direction perpendicular to the surface of the workpiece W and the surface of the copying mold J1 is from the workpiece W and the copying mold J1 respectively. It may be specified as the tool radial direction D receiving the reaction force. Then, the reaction force in the specified tool radial direction D can be calculated as vector calculation based on each detected value of the force in the X-axis direction and the Y-axis direction.
- FIG. 5 is a view showing an example in which the direction of the force sensor 9 changes even if the advancing direction F of the tool T does not change during the contour copying process using the machining robot 1 shown in FIG. It is.
- the direction of the force sensor 9 changes as shown in FIG. 5 depending on the position of the drive shaft of the arm 4. That is, when the force sensor 9 can not move in parallel with the advancing direction F of the tool T due to the restriction of the drive axis of the arm 4, even if the advancing direction F of the tool T is linear and does not change The orientation will change. Even in such a case, the direction perpendicular to the surface of the workpiece W and the surface of the copying die J1 is the tool T and the copying guide based on the shape of the copying die J1, the shape of the workpiece W after processing, or the taught position of the tool T.
- the reaction force in the specified tool radial direction D can be calculated as vector calculation based on each detected value of the force in the X-axis direction and the Y-axis direction.
- the traveling direction F of the tool T, the tool radial direction D perpendicular to the traveling direction F of the tool T, and the tool axis AX direction are detected based on the time change of the force detected as three components of the vector by the force sensor 9 You may do so.
- the force in the advancing direction F of the tool T, the force in the tool radial direction D perpendicular to the advancing direction F of the tool T, and the force in the tool axis AX direction are used without using the shape information of the copying die J1 and the workpiece W. You can ask for
- the control signal generation unit 14 generates the force in the advancing direction F of the tool T, the tool radial direction D perpendicular to the advancing direction F of the tool T, and the like based on the force detected by the force sensor 9 as described above. A function of determining the force and the force in the direction of the tool axis AX is provided. The control signal generation unit 14 can control the arm 4 according to the direction of the force applied to the arm 4.
- the cutting resistance increases and the reaction force from the workpiece W to the tool T increases as the feed speed of the tool T in the advancing direction F increases during cutting of the workpiece W.
- the feed speed in the direction of movement F of the tool T is constant, if the thickness of the plate-like work W changes or the machining allowance of the work W becomes large, the reverse from the work W to the tool T Force increases.
- the reaction force from the workpiece W to the tool T increases.
- control signal generation unit 14 based on the force in the traveling direction F of the tool T, which is directly measured by the force sensor 9 or indirectly acquired with processing such as coordinate conversion using the force sensor 9
- the control signal of the arm 4 for contour copying may be generated so that the advancing speed of the tool T becomes a predetermined control value. That is, the advancing speed of the tool T can be automatically adjusted so that the reaction force in the advancing direction F of the tool T does not become excessive in the contour copying process.
- the control signal generation unit 14 determines the control value of the advancing speed of the tool T such that the force in the advancing direction F of the tool T acquired using the force sensor 9 becomes constant or within a predetermined range.
- the control signal of the arm 4 for contour copying may be generated so that the advancing speed of the tool T becomes the control value of the advancing speed of the determined tool T. That is, feedback control of the advancing speed of the tool T may be performed such that the force in the advancing direction F of the tool T is constant or within a predetermined range.
- the cemented carbide is a material obtained by adding an additive substance such as titanium carbide or tantalum carbide to tungsten carbide powder and sintering with cobalt.
- a diamond tool is a tool formed by molding a single crystal of diamond or a tool constituted by a polycrystalline sintered body obtained by adding an additive substance such as cobalt to diamond fine powder and sintering it.
- Another specific example of the method of automatically adjusting the advancing speed of the tool T is a method of changing the advancing speed of the tool T to a predetermined speed according to the force in the advancing direction F of the tool T.
- FIG. 6 is a graph for explaining a control method of the arm 4 in the machining robot 1 shown in FIG.
- the horizontal axis indicates the detected value of the force (kgf) loaded in the direction of travel F of the tool T
- the vertical axis indicates the control value of the traveling speed of the tool T.
