Workpiece processing device and ultrasonic processing device equipped with the same

Abstract

The present invention provides a workpiece processing device that can effectively press a cutting blade even for a workpiece with a complex processing shape, and an ultrasonic processing device that is equipped with the workpiece processing device and can more accurately process a workpiece with a complex processing shape. The workpiece processing device (5) is a device that uses a cutting blade (69) to process a workpiece (W), and is equipped with: a cutting blade angle changing mechanism (9) that can change the angle of the cutting blade (69) relative to the travel direction according to the shape of the workpiece (W); and a first cutting blade angle force cylinder (75a) and a second cutting blade angle force cylinder (75b) that resist the change direction of the angle of the cutting blade (69) and apply force to the cutting blade angle changing mechanism (9).

Description

Technical Field

[0001] The present invention relates to a workpiece processing device for processing a workpiece and an ultrasonic processing device equipped with the workpiece processing device. Background Art

[0002] Conventionally, there are known workpiece processing devices and ultrasonic processing devices for processing a workpiece.

[0003] For example, Patent Documents 1 and 2 describe an ultrasonic machining device for machining a workpiece using a cutting blade 10. The ultrasonic machining device causes the cutting blade 10 to swing according to the shape of the workpiece, and a coil spring mechanism 84 resists the swinging mechanism from the swinging angle direction of the cutting blade 10, thereby pressing the cutting blade 10 against the surface of the workpiece (see Reference Document 1). Fig.13 as well as Fig.14 etc., cited in reference 2 Fig.13 as well as Fig.14 wait).

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2008-273212

[0007] Patent Document 2: Japanese Patent Application Publication No. 2008-030251 Summary of the invention

[0008] Problems to be solved by the invention

[0009] However, since the cutter blades described in Reference 1 and Reference 2 are swung only by the swung mechanism, although there is no problem in pressing the workpiece in the swung direction, there is a possibility that the workpiece having a complex shape cannot be handled.

[0010] That is, since the cutter blades described in Reference 1 and Reference 2 are swung only by the swing mechanism, there is a problem that the cutter blade cannot be pressed along the surface of the workpiece when the shape of the workpiece is complicated.

[0011] The present invention is completed in order to address the above-mentioned problems of the prior art, and its purpose is to provide a workpiece processing device that can effectively press the cutting knife even for a workpiece with a complex processing shape (hereinafter referred to as "workpiece"), and an ultrasonic processing device that has the workpiece processing device and can more accurately process the workpiece with a complex processing shape.

[0012] Solutions to Solve Problems

[0013] In order to solve the above-mentioned problems, the first scheme of the present invention is a workpiece processing device, which uses a cutting knife to process a workpiece, and the workpiece processing device is characterized in that it has: a cutting knife angle changing mechanism, which can change the angle of the cutting knife relative to the travel direction according to the shape of the workpiece; and a cutting knife angle force mechanism, which resists the change direction of the angle of the cutting knife and applies force to the cutting knife angle changing mechanism.

[0014] Furthermore, a second aspect of the present invention is characterized in that, in the workpiece processing device of the first aspect, the cutting blade angle urging mechanism urges the cutting blade angle changing mechanism with a substantially constant urging force regardless of the angle of the cutting blade.

[0015] In addition, the third scheme of the present invention is characterized in that, in the workpiece processing device of the first scheme or the second scheme, it is provided with: a cutting knife position changing mechanism, which is capable of changing the position of the cutting knife relative to a specific direction of the workpiece according to the shape of the workpiece; and a cutting knife position force mechanism, which resists the direction of change of the position of the cutting knife and applies force to the cutting knife position changing mechanism.

[0016] Furthermore, a fourth aspect of the present invention is characterized in that, in the workpiece processing device of the first aspect or the second aspect, a cutter blade angle locking mechanism for fixing the angle is provided.

[0017] Furthermore, a fifth aspect of the present invention is characterized in that, in the workpiece processing device of the third aspect, a cutter blade angle locking mechanism for fixing the angle is provided.

[0018] Furthermore, a sixth aspect of the present invention is characterized in that, in the workpiece processing device of the third aspect or the fifth aspect, a cutting blade position locking mechanism is provided for fixing the position of the cutting blade in the specific direction relative to the workpiece.

[0019] In addition, the ultrasonic processing device of the seventh aspect of the present invention is characterized in that it has the workpiece processing device of any one of the first to sixth aspects, and the cutting blade is ultrasonically vibrated in a direction intersecting the angle change direction to process the workpiece.

[0020] In addition, the ultrasonic processing device of the eighth scheme of the present invention is characterized in that it has a workpiece processing device in the third scheme, the fifth scheme or the sixth scheme, so that the cutting blade is ultrasonically vibrated in a direction intersecting with the specific direction relative to the workpiece to process the workpiece.

[0021] Effects of the Invention

[0022] The workpiece processing device according to the first scheme of the present invention relates to a device for processing a workpiece using a cutting knife. In particular, since it is provided with: a cutting knife angle changing mechanism, which can change the angle of the cutting knife relative to the traveling direction according to the shape of the workpiece; and a cutting knife angle applying mechanism, which resists the changing direction of the cutting knife angle and applies force to the cutting knife angle changing mechanism, even for a workpiece with a complex processing shape, the cutting knife can be effectively pressed for processing.

[0023] In addition, according to the workpiece processing device of the second scheme of the present invention, in the workpiece processing device of the first scheme, the cutting knife angle force application mechanism applies force to the cutting knife angle change mechanism with a substantially constant force regardless of the angle of the cutting knife. Therefore, in addition to the effect of the workpiece processing device of the first scheme, even for a workpiece with a complex processing shape, the cutting knife can be pressed more effectively during processing.

[0024] In addition, the workpiece processing device according to the third scheme of the present invention is provided in the workpiece processing device of the first scheme or the second scheme with: a cutting knife position changing mechanism, which can change the position of the cutting knife relative to a specific direction of the workpiece according to the shape of the workpiece; and a cutting knife position force mechanism, which resists the direction of change of the position of the cutting knife and applies force to the cutting knife position changing mechanism. Therefore, in addition to the effects of the workpiece processing device of the first scheme or the second scheme, the cutting knife can be more effectively pressed on a workpiece with a complex processing shape for processing.

