WO2022107192A1

WO2022107192A1 - Workpiece machining device, and ultrasonic machining apparatus provided with said workpiece machining device

Info

Publication number: WO2022107192A1
Application number: PCT/JP2020/042759
Authority: WO
Inventors: 辰巳菱川
Original assignee: スターテクノ株式会社
Priority date: 2020-11-17
Filing date: 2020-11-17
Publication date: 2022-05-27
Also published as: CN116490311A; JP2022132674A; JP7100927B1; JPWO2022107192A1

Abstract

[Problem] To provide: a workpiece machining device with which it is possible to effectively push a cutter blade even against a workpiece having a complicated machining shape; and an ultrasonic machining apparatus provided with said workpiece machining device, the ultrasonic machining apparatus making it possible to more precisely machine an article being machined that has a complicated machining shape. [Solution] This workpiece machining device 5 machines a workpiece W using a cutter blade 69, the workpiece machining device 5 comprising: a cutter blade angle changing mechanism 9 that is capable of changing the angle of the cutter blade 69 with respect to an advancement direction, in accordance with the shape of the workpiece W; and a first cutter blade angle biasing cylinder 75a and a second cutter blade angle biasing cylinder 75b that bias the cutter blade angle changing mechanism 9 against the direction of change in angle of the cutter blade 69.

Description

An ultrasonic processing device equipped with a work processing device and the work processing device.

The present invention relates to a work processing device for processing a work and an ultrasonic processing device provided with the work processing device.

Conventionally, a work processing device and an ultrasonic processing device for processing a work have been known.

For example, Patent Document 1 and Patent Document 2 describe an ultrasonic processing apparatus that processes a work using a cutter blade 10, and the ultrasonic processing apparatus uses a cutter blade 10 according to the shape of the work. The swing mechanism is urged against the swing angle direction of the cutter blade 10 by the coil spring mechanism 84 so that the cutter blade 10 is pressed against the surface of the workpiece. (See FIGS. 13 and 14 of Citation 1 and FIGS. 13 and 14 of Citation 2).

Japanese Unexamined Patent Publication No. 2008-273212 Japanese Unexamined Patent Publication No. 2008-030251

However, since the cutter blades described in Cited Document 1 and Cited Document 2 are oscillated only by the oscillating mechanism, there is no problem in pressing the cutter blade against the workpiece in the oscillating direction, but the shape is complicated. There was a problem that there was a high possibility that it could not handle the workpiece.

That is, since the cutter blades described in Cited Documents 1 and 2 are swung only by the swinging mechanism, when the shape of the workpiece is complicated, the cutter blade is placed on the surface of the workpiece. There was a problem that it could not be pushed along.

The present invention has been made in response to the above-mentioned problems of the prior art, and the cutter blade is effectively pressed against a workpiece having a complicated machined shape (hereinafter referred to as "work"). It is an object of the present invention to provide a work processing device capable of capable of processing, and an ultrasonic processing device provided with the work processing device and capable of more precisely processing a workpiece having a complicated processing shape.

In order to solve the above-mentioned problems, the first aspect of the present invention is to set the angle of the cutter blade with respect to the traveling direction of the work processing apparatus using the cutter blade according to the shape of the work. It is characterized by being provided with a changeable cutter blade angle changing mechanism and a cutter blade angle urging mechanism that urges the cutter blade angle changing mechanism against the changing direction of the angle of the cutter blade. ..

Further, in the second aspect of the present invention, in the work processing apparatus of the first aspect, the cutter blade angle urging mechanism has the cutter blade angle with a substantially constant urging force regardless of the angle of the cutter blade. It is characterized by encouraging a change mechanism.

Further, according to the third aspect of the present invention, in the work processing apparatus of the first aspect or the second aspect, the position of the cutter blade in a certain direction with respect to the work can be changed according to the shape of the work. It is characterized by including a cutter blade position changing mechanism and a cutter blade position urging mechanism that urges the cutter blade position changing mechanism against the changing direction of the position of the cutter blade.

Further, the fourth aspect of the present invention is characterized in that the work processing apparatus of the first aspect or the second aspect is provided with a cutter blade angle locking mechanism for fixing the angle.

Further, the fifth aspect of the present invention is characterized in that the work processing apparatus of the third aspect is provided with a cutter blade angle locking mechanism for fixing the angle.

Further, the sixth aspect of the present invention is characterized in that, in the work processing apparatus of the third aspect or the fifth aspect, the work processing apparatus includes a cutter blade position locking mechanism for fixing the position in the fixed direction with respect to the work. ..

Further, the ultrasonic processing apparatus according to the seventh aspect of the present invention includes the work processing apparatus according to any one of the first to sixth aspects, and the cutter blade is oriented in a direction intersecting the angle changing direction. It is characterized by processing a workpiece by vibrating it with ultrasonic waves.

Further, the ultrasonic processing apparatus according to the eighth aspect of the present invention includes the work processing apparatus according to the third aspect, the fifth aspect, or the sixth aspect, and the cutter blade is oriented in the fixed direction with respect to the work. It is characterized in that the work is machined by ultrasonically vibrating in the direction of intersection.

According to the work processing apparatus of the first aspect of the present invention, the angle of the cutter blade with respect to the traveling direction can be changed according to the shape of the work, particularly for those that process the work using the cutter blade. Since it is equipped with a cutter blade angle changing mechanism and a cutter blade angle urging mechanism that urges the cutter blade angle changing mechanism against the direction of changing the cutter blade angle, it is suitable for workpieces with complicated machining shapes. However, the cutter blade can be effectively pressed for processing.

