JP2019162680A - Processing device - Google Patents

Abstract

An object of the present invention is to provide a processing apparatus capable of smoothly performing a surface processing of a workpiece. A processing device (1) for attaching a processing tool (2) to a spindle (4) and moving the processing tool (2) along the surface of a work (W) to process the surface of the work (W) is arranged around the processing tool (2). A guide member 7 provided in contact with a processing area of the processing tool 2 and guiding the processing tool 2 in accordance with unevenness of the surface of the workpiece W; And a support member 6 that supports the spindle 4 while allowing the displacement of the spindle 4. [Selection diagram] Fig. 1

Description

  The present invention relates to a processing apparatus for processing a workpiece.

  Conventionally, as a processing apparatus for processing a workpiece (work), for example, as described in Japanese Patent No. 5481919, the processing tool is moved along the surface of the work and provided around the processing tool. There is known an apparatus for processing a surface of a workpiece by guiding the processing tool with a copying jig. This processing apparatus is intended to increase the processing accuracy of the processing tool by copying the outer surface of the workpiece with the copying tool.

Japanese Patent No. 5481919

  However, in the processing apparatus described above, when there is a discontinuous point such as a step on the workpiece surface with respect to the moving direction of the processing tool, the surface processing may not be performed smoothly. For example, when processing is performed by pressing the processing tool against the work surface with a certain force, if there is a step on the work surface, the processing tool is caught on the step, making it difficult to process the work surface smoothly.

  Therefore, development of a processing apparatus that can smoothly process the surface of the workpiece is desired.

  A processing apparatus according to an aspect of the present disclosure is a processing apparatus that attaches a processing tool to a spindle and moves the processing tool along the surface of the workpiece to perform surface processing of the workpiece. A guide member that is arranged around and is in contact with the processing area of the processing tool, guides the processing tool according to the surface irregularities of the workpiece, and is provided on the base end side of the spindle. And a support member that supports the spindle while allowing the displacement of the spindle. According to this processing apparatus, since the guide member is provided in contact with the processing region of the processing tool, the processing tool can be reliably guided by the guide member according to the unevenness of the surface of the workpiece. In addition, since the displacement of the spindle is allowed according to the external force applied to the spindle by the support member, the spindle and the processing tool can be tilted according to the unevenness of the workpiece, and the workpiece can be processed smoothly.

  Moreover, in the processing apparatus according to one aspect of the present disclosure, the guide member may include a roller that is disposed so as to be in contact with the processing region and is rotatably provided. In this case, when the surface of the workpiece has a convex portion, the outer peripheral surface of the roller abuts on the convex portion, and the roller rides on the convex portion, thereby guiding the processing tool along the surface shape of the workpiece. Can do.

  Moreover, in the processing apparatus according to one aspect of the present disclosure, the support member may be configured by an elastic member that can be elastically deformed. In this case, at the time of processing, the support member is elastically deformed according to the external force applied to the spindle, thereby permitting displacement of the spindle. Therefore, the processing tool can be smoothly guided by changing the orientation or posture of the processing tool according to the unevenness of the surface of the workpiece.

  According to the present disclosure, it is possible to smoothly perform surface processing of a workpiece.

It is the schematic which shows the structure of the processing apparatus which concerns on embodiment of this invention. It is a side view of the guide member in the processing apparatus of FIG. FIG. 3 is a horizontal sectional view of III-III in the guide member of FIG. 2. It is a figure which shows operation | movement of the processing apparatus of FIG. It is a figure which shows operation | movement of the processing apparatus of FIG. It is a figure which shows the process path | route in the processing apparatus of FIG. It is a figure which shows the process path | route in the processing apparatus of FIG. It is a figure which shows the modification of the processing apparatus of FIG. It is a figure which shows the modification of the processing apparatus of FIG. It is a figure which shows the modification of the processing apparatus of FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant descriptions are omitted.

  FIG. 1 is a schematic diagram of a configuration of a processing apparatus 1 according to an embodiment of the present invention. As shown in FIG. 1, the processing apparatus 1 is an apparatus that performs surface processing of the workpiece W by moving the processing tool 2 attached to the spindle 4 along the surface of the workpiece W. The workpiece W is a workpiece to be processed by the processing apparatus 1 and is fixed and held on the workpiece holding base 91. Any part can be applied as the workpiece W. Examples of the workpiece W include a mold and an engine component. This embodiment demonstrates the case where the process which smoothes the unevenness | corrugation of the surface of the workpiece | work W is performed as surface processing.