[0025] In addition, according to the workpiece processing device of the fourth scheme of the present invention, in the workpiece processing device of the first scheme or the second scheme, since it is equipped with a cutting knife angle locking mechanism with a fixed angle, in addition to the effects of the workpiece processing device of the first scheme or the second scheme, it is also possible to select a mechanism that effectively presses the cutting knife to process the workpiece according to the shape of the workpiece.

[0026] In addition, according to the workpiece processing device of the fifth scheme of the present invention, in the workpiece processing device of the third scheme, since it is equipped with a cutting knife angle locking mechanism with a fixed angle, in addition to the effect of the workpiece processing device of the third scheme, it is also possible to select a mechanism that effectively presses the cutting knife to process the workpiece according to the shape of the workpiece.

[0027] In addition, according to the workpiece processing device of the sixth scheme of the present invention, in the workpiece processing device of the third scheme or the fifth scheme, since it is provided with a cutting knife position locking mechanism that fixes the position in a specific direction relative to the workpiece, in addition to the effects of the workpiece processing device of the third scheme or the fifth scheme, it is possible to further select a mechanism that effectively presses the cutting knife to process the workpiece according to the shape of the workpiece.

[0028] In addition, according to the seventh scheme of the ultrasonic processing device of the present invention, since it has a workpiece processing device of any one of the first scheme to the sixth scheme, the cutting knife is made to perform ultrasonic vibration in a direction intersecting with the angle change direction to process the workpiece, so the workpiece can be processed more precisely.

[0029] Furthermore, according to the ultrasonic processing device of the eighth scheme of the present invention, since it has the workpiece processing device of the third scheme, the fifth scheme or the sixth scheme, the cutting blade is made to perform ultrasonic vibration in a direction intersecting with a specific direction relative to the workpiece to process the workpiece, thereby being able to process the workpiece more precisely. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is an overall side view of the ultrasonic machining device according to the embodiment of the present invention.

[0031] Figure 2 It is an overall perspective view of a workpiece processing device included in the ultrasonic processing device of the present embodiment.

[0032] Figure 3 yes Figure 2 AA section view.

[0033] Figure 4 yes Figure 2 The BB cross-sectional view is a diagram showing a state where the cutter blade angle-biasing air cylinder is turned on and no load is applied to the cutter blade (angle 0 degrees).

[0034] Figure 5 yes Figure 2 The CC sectional view shows a state where the cutting blade position biasing cylinder is turned on and no load is applied to the cutting blade (position 0 mm).

[0035] Figure 6 This is a block diagram of the ultrasonic machining device according to this embodiment.

[0036] Figure 7 This is a block diagram of a main controller of the ultrasonic machining device according to this embodiment.

[0037] Figure 8 This is a flowchart of a main routine in the ultrasonic machining device according to this embodiment.

[0038] Fig. 9 This is a flowchart of the ultrasonic machining program in the ultrasonic machining device according to the present embodiment.

[0039] Fig.10 It means in Figure 2In the BB cross-sectional view, the cutting blade angle-applying cylinder is turned on, a load is applied to the cutting blade, and the cutting blade is rotated counterclockwise to the maximum angle (angle +θ1 degree).

[0040] Fig.11 It means in Figure 2 In the BB cross-sectional view, the cutting blade angle applying cylinder is turned on, a load is applied to the cutting blade, and the cutting blade is rotated in the clockwise direction to the maximum angle (angle -θ1 degree).

[0041] Fig.12 It means in Figure 2 In the BB cross-sectional view, the cylinder for locking the cutting blade angle is turned on to fix the angle of the cutting blade (angle 0 degrees).

[0042] Fig.13 This is a diagram showing the attached cutter blade as viewed from below, and is an explanatory diagram for explaining the relationship between the cutter blade and the rotation direction of the cutter blade.

[0043] Fig.14 It means in Figure 2 In the CC cross-sectional view, the cutting blade position force cylinder is turned on, a load is applied to the cutting blade, and the cutting blade is moved to the maximum displacement in the +X direction (angle +X1mm).

[0044] Fig.15 It means in Figure 2 In the CC cross-sectional view, the cutting knife position force cylinder is turned on, a load is applied to the cutting knife, and the cutting knife is moved to the maximum displacement in the -X direction (angle -X1mm).

[0045] Fig.16 is Figure 2 The CC sectional view shows a state where the cutting blade position locking cylinder is turned on and the position of the cutting blade is fixed (displacement 0 mm). DETAILED DESCRIPTION

[0046] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0047] (Implementation Method)

[0048] First, embodiments of the present invention will be described.

[0049] Figure 1 It is an overall side view of an ultrasonic machining device according to an embodiment of the present invention.

[0050] like Figure 1As shown, the ultrasonic machining device 1 of this embodiment includes a workbench 10, a multi-joint robot 3 fixed to the workbench 10, a workpiece machining device 5 rotatably connected to the front end of the multi-joint robot 3, a workpiece setting table 16 set on the workbench 10, an oscillator 2 arranged on the workbench 10, a main controller 4 and a robot controller 6, and an air compressor 14 arranged outside the workbench 10 (see Figure 6 ).

[0051] The ultrasonic machining device 1 of this embodiment uses a vibrator 71 to make the cutting blade 69 connected to the front end of the workpiece machining device 5 and having its front end ground and tapered on both sides of the cross section perform ultrasonic vibrations in the vertical direction in the figure, thereby machining the workpiece W set on the workpiece setting table 16.

[0052] Furthermore, an operation panel 8 is provided on the workpiece setting table 16 , and an operator of the ultrasonic machining device 1 can operate the ultrasonic machining device 1 by operating the operation panel 8 .

[0053] The multi-joint robot 3 is a common five-axis multi-joint robot that operates according to a command from a robot controller 6 , and can face a workpiece W while freely changing the position and angle of a workpiece processing device 5 .

[0054] The multi-joint robot 3 has five axes, namely: a first rotating axis 44, which is used to rotate the second base 34 relative to the first base 32; a second rotating axis 46, which is used to rotate the lower arm (lower arm) 36 forward and backward relative to the second base 34; a third rotating axis 48, which is used to rotate the middle arm (middle arm) 38 up and down relative to the lower arm 36; a fourth rotating axis 50, which is used to rotate the upper arm (upper arm) 40 up and down relative to the middle arm 38; and a fifth rotating axis 52, which is used to rotate the rotating part 42 coaxially relative to the upper arm 40.