Further, according to the work processing apparatus of the second aspect of the present invention, in the work processing apparatus of the first aspect, the cutter blade angle urging mechanism is a cutter with a substantially constant urging force regardless of the angle of the cutter blade. Since the blade angle changing mechanism is urged, in addition to the effect of the work processing device of the first aspect, even a work having a complicated processing shape can be processed by pressing the cutter blade more effectively.

Further, according to the work processing device of the third aspect of the present invention, in the work processing device of the first aspect or the second aspect, the cutter blade is positioned in a certain direction with respect to the work according to the shape of the work. Since it is provided with a changeable cutter blade position changing mechanism and a cutter blade position urging mechanism that urges the cutter blade position changing mechanism against the changing direction of the cutter blade position, the first aspect or In addition to the effect of the work processing device of the second aspect, even a work having a complicated processing shape can be processed by pressing the cutter blade more effectively.

Further, according to the work processing apparatus according to the fourth aspect of the present invention, the work processing apparatus according to the first aspect or the second aspect includes a cutter blade angle locking mechanism for fixing the angle. In addition to the effect of the work processing apparatus of the first aspect or the second aspect, the work can be machined by selecting a mechanism for effectively pressing the cutter blade according to the shape of the work.

Further, according to the work processing apparatus of the fifth aspect of the present invention, since the work processing apparatus of the third aspect includes a cutter blade angle locking mechanism for fixing the angle, the work processing apparatus of the third aspect is provided. In addition to the effect of, the work can be machined by selecting a mechanism that effectively presses the cutter blade according to the shape of the work.

Further, according to the work processing apparatus according to the sixth aspect of the present invention, the work processing apparatus according to the third or fifth aspect includes a cutter blade position locking mechanism for fixing a position in a certain direction with respect to the work. Therefore, in addition to the effect of the work processing apparatus of the third aspect or the fifth aspect, the work can be processed by further selecting a mechanism for effectively pressing the cutter blade according to the shape of the work.

Further, according to the ultrasonic processing apparatus according to the seventh aspect of the present invention, the work processing apparatus according to any one of the first to sixth aspects is provided, and the cutter blade is oriented in a direction intersecting the angle changing direction. Since the work is machined by ultrasonically vibrating, the work can be machined more precisely.

Further, according to the ultrasonic processing apparatus of the eighth aspect of the present invention, the work processing apparatus of the third aspect, the fifth aspect or the sixth aspect is provided, and the cutter blade intersects a certain direction with respect to the work. Since the work is machined by ultrasonically vibrating in the direction, the work can be machined more precisely.

It is an overall side view of the ultrasonic processing apparatus of embodiment of this invention. It is an overall perspective view of the work processing apparatus provided in the ultrasonic processing apparatus of this embodiment. FIG. 2 is a cross-sectional view taken along the line AA of FIG. FIG. 2 is a cross-sectional view taken along the line BB of FIG. 2, showing a state in which the cutter blade angle urging cylinder is turned on and no load is applied to the cutter blade (angle of 0 degrees). FIG. 2 is a cross-sectional view taken along the line CC of FIG. 2, showing a state in which the cutter blade position urging cylinder is turned on and no load is applied to the cutter blade (position 0 mm). It is a block diagram of the ultrasonic processing apparatus of this embodiment. It is a block diagram of the main controller of the ultrasonic processing apparatus of this embodiment. It is a flowchart of the main program in the ultrasonic processing apparatus of this embodiment. It is a flowchart of the ultrasonic processing program in the ultrasonic processing apparatus of this embodiment. In the cross-sectional view taken along the line BB of FIG. 2, the cylinder for urging the cutter blade angle is turned on, a load is applied to the cutter blade, and the cutter blade is rotated by the maximum angle in the counterclockwise direction (angle + θ1 degree). be. In the cross-sectional view taken along the line BB of FIG. 2, the cylinder for urging the cutter blade angle is turned on, a load is applied to the cutter blade, and the cutter blade is rotated by a maximum angle in the clockwise direction (angle −θ1 degree). be. In the cross-sectional view taken along the line BB of FIG. 2, it is a diagram showing a state (angle 0 degree) in which the cylinder for locking the cutter blade angle is turned on and the angle of the cutter blade is fixed. It is the figure which looked at the attached cutter blade from the bottom, and is the explanatory view which explained the relationship between the cutter blade and the rotation direction of a cutter blade. FIG. 2 is a cross-sectional view taken along the line CC of FIG. 2 showing a state (angle + X1 mm) in which the cutter blade position urging cylinder is turned on, a load is applied to the cutter blade, and the cutter blade is displaced by the maximum displacement in the + X direction. FIG. 2 is a cross-sectional view taken along the line CC of FIG. 2 showing a state in which the cutter blade position urging cylinder is turned on, a load is applied to the cutter blade, and the cutter blade is displaced by the maximum displacement in the −X direction (angle −X1 mm). .. In the cross-sectional view taken along the line CC of FIG. 2, it is a diagram showing a state (displacement 0 mm) in which the cylinder for locking the cutter blade position is turned on and the position of the cutter blade is fixed.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Embodiment)
First, an embodiment of the present invention will be described.

FIG. 1 is an overall side view of the ultrasonic processing apparatus according to the embodiment of the present invention.

As shown in FIG. 1, the ultrasonic processing apparatus 1 of the present embodiment has a table 10, an articulated robot 3 fixed to the table 10, and a work rotatably connected to the tip of the articulated robot 3. The processing apparatus 5, the work installation table 16 provided on the table 10, the oscillator 2, the main controller 4 and the robot controller 6 arranged on the table 10, and the air compressor 14 arranged outside the table 10 (see FIG. 6). ) And.

Then, the ultrasonic processing apparatus 1 of the present embodiment ultrasonically vibrates the tapered cutter blade 69, which is connected to the tip of the work processing apparatus 5 and whose both sides are polished, in the vertical direction on the drawing by the vibrator 71. The work W installed on the work installation table 16 is processed by the above method.