  The processing apparatus 1 includes a robot arm 3 that adjusts the position and posture of the processing tool 2. The robot arm 3 functions as an operation unit that adjusts the position and posture of the processing tool 2. The robot arm 3 includes a plurality of link portions 31 to 34 and a plurality of joint portions 35 to 37, and is configured to be able to change the position and posture of the processing tool 2. The link parts 31 to 34 are rod-shaped members extending in the axial direction. The link portion 31 is oriented in the vertical direction, and the base end side is attached to the upper surface of the base member 38. The link part 31 is configured to be rotatable about the axis of the link part 31. A link portion 32 is attached to the distal end side of the link portion 31 via a joint portion 35. The joint portion 35 is configured to be rotatable about a horizontal axis. Due to the rotation of the joint portion 35, the link portion 32 rotates around the rotation axis of the joint portion 35.

  A link portion 33 is attached to the distal end side of the link portion 32 via a joint portion 36. The joint portion 36 is configured to be rotatable about a horizontal axis. Due to the rotation of the joint portion 36, the link portion 33 rotates about the rotation axis of the joint portion 36. The link portion 33 is configured to be rotatable about the axis of the link portion 33. A link portion 34 is attached to the distal end side of the link portion 33 via a joint portion 37. The joint portion 37 is configured to be rotatable about a horizontal axis. By the rotation operation of the joint portion 37, the link portion 34 rotates around the rotation axis of the joint portion 37. The link portion 34 is configured to be rotatable about the axis of the link portion 34.

  A support member 6, a force sensor 5, and a spindle 4 are attached to the distal end side of the link portion 34. In FIG. 1, the support member 6, the force sensor 5, and the spindle 4 are attached in this order from the distal end side of the link portion 34, but the support member 6 and the force sensor 5 may be attached in reverse order. The spindle 4 functions as a rotation operation unit that rotates the processing tool 2. For example, the spindle 4 is a spindle motor with a built-in motor. In addition, as a rotation action part of the processing apparatus 1, if the processing tool 2 can be rotated, things other than the spindle 4 may be used, for example, the spindle and the motor may be comprised separately.

  A processing tool 2 is attached to the tip end side of the spindle 4. The processing tool 2 is a member that processes the workpiece W by contacting the workpiece W in a rotated state. For example, a grindstone is used as the processing tool 2. Specifically, the processing tool 2 is configured by attaching a cylindrical grindstone 22 to the tip of the shaft 21. The processing tool 2 is used with the base end side of the shaft 21 attached to the spindle 4. The shaft 21 and the grindstone portion 22 are rotated according to the rotation of the spindle 4, the grindstone portion 22 is brought into contact with the workpiece W, and the workpiece W is processed. In addition, as the processing tool 2, processing tools other than a grindstone may be sufficient, for example, a rotary bar, an end mill, etc. may be sufficient.

  The force sensor 5 is a sensor that detects an external force acting on the processing tool 2. The force sensor 5 detects an external force that acts on the tip side of the force sensor 5. As this external force, for example, a reaction force when the processing tool 2 is pressed against the workpiece W is applicable. As the force sensor 5, for example, a six-axis sensor capable of measuring a force in three orthogonal axes and a torque around each axis is used. For this reason, the force sensor 5 can detect an external force having six degrees of freedom acting on the processing tool 2 and a torque around three axes. Further, the workpiece W can be processed by force control by pressing the processing tool 2 against the workpiece W so that a predetermined external force is detected by the force sensor 5. As the force sensor for detecting the external force, a sensor other than the force sensor 5 may be used as long as the external force acting on the processing tool 2 can be detected.

  The support member 6 is a member that is provided on the proximal end side of the spindle 4 and supports the spindle 4. The support member 6 supports the spindle 4 by allowing the spindle 4 to be displaced according to an external force applied to the spindle 4. In the present embodiment, the support member 6 supports the spindle 4 via the force sensor 5. As the support member 6, for example, an elastic member is used. Specifically, a rubber member is used as the support member 6. In this case, the support member 6 is configured as a disk-shaped rubber member. The support member 6 is fixed to the link part 34 by screwing, bonding or the like. When an external force is applied to the spindle 4 such as when the processing tool 2 processes the convex portion on the surface of the workpiece W, the support member 6 is deformed according to the external force to allow the spindle 4 to be displaced. That is, when an external force in a direction crossing the pressing direction is applied to the spindle 4, the support member 6 is deformed and the spindle 4 is allowed to swing around the support member 6 (see FIG. 4). Thereby, the processing tool 2 can be tilted and swung according to the unevenness of the workpiece W, and can be processed smoothly. When an elastic member is used as the support member 6, the support member 6 is elastically deformed when an external force is applied to the spindle 4. Therefore, the spindle 4 that has shaken when the external force is released returns to the original position. Can be restored.

