Processing method, work device, and processing system

Abstract

To provide a technique that performs processing efficiently and / or accurately by using a movement mechanism.SOLUTION: A processing system 10 comprises a movement mechanism 12, and a work device 30 fitted to the movement mechanism 12. The work device 30 has: a pressing component 36 which presses a surface of a work-piece 20; and a rotary tool 34 which cuts into the work-piece 20 to process the work-piece 20 in a state that the pressing component 36 presses the surface of the work-piece 20 and a position on a back side facing a surface position which is pressed by the pressing component 36 is not pressed.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to techniques for machining a workpiece using a tool. [Background technology]

[0002] In the assembly process of an aircraft body, multiple plate materials are temporarily fastened together before being drilled and riveted. Currently, drilling and riveting are performed manually or using expensive dedicated equipment (auto-riveters). Assembly work using auto-riveters is disadvantageous in terms of cost and the ability to accommodate model changes, so in recent years, research and development has been conducted into assembly work using low-cost small robots.

[0003] Patent Document 1 discloses a robot processing system that includes a first robot that holds a processing tool and a second robot that holds a workpiece. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-171503 Summary of the Invention [Problem to be solved by the invention]

[0005] In machining, the machining force and machining reaction force act simultaneously on the tool and workpiece according to the law of action and reaction, causing a relative displacement between them. The machining reaction force acts on a physical closed loop consisting of the tool, machine tool, and workpiece, and the magnitude of the relative displacement depends on the rigidity of the loop.

[0006] Figure 1 shows an example of a vertical articulated robot 1 that performs hole drilling. This small vertical articulated robot 1 is fitted with a working device 3 as an end effector, and uses a drill 4 to drill holes in a machine body 2. When machining using the working device 3, the physical closed loop consisting of the vertical articulated robot 1 - working device 3 - drill 4 - machine body 2 - ground (floor) is large, meaning that the loop rigidity is low, which makes it easy for static and dynamic displacements due to machining reaction forces and self-excited vibrations to occur, making it difficult to perform stable high-precision machining.

[0007] Figure 2 shows a worker manually drilling holes in two stacked plates. The triangle marks indicate the positions where the upper and lower plates 2a and 2b are temporarily fastened together. When a worker uses a drill driver to drill holes, the lower plate 2b bends due to the processing force, creating a gap between the upper and lower plates 2a and 2b, potentially allowing chips to enter the gap. If chips enter the gap between the upper and lower plates 2a and 2b, the worker must remove the temporary fastening, remove the chips, and then re-fasten and rivet the plates, an inefficient process. To avoid this situation, when drilling holes in two stacked plates using a small robot, another robot must press the lower plate 2b from the opposite side to prevent a gap from forming between the upper and lower plates 2a and 2b, which is costly.

[0008] Therefore, an object of the present disclosure is to provide a technology for performing processing efficiently and / or with high precision by using a moving mechanism such as a robot. [Means for solving the problem]

[0009] A processing method according to one aspect of the present disclosure is a method for processing a workpiece using a working device attached to a moving mechanism, and includes the steps of contacting a pressing part with a first surface (front surface) of the workpiece, and cutting a tool into the workpiece while the pressing part presses the first surface of the workpiece and a position on the second surface (back surface) opposite the position on the first surface pressed by the pressing part is not pressed, thereby processing the workpiece.

[0010] Another aspect of the working device of the present disclosure is a working device attached to a moving mechanism, and includes a rotating device that rotates a rotating tool, a pressing part that presses against the surface of a workpiece, and a guide unit that restricts the movement of the pressing part in a direction perpendicular to the rotation axis of the rotating tool at at least two locations spaced apart in a direction parallel to the rotation axis, and guides the movement of the pressing part in a direction parallel to the rotation axis of the rotating tool.

[0011] A working device according to yet another aspect of the present disclosure is a working device attached to a moving mechanism, and includes a rotating device that rotates a rotary tool, a pressing part that presses against a surface of a workpiece, and a guide portion that guides the movement of the pressing part in a direction parallel to the rotation axis of the rotary tool, wherein the pressing part has a first member inserted into the guide portion and a second member that presses against a position on the surface of the workpiece that is closer to a machining position where the rotary tool performs machining than a position on the surface of the workpiece located in the direction of movement of the first member.

