Biasing device

Abstract

To provide a biasing device for biasing an object such as a rotating body to which a cutter blade is connected so that the cutter blade can be effectively pressed against a workpiece having a complex shape. [Solution] The biasing device biases the rotor 13 against the direction in which the angle of the rotor 13 is changed, and is equipped with a cutter blade angle biasing mechanism consisting of a first cutter blade angle biasing cylinder 75a, a second cutter blade angle biasing cylinder 75b, a connecting tube 23, a connecting tube 31, and an air compressor 14. The cutter blade angle biasing mechanism is biased by a predetermined air pressure toward both sides of the rotor 13 and is equipped with two movable pistons 19 and 27 that are arranged to protrude, and when the angle of the rotor 13 is not changed, the two pistons 19 and 27 abut against the rotor 13 to bias it, and when the angle of the rotor 13 is changed, either one of the two pistons 19 and 27 abuts against the rotor 13 depending on the direction of the change.

Description

Technical Field

[0001] The present invention relates to a biasing device used for processing a workpiece.

Background Art

[0002] Conventionally, a workpiece processing device and an ultrasonic processing device for processing a workpiece have been known.

[0003] For example, Patent Document 1 and Patent Document 2 describe an ultrasonic processing device that uses a cutter blade 10 to process a workpiece. This ultrasonic processing device swings the cutter blade 10 according to the shape of the workpiece, and biases the swing mechanism against the swing angle direction of the cutter blade 10 by a coil spring mechanism 84, thereby pressing the cutter blade 10 against the surface of the workpiece to be processed (see FIGS. 13 and 14 of Cited Document 1, FIGS. 13 and 14 of Cited Document 2, etc.).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, since the cutter blades described in Cited Document 1 and Cited Document 2 swing only by the swing mechanism, there is no problem in pressing against the swing direction with respect to the workpiece to be processed, but there is a problem that it is highly likely that it cannot cope with a workpiece having a complex shape.

[0006] That is, since the cutter blades described in Citation Document 1 and Citation Document 2 swing only by a swing mechanism, when the shape of the workpiece is complex, there is a problem that the cutter blade cannot be pressed against the surface of the workpiece.

[0007] The present invention has been made in response to the above-described problems of the prior art, and an object thereof is to provide a biasing device used in an apparatus that can effectively press a cutter blade against a workpiece having a complex shape (hereinafter referred to as a "workpiece").

Means for Solving the Problems

[0008] In order to solve the above-described problems, the biasing device according to the first aspect of the present invention includes a rotating body, and is slidable within a first gap portion in a first predetermined direction and a first opposite direction opposite to the first predetermined direction by a first predetermined air pressure, and the first piston capable of biasing the rotating body in the first predetermined direction, and is slidable within a second gap portion in the first predetermined direction and the first opposite direction by the first predetermined air pressure, and the second piston capable of biasing the rotating body in the first opposite direction, and when the rotating body does not rotate, the first piston is brought into contact with the rotating body in the first predetermined direction by the first predetermined air pressure and biased, and the second piston is brought into contact with the rotating body in the first opposite direction by the first predetermined air pressure and biased in a first mode, and when the rotating body rotates, depending on the rotation direction, only one of the first piston and the second piston is slid within the first gap portion and brought into contact with the rotating body in the first predetermined direction by the first predetermined air pressure and biased, or slid within the second gap and brought into contact with the rotating body in the first opposite direction by the first predetermined air pressure and biased in a second mode. The present invention is characterized by comprising the above. section The present invention is characterized by comprising the above.

[0009] Further, a second aspect of the present invention is characterized in that, in the biasing device of the first aspect, an angle locking mechanism is provided for fixing the angle of the rotating body in the first mode.

[0010] Further, a third aspect of the present invention is the biasing device according to the first aspect or the second aspect, wherein a moving body movable in a second predetermined direction different from the first specified direction and a second opposite direction opposite to the second predetermined direction, and a third piston slidable in a third gap portion in the second predetermined direction and the second opposite direction by a second predetermined air pressure and capable of biasing the moving body in the second predetermined direction, and a fourth piston slidable in a fourth gap portion in the second predetermined direction and the second opposite direction by the second predetermined air pressure and capable of biasing the moving body in the second opposite direction. When the moving body does not move, the third piston is brought into contact with the moving body in the second predetermined direction by the second predetermined air pressure to bias the moving body, and the fourth piston is brought into contact with the moving body in the second opposite direction by the second predetermined air pressure to bias the moving body in a third mode. When the moving body moves, depending on the moving direction, only one of the third piston and the fourth piston is slid in the third gap portion and brought into contact with the moving body in the second predetermined direction by the second predetermined air pressure to bias the moving body, or the fourth gap section is slid in the inner portion and brought into contact with the moving body in the second opposite direction by the second predetermined air pressure to bias the moving body in a fourth mode.