- the moving speed of the tool T is a parameter in the control program from the user. It is determined to be the teaching speed given as.
- the force in the traveling direction F of the tool T is 5.5 kgf or more, the reaction force from the workpiece W is large, so that the traveling speed of the tool T is 50 It is decided to be%.
- the movement speed of the tool T is determined to change linearly from 100% to 50% of the teaching speed . That is, in the example shown in FIG. 6, when the force in the moving direction F of the tool T exceeds the threshold value, the moving speed of the tool T is automatically decelerated gradually to 50% of the teaching speed. Progress rate control program has been created.
- the present invention is not limited to the example shown in FIG. 6, but the force applied to the arm 4 in the advancing direction F of the tool T according to the result of the cutting test etc. and the control value of the advancing speed of the tool T It can be related.
- the control value of the traveling speed of the tool T is decreased stepwise or the control value of the traveling speed of the tool T is curvilinearly reduced It can also be done.
- a table may be prepared in which the force applied from the direction of travel F of the tool T and the values of the control values of the speed of travel of the tool T are associated with each other.
- the control signal is generated.
- the control signal generation unit 14 can generate a control signal of the arm 4 for contour copying processing so that the advancing speed of the tool T becomes the control value of the advancing speed of the tool T determined.
- the control signal generation unit 14 stops the movement of the arm 4 to perform contour copying processing.
- a function to interrupt can be provided. That is, when the force in the moving direction F of the tool T acquired by the load acquisition unit 13 exceeds the threshold value or exceeds the threshold value, a control signal for stopping the movement of the arm 4 is generated and output to the arm control unit 17 A function can be provided in the control signal generation unit 14.
- the control signal generation unit 14 determines not only the reaction force in the advancing direction F of the tool T, but also the reaction force in the tool radial direction D perpendicular to the advancing direction F of the tool T and the reaction force in the tool axis AX direction. be able to. Therefore, in the control signal generation unit 14, not only feedback control of the arm 4 based on the reaction force in the advancing direction F of the tool T, but also the arm 4 based on the reaction force in the tool radial direction D perpendicular to the advancing direction F of the tool T And feedback control of the arm 4 based on the reaction force in the direction of the tool axis AX.
- the rigidity of the arm 4 having a cantilever structure is extremely small as compared with the rigidity of the spindle of the machine tool. For this reason, when the arm 4 is controlled only according to the control program, the deflection of the arm 4 due to the processing reaction force, the own weight, etc. causes the actual position of the tool T to be between the teaching position of the tool T instructed by the control program. An error occurs. Such an error derived from the positioning accuracy of the arm 4 is a non-negligible error in the processing of the workpiece W in which a tolerance of about ⁇ 0.1 mm to ⁇ 1.0 mm is required. In particular, when the contour copying process is performed, if the arm 4 is controlled according to only the control program, there is a possibility that the copying guide 8 does not reliably contact the copying type J1.
- the guide 8 can be reliably pressed against the copying type J1 with an appropriate force.
- the force in the tool radial direction D perpendicular to the advancing direction F of the tool T acquired using the force sensor 9 is constant or within a predetermined range.
- the control value of the position in the tool radial direction D perpendicular to the advancing direction F can be determined. That is, the tool diameter of the tool T perpendicular to the advancing direction F of the tool T by the control program is set so that the reaction force in the tool radial direction D perpendicular to the advancing direction F of the tool T is constant or within a predetermined range.
- a correction to offset in the direction D can be performed, and the position after the correction can be set as a control value of the position in the tool radial direction D perpendicular to the traveling direction F of the tool T.
- the arm 4 for contour copying processing so that the position in the tool radial direction D perpendicular to the advancing direction F of the tool T becomes the control value of the position in the tool radial direction D perpendicular to the decided advancing direction F of the tool T Control signals can be generated and output to the arm control unit 17.
- the arm 4 can be feedback-controlled so that the reaction force in the tool radial direction D applied to the copying guide 8 and the tool T from the copying die J1 and the workpiece W becomes constant or within a predetermined range.