[0012] A machining system according to yet another embodiment of the present invention includes a moving mechanism and a working device attached to the moving mechanism, the working device having a pressing part that presses a first surface (front surface) of a workpiece, and a tool that cuts into the workpiece to machine the workpiece while the pressing part presses the first surface of the workpiece and a position on the second surface (back surface) opposite the position on the first surface that is pressed by the pressing part is not pressed.

[0013] Any combination of the above components and conversion of the expressions of the present disclosure into methods, devices, systems, etc. are also valid aspects of the present disclosure. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 10 is a diagram showing a state in which processing is performed using a vertical articulated robot. [Figure 2] FIG. 10 is a diagram showing a state in which holes are drilled into two stacked plate materials. [Figure 3] FIG. 1 is a diagram illustrating a processing system according to an embodiment. [Figure 4] FIG. 10 is a diagram showing a state in which a workpiece is being machined. [Figure 5] FIG. 10 is a diagram showing how a rotary tool is fed. [Figure 6] FIG. 10 is a diagram showing how a rotary tool is fed. [Figure 7] FIG. 1 is a schematic diagram of the experimental setup. [Figure 8] FIG. [Figure 9] FIG. 10 is a diagram showing a frequency analysis result. [Figure 10] FIG. 10 is a diagram showing a modified example of a machining system. DETAILED DESCRIPTION OF THE INVENTION

[0015] FIG. 3 illustrates a machining system 10 according to an embodiment. The machining system 10 includes a moving mechanism 12, a working device 30 attached to the moving mechanism 12, and a control device 100 that controls the operation of the moving mechanism 12 and the working device 30. The moving mechanism 12 illustrated in FIG. 3 is a robotic device equipped with multiple robot arms and a rotation mechanism for rotating the robot arms. The working device 30 is attached to the tip of the robot arm as an end effector. The working device 30 has a housing 40 shaped like a box with at least one side open, and processes a workpiece 20 using a rotary tool 34. The workpiece 20 may also be referred to as a workpiece, a workpiece material, a workpiece, or the like. While the workpiece 20 in the embodiment is an aircraft fuselage, it may also be a rocket fuselage, a ship hull, a vehicle body, or the like. The working device 30 may be replaced depending on the type of work.

[0016] The movement mechanism 12 moves the working device 30 to a working position on the workpiece 20. The movement mechanism 12 shown in Fig. 3 is a vertical articulated robot device, but it may be another type of robot device, or it may be a movement device that does not have a robot arm and a rotation mechanism for rotating the robot arm. The movement mechanism 12 has the function of accurately positioning the working device 30 at a predetermined working position and imparting a feed motion to the rotating rotary tool 34.

[0017] The working device 30 includes a rotating device 32 that rotates the rotary tool 34, a pressing part 36 that presses the workpiece 20, and a biasing mechanism 38 that applies a force to the pressing part 36. The rotating device 32 has at least a spindle motor that rotates a spindle to which the rotary tool 34 is attached. The working device 30 preferably includes a plurality of pressing parts 36 and a plurality of biasing mechanisms 38 that bias each of the plurality of pressing parts 36. The biasing mechanism 38 has a spring mechanism and applies a force to the pressing part 36 in a direction that pushes it outward. The rotating device 32 and the biasing mechanism 38 are housed in a housing 40.

[0018] The pressing part 36 includes a linear rod-shaped member 36a and a pressing member 36b that presses a surface position of the workpiece 20 that is closer to the machining position where the rotary tool 34 performs machining than a surface position of the workpiece 20 that is positioned in the direction of movement of the rod-shaped member 36a. Here, the surface position of the workpiece 20 that is positioned in the direction of movement of the rod-shaped member 36a refers to a position where a line drawn through the center of the rod-shaped member 36a in the direction of movement of the rod-shaped member 36a intersects with the surface of the workpiece 20. The pressing member 36b is provided to press the surface of the workpiece 20 that is positioned between the surface position of the workpiece 20 that is positioned in the direction of movement of the rod-shaped member 36a and the machining position where the rotary tool 34 performs machining. In the pressing part 36 of this embodiment, the pressing member 36b is angled relative to the rod-shaped member 36a so as to face the axial direction of the rotary tool 34. The pressing part 36 is formed of a metal material and may have any cross-sectional shape. The cross-sectional shape of the rod-shaped member 36a may be, for example, circular, elliptical, or polygonal, and may be solid or hollow.