[0055] The multi-joint robot 3 is electrically connected to the robot controller 6 via a cable (not shown), and the robot controller 6 is electrically connected to the main controller 4 (see Figure 6 ).

[0056] Figure 2 is an overall perspective view of a workpiece processing device 5 included in the ultrasonic processing device 1 of the present embodiment. Figure 3 yes Figure 2 AA section view, Figure 4 yes Figure 2 The BB cross-sectional view is a diagram showing a state where the cylinder for applying the angle of the cutting blade is turned on and no load is applied to the cutting blade (angle 0 degrees). Figure 5 yes Figure 2The CC sectional view shows a state where the cutting blade position biasing cylinder is turned on and no load is applied to the cutting blade (angle 0 degrees).

[0057] The workpiece processing device 5 processes the workpiece W placed on the workpiece setting table 16 by ultrasonically vibrating the cutting blade 69 connected to the tip of the vibrator 71 which is electrically connected to the oscillator 2 via the cable 73 .

[0058] like Figures 2 to 5 As shown, the workpiece processing device 5 has a lower cutting knife angle changing mechanism 9, a first cutting knife angle force cylinder 75a, a second cutting knife angle force cylinder 75b and a cutting knife angle locking cylinder 77, an upper cutting knife position changing mechanism 7, a first cutting knife position force cylinder 79a, a second cutting knife position force cylinder 79b and a cutting knife position locking cylinder 81.

[0059] like Figure 3 as well as Figure 4 As shown, the cutting blade angle changing mechanism 9 comprises: a base shaft 11, which is fixed to the workpiece processing device 5; a rotating body 13, which is rotatably connected to the base shaft 11 and is connected to the vibrator 71 and the cutting blade 69; a first protrusion 83, which is arranged on the rotating body 13 and can abut against a third protrusion 87 described later; a second protrusion 85, which is arranged on the side of the rotating body 13 opposite to the first protrusion 83 and can abut against a fourth protrusion 89 described later; a recess 91, which is arranged on the rotating body 13 and is engaged with the locking pin 39 described later; and a gap 15, which is formed to allow the rotating body 13 to rotate.

[0060] The first cutting blade angle force cylinder 75a is a device for applying force to the rotating body 13 to resist the left-handed rotation force of the rotating body 13 when viewed from above, and includes a first housing 17 having a gap 21 inside, a piston 19 slidably arranged in the gap 21 of the first housing 17, and a third protrusion 87 connected to the front end of the piston 19. The gap 21 of the first housing 17 and the air compressor 14 (see Figure 6 ) are connected through the connecting pipe 23.

[0061] In addition, the second cutting blade angle force cylinder 75b is a device for applying force to the rotating body 13 to resist the right-handed rotation force of the rotating body 13 when viewed from above, and includes a second housing 25 having a gap 29 inside, a piston 27 slidably arranged in the gap 29 of the second housing 25, and a fourth protrusion 89 connected to the front end of the piston 27, and the gap 29 of the second housing 25 is connected to the air compressor 14 (see Figure 6 ) are connected through the connecting pipe 31.

[0062] The first cutting blade angle urging cylinder 75a, the second cutting blade angle urging cylinder 75b, the connecting pipe 23, the connecting pipe 31 and the air compressor 14 constitute the "cutting blade angle urging mechanism" of the present invention.

[0063] The cutter angle locking cylinder 77 stops the rotation of the rotating body 13 and has a space 37 (see Fig.12 ), a piston 35 slidably disposed in a gap 37 of the third housing 33, and a locking pin 39 connected to the front end of the piston 35, the gap 37 of the third housing 33 and the air compressor 14 (see Figure 6 ) are connected through connecting pipe 41 and connecting pipe 43.

[0064] The cutter blade angle locking cylinder 77, the connecting pipe 41, the connecting pipe 43, and the air compressor 14 constitute the "cutter blade angle locking mechanism" of the present invention.

[0065] like Figure 3 as well as Figure 5 As shown, the cutting blade position changing mechanism 7 comprises: a base 92, which is fixed to the workpiece processing device 5; a movable body 90, which is movably connected to the base 92; a seventh protrusion 97, which is arranged on the movable body 90 and can abut against the fifth protrusion 95 described later; an eighth protrusion 98, which is arranged on the movable body 90 and can abut against the sixth protrusion 99 described later; and a recess 93, which is arranged on the movable body 90 for the locking pin 67 described later to be engaged.

[0066] The first cutting blade position urging cylinder 79a includes a fourth housing 45 having a gap 49 therein, a piston 47 slidably disposed in the gap 49 of the fourth housing 45, and a fifth protrusion 95 connected to the front end of the piston 47. The gap 49 of the fourth housing 45 is connected to the air compressor 14 (see Figure 6 ) are connected through connecting pipe 51.

[0067] In addition, the second cutting blade position force cylinder 79b includes: a fifth housing 53 having a gap 57 therein; a piston 55 slidably disposed in the gap 57 of the fifth housing 53; and a sixth protrusion 99 connected to the front end of the piston 55, the gap 57 of the fifth housing 53 and the air compressor 14 (see Figure 6 ) are connected through connecting pipe 59.

[0068] The first cutting blade position urging cylinder 79a, the second cutting blade position urging cylinder 79b, the connecting pipe 51, the connecting pipe 59, and the air compressor 14 constitute a "cutting blade position urging mechanism" of the present invention.

[0069] Furthermore, the cutter position locking cylinder 81 has a space 65 (see Fig.16 slidably disposed in the gap portion 65 of the sixth housing 61 (reference Fig.16 and the locking pin 67 connected to the front end of the piston 63, the gap portion 65 of the sixth housing 61 (reference Fig.16 ) and air compressor 14 (refer to Figure 6 ) are connected through connecting pipe 94 and connecting pipe 96.

[0070] The cutter blade position locking air cylinder 81, the connecting pipe 94, the connecting pipe 96, and the air compressor 14 constitute a “cutter blade position locking mechanism” of the present invention.