- the copying guide 8 can be reliably pressed in the tool radial direction D against the copying mold J1 with an appropriate force which falls within a predetermined or predetermined range.
- control of the position of the tool T in the direction of the tool axis AX such that the force in the direction of the tool axis AX of the tool T acquired using the force sensor 9 is constant or within a predetermined range.
- the value can be determined. That is, the teaching position of the tool T according to the control program is corrected to be offset in the tool axis AX direction so that the reaction force in the tool axis AX direction is constant or within a predetermined range. It can be set as a control value of the position in the direction of the tool axis AX.
- control signal of the arm 4 for contour copying is generated so that the position of the tool T in the direction of the tool axis AX becomes the control value of the position of the determined tool T in the direction of the tool axis AX. It can be output.
- the arm 4 can be feedback-controlled so that the reaction force in the direction of the tool axis AX applied to the copying guide 8 from the copying type J1 is constant or within a predetermined range.
- the copying guide 8 can be reliably pressed in the direction of the tool axis AX against the copying mold J1 with an appropriate force that falls within a predetermined or predetermined range.
- the copying mold J1 and the work W It is necessary to have a strength not to be deformed by the applied force.
- the copying type J1 and the work W need to be fixed so that positional deviation does not occur even if a force is applied by force control. Therefore, it is necessary to determine the force applied by the force control to be a force that does not cause deformation and displacement of the copying type J 1 and the workpiece W.
- the positioning of the tool T in the direction of the tool axis AX can be performed not only by the movement of the arm 4 but also by the operation of the feeding mechanism 6. Therefore, the control signal generation unit 14 can automatically control the feed mechanism 6 based on the reaction force in the direction of the tool axis AX of the tool T acquired using the force sensor 9.
- the force in the direction of the tool axis AX of the tool T obtained using the force sensor 9 is constant or within a predetermined range.
- the control value of the feed speed of the feed mechanism 6 can be determined, and the control signal of the feed mechanism 6 for perforation can be generated and output to the feed mechanism 6 so as to become the determined control value of the feed speed.
- the arm control unit 17 of the control system 3 has a function of controlling the arm 4 by outputting the control signal of the arm 4 generated by the control signal generation unit 14 to the drive unit of the arm 4.
- the tool control unit 18 outputs the control signals of the feed mechanism 6 and the rotation mechanism 7 generated by the control signal generation unit 14 to the feed mechanism 6 and the rotation mechanism 7, respectively. It has a function to control. As illustrated in FIG. 1, if both the feed mechanism 6 and the rotation mechanism 7 are pneumatic, the tool control unit 18 receives the control signal generated by the control signal generation unit 14 from the electric signal to the air signal. , And the function of outputting to the feed mechanism 6 and the rotation mechanism 7 respectively.
- the warning information generation unit 16 acquires the force in the traveling direction F of the tool T based on the force acquired by the load acquisition unit 13 and the force in the traveling direction F of the tool T exceeds the threshold value or exceeds the threshold value. , And has a function of causing the display device 11 to output warning information as a warning message.
- the warning information may be output as a light, warning sound, or voice message to an output device such as a lamp or a speaker instead of or in addition to the display device 11.
- warning information can be output prior to the stop of the arm 4.
- the force in the tool radial direction D perpendicular to the traveling direction F of the tool T and the force in the tool axis AX direction Even if the threshold value exceeds the threshold value or exceeds the threshold value, warning information can be output prior to the stop of the arm 4.
- the threshold for determining whether to output warning information in the warning information generating unit 16 is set lower than the threshold for determining whether to stop the arm 4 in the control signal generating unit 14 It is. That is, when the force acquired by the load acquisition unit 13 exceeds the first threshold or exceeds the first threshold, the warning information generation unit 16 outputs the warning information, and the force acquired by the load acquisition unit 13 When the second threshold value is greater than or equal to the first threshold value or exceeds the second threshold value, the control signal generation unit 14 can perform control to stop the movement of the arm 4.
- the first threshold and the first threshold A threshold value of 2 is set for each of the force in the advancing direction F of the tool T, the force in the tool radial direction D perpendicular to the advancing direction F of the tool T, and the force in the tool axis AX direction.