[0019] The rod-shaped member 36a is inserted into an opening of the guide portion 42, and the guide portion 42 guides the movement of the rod-shaped member 36a in a direction parallel to the rotation axis of the rotary tool 34. In the working device 30 shown in FIG. 3, guide portions 42 are provided for one pressing part 36 at two locations spaced apart in a direction parallel to the rotation axis, and each guide portion 42 restricts (limits) the movement of the rod-shaped member 36a in a direction perpendicular to the rotation axis of the rotary tool 34. In the working device 30, multiple guide portions 42 are provided for one rod-shaped member 36a at multiple locations spaced apart in a direction parallel to the rotation axis, and the movement of the rod-shaped member 36a in a direction perpendicular to the rotation axis is restricted at at least two locations, thereby reliably guiding the movement of the rod-shaped member 36a in a direction parallel to the rotation axis of the rotary tool 34. The multiple guide portions 42 may form a linear guide. Furthermore, if one guide portion 42 has sufficient length and can restrict the movement of the rod-shaped member 36a in a direction perpendicular to the rotation axis at at least two locations within the guide portion 42 that are spaced apart in a direction parallel to the rotation axis, only one guide portion 42 may be provided.

[0020] In this embodiment, the pressing member 36b is angled relative to the rod-shaped member 36a in a direction approaching the rotary tool 34. If the size of the rotation device 32 is large, the rod-shaped member 36a will be positioned far away from the rotary tool 34. Therefore, by angling the pressing member 36b relative to the rod-shaped member 36a, the tip of the pressing member 36b can press near the processing position. For this reason, the guide portion 42 preferably has a structure that restricts the rotation of the rod-shaped member 36a.

[0021] In another example, the pressing component 36 may be configured with a plurality of linear rod-shaped members 36a, a plate-shaped member fixed to the lower ends of the rod-shaped members 36a, and a plurality of pressing members provided on the lower surface of the plate-shaped member. In this configuration example, the pressing members are arranged to press a surface position of the workpiece 20 closer to the machining position where the rotary tool 34 performs machining than a surface position of the workpiece 20 positioned in the direction of movement of the rod-shaped members 36a. In this configuration example, the pressing members do not need to be angled relative to the rod-shaped members 36a. It is preferable that the centers of gravity of the guide positions of the rod-shaped members 36a and the pressing positions of the pressing members 36b coincide with each other in a plane perpendicular to the rotation axis direction. By aligning the centers of gravity of the guide positions and the pressing positions, it is possible to avoid the generation of a moment that causes a change in posture during pressing.

[0022] The control device 100 communicates with the moving mechanism 12 and the working device 30, respectively, and synchronously controls the moving mechanism 12 and the working device 30. Before starting machining, the control device 100 controls the moving mechanism 12 to move the working device 30 to the location to be machined (work location) on the workpiece 20. The control device 100 then drives the rotating device 32 to rotate the rotary tool 34, and controls the moving mechanism 12 to move the working device 30 in a direction approaching the workpiece 20, causing the rotary tool 34 to cut into the workpiece 20 and machine the workpiece 20. In this example, the rotary tool 34 is a drill, and a hole is machined in the workpiece 20.

[0023] Before machining begins, that is, in the initial state of the working device 30, the tip of the rotary tool 34 is located further back in the axial direction than the tip of the pressing member 36b. Therefore, when the working device 30 is brought closer to the workpiece 20, the tip of the pressing member 36b comes into contact with the workpiece 20 first, and then the tip of the rotary tool 34 comes into contact with the workpiece 20.

[0024] 4 shows the state in which the rotary tool 34 is machining the workpiece 20. The pressing member 36b is biased by the biasing mechanism 38 to press against the surface of the workpiece 20. During machining, the pressing member 36b presses against the surface of the workpiece 20, thereby forming a very small closed loop between the rotary tool 34, housing 40, pressing part 36, and workpiece 20. Therefore, when pressing by the pressing part 36, the loop rigidity of the machining system 10 can be significantly increased, and problems such as static and dynamic displacement due to machining reaction forces and self-excited vibration can be eliminated.

[0025] According to the machining system 10 of the embodiment, by forming a very small closed loop among the rotary tool 34, the housing 40, the pressing member 36, and the workpiece 20, it is not necessary to arrange a separate robot device on the back side of the workpiece 20 to press a position on the back side opposite the surface machining position of the workpiece 20. Therefore, the rotary tool 34 can be cut into the workpiece 20 while the pressing member 36b presses the front side of the workpiece 20 and the back side position opposite the front side position pressed by the pressing member 36b is not pressed. Because it is not necessary to arrange a separate robot device on the back side of the workpiece 20, it is possible to reduce machining costs.

