Processing apparatus and processing method thereof

Abstract

This allows for a reduction in the number of support members required and a reduction in the space required. [Solution] The processing apparatus comprises a robot arm with a processing spindle having a processing feed axis, attached to the tip of the arm via a hook-hooking part having a hook, and a faceplate with a hole for attaching the hook. The robot arm attaches the hook to the hole in the faceplate, presses the hook-hooking part against the faceplate, and moves the processing spindle in the processing direction to process the workpiece. Multiple holes are arranged on the faceplate at angles corresponding to each processing position on the workpiece, so as not to overlap with each other.

Description

Technical Field

[0001] The present disclosure relates to a processing apparatus that performs processing using a robot arm and a processing method thereof.

Background Art

[0002] There is known a processing apparatus that loops a processing reaction force by supporting both a processing spindle and a work clamp with the same support member (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, for example, when performing processing on a large workpiece that requires processing at a plurality of locations such as gigacasting or megacasting, the number of required support members may increase, and the required space may also increase.

[0005] The present disclosure has been made in view of such problems, and a main object thereof is to provide a processing apparatus and a processing method thereof that can reduce the number of required support members and the required space.

Means for Solving the Problems

[0006] One aspect of the present invention for achieving the above object is that a processing spindle having a processing feed shaft is attached to a robot arm mounted at the tip of the arm via a hook engaging portion having a hook, and a face plate provided with a hole for hanging the hook, and The robot arm hooks the hook into the hole in the faceplate, presses the hook-hooking portion against the faceplate, and moves the machining spindle in the machining direction to machine the workpiece. The aforementioned panel has multiple holes arranged at angles corresponding to the machining positions of the workpiece, so as not to overlap with each other. processing equipment That is the case. On this flight, The hook attachment portion has a contact surface that contacts the faceplate, A pair of the aforementioned hooks is erected on the contact surface. The tip of the machining feed axis of the machining spindle may penetrate the contact surface between the pair of hooks. On this flight, The aforementioned panel has multiple sets of holes formed therein. The hole may have a keyhole shape and include a portion larger than the hook into which the hook can be inserted, and a portion smaller than the hook into which the hook can be attached. One aspect of the present invention for achieving the above objective is: A machining spindle having a machining feed axis is attached to a robot arm mounted on the arm tip via a hook-hooking portion having a hook, A processing apparatus comprising a faceplate having holes for hanging the aforementioned hooks, and a processing method for such an apparatus, The robot arm hooks the hook into the hole in the faceplate, presses the hook-hooking portion against the faceplate, and moves the machining spindle in the machining direction to machine the workpiece. The aforementioned panel has multiple holes formed in it at positions corresponding to each machining position of the workpiece, such that they do not overlap with each other. Processing method for processing equipment That is the case. [Effects of the Invention]

[0007] According to this disclosure, it is possible to provide a processing apparatus and a processing method that can reduce the number of required support members and reduce the required space. [Brief explanation of the drawing]

[0008] [Figure 1] This flowchart shows an example of a processing method according to this embodiment. [Figure 2] This is a schematic diagram showing an example of a processing spindle and faceplate used in the processing method according to this embodiment. [Figure 3] This is a schematic diagram showing an example of a robot arm and faceplate used in the processing method according to this embodiment. [Figure 4] This figure shows an example of a configuration where multiple sets of holes are arranged on a faceplate at angles corresponding to the machining positions of the workpiece, so as not to overlap with each other. [Modes for carrying out the invention]

[0009] This embodiment will now be described with reference to the drawings. Figure 1 is a flowchart showing an example of a processing method according to this embodiment. Figure 2 is a schematic diagram showing an example of a processing spindle and faceplate used in the processing method according to this embodiment. Figure 3 is a schematic diagram showing an example of a processing apparatus used in the processing method according to this embodiment.

[0010] As shown in Figures 2 and 3, the processing apparatus 1 according to this embodiment comprises a robot arm 301 and a faceplate 201.