The work installation table 16 is provided with an operation panel 8, and the operator of the ultrasonic processing apparatus 1 can operate the ultrasonic processing apparatus 1 by operating the operation panel 8.

The articulated robot 3 is a general 5-axis articulated robot that operates according to a command from the robot controller 6, and faces the work W by freely changing the position and angle of the work processing device 5.

The articulated robot 3 has a first rotation shaft 44 for turning the second base 34 with respect to the first base 32, and a lower arm portion (lower arm portion) with respect to the second base 34. ) A second rotation shaft 46 for rotating the 36 back and forth, a third rotation shaft 48 for rotating the middle arm portion (middle arm portion) 38 up and down with respect to the lower arm portion 36, and a middle arm. A fourth rotating shaft 50 for rotating the upper arm portion (upper arm portion) 40 up and down with respect to the portion 38, and a fifth rotating shaft 52 for rotating the rotating portion 42 coaxially with respect to the upper arm portion 40. It is equipped with 5 axes.

The articulated robot 3 is electrically connected to the robot controller 6 by a cable (not shown), and the robot controller 6 is electrically connected to the main controller 4 (see FIG. 6).

2 is an overall perspective view of the work processing device 5 provided in the ultrasonic processing device 1 of the present embodiment, FIG. 3 is a sectional view taken along the line AA of FIG. 2, and FIG. 4 is a sectional view of FIG. It is a cross-sectional view of BB, and it is the figure which shows the state which the cylinder for urging the cutter blade angle is turned on, and the load is not applied to the cutter blade (the angle is 0 degree), and FIG. It is a figure which shows the state (the angle 0 degree) that the cylinder for urging the cutter blade position is turned on, and the load is not applied to the cutter blade.

The work processing device 5 is installed on the work installation table 16 by ultrasonically vibrating the cutter blade 69 connected to the tip thereof by the vibrator 71 electrically connected from the oscillator 2 via the cable 73. The work W is processed.

As shown in FIGS. 2 to 5, the work processing apparatus 5 includes a lower cutter blade angle changing mechanism 9, a first cutter blade angle urging cylinder 75a, a second cutter blade angle urging cylinder 75b, and a cutter. The blade angle locking cylinder 77, the upper cutter blade position changing mechanism 7, the first cutter blade position urging cylinder 79a, the second cutter blade position urging cylinder 79b, and the cutter blade position locking cylinder 81. Be prepared.

As shown in FIGS. 3 and 4, the cutter blade angle changing mechanism 9 is rotatably connected to a base shaft 11 fixed to the work processing device 5 and the base shaft 11, and the vibrator 71 and the cutter blade 69 are connected to the base shaft 11. On the opposite side of the rotating body 13, the first protruding portion 83 provided on the rotating body 13 and capable of contacting the third protruding portion 87 described later, and the first protruding portion 83 of the rotating body 13. A second protrusion 85 provided and capable of contacting a fourth protrusion 89 described later, a recess 91 provided in the rotating body 13 to which the lock pin 39 described later fits, and the rotating body 13 can rotate. It is provided with the formed gap portion 15.

The first cutter blade angle urging cylinder 75a urges the rotating body 13 against the rotational force of the left rotation of the rotating body 13 in a plan view, and is the first having a gap 21 inside. A first housing 17 includes a housing 17, a piston 19 slidably arranged in a gap 21 of the first housing 17, and a third protrusion 87 connected to the tip of the piston 19. The gap 21 of the housing 17 and the air compressor 14 (see FIG. 6) are communicated with each other by a connecting tube 23.

Further, the second cutter blade angle urging cylinder 75b urges the rotating body 13 against the rotational force of clockwise rotation of the rotating body 13, and has a gap 29 inside. A second housing 25, a piston 27 slidably arranged in a gap 29 of the second housing 25, and a fourth protrusion 89 connected to the tip of the piston 27. The gap 29 of the housing 25 of 2 and the air compressor 14 (see FIG. 6) are communicated with each other by a connecting tube 31.

The first cutter blade angle urging cylinder 75a, the second first cutter blade angle urging cylinder 75b, the connecting tube 23, the connecting tube 31, and the air compressor 14 are the "cutter blade angle urging cylinders" of the present invention. It constitutes a "mechanism".

Further, the cutter blade angle locking cylinder 77 stops the rotation of the rotating body 13, and has a third housing 33 having a gap 37 (see FIG. 12) inside, and a third housing thereof. A piston 35 slidably arranged in the gap 37 of the 33, and a lock pin 39 connected to the tip of the piston 35 are provided, and the gap 37 of the third housing 33 and the air compressor 14 (FIG. 6) are provided. (See) is communicated with the connecting tube 41 and the connecting tube 43.

The cutter blade angle locking cylinder 77, the connecting tube 41, the connecting tube 43, and the air compressor 14 constitute the "cutter blade angle locking mechanism" of the present invention.

As shown in FIGS. 3 and 5, the cutter blade position changing mechanism 7 includes a base 92 fixed to the work processing device 5, a moving body 90 movably connected to the base 92, and the moving body thereof. A seventh protrusion 97 provided on the 90 and capable of contacting the fifth protrusion 95 described later, and an eighth protrusion provided on the moving body 90 and capable of contacting the sixth protrusion 99 described later. A portion 98 and a recess 93 provided in the moving body 90 and fitted with a lock pin 67 described later are provided.

The first cutter blade position urging cylinder 79a includes a fourth housing 45 having a gap 49 inside, and a piston 47 slidably arranged in the gap 49 of the fourth housing 45. A fifth protrusion 95 connected to the tip of the piston 47 is provided, and the gap 49 of the fourth housing 45 and the air compressor 14 (see FIG. 6) are communicated with each other by a connecting tube 51. ..