[0026] In order to increase the loop rigidity, it is preferable that the guide portion 42 that supports the rod-shaped member 36a is configured to have high rigidity. Also, an elastic part may be provided at the tip of the pressing member 36b to prevent damage to the surface of the workpiece 20, but this elastic part must be limited to a very thin one to prevent a substantial decrease in the loop rigidity.

[0027] In this embodiment, the biasing mechanism 38 biases the pressing member 36 using a spring mechanism. The biasing mechanism 38 generates a pressing force based on the feed motion imparted to the rotary tool 34 by the moving mechanism 12. Specifically, the biasing mechanism 38 generates a pressing force corresponding to the displacement of the pressing member 36 from contact with the surface of the workpiece 20 to retraction into the housing 40. The biasing mechanism 38 may use a damping mechanism instead of or in addition to the spring mechanism to generate a pressing force proportional to the feed rate. By configuring the biasing mechanism 38 in this manner, the feed motion for hole drilling and the pressing of the workpiece 20 by the pressing member 36 can be performed simultaneously by the operation of the moving mechanism 12.

[0028] The behavior of stacked plate materials (upper plate material 20a and lower plate material 20b) when the working device 30 drills holes in them will be described below. During the machining process, the control device 100 controls the rotation device 32 and the movement mechanism 12, causing the rotation device 32 to rotate the rotary tool 34 and the movement mechanism 12 to provide a feed motion to the rotary tool 34 (i.e., moving the rotary tool 34 toward the workpiece 20). Note that in Figures 5 and 6, triangular marks indicate positions where the two upper plate material 20a and lower plate material 20b are temporarily fastened together. However, these temporary fastening positions are actually separated from the position where the pressing member 36b presses, and the backside positions opposite the pressing positions are not temporarily fastened. During machining using the working device 30 in this embodiment, the backside position (in this example, the bottom surface of the lower plate material 20b) opposite the position where the pressing member 36b presses (in this example, the top surface of the upper plate material 20a pressed by the pressing member 36b) is not pressed upward.

[0029] 5(a) shows the state at the moment when the rotating tool 34 is advanced and the pressing part 36 comes into contact with the upper plate material 20a. Because the tip of the rotating tool 34 is positioned further back than the tip of the pressing part 36, the pressing part 36 comes into contact before the rotating tool 34. In this state, the pressing part 36 has not yet pressed against the upper plate material 20a.

[0030] FIG. 5(b) shows the state in which the rotary tool 34 has been further advanced and the tip of the rotary tool 34 has come into contact with the upper plate material 20a. At this time, the pressing part 36 has been pushed back into the housing 40 from its initial position. The biasing mechanism 38, which is made up of a spring mechanism, applies a pressing force to the pressing part 36 according to the amount of retraction of the pressing part 36, and the pressing part 36 presses the upper plate material 20a. As shown in the figure, the pressing member 36b is angled relative to the rod-shaped member 36a, so that the tip of the pressing member 36b can press a location close to the processing position. The upper plate material 20a may be slightly bent.

[0031] 6(a) shows the state in which the rotary tool 34 is further advanced and drilling a hole in the upper plate material 20a. The biasing mechanism 38 presses the upper plate material 20a with a pressing force that corresponds to the amount of retraction of the pressing part 36. As a result, the upper plate material 20a and the lower plate material 20b bend in the pressing direction.

[0032] FIG. 6(b) shows the state in which the rotary tool 34 is further advanced and drilling a hole in the lower plate material 20b. The biasing mechanism 38 presses the upper plate material 20a with a pressing force P that corresponds to the amount of retraction of the pressing part 36. At this time, the rotary tool 34 applies a processing force to the lower plate material 20b. When the rotary tool 34 processes the lower plate material 20b, it is undesirable for a gap to form between the upper plate material 20a and the lower plate material 20b, as shown in FIG. 2.

[0033] In order to prevent a gap from occurring between the upper plate material 20a and the lower plate material 20b, the thickness direction component F of the processing force applied to the lower plate material 20b is t The amount of deflection of the lower plate material 20b is λ b Then, the displacement λ of the upper plate 20a due to the pressing force P is a is the displacement λ b Furthermore, if an initial gap g is expected due to errors in the shape of the plate material and errors in temporary fastening, it is necessary to eliminate this gap g as well. Therefore, in order to prevent a gap from occurring between the upper plate material 20a and the lower plate material 20b, the pressing force P and the thickness direction component of the processing force F are t However, the following relation (1) must be satisfied.