- All or part of a control program for realizing the functions of the control system 3 described above can be recorded on an information recording medium and distributed as a program product.
- the control system 3 causes the control system 3 to execute the step of automatically controlling the arm 4 so that the outline copying process is performed by generating a control signal of the arm 4 for copying and outputting the generated control signal to the arm 4
- Programs can be distributed as program products.
- the control system of the conventional robot to read the control program of the robot 2, it is possible to add the control function for contour copying processing to the conventional robot.
- the machining robot 1 can be configured by attaching the feed mechanism 6, the rotation mechanism 7, the copying guide 8 and the tool T to a conventional robot.
- the workpiece W is set, and the copying type J1 is set at a predetermined position on the workpiece W side.
- the work W is fixed to a plate-like jig J3 fixed on the work table J2, and the copying type J1 is fixed on the work W.
- the feed mechanism 6, the rotation mechanism 7, the copying guide 8 and the rotary tool T are attached to the arm 4 provided with the force sensor 9 through the attachment jig 5.
- a control program is taught by the user to teach the trajectory of the arm 4 so that the copying guide 8 moves while contacting the copying type J1.
- the control program for the arm 4 created is written in the control information storage unit 15 by the operation of the input device 10 as a machining control program together with the control program for the feed mechanism 6 and the control program for the rotation mechanism 7.
- control signal generation unit 14 moves the tool T along the path offset from the end face of the copying type J1 by the thickness of the copying guide 8. Generates an initial control signal of the arm 4 to cause the The generated initial control signal of the arm 4 is output to the drive unit of the arm 4 through the arm control unit 17.
- control signal generation unit 14 rotates in a state where the tip of the tool T is delivered to a required position.
- Control signals of the feed mechanism 6 and the rotation mechanism 7 are generated.
- the generated control signals of the feed mechanism 6 and the rotation mechanism 7 are output to the feed mechanism 6 and the rotation mechanism 7 through the tool control unit 18, respectively.
- the arm 4 moves and the tool T moves to the initial teaching position. Further, the tip of the tool T is fed out to a required position and rotated.
- the control signal generation unit 14 subsequently generates a control signal of the arm 4 for moving the tool T along the teaching trajectory according to the control program.
- the generated control signal of the arm 4 is output to the drive unit of the arm 4 through the arm control unit 17. Therefore, the arm 4 moves, and the tool T advances in the direction taught by the control program while the copying guide 8 contacts the copying type J1. Thereby, the contouring processing of the workpiece W by the rotating tool T is started.
- the force applied from the tool T to the arm 4 during the contour copying process is detected by a force sensor 9 attached to the arm 4.
- the force detected by the force sensor 9 is output to the control system 3 of the robot 2.
- the load acquisition unit 13 acquires the detection value of the force output from the force sensor 9 and gives it to the control signal generation unit 14.
- the control signal generation unit 14 acquires the detected value of the force output from the force sensor 9, the control signal generation unit 14 is perpendicular to the force in the advancing direction F of the tool T and the advancing direction F of the tool T based on the acquired detected value of the force.
- the force in the tool radial direction D and the force in the tool axis AX direction are respectively detected.
- the control signal generation unit 14 automatically controls the arm 4 based on the force in the advancing direction F of the tool T, the force in the tool radial direction D perpendicular to the advancing direction F of the tool T, and the force in the tool axis AX direction. .
- control signal generation unit 14 generates a control signal of the arm 4 for contour copying based on not only the control program of the arm 4 for contour copying but also the force acquired from the load acquisition unit 13.
- the generated control signal of the arm 4 is output to the drive unit of the arm 4 through the arm control unit 17. Thereby, the contour copying process with force control of the arm 4 is performed.
- the moving speeds of the arm 4 and the tool T are automatically adjusted based on the force in the traveling direction F of the tool T.
- the moving speeds of the arm 4 and the tool T are feedback-controlled so that the reaction force in the traveling direction F of the tool T is constant or within a predetermined range.
- the traveling speed of the tool T is decelerated so as to be slower than the teaching speed of the tool T designated as a parameter in the control program of the arm 4 Ru.