Further, the second cutter blade position urging cylinder 79b has a fifth housing 53 having a gap 57 inside and a piston slidably arranged in the gap 57 of the fifth housing 53. The 55 and the sixth protrusion 99 connected to the tip of the piston 55 are provided, and the gap 57 of the fifth housing 53 and the air compressor 14 (see FIG. 6) are communicated with each other by a connecting tube 59. ing.

The first cutter blade position urging cylinder 79a, the second cutter blade position urging cylinder 79b, the connecting tube 51, the connecting tube 59, and the air compressor 14 provide the "cutter blade position urging mechanism" of the present invention. Configure.

Further, the cutter blade position locking cylinder 81 slides into a sixth housing 61 having a gap 65 (see FIG. 16) inside and a gap 65 (see FIG. 16) of the sixth housing 61. A freely arranged piston 63 and a lock pin 67 connected to the tip of the piston 63, the gap 65 (see FIG. 16) and the air compressor 14 (see FIG. 6) of the sixth housing 61. Is communicated by a connecting tube 94 and a connecting tube 96.

The cutter blade position locking cylinder 81, the connecting tube 94, the connecting tube 96, and the air compressor 14 constitute the "cutter blade position locking mechanism" of the present invention.

Next, a block diagram of the ultrasonic processing apparatus 1 of the present embodiment will be described.

FIG. 6 is a block diagram of the ultrasonic processing apparatus of the present embodiment, and FIG. 7 is a block diagram of the main controller of the ultrasonic processing apparatus of the present embodiment.

In FIG. 6, the ultrasonic processing apparatus 1 is electrically connected to a main controller 4 electrically connected to a power supply 12, and is electrically connected to the main controller 4, and is a first cutter blade angle urging cylinder 75a, a second. 1st cutter blade angle urging cylinder 75b, cutter blade angle locking cylinder 77, 1st cutter blade position urging cylinder 79a, 2nd cutter blade position urging cylinder 79b and cutter blade position locking The air compressor 14 for driving the cylinder 81, the robot controller 6 electrically connected to the main controller 4 for controlling the articulated robot 3, the oscillator 2 for driving the vibrator 71, and the apparatus. It is provided with an operation panel 8 that receives input from an operator.

In the present embodiment, the first cutter blade angle urging cylinder 75a and the second first cutter blade angle urging cylinder 75b are collectively referred to as "cylinder blade angle urging cylinder 75". The cutter blade position urging cylinder 79a and the second cutter blade position urging cylinder 79b of 1 may be collectively referred to as "cylinder blade position urging cylinder 79".

Further, in FIG. 7, the main controller 4 has a CPU (central processing unit) 22, a RAM (Random Access Memory) 24 connected to the CPU 22 so as to be input / output, and a ROM connected to the CPU 22 so as to be input / output. (Read Only Memory) 26 is provided.

The RAM 24 is a processing data table 24a that stores processing data for processing the work W, and a processing mode data table that stores setting items corresponding to the processing modes described later when the ultrasonic processing apparatus 1 processes the work W. 24b and the like.

Further, the ROM 26 includes a main program 26a that controls the operation of the entire ultrasonic processing apparatus 1 of the present embodiment, and an ultrasonic processing program 26b that executes ultrasonic processing of the ultrasonic processing apparatus 1 according to a processing mode described later. Be prepared.

Next, the operation of the ultrasonic processing apparatus 1 having the above-described configuration will be described.

FIG. 8 is a flowchart of the main program in the ultrasonic processing apparatus of the present embodiment, and FIG. 9 is a flowchart of the ultrasonic processing program in the ultrasonic processing apparatus of the present embodiment.

In the ultrasonic processing apparatus 1 of the present embodiment, as described above, the work W installed on the work installation table 16 is obtained by ultrasonically vibrating the cutter blade 69 connected to the tip of the work processing apparatus 5 by the vibrator 71. Is to be processed.

Further, the ultrasonic processing apparatus 1 of the present embodiment has four processing modes as processing modes for processing the work W.

Specifically, the ultrasonic processing apparatus 1 of the present embodiment urges the cutter blade 69 with the cutter blade angle urging cylinder 75 and the cutter blade position urging cylinder 79 turned on to urge the work W. The first machining mode for machining and the second machining mode for machining the work W by urging the cutter blade 69 with the cutter blade angle locking cylinder 77 and the cutter blade position urging cylinder 79 turned on. A third machining mode in which the cutter blade 69 is urged with the cutter blade angle urging cylinder 75 and the cutter blade position locking cylinder 81 turned on to machine the work W, and the cutter blade angle locking cylinder 77. A fourth machining mode for machining the work W without urging the cutter blade 69 with the cutter blade position locking cylinder 81 turned on is provided.

In FIG. 8, first, after the operator of the device turns on the power switch, the number of workpieces to be processed and the machining mode are input by the operation buttons on the operation panel 8 and the start button is pressed. , The arm of the articulated robot 3 is moved to the initial position (S1), the number of workpieces to be processed is set (S3), and the setting items are extracted from the processing mode data table 24b based on the input processing mode (S5). ), The ultrasonic processing program described later is executed (S7).

(First machining mode)
First, it is explained that the first machining mode for machining the work W is set by urging the cutter blade 69 with the cutter blade angle urging cylinder 75 and the cutter blade position urging cylinder 79 turned on. do. The first machining mode is the optimum machining mode when machining a work W having a complicated machining shape.

In FIG. 9, in the ultrasonic machining program, first, after acquiring machining data from the machining data table 24a (S21), it is determined whether or not the machining mode is the cutter blade angle urging mode (S23).