  The processing apparatus 1 is provided with a guide member 7. The guide member 7 is a member that guides the processing tool 2 according to the unevenness of the surface of the workpiece W. The guide member 7 is disposed around the processing tool 2 and is provided in contact with the processing area of the processing tool 2.

  2 is a side view of the guide member 7, and FIG. 3 is a horizontal sectional view of the guide member 7 taken along line III-III in FIG. The guide member 7 includes a plurality of rollers 71 arranged around the processing tool 2. The roller 71 is a rotating body that is rotatably provided, and is configured as a sphere, for example. In FIG. 3, four rollers 71 are arranged around the processing tool 2. In addition, as long as there are three or more rollers 71, you may arrange | position by numbers other than four. The roller 71 is disposed at a position preceding the processing tool 2 in the traveling direction of the processing tool 2 during processing. That is, at least one of the plurality of rollers 71 is disposed at a position that moves ahead of the processing tool 2 during processing. The roller 71 is attached to a lower portion of a support 72 that is attached to the spindle 4. The support column 72 is a rod-shaped member, is attached to the lower part of the housing of the spindle 4 and extends downward. The support | pillar part 72 is arrange | positioned around the processing tool 2, and is mutually provided in parallel.

  The roller 71 is rotatably supported by a plurality of support balls 73 built in the support column 72. The lower part of the roller 71 protrudes from the lower end of the column part 72, and it is easy to ride on the convex part on the surface of the workpiece W. For example, when there is a convex portion on the surface of the workpiece W, the outer peripheral surface of the roller 71 abuts on the convex portion, so that the processing tool 2 can be appropriately guided according to the irregularities on the surface. The position of the lower end of the roller 71 is the same height as the lower end of the processing tool 2. Depending on the shape of the workpiece W, the position of the lower end of the roller 71 may be different from the position of the lower end of the processing tool 2. That is, the position of the lower end of the roller 71 may be higher than the lower end of the processing tool 2 or may be lower than the lower end of the processing tool 2. For example, when the surface of the workpiece W is curved, the guide function of the guide member 7 can be effectively exhibited by making the position of the lower end of the roller 71 different from the position of the lower end of the processing tool 2.

  In FIG. 3, a processing region W1 is a region on the surface of the workpiece W, and the processing tool 2 performs surface processing. The guide member 7 is provided in contact with the processing region W1. For example, the roller 71 is provided so as to contact the processing region W1. Note that the guide member 7 does not always need to be in contact with the processing region W1 during processing, and may be provided so as to contact only the convex portion when the processing region W1 has unevenness.

  In FIG. 1, the processing apparatus 1 includes a control unit 8. The control unit 8 is a control unit that performs machining control of the machining apparatus 1. The control unit 8 may be configured by, for example, one computer or an electronic control unit, or may be configured by a personal computer and a controller. In response to the input of the target machining data of the processing tool 2, the control unit 8 operates the robot arm 3 while rotating the processing tool 2 to move the processing tool 2 to perform surface processing of the workpiece W. For example, the control unit 8 sets a movement path of the processing tool 2 based on the processing shape of the workpiece W, and sets a pressing force for pressing the processing tool 2 against the workpiece W. The control unit 8 outputs a control signal to the robot arm 3 based on the set path and pressing force, and outputs a control signal to the spindle 4 to rotate the processing tool 2 to perform processing control.

  As shown in FIG. 1, the control unit 8 is electrically connected to the robot arm 3, and outputs a control signal to the joint units 35 to 37 and the link units 31, 33, and 34 to output the joint units 35 to 37 and the link. The rotational operation of the units 31, 33, 34 is adjusted. In addition, the control unit 8 inputs rotation information of the joint portions 35 to 37 and the link portions 31, 33, and 34 and recognizes the rotation states of the joint portions 35 to 37 and the link portions 31, 33, and 34. The control unit 8 is electrically connected to the force sensor 5, inputs a detection signal of the force sensor 5, and recognizes the pressing force of the processing tool 2.