[0034] λa >λ b +g Therefore, P·G a >F t G b +g P>(F t G b +g) / G a ···(1) where G a is the compliance of the plate structure of the upper plate material 20a, G b is the compliance of the plate structure of the lower plate material 20b. Each plate structure may be a single plate, or may be a stack of multiple plates. Therefore, it is preferable to determine the spring constant of the biasing mechanism 38 so that the pressing force P of the pressing part 36 satisfies relational expression (1) when the rotary tool 34 processes the lower plate material 20b. Note that although relational expression (1) takes into account the initial gap g, the initial gap g may be excluded from relational expression (1).

[0035] In order for the pressing part 36 to reliably contribute to improving the rigidity, the component F of the processing force in the direction parallel to the plate r It is necessary that the pressing part 36 does not slip against the upper plate material 20a due to the processing torque T. To achieve this, the product of the pressing force P and the coefficient of friction μ between the pressing part 36b and the upper plate material 20a must satisfy the following relational expressions (2) and (3). μP>F r ···(2) μP·R>T···(3) Here, R is the radius from the center of the rotary tool 34 to the tip position of the pressing member 36b. Therefore, it is preferable to determine the spring constant of the biasing mechanism 38 so that the pressing force P by the pressing member 36 satisfies the relational expressions (2) and (3) when the rotary tool 34 starts to process the upper plate material 20a. Note that in normal drilling, the radial force F r is very small because the forces from multiple cutting edges cancel each other out, and if equation (3) is satisfied, equation (2) is often also satisfied.

[0036] The working device 30 may include not only the rotating device 32 that rotates the rotary tool 34, but also a feed device that imparts a feed motion to the rotary tool 34. The working device 30 may also include a biasing mechanism 38 that can adjust the pressing force P. In this case, the control device 100 can obtain information that correlates with the pressing force P being applied to the upper plate material 20a from motor current and torque information of the drive motor of the movement mechanism 12. The control device 100 can also obtain the thickness direction component F of the processing force from the feed device that linearly moves the spindle that rotates the rotary tool 34. t The control device 100 can obtain information correlated with the pressing force P and the thickness direction component F of the processing force. t By monitoring the above, the pressing force P and the thickness direction component of the forming force F are adjusted to satisfy the relation (1). t This makes it possible to prevent a gap from occurring between the upper plate material 20a and the lower plate material 20b.

[0037] Alternatively, the control device 100 can obtain information correlated with the machining torque T from the motor current and torque information of the spindle motor that rotates the rotary tool 34. The control device 100 may monitor the pressing force P and the machining torque T, and perform control to adjust the pressing force P and the machining torque T so as to satisfy the relational expression (3). This makes it possible to prevent slippage from occurring between the pressing member 36b and the upper plate material 20a.

[0038] 7 is a schematic diagram of an experimental device 50 that was prototyped to demonstrate the effects of the processing system 10 of the embodiment. This experimental device 50 uses a machine tool rather than a robot, and therefore an elastic structure 72 that simulates the low rigidity of a robot is attached to the workpiece side, which is made of two overlapping aluminum plate materials 70a and 70b.

[0039] A housing 60 containing a guide portion 62 and a spring mechanism 58 is attached to the spindle housing 52 of the machine tool, and a pressing part 56 is biased by the spring mechanism 58. In this experimental device 50, the pressing part 56 presses an aluminum plate 70a independently at two points symmetrical about the rotation axis of the drill 54. Note that increasing the number of points pressing on the aluminum plate 70a can further increase the loop rigidity, but whether or not to press independently depends on the application. For example, if the plate has various curvatures or the pressing points are restricted, being able to displace and press independently provides greater versatility.

[0040] Using the experimental device 50, hole drilling was carried out in both cases where the pressing part 56 did not press the aluminum plate material 70a and where it did press the aluminum plate material 70a. Figure 8(a) shows the hole drilled portion when no pressure is applied, and Figure 8(b) shows the hole drilled portion when pressure is applied. Both Figures 8(a) and (b) show the aluminum plate materials 70a and 70b in an open state after drilling. As shown in Figure 8(a), when no pressure is applied, chips get in between the aluminum plate materials 70a and 70b, resulting in poor hole accuracy. However, as shown in Figure 8(b), it was confirmed that these problems can be solved by applying pressure.