Since the first machining mode uses the cutter blade angle urging mode (S23: Yes), the first cutter blade angle urging cylinder 75a and the second cutter blade angle urging cylinder 75b are turned on (S23: Yes). S25), it is determined whether or not the machining mode is the cutter blade position urging mode (S29).

Since the first machining mode uses the cutter blade position urging mode (S29: Yes), the first cutter blade position urging cylinder 79a and the second cutter blade position urging cylinder 79b are used. It is turned on (S31).

In FIG. 4 described above, the first cutter blade angle urging cylinder 75a and the second first cutter blade angle urging cylinder 75b are turned on, and no load is applied to the cutter blade (angle 0). Degree) is shown.

Specifically, with reference to FIG. 4, the first cutter blade angle urging cylinder 75a is turned on, and air flows from the air compressor 14 via the connecting tube 23 to the first cutter blade angle urging cylinder. When injected into the gap 21 of the first housing 17 of 75a, the piston 19 is lowered to the upper and lower sides of the drawing, and a third protrusion 87 connected to the tip of the piston 19 is provided on the rotating body 13. It abuts on the protrusion 83 of 1.

Further, the second cutter blade angle urging cylinder 75b is turned on, and air flows from the air compressor 14 via the connecting tube 31 to the gap portion of the second housing 25 of the second cutter blade angle urging cylinder 75b. When injected into 29, the piston 27 rises upward on the drawing, and the fourth protrusion 89 connected to the tip of the piston 27 abuts on the second protrusion 85 provided on the rotating body 13.

In this way, when the first cutter blade angle urging cylinder 75a and the second first cutter blade angle urging cylinder 75b are turned on, the rotating body 13 rotates clockwise with respect to the base shaft 11 in the drawing. Although rotatable in the direction and counterclockwise direction, the rotating body 13 is urged by a third protrusion 87 connected to the tip of the piston 19 and a fourth protrusion 89 connected to the tip of the piston 27. As a result, if no load is applied to the cutter blade 69, the cutter blade 69 is in a stable state at a position at an angle of 0 degrees (see FIG. 13).

After returning to the ultrasonic machining program and completing the setting of the machining mode, it is determined whether or not the work W is set on the work setting table 16 (S35), and the work W is set on the work setting table 16. If not (S35: No), wait until the work W is set on the work installation table 16, and if the work W is set on the work installation table 16 (S35: Yes), connect to the cutter blade 69. The oscillator 2 is driven in order to ultrasonically vibrate the oscillator 71 (S37).

Next, each arm of the articulated robot 3 is moved (S39) so that the cutter blade 69 is located at the machining start position with respect to the work W, and the cutter blade 69 is moved to ultrasonically machine the work W (S41). ).

Here, in the first processing mode in which the cutter blade 69 is urged to process the work W with the cutter blade angle urging cylinder 75 and the cutter blade position urging cylinder 79 turned on, the work processing apparatus 5 The internal operation will be described.

FIG. 10 shows a state in which the cutter blade angle urging cylinder is turned on, a load is applied to the cutter blade, and the cutter blade is rotated by a maximum angle in the counterclockwise direction (angle + θ1 degree) in the BB sectional view of FIG. 11 is a state in which the cutter blade angle urging cylinder is turned on, a load is applied to the cutter blade, and the cutter blade is rotated by the maximum angle in the clockwise direction in the BB sectional view of FIG. It is a figure which shows (angle −θ1 degree), and FIG. 13 is a figure which looked at the attached cutter blade from the lower side, and is the explanatory view explaining the relationship between the cutter blade and the rotation direction of a cutter blade.

As described above, FIG. 4 shows a state in which no load is applied to the cutter blade 69, but in the first machining mode, the cutter blade 69 rotates from the work W during the work W machining of the work machining apparatus 5. When a load is applied, the cutter blade 69 is configured to be rotatable within a range of ± several degrees (maximum ± 5 °).

However, the rotating body 13 has a third protrusion 87 connected to the tip of the piston 19 by turning on the first cutter blade angle urging cylinder 75a and the second cutter blade angle urging cylinder 75b. Abuts on the first protrusion 83 provided on the rotating body 13, and the fourth protrusion 89 connected to the tip of the piston 27 hits the second protrusion 85 provided on the rotating body 13. It is correct that by touching the cylinder, it is always urged toward a position at an angle of 0 degrees (see FIG. 13), and it can rotate in that state.

For example, as shown in FIG. 10, a rotational load is applied to the cutter blade 69 with the first cutter blade angle urging cylinder 75a and the second cutter blade angle urging cylinder 75b turned on. When the first protrusion 83 provided on the rotating body 13 keeps pushing the third protrusion 87 connected to the tip of the piston 19, and the cutter blade 69 rotates the maximum angle in the counterclockwise direction on the drawing ( At an angle + θ1 degree), the first protrusion 83 provided on the rotating body 13 abuts on the third protrusion 87 connected to the tip of the piston 19, but the second protrusion provided on the rotating body 13 is provided. The protrusion 85 does not abut on the fourth protrusion 89 connected to the tip of the piston 27.

When the first protrusion 83 provided on the rotating body 13 keeps pushing the third protrusion 87 connected to the tip of the piston 19, the first protrusion abuts on the third protrusion 87. The portion 83 is urged from the third protrusion 87 in the −θ direction by a force of f1. The force f1 does not change depending on the angle of the rotating body 13, but is constant as long as the first protrusion 83 abuts on the third protrusion 87.

On the other hand, for example, as shown in FIG. 11, a rotational load is applied to the cutter blade 69 with the first cutter blade angle urging cylinder 75a and the second cutter blade angle urging cylinder 75b turned on. When the second protrusion 85 provided on the rotating body 13 keeps pushing the fourth protrusion 89 connected to the tip of the piston 27, and the cutter blade 69 rotates the maximum angle in the clockwise direction on the drawing. At (angle −θ1 degree), the second protrusion 85 provided on the rotating body 13 abuts on the fourth protrusion 89 connected to the tip of the piston 27, but is provided on the rotating body 13. The first protrusion 83 does not abut on the third protrusion 87 connected to the tip of the piston 19.