[0071] Next, a block diagram of the ultrasonic machining device 1 according to the present embodiment will be described.

[0072] Figure 6 is a block diagram of the ultrasonic machining device of this embodiment. Figure 7 This is a block diagram of a main controller of the ultrasonic machining device according to this embodiment.

[0073] exist Figure 6 In the present invention, the ultrasonic machining device 1 comprises: a main controller 4, which is electrically connected to a power supply 12; an air compressor 14, which is electrically connected to the main controller 4 and is used to drive a first cutting knife angle force cylinder 75a, a second cutting knife angle force cylinder 75b, a cutting knife angle locking cylinder 77, a first cutting knife position force cylinder 79a, a second cutting knife position force cylinder 79b and a cutting knife position locking cylinder 81; a robot controller 6, which is electrically connected to the main controller 4 and is used to control a multi-joint robot 3; an oscillator 2, which is used to drive a vibrator 71; and an operation panel 8, which receives input from an operator of the device.

[0074] In addition, in this embodiment, the first cutting blade angle force cylinder 75a and the second cutting blade angle force cylinder 75b are sometimes collectively referred to as the "cutting blade angle force cylinder 75", and the first cutting blade position force cylinder 79a and the second cutting blade position force cylinder 79b are collectively referred to as the "cutting blade position force cylinder 79".

[0075] In addition, Figure 7 In the embodiment, the main controller 4 includes a CPU (Central Processing Unit) 22, a RAM (Random Access Memory) 24 connected to the CPU 22 in an input / output manner, and a ROM (Read Only Memory) 26 connected to the CPU 22 in an input / output manner.

[0076] The RAM 24 includes a machining data table 24 a storing machining data for machining the workpiece W, and a machining mode data table 24 b storing setting items corresponding to machining modes described later when the ultrasonic machining device 1 machines the workpiece W.

[0077] The ROM 26 includes a main program 26 a that manages the overall operation of the ultrasonic machining device 1 of the present embodiment, and an ultrasonic machining program 26 b that executes ultrasonic machining of the ultrasonic machining device 1 in accordance with a machining mode described later.

[0078] Next, the operation of the ultrasonic machining device 1 having the above-described configuration will be described.

[0079] Figure 8 is a flowchart of the main program in the ultrasonic machining device of this embodiment. Fig. 9 This is a flowchart of the ultrasonic machining program in the ultrasonic machining device according to the present embodiment.

[0080] As described above, the ultrasonic machining device 1 of the present embodiment machines the workpiece W placed on the workpiece setting table 16 by causing the cutter blade 69 connected to the front end of the workpiece machining device 5 to vibrate ultrasonically using the vibrator 71 .

[0081] Furthermore, the ultrasonic machining device 1 of the present embodiment includes four machining modes as machining modes for machining the workpiece W.

[0082] Specifically, the ultrasonic machining device 1 of this embodiment has: a first machining mode, in which the cutting knife 69 is forced to process the workpiece W when the cutting knife angle force cylinder 75 and the cutting knife position force cylinder 79 are connected; a second machining mode, in which the cutting knife 69 is forced to process the workpiece W when the cutting knife angle locking cylinder 77 and the cutting knife position force cylinder 79 are connected; a third machining mode, in which the cutting knife 69 is forced to process the workpiece W when the cutting knife angle force cylinder 75 and the cutting knife position locking cylinder 81 are connected; and a fourth machining mode, in which the workpiece W is processed without applying force to the cutting knife 69 when the cutting knife angle locking cylinder 77 and the cutting knife position locking cylinder 81 are connected.

[0083] exist Figure 8In the process, first, when the operator of the device turns on the power switch, inputs the number of workpieces W to be processed and the processing mode through the operation buttons on the operation panel 8 and presses the start button, the ultrasonic processing device 1 moves the arm of the multi-joint robot 3 to the initial position (S1), sets the number of workpieces W to be processed (S3), extracts the setting items from the processing mode data table 24b based on the input processing mode (S5), and executes the ultrasonic processing program described later (S7).

[0084] (First processing mode)

[0085] First, the following description is given: the cutter 69 is urged with the cutter angle urging cylinder 75 and the cutter position urging cylinder 79 turned on to set the first machining mode for machining the workpiece W. The first machining mode is the best machining mode for machining a workpiece W with a complicated machining shape.

[0086] exist Fig. 9 In the ultrasonic machining program, first, after the machining data is obtained from the machining data table 24a (S21), it is determined whether the machining mode is the cutting blade angle force mode (S23).

[0087] Since the first machining mode uses the blade angle urging mode (S23: Yes), the first blade angle urging cylinder 75a and the second blade angle urging cylinder 75b are turned on (S25), and it is determined whether the machining mode is the blade position urging mode (S29).

[0088] Since the first machining mode uses the cutter position urging mode (S29: Yes), the first cutter position urging cylinder 79a and the second cutter position urging cylinder 79b are turned on (S31).

[0089] In addition, the above Figure 4 This shows a state where the first cutter blade angle urging air cylinder 75a and the second cutter blade angle urging air cylinder 75b are turned on and no load is applied to the cutter blade (angle 0 degrees).

[0090] Reference Figure 4 To be specific, if the first cutting blade angle force cylinder 75a is turned on, air is injected from the air compressor 14 through the connecting pipe 23 into the gap portion 21 of the first shell 17 of the first cutting blade angle force cylinder 75a, and the piston 19 descends to the lower side in the figure, and the third protrusion 87 connected to the front end of the piston 19 abuts against the first protrusion 83 provided on the rotating body 13.

[0091] In addition, if the second cutting blade angle force cylinder 75b is turned on, air is injected from the air compressor 14 via the connecting pipe 31 into the gap portion 29 of the second shell 25 of the second cutting blade angle force cylinder 75b, and the piston 27 rises upward in the figure, and the fourth protrusion 89 connected to the front end of the piston 27 abuts against the second protrusion 85 provided on the rotating body 13.