  The processing apparatus 1 performs surface processing of the workpiece W by force control and position control of the processing tool 2, for example. The control unit 8 performs force control by operating the robot arm 3 so that the processing tool 2 presses the workpiece W with the set pressing force. As described above, since the reaction force of the actual pressing force of the processing tool 2 is input to the control unit 8 based on the detection signal of the force sensor 5, feedback control of the pressing force is possible. In addition, the control unit 8 performs position control with respect to the traveling direction of the processing tool 2. That is, the control unit 8 controls the position of the processing tool 2 by operating the robot arm 3 so that the processing tool 2 moves along the target path set in the processing range of the workpiece W. By such force control and position control, even if the surface of the workpiece W is a curved surface, the processing tool 2 can be moved along the surface of the workpiece W while being pressed with a set pressing force.

  Next, operation | movement of the processing apparatus 1 which concerns on this embodiment is demonstrated.

  First, as shown in FIG. 1, the workpiece W is fixed to the workpiece holder 91, and the machining range of the workpiece W and the machining path of the machining tool 2 are set in the control unit 8. Then, a control signal is output from the control unit 8 to the spindle 4 and the processing tool 2 rotates. Then, a control signal is output from the control unit 8 to the robot arm 3, and the robot arm 3 operates so that the processing tool 2 moves along the processing path. Thereby, processing is performed, pressing the workpiece | work W, while the processing tool 2 rotates.

  At this time, as shown in FIG. 4, when the convex portion W2 is on the processing path on the surface of the workpiece W, the roller 71 runs on the convex portion W2 and the processing tool 2 is guided according to the shape of the convex portion W2. . For this reason, the processing tool 2 can move in the traveling direction without being caught by the convex portion W2. Since the roller 71 is provided so as to be in contact with the region where the processing tool 2 is processed, that is, the processing region, the processing tool 2 is reliably guided along the unevenness of the processing path.

  Further, when the roller 71 rides on the convex portion W2, the support member 6 is deformed and the displacement of the spindle 4 is allowed. In FIG. 4, the leading side of the support member 6 (the right side of the support member 6 in FIG. 4) contracts in the vertical direction, and the trailing side of the support member 6 (the left side of the support member 6 in FIG. 4) expands in the vertical direction. ing. For this reason, the axial direction of the spindle 4 and the processing tool 2 can swing and move forward with respect to the axial direction of the link portion 34 of the robot arm 3. Therefore, the processing tool 2 can be processed by inclining the processing tool 2 in accordance with the surface shape of the workpiece W.

  As shown in FIG. 5, even when the roller 71 rides on the convex portion W <b> 2, the processing tool 2 is pressed against the workpiece W by a predetermined pressing force to perform processing. For this reason, convex part W2 is shaved by processing of processing tool 2, and the surface of work W is smoothed.

  6 and 7 are explanatory views of the machining path of the processing tool 2 and are views seen from above the workpiece W. FIG. For example, as shown in FIG. 6, as the machining path of the processing tool 2, the surface of the workpiece W may be reciprocated by shifting one path at a time, or as shown in FIG. One route may be shifted and further reciprocated. When the processing tool 2 is reciprocated along the same route as shown in FIG. 7, the unevenness on the route can be made smoother.

  As described above, according to the processing apparatus 1 according to the present embodiment, the guide member 7 is provided so as to be in contact with the processing region of the processing tool 2. For this reason, the processing tool 2 can be reliably guided by the guide member 7 according to the unevenness of the surface of the workpiece W. Further, a support member 6 that supports the spindle 4 while allowing the displacement of the spindle 4 according to an external force applied to the spindle 4 is provided. For this reason, when the processing tool 2 processes the uneven part of the workpiece W, the spindle 4 and the processing tool 2 can be tilted, and the processing of the workpiece W can be performed smoothly.

  Further, according to the processing apparatus 1 according to the present embodiment, even when there are discontinuous connection points such as steps on the surface of the workpiece W, the surface processing of the workpiece W can be performed without measuring the surface shape of the workpiece W in advance. It can be done smoothly. For example, it is conceivable to measure the shape of the entire surface of the workpiece W in advance before performing the surface machining of the workpiece W, detect the concave and convex portions on the surface of the workpiece W, and perform machining control according to the detection result. . In this case, a laser measuring instrument for measuring the surface shape, an arithmetic unit for detecting the surface shape, and the like are required. On the other hand, the processing apparatus 1 according to the present embodiment can be applied according to the unevenness of the discontinuous connection points such as steps on the surface of the workpiece W without the surface shape measuring instrument and shape data. It is possible to guide by changing the orientation or posture of the tool 2.

  Moreover, according to the processing apparatus 1 which concerns on this embodiment, the guide member 7 is provided with the roller 71 arrange | positioned so that a processing area | region may be touched and provided rotatably. For this reason, when there is a convex portion on the surface of the workpiece W, the outer peripheral surface of the roller 71 comes into contact with the convex portion, and the roller 71 rides on the convex portion, thereby guiding the processing tool 2 along the surface shape of the workpiece W. can do.