When the second protrusion 85 provided on the rotating body 13 continues to push the fourth protrusion 89 connected to the tip of the piston 27, the second protrusion abuts on the fourth protrusion 89. The portion 85 is urged from the fourth protrusion 89 in the + θ direction by a force of f1. Note that this force f1 does not change depending on the angle of the rotating body 13, and is constant as long as the second protrusion 85 abuts on the fourth protrusion 89.

FIG. 14 is a diagram showing a state (angle + X1 mm) in which the cutter blade position urging cylinder is turned on, a load is applied to the cutter blade, and the cutter blade is maximally displaced in the + X direction in the CC sectional view of FIG. 15 shows a state in which the cutter blade position urging cylinder is turned on, a load is applied to the cutter blade, and the cutter blade is displaced by the maximum displacement in the −X direction (angle-) in the CC sectional view of FIG. It is a figure which shows X1mm).

As described above, FIG. 5 shows a state (position 0 mm) in which the first cutter blade position urging cylinder 79a and the second cutter blade position urging cylinder 79b are turned on and no load is applied to the cutter blade. However, in the first machining mode, when the cutter blade 69 receives a load from the work W during the machining of the work W of the work machining apparatus 5, the cutter blade 69 is ± several mm (maximum ± 5 mm). It is configured to be movable within the range of.

However, in the moving body 90, the seventh protrusion 97 provided on the moving body 90 is formed by turning on the first cutter blade position urging cylinder 79a and the second cutter blade position urging cylinder 79b. The eighth protrusion 98 provided on the moving body 90 abuts on the fifth protrusion 95 connected to the tip of the piston 47, and hits the sixth protrusion 99 connected to the tip of the piston 55. It is correct that the contact is always in a state of being urged toward the position of 0 mm (see FIG. 14), and it is possible to move in that state.

For example, as shown in FIG. 14, a load is applied to the cutter blade 69 with the first cutter blade position urging cylinder 79a and the second cutter blade position urging cylinder 79b turned on, and the moving body 90 When the eighth protrusion 98 provided in the above continues to push the sixth protrusion 99 connected to the tip of the piston 55 and the cutter blade 69 moves the maximum displacement in the + X direction (angle + X1 mm), the moving body 90 The eighth protrusion 98 provided on the moving body 90 abuts on the sixth protrusion 99 connected to the tip of the piston 55, while the seventh protrusion 97 provided on the moving body 90 abuts on the tip of the piston 47. Does not abut on the fifth protrusion 95 connected to.

If the eighth protrusion 98 provided on the moving body 90 continues to push the sixth protrusion 99 connected to the tip of the piston 55, the eighth protrusion abuts on the sixth protrusion 99. The portion 98 is urged from the sixth protrusion 99 in the −X direction by a force of f2. Note that this force f2 does not change depending on the position of the moving body 90, but is constant as long as the eighth protrusion 98 abuts on the sixth protrusion 99.

On the other hand, for example, as shown in FIG. 15, a load is applied to the cutter blade 69 and the cutter blade 69 moves while the first cutter blade position urging cylinder 79a and the second cutter blade position urging cylinder 79b are turned on. When the seventh protrusion 97 provided on the body 90 keeps pushing the fifth protrusion 95 connected to the tip of the piston 47, and the cutter blade 69 moves the maximum displacement in the −X direction (angle −X1 mm). The seventh protrusion 97 provided on the moving body 90 abuts on the fifth protrusion 95 connected to the tip of the piston 47, but the eighth protrusion 98 provided on the moving body 90 is , Does not abut on the sixth protrusion 99 connected to the tip of the piston 55.

If the seventh protrusion 97 provided on the moving body 90 continues to push the fifth protrusion 95 connected to the tip of the piston 47, the seventh protrusion abuts on the fifth protrusion 95. The portion 97 is urged from the fifth protrusion 95 in the + X direction by a force of f2. Note that this force f2 does not change depending on the position of the moving body 90, but is constant as long as the seventh protrusion 97 abuts on the fifth protrusion 95.

Returning to the ultrasonic machining program, it is determined whether or not the machining of the work W is completed (S43), and if the machining of the work W is not completed (S43: No), the cutter blade 69 is moved (machining). (S41), and if the machining of the work W is completed (S43: Yes), the process returns to the main program (S45).

(Second machining mode)
Next, a second machining mode in which the cutter blade 69 is urged with the cutter blade angle locking cylinder 77 and the cutter blade position urging cylinder 79 turned on to machine the work W will be described. The second machining mode is used when machining at a higher speed than the first mode.

Since the second machining mode does not use the cutter blade angle urging mode (S23: No), the first cutter blade angle locking cylinder 77 is turned on (S27), so whether the machining mode is the cutter blade position urging mode. Whether or not it is determined (S29).

Since the second machining mode uses the cutter blade position urging mode (S29: Yes), the first cutter blade position urging cylinder 79a and the second cutter blade position urging cylinder 79b are used. It is turned on (S31).

FIG. 12 is a diagram showing a state (angle 0 degree) in which the cutter blade angle locking cylinder is turned on and the angle of the cutter blade is fixed in the cross-sectional view taken along the line BB of FIG.

More specifically, with reference to FIG. 12, the cutter blade angle locking cylinder 77 is turned on, and air flows from the air compressor 14 via the connecting tube 41 and the connecting tube 43 to the third cylinder 77 for locking the cutter blade angle. When injected into the gap 37 of the housing 33, the piston 35 moves to the left side in the drawing, and the lock pin 39 connected to the tip of the piston 35 fits into the recess 91 provided in the rotating body 13.