[0092] Thus, when the first cutting blade angle force cylinder 75a and the second cutting blade angle force cylinder 75b are turned on, the rotating body 13 can rotate in the right and left directions in the figure relative to the base shaft 11, but the rotating body 13 is forced by the third protrusion 87 connected to the front end of the piston 19 and the fourth protrusion 89 connected to the front end of the piston 27. Therefore, if there is no load on the cutting blade 69, the cutting blade 69 becomes stable at the angle of 0 degrees (refer to Fig.13 ) status.

[0093] Return to the ultrasonic processing program. After the processing mode is set, determine whether the workpiece W is set on the workpiece setting table 16 (S35). If the workpiece W is not set on the workpiece setting table 16 (S35: No), wait for the workpiece W to be set on the workpiece setting table 16. If the workpiece W is set on the workpiece setting table 16 (S35: Yes), drive the oscillator 2 to make the vibrator 71 connected to the cutting knife 69 perform ultrasonic vibration (S37).

[0094] Next, each arm of the multi-joint robot 3 is moved so that the cutter 69 is located at the processing start position with respect to the workpiece W ( S39 ), and the cutter 69 is moved to perform ultrasonic processing on the workpiece W ( S41 ).

[0095] Here, the operation inside the workpiece processing device 5 in the first processing mode in which the cutter 69 is biased to process the workpiece W with the cutter angle biasing cylinder 75 and the cutter position biasing cylinder 79 turned on will be described.

[0096] Fig.10 It means in Figure 2 In the BB cross-sectional view, the cylinder for applying the cutting blade angle force is turned on, a load is applied to the cutting blade, and the cutting blade is rotated counterclockwise to the maximum angle (angle +θ1 degree). Fig.11 It means in Figure 2 In the BB cross-sectional view, the cylinder for applying the angle force to the cutting blade is turned on, a load is applied to the cutting blade, and the cutting blade is rotated in the clockwise direction to the maximum angle (angle -θ1 degree). Fig.13 This is a diagram showing the installed cutter blade as viewed from below, and is an explanatory diagram for explaining the relationship between the cutter blade and the direction of rotation of the cutter blade.

[0097] As mentioned above, Figure 4 The state in which no load is applied to the cutting blade 69 is shown, but in the first processing mode, when the cutting blade 69 is subjected to a rotational load from the workpiece W during processing of the workpiece by the workpiece processing device 5, the cutting blade 69 is configured to be able to rotate within a range of ±several degrees (maximum ±5°).

[0098] However, the rotating body 13 is connected by the first cutting blade angle force cylinder 75a and the second cutting blade angle force cylinder 75b, the third protrusion 87 connected to the front end of the piston 19 abuts against the first protrusion 83 provided on the rotating body 13, and the fourth protrusion 89 connected to the front end of the piston 27 abuts against the second protrusion 85 provided on the rotating body 13, thereby always being in a position facing the angle 0 degree (refer to Fig.13 ) is a state in which force is applied, and it can be said that it is correct to be able to rotate in this state.

[0099] For example, Fig.10 As shown, when the first cutting blade angle force cylinder 75a and the second cutting blade angle force cylinder 75b are turned on, a rotational load is applied to the cutting blade 69, and the first protrusion 83 provided on the rotating body 13 continuously presses the third protrusion 87 connected to the front end of the piston 19. When the cutting blade 69 rotates counterclockwise to the maximum angle in the figure (angle +θ1 degree), the first protrusion 83 provided on the rotating body 13 abuts against the third protrusion 87 connected to the front end of the piston 19, but the second protrusion 85 provided on the rotating body 13 does not abut against the fourth protrusion 89 connected to the front end of the piston 27.

[0100] When the first protrusion 83 provided on the rotating body 13 continues to press the third protrusion 87 connected to the front end of the piston 19, the first protrusion 83 abutting against the third protrusion 87 is urged by the force f1 in the -θ direction from the third protrusion 87. In addition, this force f1 does not change depending on the angle of the rotating body 13, and is constant as long as the first protrusion 83 abuts against the third protrusion 87.

[0101] On the other hand, for example, Fig.11 As shown, when the first cutting blade angle force cylinder 75a and the second cutting blade angle force cylinder 75b are turned on, a rotational load is applied to the cutting blade 69, and the second protrusion 85 provided on the rotating body 13 continuously presses the fourth protrusion 89 connected to the front end of the piston 27. When the cutting blade 69 rotates to the maximum angle clockwise in the figure (angle -θ1 degree), the second protrusion 85 provided on the rotating body 13 abuts against the fourth protrusion 89 connected to the front end of the piston 27, but the first protrusion 83 provided on the rotating body 13 does not abut against the third protrusion 87 connected to the front end of the piston 19.

[0102] When the second protrusion 85 provided on the rotating body 13 continues to press the fourth protrusion 89 connected to the front end of the piston 27, the second protrusion 85 abutting against the fourth protrusion 89 is urged by the fourth protrusion 89 in the +θ direction with a force of f1. In addition, 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 against the fourth protrusion 89.

[0103] Fig.14 It means in Figure 2 In the CC cross-sectional view, the cutting blade position force cylinder is turned on, a load is applied to the cutting blade, and the cutting blade is moved in the +X direction with the maximum displacement (angle +X1mm). Fig.15 It means in Figure 2 In the CC cross-sectional view, the cutting knife position force cylinder is turned on, a load is applied to the cutting knife, and the cutting knife is shown in a state of maximum displacement movement in the -X direction (angle -X1mm).

[0104] As mentioned above, Figure 5 It shows a state in which the first cutting knife position force cylinder 79a and the second cutting knife position force cylinder 79b are turned on and no load is applied to the cutting knife (position 0 mm). However, in the first processing mode, when the workpiece W is processed by the workpiece processing device 5, when the cutting knife 69 is subjected to load from the workpiece W, the cutting knife 69 can move within the range of ± several mm (maximum ± 5 mm).

[0105] However, the moving body 90 is connected by the first cutting blade position force cylinder 79a and the second cutting blade position force cylinder 79b, and the seventh protrusion 97 provided on the moving body 90 abuts against the fifth protrusion 95 connected to the front end of the piston 47, and the eighth protrusion 98 provided on the moving body 90 abuts against the sixth protrusion 99 connected to the front end of the piston 55, thereby always being in a position facing the position 0mm (refer to Fig.14 ) is a state in which force is applied, and it can be said that it is correct to be able to move in this state.