- the positions of the arm 4 and the tool T are automatically adjusted based on the force in the tool radial direction D perpendicular to the advancing direction F of the tool T and the force in the tool axis AX direction. That is, the positions of the arm 4 and the tool T are finely adjusted such that the force in the tool radial direction D perpendicular to the advancing direction F of the tool T and the force in the tool axis AX become constant or within a predetermined range.
- the workpiece W having more accurate dimensions can be processed.
- the workpiece W can be processed with a processing accuracy of about ⁇ 0.1 mm to ⁇ 1.0 mm.
- the robot 1 for machining and the machining method as an example of the above-mentioned machining apparatus make the copying type J 1 installed on the work W contact the copying guide 8 mounted on the arm 4 side of the robot 2
- the contouring processing of the workpiece W is performed, and the movement of the arm 4 is controlled based on the processing reaction force detected by the force sensor 9.
- the moving speed of the tool T and the arm 4 is controlled so that the reaction force in the advancing direction F of the tool T is not excessive, while the tool radial direction D and the tool axis perpendicular to the advancing direction F of the tool T
- the arm 4 is controlled so that the reaction force in the AX direction is constant or within a predetermined range.
- the control system 3 and the control method of the robot 2 are such that the control of the arm 4 of the robot 2 for performing the contour copying process described above can be performed.
- the robot 2 is used to carry out external trimming, external roughing, external finishing, grooving, pocketing, drilling, etc. of the workpiece W. It is possible to perform heavy cutting machining with high force with high accuracy. As a result, machining of the workpiece W can be automated without installing a large-scale machine tool.
- the copying guide 8 is always appropriate.
- the pressing force can make the copying die J1 contact in both the tool radial direction D and the tool axis AX direction. For this reason, even in heavy cutting with large processing reaction force such as external trimming, it is possible to use the arm 4 of the robot 2 whose rigidity is lower than that of the spindle of the machine tool. That is, it becomes possible to perform contour contouring processing with a large reaction force such as contour trimming, which is conventionally considered difficult with a robot arm with low rigidity, using the arm 4 of the robot 2.
- the moving speeds of the tool T and the arm 4 are automatically adjusted so that the reaction force in the traveling direction F of the tool T does not become excessive, the arm 4 of the robot 2 whose rigidity is lower than the rigidity of the spindle of the machine tool The vibration of the tool T held by can be suppressed. As a result, machining quality comparable to that of a machine tool can be obtained using the robot 2 which is extremely inexpensive compared to the machine tool.
- FIG. 7 is a cross-sectional view showing a detailed configuration example of a copying guide provided in a machining robot as an example of a machining device according to a second embodiment of the present invention.
- the function of preventing scattering of chips and the air cooling function is provided to the copying guide 20 for contacting with the copying type J1 installed on the work W side.
- the point is different from the machining robot 1 in the first embodiment.
- the other configuration and operation of the machining robot 1A in the second embodiment are substantially the same as the machining robot 1 in the first embodiment, and the structure of the copying guide 20 is illustrated in FIG.
- Such a feed mechanism 6 and a rotation mechanism 7 attached to the arm 4 are illustrated, and the same configuration or the corresponding configuration is denoted by the same reference numeral and the description thereof is omitted.
- the copying guide 20 on the side of the machining robot 1A is attached to the feed mechanism 6 that gives the tool T the feed in the tool axis AX direction and the rotation mechanism 7 that holds the tool T while rotating it. Also in the example shown in FIG. 7, the copying guide 20 is fixed to the casing 6A of the feed mechanism 6 as in the example shown in FIG.
- FIG. 8 is a view showing a state where the tool T is fed in the direction of the tool axis AX together with the rotation mechanism 7 by the feed mechanism 6 shown in FIG.
- the copying guide 20 in the second embodiment has the disk-shaped member 20A and the first cylindrical portion 20B coaxially, and the tool T at the center. Have a through hole for letting through.
- the disc-shaped member 20A functions as a guide for positioning the tool T in the tool axis AX direction by contacting the copying die J1 with the tool T in the tool axis AX direction as shown in FIG.
