Processing device and method of processing thereof

Abstract

The present invention can reduce the number of required support members and the required space. A machining device includes a robot arm having a machining spindle with a machining feed shaft attached to the front end of the arm via a hook portion having a hook, and a panel provided with holes for the hook. The robot arm hooks the hook on the holes of the panel, presses the hook portion on the panel, and moves the machining spindle in a machining direction to machine a workpiece. On the panel, a plurality of holes are respectively arranged at positions corresponding to machining positions of the workpiece at angles so as not to overlap with each other.

Description

Technical Field

[0001] This invention relates to a processing apparatus and a processing method that uses a robotic arm for processing. Background Technology

[0002] There is a known machining apparatus that circulates machining reaction forces by having the machining spindle and workpiece fixture supported by the same support component (e.g., see Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Publication No. 2019-217554 Summary of the Invention For example, when processing large workpieces that require machining in multiple parts, such as integral die casting or mega-casting, the number of supporting components required increases, and the required space may also increase.

[0004] The present invention was made in view of the following problems, and its main objective is to provide a processing apparatus and processing method that can reduce the number of required support components and reduce the required space.

[0005] To achieve the above objectives, one aspect of the present invention is a processing apparatus comprising: The robotic arm has a machining spindle with a machining feed axis mounted on its front end via a hook-like attachment point; and a panel with holes for attaching the hook. The robotic arm hooks onto the hole in the panel, presses the hook onto the panel, and moves the machining spindle along the machining direction to process the workpiece. On the panel, a plurality of holes are arranged at staggered angles in a non-overlapping manner at positions corresponding to various processing positions of the workpiece.

[0006] In this method, The hook portion has an abutting surface that abuts against the panel. On the contact surface, a pair of hooks are erected. The front end of the machining feed axis of the machining spindle passes through the abutment surface between the pair of hooks.

[0007] In this method, Multiple sets of holes are formed on the panel. The hole has a keyhole shape and has a portion that is larger than the hook and can be inserted into the hook, and a portion that is smaller than the hook and can be hooked onto the hook.

[0008] To achieve the above objectives, one aspect of the present invention is a processing method using a processing apparatus, the processing apparatus comprising: The robotic arm has a machining spindle with a machining feed axis mounted on its front end via a hook-like attachment point; and a panel with holes for attaching the hook. The processing method includes the following steps: The robotic arm hooks onto the hole in the panel, presses the hook onto the panel, and moves the machining spindle along the machining direction to process the workpiece. On the panel, a plurality of holes are formed in a non-overlapping manner at positions corresponding to various processing positions of the workpiece.

[0009] Invention Effects According to the present invention, a processing apparatus and processing method thereof can be provided that can reduce the number of required support components and reduce the required space. Attached Figure Description

[0010] Figure 1 This is a flowchart illustrating an example of the processing method involved in this embodiment.

[0011] Figure 2 This is a simplified diagram illustrating an example of the machining spindle and panel used in the machining method described in this embodiment.

[0012] Figure 3 This is a simplified diagram illustrating an example of the robotic arm and panel used in the processing method described in this embodiment.

[0013] Figure 4 This diagram illustrates an example of a panel in which multiple groups of holes are staggered at angles and positioned at locations corresponding to various machining positions on the workpiece, without overlapping each other. Detailed Implementation

[0014] Hereinafter, this embodiment will be described with reference to the accompanying drawings. Figure 1 This is a flowchart illustrating an example of the processing method involved in this embodiment. Figure 2 This is a simplified diagram illustrating an example of the machining spindle and panel used in the machining method described in this embodiment. Figure 3 This is a simplified diagram illustrating an example of a processing apparatus used in the processing method according to this embodiment.

[0015] like Figure 2 and Figure 3 As shown, the processing apparatus 1 according to this embodiment includes a robot arm 301 and a panel 201.

[0016] For example, such as Figure 3As shown, the robot arm 301 is configured as a multi-joint robot arm. A machining spindle 302 with a machining feed axis 304 is mounted on the front end of the robot arm 301 via a hook 303. The hook 303 is a component that fixes the machining spindle 302 to the front end of the robot arm 301. Alternatively, the machining spindle 302 and the hook 303 can be configured as a single unit.

[0017] like Figure 2 As shown, the hook portion 303 has an abutment surface 212 that abuts against the panel 201. A pair of hooks 211-1 and 211-2 are erected on the abutment surface 212. The front end of the machining feed shaft 304 of the machining spindle 302 passes through the abutment surface 212 between the pair of hooks 211-1 and 211-2. A machining tool is mounted on the front end of the machining feed shaft 304 of the machining spindle 302.

[0018] Panel 201 is fixed separately from workpiece W near the hole machining position. Panel 201 is provided with a pair of holes 202-1 and 202-2 for respectively hanging a pair of hooks 211-1 and 211-2 of hook hanging part 303.

[0019] Thus, the panel 201 functions as a support component for the machining spindle 302 by attaching a pair of hooks 211-1 and 211-2 to a pair of holes 202-1 and 202-2 respectively.

[0020] like Figure 2 As shown, the holes 202-1 and 202-2 of the panel 201 are keyhole shaped. That is, each hole 202-1 and 202-2 has a portion 203 that is larger than each hook 211-1 and 211-2 and can be inserted into each hook 211-1 and 211-2, and a portion 204 that is smaller than each hook 211-1 and 211-2 and can be hooked onto each hook 211-1 and 211-2. Therefore, a hook is inserted into the portion 203 where the hook 211-1 can be inserted, and the hook 211-1 is hooked onto the portion 204 where the hook 211-1 can be hooked. The same applies to the hook 211-2.