[0106] For example, Fig.14 As shown, when the first cutting knife position force cylinder 79a and the second cutting knife position force cylinder 79b are turned on, a load is applied to the cutting knife 69, and the eighth protrusion 98 provided on the movable body 90 continuously presses the sixth protrusion 99 connected to the front end of the piston 55. When the cutting knife 69 moves to the maximum displacement in the +X direction (angle +X1mm), the eighth protrusion 98 provided on the movable body 90 abuts against the sixth protrusion 99 connected to the front end of the piston 55, but the seventh protrusion 97 provided on the movable body 90 does not abut against the fifth protrusion 95 connected to the front end of the piston 47.

[0107] When the eighth protrusion 98 provided on the moving body 90 continues to press the sixth protrusion 99 connected to the front end of the piston 55, the eighth protrusion 98 abutting against the sixth protrusion 99 is urged by the force f2 in the -X direction from the sixth protrusion 99. In addition, this force f2 does not change depending on the position of the moving body 90, and is constant as long as the eighth protrusion 98 abuts against the sixth protrusion 99.

[0108] On the other hand, for example, Fig.15 As shown, when the first cutting knife position force cylinder 79a and the second cutting knife position force cylinder 79b are turned on, a load is applied to the cutting knife 69, and the seventh protrusion 97 provided on the movable body 90 continuously presses the fifth protrusion 95 connected to the front end of the piston 47. When the cutting knife 69 moves to the maximum displacement in the -X direction (angle -X1mm), the seventh protrusion 97 provided on the movable body 90 abuts against the fifth protrusion 95 connected to the front end of the piston 47, but the eighth protrusion 98 provided on the movable body 90 does not abut against the sixth protrusion 99 connected to the front end of the piston 55.

[0109] When the seventh protrusion 97 provided on the moving body 90 continues to press the fifth protrusion 95 connected to the front end of the piston 47, the seventh protrusion 97 abutting against the fifth protrusion 95 is urged by the force f2 in the +X direction from the fifth protrusion 95. In addition, this force f2 does not change depending on the position of the moving body 90, and is constant as long as the seventh protrusion 97 abuts against the fifth protrusion 95.

[0110] Return to the ultrasonic machining program and determine whether the machining of the workpiece W is completed (S43). If the machining of the workpiece W is not completed (S43: No), continue moving the cutting knife 69 (machining) (S41). If the machining of the workpiece W is completed (S43: Yes), return to the main program (S45).

[0111] (Second processing mode)

[0112] Next, the second machining mode will be described in which the cutter 69 is urged while the cutter angle locking cylinder 77 and the cutter position urging cylinder 79 are turned on to machine the workpiece W. The second machining mode is used when machining is performed at a higher speed than the first mode.

[0113] exist Fig. 9 In the ultrasonic machining program, first, after the machining data is obtained from the machining data table 24a (S21), it is determined whether the machining mode is the cutting blade angle force mode (S23).

[0114] Since the second machining mode does not use the cutter angle force mode (S23: No), the first cutter angle locking cylinder 77 is turned on (S27), and it is determined whether the machining mode is the cutter position force mode (S29).

[0115] Since the second machining mode uses the cutter position urging mode (S29: YES), the first cutter position urging cylinder 79a and the second cutter position urging cylinder 79b are turned on (S31).

[0116] Fig.12 It means in Figure 2 In the BB cross-sectional view, the cylinder for locking the cutting blade angle is turned on to fix the angle of the cutting blade (angle 0 degrees).

[0117] Reference Fig.12 To be specific, when the cutting blade angle locking cylinder 77 is turned on, air is injected from the air compressor 14 via the connecting pipes 41 and 43 into the gap 37 of the third shell 33 of the cutting blade angle locking cylinder 77, and the piston 35 moves to the left side in the figure, and the locking pin 39 connected to the front end of the piston 35 engages with the recess 91 provided on the rotating body 13.

[0118] Thus, when the cutting blade angle locking cylinder 77 is turned on, the rotating body 13 is fixed by the locking pin 39, and the cutting blade 69 is fixed at the position of the angle of 0 degrees (refer to FIG. Fig.13 ).

[0119] Return to the ultrasonic processing program. After the processing mode is set, determine whether the workpiece W is set on the workpiece setting table 16 (S35). If the workpiece W is not set on the workpiece setting table 16, wait for the workpiece W to be set on the workpiece setting table 16 (S35: No). If the workpiece W is set on the workpiece setting table 16 (S35: Yes), drive the oscillator 2 to make the vibrator 71 connected to the cutting knife 69 perform ultrasonic vibration (S37).

[0120] Next, each arm of the multi-joint robot 3 is moved so that the cutter 69 is located at the processing start position with respect to the workpiece W ( S39 ), and the cutter 69 is moved to perform ultrasonic processing on the workpiece W ( S41 ).

[0121] In addition, regarding the operation inside the workpiece processing device 5 when the cutter position biasing cylinder 79 is turned on and the cutter position biasing cylinder 79 is biased to process the workpiece W, refer to Figure 5 , Fig.14 and Fig.15 , as described above.

[0122] Therefore, in the second machining mode, the machining device 5 fixes the angle of the cutter blade 69 to 0 degrees, and applies force to the workpiece W with a constant force f2 toward the position of 0 mm, thereby machining the workpiece W.

[0123] Then, determine whether the processing of the workpiece W is completed (S43). If the processing of the workpiece W is not completed (S43: No), continue moving the cutting knife 69 (processing) (S41). If the processing of the workpiece W is completed (S43: Yes), return to the main program (S45).

[0124] (Third processing mode)

[0125] Next, the third processing mode is described in which the cutting blade 69 is forced while the cutting blade angle force cylinder 75 and the cutting blade position locking cylinder 81 are turned on to process the workpiece W. The third processing mode is also a processing mode suitable for processing a workpiece W with a complicated processing shape, but is used when processing is performed at a higher speed than the first processing mode.

[0126] exist Fig. 9 In the ultrasonic machining program, first, after the machining data is obtained from the machining data table 24a (S21), it is determined whether the machining mode is the cutting blade angle force mode (S23).

