Processing methods

Abstract

To provide a processing method that does not require the robot to have sufficient rigidity to withstand processing reaction forces, thereby enabling the use of a smaller robot. [Solution] The machining method uses an articulated robot in which a machining spindle having a machining feed axis is attached to the tip of the arm, the hook of the machining spindle is hooked into a hole provided in the faceplate (S11), the hook-hooking portion is pressed against the faceplate (S12), and the machining spindle is moved in the machining direction to machine the workpiece (S13).

Description

Technical Field

[0001] The present invention relates to a processing method, and more particularly to a processing method using a multi-joint small robot for gigacast castings.

Background Art

[0002] Citation Document 1 describes an end effector and a workpiece processing method, in which a configuration is provided to make the position of the end effector less likely to shake and maintain the processing accuracy even when a processing reaction force is applied to the tool attached to the end effector.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the method of attaching a machining spindle to the tip of a robot arm for cutting has a problem that the machining accuracy deteriorates due to the displacement of the robot posture caused by the machining reaction force.

Means for Solving the Problems

[0005] In a processing method according to an embodiment, the hook of the machining spindle is hung on a hole provided in a face plate, and the hook catching portion is pressed against the face plate.

Effects of the Invention

[0006] According to the processing method of the present disclosure, the robot does not need to have rigidity to withstand the machining reaction force, and the robot used can be miniaturized.

Brief Description of the Drawings

[0007] [Figure 1] It is a flowchart showing an example of a processing method according to Embodiment 1. [Figure 2] This is a schematic diagram showing an example of a processing spindle and faceplate used in the processing method according to Embodiment 1. [Figure 3] This is a schematic diagram showing an example of a robot arm and faceplate used in the processing method according to Embodiment 1. [Modes for carrying out the invention]

[0008] Embodiment 1 Embodiments of the present invention will be described below with reference to the drawings. Figure 1 is a flowchart showing an example of a processing method according to Embodiment 1. Figure 2 is a schematic diagram showing an example of a processing spindle and faceplate used in the processing method according to Embodiment 1. Figure 3 is a schematic diagram showing an example of a robot arm and faceplate used in the processing method according to Embodiment 1.

[0009] In step S11 of Figure 1, the robot arm moves the machining spindle to the front of the machining position. Then the process proceeds to step S12.

[0010] Next, in step S12, the hook of the machining spindle is hooked into the hole in the faceplate by the movement of the robot arm. This faceplate is fixed separately from the workpiece near the hole machining position on the workpiece. Also, as shown in Figure 2, the holes 202-1 and 202-2 in the faceplate 201 are keyhole shaped. That is, holes 202-1 and 202-2 have a portion 203 that is larger than the hooks 211-1 and 211-2 and into which the hooks 211-1 and 211-2 can be inserted, and a portion 204 that is smaller than the hooks 211-1 and 211-2 and into which the hooks 211-1 and 211-2 can be attached. Therefore, the hook 211-1 is inserted from the portion 203 into which it can be inserted, and the hook 211-1 is attached to the portion 204 into which it can be attached. The same applies to the hook 211-2. Then the process proceeds to step S13.

[0011] In step S13, as shown in Figure 3, the robot arm 301 moves to press the hook-hook portion 303 of the machining spindle 302 against the faceplate 201. Then, the process proceeds to step S14.

[0012] In step S14, the workpiece is machined by moving the machining spindle in the direction of the operating axis. Then the process proceeds to step S15.

[0013] In step S15, the robot arm moves to remove the hook from the hole in the faceplate and retract the machining spindle.

[0014] As described above, the machining method of Embodiment 1 can suppress robot displacement due to machining reaction forces, enabling stable and accurate hole machining even with small robots that are easily displaced by external forces.

[0015] In other words, during machining, the hook can be easily engaged with the spindle side and the faceplate side by hooking it into the keyhole of the faceplate, and the machining reaction force is looped through the hook member, eliminating the need for rigidity to withstand the machining reaction force, thus allowing for a smaller robot to be used.

[0016] It should be noted that the present invention is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention. For example, it may be applied to the machining of Gigacast. Furthermore, a multi-joint robot arm is preferred as the robot arm to which the machining spindle is attached. [Explanation of symbols]

[0017] 201 Face plate 202-1, 202-2 holes 211-1, 211-2 hooks 301 Robot Arm 302 Machining Spindle 303 Hook attachment part

Claims

[Claim 1] Using a multi-joint robot in which a machining spindle having a machining feed axis is attached to the end of the arm, the hook of the machining spindle is hooked into a hole provided in the faceplate, Press the hook attachment part against the aforementioned panel, A machining method comprising machining a workpiece by moving the aforementioned machining spindle in the machining direction.

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