- the first cylindrical portion 20B functions as a guide for positioning the tool T in the tool radial direction D by coming into contact with the copying die J1 and the tool radial direction D of the tool T as shown in FIG. Do.
- an air supply path for supplying air jetted toward the work W side through the gap between the tool T and the through hole for passing the tool T. 21 is provided.
- a second cylindrical portion 20C for providing the air supply passage 21 on the rotation mechanism 7 side of the disk-shaped member 20A is provided in the copying guide 20 in the second embodiment.
- an air supply port 21A for forming the air supply path 21 can be provided in the second cylindrical portion 20C.
- the air supply port 21A is a through hole for connecting the through hole for passing the tool T and the outside in the second cylindrical portion 20C. Therefore, air can be supplied from the air supply port 21A into the through hole for passing the tool T. Then, it is possible to form a flow of air from the copying guide 20 toward the work W via the gap between the tool T and the through hole for passing the tool T from the air supply port 21A.
- the air supply port 21A can be formed by a coupler or the like for connecting the compressed air supply tank and the air supply hose as shown in FIG.
- the air supply port 21A can be connected to the compressed air supply tank by a hose.
- chips such as composite dust and metal chips generated by cutting may be blown away in the direction of air ejection. it can. For this reason, it is possible to prevent the chips from being scattered and entering the gap between the tool T and the copying guide 20 and scattering to the surroundings.
- the tool T can be air cooled since air flows along the tool T. Therefore, it is possible to avoid the wear of the tool T due to the temperature rise of the tool T and the deterioration of the processing quality.
- a tray 22 for collecting the chips blown off by the air jetted toward the work W can be installed at the jet destination of the air.
- the pan 22 is disposed below the work W so as not to interfere with the tool T.
- a dust collecting duct 24 can be connected to the pan 22 for collecting the chips collected by the pan 22 by the dust collecting device 23.
- the dust collecting device 23 it is possible not only to prevent the chips from scattering around due to the rotation of the tool T, but also to collect the chips with the dust suction device 23.
- carbon dust can be recovered while effectively preventing scattering of carbon dust by the suction force of the dust collecting device 23.
- the length of the copying guide 20 in the tool axis AX direction becomes long. Therefore, the through hole for passing the tool T also becomes long. For this reason, when machining the work W, it is necessary to secure the length of the tool T so that the tool T protrudes from the copying guide 20 with a sufficient length. For example, when trimming or side-finishing the workpiece W, the length of the portion of the tool T protruding from the copying guide 20 is longer than the thickness or length of the workpiece W in the direction of the tool axis AX It is necessary to use a tool T having an overall size.
- a bearing 25 can be provided to reduce the movement of the tool T held by the rotation mechanism 7.
- the bearing 25 for anti-shake can be arranged, for example, in the through hole of the copying guide 20 for passing the tool T. This can avoid the need to further increase the tool length by providing the bearing 25. In other words, interference between the rotation mechanism 7 and the bearing 25 can be avoided.
- the inner diameter of the inner ring constituting the bearing 25 is set to an inner diameter at which the tolerance with respect to the diameter of the tool T is a fitting tolerance corresponding to a clearance fit. Is appropriate.
- the gap fitting is a fitting in which a gap can always be created when the hole and the shaft are combined. That is, the fitting is such that the smallest dimension of the hole is larger than the largest dimension of the shaft.
- the tolerance of the tool T on the shaft side is h7 or h8
- the tolerance of the inner diameter of the inner ring constituting the bearing 25 is the tolerance corresponding to F7 or F8
- the fit of the gap fitting Can be
- an air supply passage 21 for taking in air may be provided in other parts such as the casing 6A of the feed mechanism 6.
- the air supply port 21A is formed on the copying guide 20 on the work W side with respect to the bearing 25 while the bearing 25 is disposed in the through hole of the copying guide 20, Since the gap is small, a sufficient amount of air can be guided to the work W side.
- Such an air supply path 21 and the copying guide 20 can also be provided as an attachment for the robot 2 provided with the arm 4 having a cantilever structure to which the rotation mechanism 7 and the feed mechanism 6 are attached.