[0127] Since the third machining mode uses the blade angle biasing mode (S23: Yes), the first blade angle biasing cylinder 75a and the second blade angle biasing cylinder 75b are turned on (S25), and it is determined whether the machining mode is the blade position biasing mode (S29).

[0128] Since the third machining mode does not use the cutter position urging mode ( S29 : NO), the cutter position locking cylinder 81 is turned on ( S33 ).

[0129] Fig.16 It means in Figure 2 In the CC sectional view, the cutting knife position locking cylinder is turned on to fix the position of the cutting knife (displacement 0 mm).

[0130] Reference Fig.16 To be specific, when the cutting knife position locking cylinder 81 is turned on, air is injected from the air compressor 14 via the connecting pipes 94 and 96 into the gap 65 of the sixth shell 61 of the cutting knife position locking cylinder 81, and the piston 63 moves to the left side in the figure, and the locking pin 67 connected to the front end of the piston 63 engages with the recess 93 provided on the moving body 90.

[0131] Thus, when the cutter position locking cylinder 81 is turned on, the movable body 90 is fixed by the locking pin 67, and the cutter 69 is fixed at the position of 0 mm (refer to Fig.16 wait).

[0132] Return to the ultrasonic processing program. After the processing mode is set, determine whether the workpiece W is set on the workpiece setting table 16 (S35). If the workpiece W is not set on the workpiece setting table 16, wait for the workpiece W to be set on the workpiece setting table 16 (S35: No). If the workpiece W is set on the workpiece setting table 16 (S35: Yes), drive the oscillator 2 to make the vibrator 71 connected to the cutting knife 69 perform ultrasonic vibration (S37).

[0133] Next, each arm of the multi-joint robot 3 is moved so that the cutter 69 is located at the processing start position with respect to the workpiece W ( S39 ), and the cutter 69 is moved to perform ultrasonic processing on the workpiece W ( S41 ).

[0134] In addition, refer to Figure 4 , Fig.10 , Fig.11 and Fig.13 The operation inside the workpiece processing device 5 when the cutter 69 is biased to process the workpiece W with the first cutter angle biasing cylinder 75a and the second cutter angle biasing cylinder 75b being turned on will be described.

[0135] Therefore, in the third machining mode, the machining device 5 fixes the position of the cutter blade 69 at the position 0 mm, and causes the cutter blade 69 to apply force to the workpiece W at an angle of 0 degrees with a constant force f1, thereby machining the workpiece W.

[0136] Then, determine whether the processing of the workpiece W is completed (S43). If the processing of the workpiece W is not completed (S43: No), continue moving the cutting knife 69 (processing) (S41). If the processing of the workpiece W is completed (S43: Yes), return to the main program (S45).

[0137] (Fourth processing mode)

[0138] Finally, the fourth machining mode will be described in which the workpiece W is machined without applying force to the cutter 69 while the cutter angle locking cylinder 77 and the cutter position locking cylinder 81 are turned on. The fourth machining mode is used when machining is performed at the highest speed.

[0139] exist Fig. 9 In the ultrasonic machining program, first, after the machining data is obtained from the machining data table 24a (S21), it is determined whether the machining mode is the cutting blade angle force mode (S23).

[0140] Since the fourth machining mode does not use the cutter angle force mode (S23: No), the cutter angle locking cylinder 77 is turned on (S27), and it is determined whether the machining mode is the cutter position force mode (S29).

[0141] In addition, since the fourth machining mode does not use the cutter position urging mode (S29: No), the cutter position locking air cylinder 81 is turned on (S33).

[0142] Then, after the setting of the processing mode is completed, it is determined whether the workpiece W is set on the workpiece setting table 16 (S35). If the workpiece W is not set on the workpiece setting table 16, wait for the workpiece W to be set on the workpiece setting table 16 (S35: No). If the workpiece W is set on the workpiece setting table 16 (S35: Yes), the oscillator 2 is driven to make the vibrator 71 connected to the cutting knife 69 perform ultrasonic vibration (S37).

[0143] Next, each arm of the multi-joint robot 3 is moved so that the cutter 69 is located at the processing start position with respect to the workpiece W ( S39 ), and the cutter 69 is moved to perform ultrasonic processing on the workpiece W ( S41 ).

[0144] In addition, regarding the operation inside the workpiece processing device 5 when the workpiece W is processed without applying force to the cutter 69 in a state where the cutter angle locking cylinder 77 is turned on, refer to Figure 4 and Fig.12 , as described above.

[0145] In addition, regarding the operation inside the workpiece processing device 5 when the workpiece W is processed without applying force to the cutter 69 in the state where the cutter position locking cylinder 81 is turned on, refer to Figure 5 and Fig.16 As mentioned above.

[0146] Therefore, in the fourth machining mode, the machining device 5 fixes the angle of the cutting blade 69 to an angle of 0 degrees and the position of the cutting blade 69 to a position of 0 mm, and machines the workpiece W.

[0147] Then, determine whether the processing of the workpiece W is completed (S43). If the processing of the workpiece W is not completed (S43: No), continue moving the cutting knife 69 (processing) (S41). If the processing of the workpiece W is completed (S43: Yes), return to the main program (S45).

[0148] return Figure 8In the main program, in order to stop the ultrasonic vibration of the vibrator 71 connected to the cutting knife 69, the oscillator 2 is disconnected (S9), and all the cylinders including the first cutting knife angle force cylinder 75a, the second cutting knife angle force cylinder 75b, the cutting knife angle locking cylinder 77, the first cutting knife position force cylinder 79a, the second cutting knife position force cylinder 79b and the cutting knife position locking cylinder 81 are disconnected (S11).

[0149] Then, after the arm of the multi-joint robot 3 is moved to the initial position (S13), it is determined whether the processed workpiece W is removed from the workpiece setting table 16 (S15). If it is determined that the workpiece W is not removed (S15: No), the robot waits for the workpiece W to be removed. If it is determined that the workpiece W is removed (S15: Yes), it is further determined whether the number of workpieces W processed has reached the number of workpieces input by the operation panel 8 (S17).

[0150] Here, when it is determined that the number of workpieces W processed has not reached the number of workpieces input by the operation panel 8 (S17: No), the ultrasonic machining program is executed again. When it is determined that the number of workpieces W processed has reached the number of workpieces input by the operation panel 8 (S17: Yes), the processing is terminated (S19).