In this way, when the cutter blade angle locking cylinder 77 is turned on, the rotating body 13 is fixed by the lock pin 39, and the cutter blade 69 is fixed at the position at an angle of 0 degrees (see FIG. 13).

After returning to the ultrasonic machining program and completing the setting of the machining mode, it is determined whether or not the work W is set on the work setting table 16 (S35), and the work W is set on the work setting table 16. If not, wait for the work W to be set on the work installation table 16 (S35: No), and if the work W is set on the work installation table 16 (S35: Yes), set the cutter blade 69. The oscillator 2 is driven to ultrasonically vibrate the connected oscillator 71 (S37).

Regarding the operation inside the work processing device 5 when the cutter blade 69 is urged to process the work W with the cutter blade position urging cylinder 79 turned on, FIGS. 5, 14 and 15 are shown. With reference, as described above.

Therefore, in the second machining mode, the machining device 5 fixes the angle of the cutter blade 69 to an angle of 0 degrees, and at the same time, the cutter blade 69 is moved toward the position of the position 0 mm with a constant force f2 with respect to the work W. The work W is processed so as to be urged.

Then, it is determined whether or not the machining of the work W is completed (S43), and if the machining of the work W is not completed (S43: No), the movement (machining) of the cutter blade 69 is continued (S41). ), When the machining of the work W is completed (S43: Yes), the process returns to the main program (S45).

(Third machining mode)
Next, a third machining mode for machining the work W by urging the cutter blade 69 with the cutter blade angle urging cylinder 75 and the cutter blade position locking cylinder 81 turned on will be described. The third machining mode is also an appropriate machining mode when machining a work W having a complicated machining shape, but is used when machining at a higher speed than the first machining mode.

Since the third machining mode uses the cutter blade angle urging mode (S23: Yes), the first cutter blade angle urging cylinder 75a and the second cutter blade angle urging cylinder 75b are turned on (S23: Yes). S25), it is determined whether or not the machining mode is the cutter blade position urging mode (S29).

Since the third machining mode does not use the cutter blade position urging mode (S29: No), the cutter blade position locking cylinder 81 is turned on (S33).

FIG. 16 is a diagram showing a state (displacement 0 mm) in which the cutter blade position locking cylinder is turned on and the position of the cutter blade is fixed in the CC cross-sectional view of FIG.

Specifically, with reference to FIG. 16, the cutter blade position locking cylinder 81 is turned on, and air flows from the air compressor 14 via the connecting tube 94 and the connecting tube 96 to the sixth cylinder 81 for locking the cutter blade position. When injected into the gap portion 65 of the housing 61, the piston 63 moves to the left side in the drawing, and the lock pin 67 connected to the tip of the piston 63 fits into the recess 93 provided in the moving body 90.

In this way, when the cutter blade position locking cylinder 81 is turned on, the moving body 90 is fixed by the lock pin 67, and the cutter blade 69 is fixed at the position 0 mm (see FIG. 16 and the like).

The work processing device 5 for urging the cutter blade 69 to process the work W with the first cutter blade angle urging cylinder 75a and the second cutter blade angle urging cylinder 75b turned on. The internal operation is as described above with reference to FIGS. 4, 10, 11 and 13.

Therefore, in the third machining mode, the machining apparatus 5 fixes the position of the cutter blade 69 to the position 0 mm, and attaches the cutter blade 69 to the work W with a constant force f1 toward an angle of 0 degrees. The work W is processed so as to be vigorous.

(Fourth machining mode)
Finally, a fourth machining mode for machining the work W without urging the cutter blade 69 with the cutter blade angle locking cylinder 77 and the cutter blade position locking cylinder 81 turned on will be described. The fourth machining mode is used when machining at the highest speed.

Since the fourth machining mode does not use the cutter blade angle urging mode (S23: No), the cutter blade angle locking cylinder 77 is turned on (S27), and whether the machining mode is the cutter blade position urging mode or not. It is determined (S29).

Further, since the fourth machining mode does not use the cutter blade position urging mode (S29: No), the cutter blade position locking cylinder 81 is turned on (S33).

Then, when the setting of the machining mode is completed, it is next determined whether or not the work W is set on the work setting table 16 (S35), and if the work W is not set on the work setting table 16, if the work W is not set on the work setting table 16. Waiting for the work W to be set on the work installation table 16 (S35: No), and when the work W is set on the work installation table 16 (S35: Yes), the oscillator connected to the cutter blade 69. The oscillator 2 is driven in order to ultrasonically vibrate the 71 (S37).

For the operation inside the work processing device 5 when processing the work W without urging the cutter blade 69 with the cutter blade angle locking cylinder 77 turned on, refer to FIGS. 4 and 12. , As described above.

Further, also refer to FIGS. 5 and 16 for the operation inside the work processing apparatus 5 when processing the work W without urging the cutter blade 69 with the cutter blade position locking cylinder 81 turned on. , As described above.

Therefore, in the fourth processing mode, the processing apparatus 5 processes the work W by fixing the angle of the cutter blade 69 to an angle of 0 degrees and the position of the cutter blade 69 to a position of 0 mm.

Returning to the main program of FIG. 8, the oscillator 2 is turned off in order to stop the ultrasonic vibration of the vibrator 71 connected to the cutter blade 69 (S9), and the first cutter blade angle urging cylinder 75a, Second cutter blade angle urging cylinder 75b, cutter blade angle locking cylinder 77, first cutter blade position urging cylinder 79a, second cutter blade position urging cylinder 79b and cutter blade position locking cylinder All the cylinders of 81 are turned off (S11).