- the machining device itself configured by attaching the air supply path 21 and the copying guide 20 to the rotating mechanism 7 and the feeding mechanism 6 of the tool T is provided as an attachment for the robot 2 having the arm 4 of a cantilever structure. It can also be done.
- the air supply passage 21 and the copying guide 20 are attached to the rotation mechanism 7 and the feeding mechanism 6 attached to the arm 4 of the robot 2.
- the rotation mechanism 7 and the feed mechanism 6 to which the air supply path 21 and the copying guide 20 are attached are attached to the arm 4 of the robot 2.
- the copying type J1 is installed on the work W side. Then, by moving the arm 4 of the robot 2 while bringing the copying guide 20 and the copying type J 1 into contact with each other, it is possible to carry out the copy processing of the outer shape of the workpiece W using the tool T. That is, a product or a semi-finished product can be manufactured by performing the contour copy processing of the work W.
- air can be supplied into the copying guide 20 by the air supply passage 21.
- the air supply passage 21 is the air supply port 21A formed in the copying guide 20
- air is supplied from the air supply port 21A to the inside of the copying guide 20.
- the air can be jetted from the gap between the copying guide 20 and the tool T toward the work W. Thereby, the tool T can be air-cooled while preventing scattering of chips generated by the contouring process.
- the force applied from the tool T to the arm 4 during contouring is detected by the force sensor 9 and detected by the force sensor 9.
- the moving speed of the arm 4 can be automatically adjusted based on the force.
- the robot 1A for machining and the machining method in the second embodiment in addition to the same effects as the robot 1 for machining and the machining method in the first embodiment, scattering of chips and the like can be prevented.
- the effect that air cooling of the tool T can be performed can be obtained.
- the rotary tool T is attached to the arm 4 of the robot 2 via the rotation mechanism 7 to machine the workpiece W
- the workpiece W can also be processed by attaching it to the arm 4 of FIG.
- a saw such as a band saw or a wire saw may be attached to the arm 4 of the robot 2 to cut the workpiece W.
- copying processing can be performed by attaching the copying guide to the arm 4.
- automatic control of the arm 4 based on the work W detected by the force sensor 9 and the reaction force from the copying type can also be performed.
- the air supply passage 21 constituted by the air supply port 21A and the like and the copying guide 20 are attached to the machining robot 1A, but the air supply passage 21 and the copying guide 20 are provided. Attachments for machining devices can also be used by attaching them to other machining devices. As a specific example, an attachment for a machining device provided with an air supply path 21 and a copying guide 20 is attached to a machine tool such as a hand-held drill drive device, a machine tool such as a drilling machine or a milling machine, or an automatic drilling machine. be able to.
- a machine tool such as a hand-held drill drive device, a machine tool such as a drilling machine or a milling machine, or an automatic drilling machine.
- an attachment for a machining device provided with the air supply path 21 and the copying guide 20 is provided for a machining device such as a hand router having only a tool rotation mechanism without providing a tool feed mechanism. You can also. Therefore, the attachment for the machining device provided with the air supply path 21 and the copying guide 20 can be attached to the non-rotational part such as the casing of the rotation mechanism in the machining device provided with at least the rotation mechanism of the tool.