[0011] The robot arm 301 is configured as a multi-joint robot arm, for example, as shown in Figure 3. A machining spindle 302 having a machining feed axis 304 is attached to the tip of the robot arm 301 via a hook-hook portion 303. The hook-hook portion 303 is a component that fixes the machining spindle 302 to the tip of the robot arm 301. The machining spindle 302 and the hook-hook portion 303 may be integrally constructed.

[0012] As shown in Fig. 2, the hook engaging portion 303 has an abutting surface 212 that abuts against the face plate 201. A pair of hooks 211-1 and 211-2 are erected on the abutting surface 212. The tip of the machining feed shaft 304 of the machining spindle 302 penetrates the abutting surface 212 between the pair of hooks 211-1 and 211-2. A machining tool is attached to the tip of the machining feed shaft 304 of the machining spindle 302.

[0013] The face plate 201 is fixed separately from the workpiece W side near the hole machining position of the workpiece W. The face plate 201 is provided with a pair of holes 202-1 and 202-2 for hanging the pair of hooks 211-1 and 211-2 of the hook engaging portion 303 respectively.

[0014] In this way, the face plate 201 functions as a support member for supporting the machining spindle 3 by hanging the pair of hooks 211-1 and 211-2 on the pair of holes 202-1 and 202-2 respectively.

[0015] [[ID=ll]] As shown in Fig. 2, each of the holes 202-1 and 202-2 of the face plate 201 has a keyhole shape. That is, each of the holes 202-1 and 202-2 is larger than each of the hooks 211-1 and 211-2, and has a portion 203 into which each of the hooks 211-1 and 211-2 can be inserted, and a portion 204 that is smaller than each of the hooks 211-1 and 211-2 and on which the hooks 211-1 and 211-2 can be hung. Therefore, the hook is inserted from the portion 203 into which the hook 211-1 can be inserted, and the hook 211-1 is hung on the portion 204 on which the hook 211-1 can be hung. The same applies to the hook 211-2.

[0016] A hole 205 through which the tip of the machining feed shaft 304 of the machining spindle 302 penetrates is formed between the pair of holes 202-1 and 202-2. This hole has an elongated hole shape in the vertical direction.

[0017] The robot arm 301 hooks the hooks 211-1 and 211-2 of the contact surface 212 of the hook hooking portion 303 onto the holes 202-1 and 202-2 of the faceplate 201, presses the contact surface 212 of the hook hooking portion 303 against the faceplate 201, and moves the machining spindle 302 in the machining direction to machine the workpiece W.

[0018] Next, the processing method using the processing apparatus 1 according to the above embodiment will be described. In step S11 of Figure 1, the processing spindle 302 is moved to the front of the processing position by the movement of the robot arm 301. Then the process proceeds to step S12.

[0019] Next, in step S12, the robot arm 301 operates to hook the hooks 211-1 and 211-2 of the contact surface 212 of the hook hooking portion 303 into the holes 202-1 and 202-2 of the faceplate 201. Then the process proceeds to step S13.

[0020] In step S13, as shown in Figure 3, the robot arm 301 moves to press the contact surface 212 of the hook-hook portion 303 of the processing spindle 302 against the faceplate 201. Then, the process proceeds to step S14.

[0021] In step S14, the workpiece W is machined by moving the machining feed axis 304 of the machining spindle 302 in the axial direction. Then the process proceeds to step S15.

[0022] In step S15, the robot arm 301 moves to disengage the hooks 211-1 and 211-2 of the contact surface 212 of the hook hooking portion 303 from the holes 202-1 and 202-2 of the faceplate 201, and to retract the processing spindle 302.

[0023] As described above, the machining method of the machining apparatus according to this embodiment can suppress robot displacement due to machining reaction force, enabling hole machining with stable accuracy even for small robots that are easily displaced by external forces.