[0011] Furthermore, a fourth aspect of the present invention is characterized in that, in the biasing device of the third aspect, a position locking mechanism is provided for fixing the position of the moving body when the third piston and the fourth piston are in contact with and biasing the moving body.

Advantages of the Invention

[0012] According to the biasing device of the first aspect of the present invention, a rotating body, a first piston that can slide within a first gap portion in a first predetermined direction and a first opposite direction opposite to the first predetermined direction by a first predetermined air pressure, and can bias the rotating body in the first predetermined direction, and a second piston that can slide within a second gap portion in the first predetermined direction and the first opposite direction by the first predetermined air pressure, and can bias the rotating body in the first opposite direction. When the rotating body does not rotate, in a first mode, the first piston is brought into contact with and biased against the rotating body in the first predetermined direction by the first predetermined air pressure, and the second piston is brought into contact with and biased against the rotating body in the first opposite direction by the first predetermined air pressure. When the rotating body rotates, depending on the rotation direction, only one of the first piston and the second piston is slid within the first gap portion and brought into contact with and biased against the rotating body in the first predetermined direction by the first predetermined air pressure, or slid within the second gap section portion and brought into contact with and biased against the rotating body in the first opposite direction by the first predetermined air pressure, that is, a second mode is provided. Therefore, regardless of the angle of the rotating rotating body, a constant biasing force can be applied to the rotating body.

[0013] Further, according to the second aspect of the present invention, in the biasing device of the first aspect, since an angle locking mechanism for fixing the angle of the rotating body is provided in the first mode, in addition to the effect of the biasing device of the first aspect, a mechanism for fixing the rotating body can be selected.

[0014] Further, according to the third aspect of the present invention, in the biasing device of the first aspect or the second aspect, the first specifiedA moving body that can move in a second predetermined direction different from the direction and a second opposite direction opposite to the second predetermined direction, and a third air pressure that can slide in a third gap portion in the second predetermined direction and the second opposite direction by a second predetermined air pressure, and a third piston that can urge the moving body in the second predetermined direction, and a fourth piston that can slide in a fourth gap portion in the second predetermined direction and the second opposite direction by a second predetermined air pressure, and can urge the moving body in the second opposite direction. When the moving body does not move, the third piston is brought into contact with the moving body and urged in the second predetermined direction by the second predetermined air pressure, and the fourth piston is brought into contact with the moving body and urged in the second opposite direction by the second predetermined air pressure in the third mode. When the moving body moves, depending on the moving direction, only one of the third piston and the fourth piston is slid in the third gap portion and brought into contact with the moving body and urged in the second predetermined direction by the second predetermined air pressure, or the fourth gap section Inside is slid and urged against the moving body in the second opposite direction by a second predetermined air pressure in the fourth mode. Therefore, in addition to the effects of the biasing device of the first aspect or the second aspect, a constant biasing force can be applied to the moving body regardless of the position of the moving body that moves.

[0015] Furthermore, according to the fourth aspect of the present invention, in the biasing device of the third aspect, since a position locking mechanism for fixing the position of the moving body when the third piston and the fourth piston are in contact with and bias the moving body is provided, in addition to the effects of the biasing device of the third aspect, a mechanism for fixing the moving body can be selected.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

[0017] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0018] (Embodiment) First, an embodiment of the present invention will be described.

[0019] FIG. 1 is an overall side view of an ultrasonic machining apparatus according to one embodiment of the present invention.

[0020] As shown in FIG. 1, the ultrasonic machining apparatus 1 of the present embodiment includes a table 10, an articulated robot 3 fixed to the table 10, a workpiece machining device 5 rotatably connected to the tip of the articulated robot 3, a workpiece mounting table 16 provided on the table 10, an oscillator 2, a main controller 4, and a robot controller 6 arranged on the table 10, and an air compressor 14 (see FIG. 6) arranged outside the table 10.