[0151] In addition, according to the workpiece processing device 5 of the present embodiment, it relates to a device for processing a workpiece W using a cutting knife 69, and in particular, it is provided with: a cutting knife angle changing mechanism 9, which can change the angle of the cutting knife 69 relative to the traveling direction according to the shape of the workpiece W; and a first cutting knife angle force cylinder 75a and a second cutting knife angle force cylinder 75b, which resist the changing direction of the angle of the cutting knife 69 and apply force to the cutting knife angle changing mechanism 9. Therefore, for a workpiece W with a complex processing shape, the cutting knife 69 can also be effectively pressed to perform processing.

[0152] In addition, according to the workpiece processing device 5 of this embodiment, the first cutting blade angle force cylinder 75a and the second cutting blade angle force cylinder 75b apply force to the cutting blade angle changing mechanism 9 with a substantially constant force f1 regardless of the angle of the cutting blade 69. Therefore, even if the workpiece W has a complex processing shape, the cutting blade 69 can be further effectively pressed for processing.

[0153] In addition, according to the workpiece processing device 5 of this embodiment, it is equipped with: a cutting knife position changing mechanism 7, which can change the position of the cutting knife 69 in a specific direction relative to the workpiece W according to the shape of the workpiece W; and a first cutting knife position force cylinder 79a and a second cutting knife position force cylinder 79b, which resist the direction of change of the position of the cutting knife 69 and apply force to the cutting knife position changing mechanism 7. Therefore, for a workpiece W with a complex processing shape, the cutting knife 69 can be further effectively pressed to perform processing.

[0154] Furthermore, according to the workpiece processing apparatus 5 of this embodiment, since the cutter blade angle locking cylinder 77 that fixes the rotation angle of the rotating body 13 is provided, the workpiece W can be processed by selecting a mechanism that effectively presses the cutter blade 69 according to the shape of the workpiece W.

[0155] Furthermore, according to the workpiece processing device 5 of this embodiment, since the cutter position locking cylinder 81 is provided to fix the position in a specific direction relative to the workpiece W, a mechanism that effectively presses the cutter 69 can be further selected to process the workpiece W according to the shape of the workpiece W.

[0156] Furthermore, according to the ultrasonic machining device 1 of the present embodiment, the workpiece W is machined by causing the cutter 69 to perform ultrasonic vibrations in a direction intersecting the angle change direction, so that the workpiece can be machined more precisely.

[0157] As mentioned above, although the ultrasonic processing device and the workpiece processing device in the embodiment of the present invention are described, the present invention is not limited to the above-mentioned embodiment, and can be implemented with various modifications within the scope not departing from the gist of the present invention.

[0158] For example, the vibrator 71 used in the above-mentioned embodiment is described as vibrating the cutting blade 69 in the vertical direction in the figure, but is not limited to this. It can also be a direction intersecting the rotation direction of the rotating body 13 or a direction intersecting the movement direction of the movable body 90.

[0159] In addition, although the cutter blade 69 used in the above-mentioned embodiment is described as a cutter blade with both sides ground, a cutter blade with only one side ground can be used as long as the processing direction is taken into consideration.

[0160] Explanation of symbols

[0161] 1—ultrasonic processing device; 2—oscillator; 3—multi-joint robot; 5—workpiece processing device; 6—robot controller; 7—cutting knife position changing mechanism; 9—cutting knife angle changing mechanism; 14—air compressor; 69—cutting knife; 71—oscillator; 75—cylinder for applying force to cutting knife angle; 77—cylinder for locking cutting knife angle; 79—cylinder for applying force to cutting knife position; 81—cylinder for locking cutting knife position; W—workpiece.

Claims

1. A workpiece processing device, which uses a cutting knife to process the workpiece, The workpiece processing device is characterized by comprising: a cutting blade angle changing mechanism capable of changing the angle of the cutting blade relative to the travel direction according to the shape of the workpiece; and a cutting blade angle force applying mechanism, which resists the change direction of the angle of the cutting blade and applies force to the cutting blade angle changing mechanism, The cutter blade angle urging mechanism includes two pistons, which are configured to be urged toward both sides of the cutter blade angle changing mechanism by a predetermined air pressure and to be movable in a protruding manner. When the angle of the cutting knife is not changed, the two pistons are brought into contact with and force is applied to the cutting knife angle changing mechanism. When the angle of the cutting knife is changed, any one of the two pistons is brought into contact with and force is applied to the cutting knife angle changing mechanism according to the direction of change.

2. The workpiece processing device according to claim 1, characterized in that: The cutting blade angle urging mechanism urges the cutting blade angle changing mechanism with a substantially constant urging force regardless of the angle of the cutting blade.

3. The workpiece processing device according to claim 1 or 2, characterized in that: have: a cutting blade position changing mechanism capable of changing the position of the cutting blade relative to a specific direction of the workpiece according to the shape of the workpiece; and A cutting blade position urging mechanism urges the cutting blade position changing mechanism against the changing direction of the position of the cutting blade.

4. The workpiece processing device according to claim 1 or 2, characterized in that: A cutting blade angle locking mechanism is provided for fixing the angle.

5. The workpiece processing device according to claim 3, characterized in that: A cutting blade angle locking mechanism is provided for fixing the angle.

6. The workpiece processing device according to claim 3, characterized in that: A cutting blade position locking mechanism is provided, the cutting blade position locking mechanism fixing the position of the cutting blade in the specific direction relative to the workpiece.

7. The workpiece processing device according to claim 5, characterized in that: A cutting blade position locking mechanism is provided, the cutting blade position locking mechanism fixing the position of the cutting blade in the specific direction relative to the workpiece.

8. An ultrasonic processing device, characterized in that: A workpiece processing device according to any one of claims 1 to 7, The cutting blade is ultrasonically vibrated in a direction intersecting the direction of the angle change to process the workpiece.

9. An ultrasonic processing device, characterized in that: A workpiece processing device comprising any one of claims 3, 5 to 7, The cutting blade is ultrasonically vibrated in a direction intersecting the specific direction with respect to the workpiece to process the workpiece.

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