[0024] In other words, during processing, the hooks 211-1 and 211-2 of the contact surface 212 of the hook-hooking portion 303 are hooked onto the holes 202-1 and 202-2 of the faceplate 201, thereby easily engaging the spindle side and the faceplate side, and the processing reaction force is looped using the hook members as a path. As a result, the robot arm 301 does not need to have the rigidity to withstand the processing reaction force, and thus miniaturization of the robot arm 301 can be easily achieved.

[0025] Incidentally, the processing apparatus 1 described above can be applied to the machining of Gigacast and Megacast, which integrally mold relatively large parts. In the past, processing workpieces W, which are large and require processing in multiple locations, such as Gigacast and Megacast, required multiple faceplates, which increased the number of processes and the required space.

[0026] In contrast, in the processing apparatus 1 according to this embodiment, the faceplate 201 has multiple holes formed in it at positions corresponding to each processing position of the workpiece, so as not to overlap with each other. Multiple sets of holes are arranged in the faceplate 201 at angles to each processing position of the workpiece, so as not to overlap with each other.

[0027] For example, as shown in Figure 4, the faceplate 201 has a pair of holes 206-1 and 206-2 corresponding to machining position P1, a pair of holes 207-1 and 207-2 corresponding to machining position P2, and a pair of holes 208-1 and 208-2 corresponding to machining position P3.

[0028] These multiple sets of holes 206-1, 206-2, 207-1, 207-2, 208-1, and 208-2 are arranged at different angles so that they do not overlap with each other. As a result, on the same panel 201, machining can be performed at multiple machining positions P1, P2, and P3 simply by switching the hooks 211-1 and 211-2 to holes 206-1, 206-2, 207-1, 207-2, 208-1, and 208-2.

[0029] In other words, the number of required faceplates (support members) 201 can be reduced, and the required space can also be reduced.

[0030] In the example above, the panel 201 has three sets of holes 206-1, 206-2, 207-1, 207-2, 208-1, and 208-2, but it is not limited to this. The panel 201 may have four or more sets of holes.

[0031] While several embodiments of this disclosure have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of symbols]

[0032] 201 Face plate 202-1, 202-2 holes 205 holes 206-1, 206-2 holes 207-1, 207-2 holes 208-1, 208-2 holes 211-1, 211-2 hooks 212 Contact surface 301 Robot Arm 302 Machining Spindle 303 Hook attachment part 304 Machining feed axis

Claims

1. A machining spindle having a machining feed axis is attached to a robot arm mounted on the arm tip via a hook-hooking portion having a hook, A panel having holes for hanging the aforementioned hooks, The robot arm hooks the hook into the hole in the faceplate, presses the hook-hooking portion against the faceplate, and moves the machining spindle in the machining direction to machine the workpiece. The aforementioned panel has multiple holes arranged at angles corresponding to the machining positions of the workpiece, so as not to overlap with each other. Processing equipment.

2. A processing apparatus according to claim 1, The hook attachment portion has a contact surface that contacts the faceplate, A pair of the aforementioned hooks is erected on the contact surface. The tip of the machining feed axis of the machining spindle penetrates the contact surface between the pair of hooks. Processing equipment.

3. A processing apparatus according to claim 1, The aforementioned panel has multiple sets of holes formed therein. The aforementioned hole has a keyhole shape and includes a portion larger than the hook into which the hook can be inserted, and a portion smaller than the hook into which the hook can be attached. Processing equipment.

4. A machining spindle having a machining feed axis is attached to a robot arm mounted on the arm tip via a hook-hooking portion having a hook, A processing apparatus comprising a faceplate having holes for hanging the aforementioned hooks, and a processing method for such an apparatus, The robot arm hooks the hook into the hole in the faceplate, presses the hook-hooking portion against the faceplate, and moves the machining spindle in the machining direction to machine the workpiece. The aforementioned panel has multiple holes formed in it at positions corresponding to each machining position of the workpiece, such that they do not overlap with each other. A processing method for a processing device.

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