[0021] Then, the ultrasonic machining apparatus 1 of the present embodiment processes the workpiece W installed on the workpiece mounting table 16 by ultrasonically vibrating in the vertical direction in the drawing by a vibrator 71 a cutter blade 69 with tapered ends whose both sides in the cross section are polished and connected to the tip of the workpiece machining device 5.

[0022] Note that an operation panel 8 is provided on the workpiece mounting table 16, and an operator of the ultrasonic machining apparatus 1 can operate the ultrasonic machining apparatus 1 by operating the operation panel 8.

[0023] The multi-joint robot 3 is a general 5-axis multi-joint robot that operates according to commands from the robot controller 6, and can freely change the position and angle of the workpiece processing device 5 to face the workpiece W.

[0024] The multi-joint robot 3 includes a first rotating shaft 44 for rotating the second base 34 with respect to the first base 32, a second rotating shaft 46 for rotating the lower arm portion (lower arm part) 36 back and forth with respect to the second base 34, a third rotating shaft 48 for rotating the middle arm portion (middle arm part) 38 up and down with respect to the lower arm portion 36, a fourth rotating shaft 50 for rotating the upper arm portion (upper arm part) 40 up and down with respect to the middle arm portion 38, and a fifth rotating shaft 52 for coaxially rotating the rotating part 42 with respect to the upper arm portion 40.

[0025] The multi-joint robot 3 is electrically connected to the robot controller 6 by a cable (not shown), and the robot controller 6 is electrically connected to the main controller 4 (see Fig. 6).

[0026] Fig. 2 is an overall perspective view of the workpiece processing device 5 provided in the ultrasonic processing device 1 of the present embodiment, Fig. 3 is a sectional view taken along line A-A of Fig. 2, Fig. 4 is a sectional view taken along line B-B of Fig. 2, showing a state where the cylinder for urging the cutter blade angle is turned on and no load is applied to the cutter blade (angle 0 degrees), Fig. 5 is a sectional view taken along line C-C of Fig. 2, showing a state where the cylinder for urging the cutter blade position is turned on and no load is applied to the cutter blade (angle 0 degrees).

[0027] The workpiece processing device 5 processes the workpiece W installed on the workpiece installation table 16 by ultrasonically vibrating the cutter blade 69 connected to its tip by the vibrator 71 electrically connected from the oscillator 2 via the cable 73.

[0028] As shown in FIGS. 2 to 5, the workpiece processing apparatus 5 includes a lower cutter blade angle changing mechanism 9, a first cutter blade angle biasing cylinder 75a, a second cutter blade angle biasing cylinder 75b, and a cutter blade angle locking cylinder 77, and an upper cutter blade position changing mechanism 7, a first cutter blade position biasing cylinder 79a, a second cutter blade position biasing cylinder 79b, and a cutter blade position locking cylinder 81.

[0029] As shown in FIGS. 3 and 4, the cutter blade angle changing mechanism 9 includes a base shaft 11 fixed to the workpiece processing apparatus 5, a rotating body 13 rotatably connected to the base shaft 11 and to which a vibrator 71 and a cutter blade 69 are connected, a first protrusion 83 provided on the rotating body 13 and capable of abutting against a third protrusion 87 described later, a second protrusion 85 provided on the opposite side of the first protrusion 83 of the rotating body 13 and capable of abutting against a fourth protrusion 89 described later, a recess 91 provided on the rotating body 13 and into which a locking pin 39 described later is fitted, and a gap portion 15 formed such that the rotating body 13 can rotate.

[0030] The first cutter blade angle biasing cylinder 75a biases the rotating body 13 against the rotational force of the rotating body 13 rotating counterclockwise in plan view, and includes a first housing 17 having a gap portion 21 therein, a piston 19 slidably disposed in the gap portion 21 of the first housing 17, and a third protrusion 87 connected to the tip of the piston 19. The gap portion 21 of the first housing 17 and an air compressor 14 (see FIG. 6) are communicated with each other by a connection tube 23.

[0031] In addition, the second cutter blade angle biasing cylinder 75b biases the rotating body 13 against the rotational force of the rotating body 13 rotating clockwise in plan view, and includes a second housing 25 having a gap portion 29 therein, a piston 27 slidably disposed in the gap portion 29 of the second housing 25, and a fourth protrusion 89 connected to the tip of the piston 27. The gap portion 29 of the second housing 25 and an air compressor 14 (see FIG. 6) are communicated with each other by a connection tube 31.