[0021] A hole 205 is formed between a pair of holes 202-1 and 202-2, through which the front end of the machining feed shaft 304 of the machining spindle 302 passes. The hole is an elongated hole in the vertical direction.

[0022] The robot arm 301 hooks 211-1 and 211-2 of the contact surface 212 of the hook part 303 onto the holes 202-1 and 202-2 of the panel 201, presses the contact surface 212 of the hook part 303 onto the panel 201, and moves the machining spindle 302 along the machining direction to process the workpiece W.

[0023] Next, the processing method of the processing apparatus 1 according to this embodiment will be described. Figure 1 In step S11, the machining spindle 302 is moved to the front of the machining position by the movement of the robot arm 301. Then, step S12 is performed.

[0024] Next, in step S12, the robot arm 301 moves to hook the hooks 211-1 and 211-2 of the contact surface 212 of the hook part 303 onto the holes 202-1 and 202-2 of the panel 201. Then, the process proceeds to step S13.

[0025] In step S13, as Figure 3 As shown, the robot arm 301 presses the contact surface 212 of the hook part 303 of the machining spindle 302 onto the panel 201 through its movement. Then, the process proceeds to step S14.

[0026] In step S14, the workpiece W is machined by moving the machining feed axis 304 of the machining spindle 302 axially. Then, the process proceeds to step S15.

[0027] In step S15, the robot arm 301 moves to remove the hooks 211-1 and 211-2 from the contact surface 212 of the hook part 303 from the holes 202-1 and 202-2 of the panel 201, causing the machining spindle 302 to retract.

[0028] Thus, the processing method of the processing apparatus according to this embodiment can suppress robot displacement caused by processing reaction force, and even small robots that are prone to displacement due to external forces can perform hole processing with stable accuracy.

[0029] That is, during processing, by hooking the hooks 211-1 and 211-2 of the contact surface 212 of the hook part 303 onto the holes 202-1 and 202-2 of the panel 201, the spindle side and the panel side are easily engaged, and the processing reaction force is circulated through the hook parts. As a result, since the rigidity required to withstand the processing reaction force is not required on the robot arm 301, the miniaturization of the robot arm 301 can be easily achieved.

[0030] The aforementioned processing apparatus 1 is suitable for machining relatively large integral die casting or mega-casting parts. In order to process large workpieces W such as integral die casting or mega-casting that require machining of multiple parts, multiple panels were previously required, increasing the number of processes and thus creating the problem of increased space requirements.

[0031] In contrast, in the processing apparatus 1 according to this embodiment, multiple holes are formed on the panel 201 at positions corresponding to each processing position of the workpiece in a non-overlapping manner. Multiple groups of holes on the panel 201 are also staggered at angles and positioned at positions corresponding to each processing position of the workpiece in a non-overlapping manner.

[0032] For example, such as Figure 4 As shown, a set of holes 206-1 and 206-2 corresponding to processing position P1, a set of holes 207-1 and 207-2 corresponding to processing position P2, and a set of holes 208-1 and 208-2 corresponding to processing position P3 are arranged on panel 201.

[0033] These multiple groups of holes 206-1, 206-2, 207-1, 207-2, 208-1, and 208-2 are arranged at staggered angles in a non-overlapping manner. Thus, on the same panel 201, multiple processing positions P1, P2, and P3 can be processed simply by changing the hooks 211-1 and 211-2 to holes 206-1, 206-2, 207-1, 207-2, 208-1, and 208-2.

[0034] That is, it can reduce the number of required panels (supporting components) 201 and also reduce the required space.

[0035] In the example above, three sets of holes 206-1, 206-2, 207-1, 207-2, 208-1, and 208-2 are provided on the panel 201, but this is not a limitation. Four or more sets of holes may also be provided on the panel 201.

[0036] Several embodiments of the present invention have been described, but these embodiments are presented by way of example and are not intended to limit the scope of the invention. These new embodiments can be implemented in various other ways, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are all included in the scope or spirit of the invention, and are included within the scope of the invention as described in the claims and their equivalents.

[0037] Symbol Explanation 201-Panel, 202-1, 202-2-Hole, 205-Hole, 206-1, 206-2-Hole, 207-1, 207-2-Hole, 208-1, 208-2-Hole, 211-1, 211-2-Hook, 212-Abutting surface, 301-Robot arm, 302-Machining spindle, 303-Hook part, 304-Machining feed axis.

Claims

1. A processing apparatus, characterized in that, have: A robotic arm, wherein a machining spindle with a machining feed axis is mounted at its front end via a hook-like attachment; and The panel has holes for attaching the hooks. The robotic arm hooks onto the hole in the panel, presses the hook onto the panel, and moves the machining spindle along the machining direction to process the workpiece. On the panel, a plurality of holes are arranged at staggered angles in a non-overlapping manner at positions corresponding to various processing positions of the workpiece.

2. The processing apparatus according to claim 1, characterized in that, The hook portion has an abutting surface that abuts against the panel. On the contact surface, a pair of hooks are erected. The front end of the machining feed axis of the machining spindle passes through the abutment surface between the pair of hooks.

3. The processing apparatus according to claim 1, characterized in that, Multiple sets of holes are formed on the panel. The hole has a keyhole shape and has a portion that is larger than the hook and can be inserted into the hook, and a portion that is smaller than the hook and can be hooked onto the hook.

4. A processing method using a processing apparatus, the processing apparatus comprising: A robotic arm, wherein a machining spindle with a machining feed axis is mounted at its front end via a hook-like attachment; and The panel has holes for attaching the hooks. The processing method is characterized in that, The robotic arm hooks onto the hole in the panel, presses the hook onto the panel, and moves the machining spindle along the machining direction to process the workpiece. On the panel, a plurality of holes are formed in a non-overlapping manner at positions corresponding to various processing positions of the workpiece.

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