  Moreover, according to the processing apparatus 1 which concerns on this embodiment, the support member 6 is comprised by the elastic member. For this reason, the support member 6 is elastically deformed according to the external force applied to the spindle 4 to allow the spindle 4 to be displaced. Therefore, the processing tool 2 can be guided by changing the orientation or posture of the processing tool 2 according to the unevenness of the surface of the workpiece W.

  In addition, this invention is not limited to embodiment mentioned above. The present invention can take various modifications without departing from the gist of the claims.

  For example, in the above-described embodiment, the case where a sphere is used as the roller 71 of the guide member 7 has been described. However, the roller 71 may have a shape such as a cone or a disk. For example, as shown in FIGS. 8 and 9, a cone can be used as the roller 71. Specifically, the tip of the cone of the roller 71 is abutted toward the inside, and a total of four rollers 71 are arranged two in front and behind. The roller 71 is rotatably mounted with a direction orthogonal to the traveling direction as an axis. Even in the processing apparatus provided with such a roller 71, the same effect as the processing apparatus 1 according to the above-described embodiment can be obtained. That is, the processing tool 2 can be reliably guided by the guide member 7 according to the unevenness of the surface of the workpiece W. Moreover, when the processing tool 2 processes the uneven part of the workpiece W, the spindle 4 and the processing tool 2 can be tilted, and the processing of the workpiece W can be performed smoothly.

  Further, as shown in FIG. 10, a roller body can be used as the roller 71. Specifically, a total of four rollers 71 are arranged two each in front and rear like a wheel of a four-wheeled vehicle in the disk body of the roller 71. The roller 71 is attached to be rotatable about a direction orthogonal to the traveling direction. Even in the processing apparatus provided with such a roller 71, the same effect as the processing apparatus 1 according to the above-described embodiment can be obtained. That is, the processing tool 2 can be reliably guided by the guide member 7 according to the unevenness of the surface of the workpiece W. Moreover, when the processing tool 2 processes the uneven part of the workpiece W, the spindle 4 and the processing tool 2 can be tilted, and the processing of the workpiece W can be performed smoothly.

  In the above-described embodiment, the case where the robot arm 3 is used as the operating unit has been described. However, any robot that can adjust the position and orientation of the processing tool 2 and perform processing using the processing tool 2 can be used. A mechanism or equipment other than the arm 3 may be used. Specifically, a robot arm or manipulator having a different number of joints and links may be used in the embodiment described above, or the force can be controlled by moving the processing tool 2 along the target trajectory. A machine tool or the like may be used.

  In the above-described embodiment, the case where rubber, which is a kind of elastic member, is used as the support member 6, but a spring, which is a kind of elastic member, may be used as the support member 6. The support member 6 may be other than an elastic member as long as it can support the spindle 4 by allowing the displacement of the spindle 4 according to the external force applied to the spindle 4. For example, a member or a mechanism that supports the spindle 4 so that the spindle 4 can swing within a certain range on the proximal end side of the spindle 4 may be used. Further, the robot arm 3 may function as the support member 6. That is, the robot arm 3 may be operated according to the stress applied to the spindle 4 and the spindle 4 and the processing tool 2 may be inclined according to the unevenness of the surface of the workpiece W.

  Further, in the above-described embodiment, the case where the surface unevenness is smoothed as the surface processing of the workpiece W has been described. However, the surface processing may be other surface processing such as polishing of the workpiece W.

DESCRIPTION OF SYMBOLS 1 Processing apparatus 2 Processing tool 3 Robot arm 4 Spindle 5 Force sensor 6 Support member 7 Guide member 71 Roller 8 Control part W Workpiece (Workpiece)
W1 Processing area W2 Convex part

Claims (3)

A processing device for attaching a processing tool to a spindle and moving the processing tool along the surface of the workpiece to perform surface processing of the workpiece,
A guide member that is disposed around the processing tool, is provided so as to be in contact with a processing region of the processing tool, and guides the processing tool according to unevenness of a surface of the workpiece;
A support member that is provided on the base end side of the spindle and supports the spindle by allowing displacement of the spindle according to an external force applied to the spindle;
A processing apparatus comprising: The guide member has a roller disposed so as to be in contact with the processing region and rotatably provided.
The processing apparatus according to claim 1. The support member is made of an elastic member that can be elastically deformed.
The processing apparatus according to claim 1 or 2.

Images