[0041] Figure 9(a) shows the frequency analysis results when no pressure is applied, and Figure 9(b) shows the frequency analysis results when pressure is applied. Both Figures 9(a) and (b) show the results of converting the acceleration of the vibration of the plate material during processing, measured in two directions perpendicular to the plate thickness direction, into displacement after frequency analysis. As shown in Figure 9(a), severe self-excited vibration occurred when no pressure was applied, but as shown in Figure 9(b), it was confirmed that applying pressure suppresses self-excited vibration and enables stable processing.

[0042] The present disclosure has been described above based on the embodiments. These embodiments are merely examples, and it will be understood by those skilled in the art that various modifications are possible in the combination of the respective components and processes, and that such modifications are also within the scope of the present disclosure.

[0043] Fig. 10 shows a modified example of a machining system 10a. The machining system 10a includes a moving mechanism 14, a working device 30 attached to the moving mechanism 14, and a control device 100 that controls the operation of the moving mechanism 14 and the working device 30. The moving mechanism 14 shown in Fig. 10 is a moving device that does not include a robot arm or a rotation mechanism that rotates the robot arm. The working device 30 attached to the moving mechanism 14 may be the same as that shown in the embodiment.

[0044] The moving mechanism 14 moves the working device 30 to a working position on the workpiece 20. The moving mechanism 14 shown in Fig. 10 is movable laterally along a rail and has the function of imparting a feed motion to a rotating rotary tool 34.

[0045] The outline of the aspects of the present disclosure is as follows. An aspect of the present disclosure is a method for machining a workpiece using a working device attached to a moving mechanism, the method comprising the steps of: bringing a pressing part into contact with a surface of the workpiece; and machining the workpiece by cutting a tool into the workpiece while the pressing part presses the surface of the workpiece and a back side position opposite to the surface position pressed by the pressing part is not pressed. The moving mechanism may be a robot device having a rotation mechanism that rotates a robot arm, or may be a moving device without a robot arm and a rotation mechanism.

[0046] According to this processing method, the pressing part presses the surface of the workpiece, thereby increasing the loop rigidity of the processing system and suppressing static and dynamic displacements due to processing reaction forces and self-excited vibrations. Also, since the pressing part does not press the back side opposite the surface position being pressed, there is no need to provide a pressing structure on the back side of the workpiece, thereby reducing costs. The working device may include a tool and a pressing part.

[0047] The machining method of this aspect may include the step of pressing a surface of the workpiece with a plurality of pressing components, which can increase the pressing force and reliably increase the loop stiffness without slippage.

[0048] The workpiece is made by stacking upper and lower plates, and the compliance of the plate structure of the upper plate is G a , the compliance of the plate structure of the lower plate material is G b , the component of the forming force applied to the lower plate in the thickness direction is F t Then, the pressing force P applied by the pressing part to the surface of the workpiece is P>(F t G b ) / G a By setting the pressing force P in this way, it is possible to reduce the possibility of chips and the like getting into the gap between the upper plate material and the lower plate material.

[0049] Another aspect of the present disclosure is a working device attached to a moving mechanism, comprising: a rotating device that rotates a rotating tool; a pressing part that presses against the surface of a workpiece; and a guide unit that restricts the movement of the pressing part in a direction perpendicular to the rotation axis of the rotating tool at at least two locations spaced apart in a direction parallel to the rotation axis, and guides the movement of the pressing part in a direction parallel to the rotation axis of the rotating tool.

[0050] According to the working device of this aspect, the surface of the workpiece can be pressed by the pressing component when the workpiece is machined. The pressing component may have a first member inserted into the guide portion and a second member that presses against a surface position of the workpiece that is closer to the machining position where the rotary tool machined the workpiece than a surface position of the workpiece located in the moving direction of the first member.

[0051] The working device of this aspect may further include a biasing mechanism that biases the pressing part with a force in a direction pushing it outward. Before the start of processing, the tip of the rotary tool may be located at a position retracted in the axial direction from the tip of the pressing part.