Then, after moving the arm of the articulated robot 3 to the initial position (S13), it is determined whether or not the processed work W has been removed from the work installation table 16 (S15), and then the work W has not been removed. If it is determined (S15: No), the work W is waited to be removed, and if it is determined that the work W has been removed (S15: Yes), the number of processed works W is further manipulated. It is determined whether or not the number of processes input on the panel 8 has been reached (S17).

Here, if it is determined that the number of processes of the work W has not reached the number of processes input on the operation panel 8 (S17: No), the ultrasonic processing program is executed again and the number of processes of the work W is reduced. When it is determined that the number of processes input on the operation panel 8 has been reached (S17: Yes), the process is terminated (S19).

According to the work processing apparatus 5 of the present embodiment, the angle of the cutter blade 69 with respect to the traveling direction can be changed according to the shape of the work W, particularly for those that process the work W using the cutter blade 69. The first cutter blade angle urging cylinder 75a and the second first cutter blade angle urging cylinder 75a for urging the cutter blade angle changing mechanism 9 against the changing direction of the angle of the cutter blade angle changing mechanism 9 and the cutter blade 69. Since the cutter blade angle urging cylinder 75b is provided, the cutter blade 69 can be effectively pressed against the work W having a complicated machining shape for machining.

Further, according to the work processing apparatus 5 of the present embodiment, the first cutter blade angle urging cylinder 75a and the second cutter blade angle urging cylinder 75b are irrespective of the angle of the cutter blade 69. Since the cutter blade angle changing mechanism 9 is urged with a substantially constant urging force f1, even a work W having a complicated processing shape can be processed by pressing the cutter blade 69 more effectively.

Further, according to the work processing apparatus 5 of the present embodiment, the cutter blade position changing mechanism 7 capable of changing the position of the cutter blade 69 in a certain direction with respect to the work W according to the shape of the work W, and the cutter blade 69. Since the first cutter blade position urging cylinder 79a and the second cutter blade position urging cylinder 79b for urging the cutter blade position changing mechanism 7 against the changing direction of the position are provided. Even a work W having a complicated processing shape can be processed by pressing the cutter blade 69 more effectively.

Further, according to the work processing apparatus 5 of the present embodiment, since the cutter blade angle locking cylinder 77 for fixing the rotation angle of the rotating body 13 is provided, the cutter blade 69 is effectively used according to the shape of the work W. The work W can be machined by selecting the pressing mechanism.

Further, according to the work processing apparatus 5 of the present embodiment, since the cutter blade position locking cylinder 81 for fixing the position in a certain direction with respect to the work W is provided, the cutter blade 69 is effective according to the shape of the work W. The work W can be machined by further selecting the mechanism that presses against.

Further, according to the ultrasonic processing apparatus 1 of the present embodiment, the work W is processed by ultrasonically vibrating the cutter blade 69 in the direction intersecting the angle changing direction, so that the work can be processed more precisely. Can be done.

Although the ultrasonic processing apparatus and the work processing apparatus according to the embodiment of the present invention have been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist thereof. It is possible.

For example, the oscillator 71 used in the above-described embodiment has been described so as to vibrate the cutter blade 69 in the vertical direction in the drawing, but the present invention is not limited to this, and the direction intersects the rotation direction of the rotating body 13. It may be a direction that intersects with the moving direction of the moving body 90.

Further, the cutter blade 69 used in the above-described embodiment has been described using a cutter blade for double-side polishing, but even a cutter blade for single-side polishing can be used if the processing direction is taken into consideration.

1 ... Ultrasonic processing device 2 ... Oscillator 3 ... Articulated robot 5 ... Work processing device 6 ... Robot controller 7 ... Cutter blade position change mechanism 9 ... Cutter blade angle change Mechanism 14 ・・・ Air compressor 69 ・・・ Cutter blade 71 ・・・ Oscillator 75 ・・・ Cutter blade angle urging cylinder 77 ・・・ Cutter blade angle locking cylinder 79 ・・・ Cutter blade position urging Cylinder 81 ・・・ Cylinder for locking the cutter blade position W ・・・ Work

Claims

In a work processing device that processes a work using a cutter blade
A cutter blade angle changing mechanism that can change the angle of the cutter blade with respect to the traveling direction according to the shape of the work.
A cutter blade angle urging mechanism that urges the cutter blade angle changing mechanism against the angle changing direction of the cutter blade, and a cutter blade angle urging mechanism.
A work processing device characterized by being equipped with.
The work processing apparatus according to claim 1, wherein the cutter blade angle urging mechanism urges the cutter blade angle changing mechanism with a substantially constant urging force regardless of the angle of the cutter blade.
A cutter blade position changing mechanism capable of changing the position of the cutter blade in a certain direction with respect to the work according to the shape of the work,
A cutter blade position urging mechanism that urges the cutter blade position changing mechanism against the direction of changing the position of the cutter blade, and a cutter blade position urging mechanism.
The work processing apparatus according to claim 1 or 2, wherein the work processing apparatus is provided.
The workpiece processing apparatus according to claim 1 or 2, further comprising a cutter blade angle locking mechanism for fixing the angle.
The work processing apparatus according to claim 3, further comprising a cutter blade angle locking mechanism for fixing the angle.
The work processing apparatus according to claim 3 or 5, further comprising a cutter blade position locking mechanism for fixing a position in the fixed direction with respect to the work.
The work processing apparatus according to any one of claims 1 to 6 is provided.
An ultrasonic processing apparatus characterized in that the cutter blade is ultrasonically vibrated in a direction intersecting the angle changing direction to process a work.
The work processing apparatus according to claim 3, claim 5 or claim 6 is provided.
An ultrasonic processing apparatus characterized in that the cutter blade is ultrasonically vibrated in a direction intersecting the fixed direction with respect to the work to process the work.