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Abstract
Description
(機械加工装置の構成及び機能)
図1は本発明の第1の実施形態に係る機械加工装置の一例としての機械加工用ロボットの構成図であり、図2は図1に示す機械加工用ロボットに工具を取り付けて機械加工物の外形倣い加工を行う機械加工方法を説明する図である。
機械加工装置の一例であるロボット2を制御してワークWの外形倣い加工を行う場合には、ワークWがセットされる他、ワークW側の所定の位置に倣い型J1がセットされる。具体例として、図2に示すように、工作テーブルJ2上に固定された板状の治具J3にワークWが固定され、ワークWの上に倣い型J1が固定される。他方、力センサ9を備えたアーム4に取付治具5を介して送り機構6、回転機構7、倣いガイド8及び回転式の工具Tが取付けられる。
以上のような機械加工装置の一例としての機械加工用ロボット1及び機械加工方法は、ワークWに設置された倣い型J1と、ロボット2のアーム4側に取付けられた倣いガイド8とを接触させることによってワークWの外形倣い加工を行うようにし、かつ力センサ9で検出された加工反力に基づいてアーム4の移動を制御するようにしたものである。具体的には、工具Tの進行方向Fにおける反力が過剰とならないように、工具T及びアーム4の移動速度を制御する一方、工具Tの進行方向Fに垂直な工具径方向D及び工具軸AX方向における反力が一定又は所定の範囲内となるようにアーム4を制御するようにしたものである。また、ロボット2の制御システム3及び制御方法は、上述した外形倣い加工を行うためのロボット2のアーム4の制御を行うことができるようにしたものである。
図7は本発明の第2の実施形態に係る機械加工装置の一例としての機械加工用ロボットに設けられる倣いガイドの詳細構成例を示す断面図である。
以上、特定の実施形態について記載したが、記載された実施形態は一例に過ぎず、発明の範囲を限定するものではない。ここに記載された新規な方法及び装置は、様々な他の様式で具現化することができる。また、ここに記載された方法及び装置の様式において、発明の要旨から逸脱しない範囲で、種々の省略、置換及び変更を行うことができる。添付された請求の範囲及びその均等物は、発明の範囲及び要旨に包含されているものとして、そのような種々の様式及び変形例を含んでいる。
Claims (10)
- 工具を通すための貫通孔を有し、機械加工物側に設置される倣い型と接触させるための倣いガイドであって、前記工具を回転させながら保持する回転機構に取付けられる機械加工装置側の倣いガイドと、
前記工具と前記貫通孔との間の隙間を通って前記機械加工物側に向かって噴出するエアを供給するためのエア供給路と、
を有する機械加工装置用のアタッチメント。 - 前記機械加工物側に向かって噴出するエアによって吹き飛ばされた切粉を回収する受け皿と、
前記受け皿で回収された前記切粉を吸塵装置で吸塵させるための吸塵ダクトと、
を更に有する請求項1記載の機械加工装置用のアタッチメント。 - 前記回転機構で保持された前記工具のぶれを低減するためのベアリングを更に有する請求項1又は2記載の機械加工装置用のアタッチメント。
- 前記ベアリングを前記貫通孔内に配置した請求項3記載の機械加工装置用のアタッチメント。
- 前記倣いガイドは、
前記倣い型と前記工具の工具径方向に接触することによって前記工具径方向における前記工具の位置決めを行うためのガイドと、
前記倣い型と前記工具の工具軸方向に接触することによって前記工具軸方向における前記工具の位置決めを行うためのガイドと、
を有する請求項1乃至4のいずれか1項に記載の機械加工装置用のアタッチメント。 - 前記回転機構を備え、
請求項1乃至5のいずれか1項に記載のアタッチメントを前記回転機構に取付けた機械加工装置。 - 前記回転機構が取付けられる片持ち構造のアームを備えたロボットと、
前記ロボットの制御システムと、
を備えた請求項6記載の機械加工装置。 - 請求項1乃至5のいずれか1項に記載のアタッチメントを前記機械加工装置の回転機構に取付ける一方、機械加工物側に前記倣い型を設置し、前記倣いガイドと前記倣い型とを接触させながら前記工具を用いた前記機械加工物の外形倣い加工を行うことによって製品又は半製品を製造する機械加工方法。
- 片持ち構造のアームを備えたロボットの前記アームに、前記アタッチメントを取付けた前記回転機構を取付け、前記アームを移動させることによって前記外形倣い加工を行う請求項8記載の機械加工方法。
- 前記外形倣い加工中において少なくとも前記工具から前記アームに負荷される力を力センサで検出し、前記力センサで検出された前記力に基づいて前記アームの移動速度を自動調整する請求項9記載の機械加工方法。
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US11440110B2 (en) | 2015-07-09 | 2022-09-13 | Subaru Corporation | Machining apparatus and machining method |
US11992909B2 (en) | 2017-06-22 | 2024-05-28 | Subaru Corporation | Attachment for machining apparatus |
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