[0052] Another aspect of the present disclosure is a working device attached to a moving mechanism, comprising: a rotating device that rotates a rotary tool; a pressing part that presses against a surface of a workpiece; and a guide portion that guides the movement of the pressing part in a direction parallel to the rotation axis of the rotary tool, wherein the pressing part has a first member inserted into the guide portion and a second member that presses against a surface position of the workpiece that is closer to a machining position where the rotary tool performs machining than a surface position of the workpiece located in the movement direction of the first member.

[0053] Another aspect of the present disclosure is a machining system including a moving mechanism and a working device attached to the moving mechanism, wherein the working device may have a pressing part that presses a surface of a workpiece, and a tool that cuts into the workpiece to machine the workpiece while the pressing part presses the surface of the workpiece and a position on the back side opposite to the surface position pressed by the pressing part is not pressed.

[0054] According to the machining system of this aspect, the pressing part presses the surface of the workpiece, thereby increasing the loop rigidity of the machining system and suppressing static and dynamic displacements due to machining reaction forces and self-excited vibrations. [Explanation of symbols]

[0055] 10, 10a... Machining system, 12, 14... Moving mechanism, 20... Workpiece, 20a... Upper plate material, 20b... Lower plate material, 30... Working device, 32... Rotating device, 34... Rotating tool, 36... Pressing part, 36a... Rod-shaped member, 36b... Pressing member, 38... Biasing mechanism, 40... Housing, 42... Guide part, 50... Experimental device, 52... Spindle housing, 54... Drill, 56... Pressing part, 58... Spring mechanism, 60... Housing, 62... Guide part, 70a, 70b... Aluminum plate material, 72... Elastic structure, 100... Control device

Claims

1. A method for machining a workpiece using a working device attached to a moving mechanism, comprising: contacting a pressing part with a first surface of the workpiece; a step of cutting a tool into the workpiece to machine the workpiece while the pressing part presses a first surface of the workpiece and a second surface side opposite to the first surface position pressed by the pressing part is not pressed; A processing method characterized by comprising:

2. The working device includes the tool and the pressing part. The processing method according to claim 1 .

3. pressing a first surface of the workpiece with a plurality of the pressing parts; The processing method according to claim 1 .

4. The workpiece is formed by stacking an upper plate material and a lower plate material, The compliance of the plate structure of the upper plate material is G ａ , the compliance of the plate structure of the lower plate material is G ｂ , the component in the plate thickness direction of the processing force applied to the lower plate material is F t Then, the pressing force P applied by the pressing part to the first surface of the workpiece is P>(F t ・G ｂ ) / G ａ is set to be The processing method according to claim 1 .

5. The movement mechanism has a rotation mechanism that rotates the robot arm. The processing method according to claim 1 .

6. The moving mechanism does not have a rotation mechanism. The processing method according to claim 1 .

7. A working device attached to a moving mechanism, a rotating device that rotates the rotary tool; a pressing part that presses the surface of the workpiece; a guide unit that restricts the movement of the pressing part in a direction perpendicular to the rotation axis of the rotary tool at at least two locations spaced apart in a direction parallel to the rotation axis, thereby guiding the movement of the pressing part in a direction parallel to the rotation axis of the rotary tool; A working device comprising:

8. The pressing component has a first member inserted into the guide portion, and a second member that presses a position on the surface of the workpiece that is closer to a processing position where the rotary tool processes the workpiece than a position on the surface of the workpiece that is located in the moving direction of the first member.

8. The working device according to claim 7.

9. a biasing mechanism that biases the pressing component with a force in a direction that pushes the pressing component outward; 8. The working device according to claim 7, further comprising:

10. Before starting processing, the tip of the rotary tool is located at a position retracted in the axial direction from the tip of the pressing part.

8. The working device according to claim 7.

11. A working device attached to a moving mechanism, a rotating device that rotates the rotary tool; a pressing part that presses the surface of the workpiece; a guide portion that guides the movement of the pressing part in a direction parallel to the rotation axis of the rotary tool, The pressing component has a first member inserted into the guide portion, and a second member that presses a position on the surface of the workpiece that is closer to a processing position where the rotary tool processes the workpiece than a position on the surface of the workpiece that is located in the moving direction of the first member. A working device characterized by:

12. A processing system including a moving mechanism and a working device attached to the moving mechanism, The working device is a pressing part that presses the first surface of the workpiece; a tool that cuts into the workpiece and processes the workpiece in a state in which the pressing part presses a first surface of the workpiece and a position on a second surface side opposite to the position on the first surface pressed by the pressing part is not pressed, A processing system characterized by:

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