[0032] Note that the first cutter blade angle biasing cylinder 75a, the second first cutter blade angle biasing cylinder 75b, the connection tube 23, the connection tube 31, and the air compressor 14 constitute the "cutter blade angle biasing mechanism" of the present invention.

[0033] Furthermore, the cutter blade angle locking cylinder 77 stops the rotation of the rotating body 13, and includes a third housing 33 having a gap portion 37 (see FIG. 12) inside, a piston 35 slidably disposed in the gap portion 37 of the third housing 33, and a lock pin 39 connected to the tip of the piston 35. The gap portion 37 of the third housing 33 and the air compressor 14 (see FIG. 6) are communicated by a connection tube 41 and a connection tube 43.

[0034] Note that the cutter blade angle locking cylinder 77, the connection tube 41, the connection tube 43, and the air compressor 14 constitute the "cutter blade angle locking mechanism" of the present invention.

[0035] As shown in FIGS. 3 and 5, the cutter blade position changing mechanism 7 includes a base 92 fixed to the workpiece processing apparatus 5, a moving body 90 movably connected to the base 92, a seventh protrusion 97 provided on the moving body 90 and capable of abutting against a fifth protrusion 95 described later, an eighth protrusion 98 provided on the moving body 90 and capable of abutting against a sixth protrusion 99 described later, and a recess 93 provided on the moving body 90 and engaged with a lock pin 67 described later.

[0036] The first cutter blade position biasing cylinder 79a includes a fourth housing 45 having a gap portion 49 inside, a piston 47 slidably disposed in the gap portion 49 of the fourth housing 45, and a fifth protrusion 95 connected to the tip of the piston 47. The gap portion 49 of the fourth housing 45 and the air compressor 14 (see FIG. 6) are communicated by a connection tube 51.

[0037] Further, the second cutter blade biasing cylinder 79b includes a fifth housing 53 having an air gap 57 therein, a piston 55 slidably disposed within the air gap 57 of the fifth housing 53, and a sixth protrusion 99 connected to the tip of the piston 55. The air gap 57 of the fifth housing 53 and the air compressor 14 (see FIG. 6) are communicated with each other by a connecting tube 59.

[0038] Note that the first cutter blade biasing cylinder 79a, the second cutter blade biasing cylinder 79b, the connecting tube 51, the connecting tube 59, and the air compressor 14 constitute the "cutter blade biasing mechanism" of the present invention.

[0039] Furthermore, the cutter blade locking cylinder 81 includes a sixth housing 61 having an air gap 65 (see FIG. 16) therein, a piston 63 slidably disposed within the air gap 65 (see FIG. 16) of the sixth housing 61, and a lock pin 67 connected to the tip of the piston 63. The air gap 65 (see FIG. 16) of the sixth housing 61 and the air compressor 14 (see FIG. 6) are communicated with each other by a connecting tube 94 and a connecting tube 96.

[0040] Note that the cutter blade locking cylinder 81, the connecting tube 94, the connecting tube 96, and the air compressor 14 constitute the "cutter blade locking mechanism" of the present invention.

[0041] Next, a block diagram of the ultrasonic machining apparatus 1 of the present embodiment will be described.

[0042] FIG. 6 is a block diagram of the ultrasonic machining apparatus of the present embodiment, and FIG. 7 is a block diagram of the main controller of the ultrasonic machining apparatus of the present embodiment.

[0043] In FIG. 6, the ultrasonic machining apparatus 1 includes a main controller 4 electrically connected to a power source 12, an air compressor 14 electrically connected to the main controller 4 for driving a first cutter blade angle biasing cylinder 75a, a second first cutter blade angle biasing cylinder 75b, a cutter blade angle locking cylinder 77, a first cutter blade position biasing cylinder 79a, a second cutter blade position biasing cylinder 79b, and a cutter blade position locking cylinder 81, a robot controller 6 electrically connected to the main controller 4 for controlling the articulated robot 3, an oscillator 2 for driving the vibrator 71, and an operation panel 8 for receiving an input from an operator of the apparatus.

[0044] In the present embodiment, the first cutter blade angle biasing cylinder 75a and the second first cutter blade angle biasing cylinder 75b may be collectively referred to as the "cutter blade angle biasing cylinder 75", and the first cutter blade position biasing cylinder 79a and the second cutter blade position biasing cylinder 79b may be collectively referred to as the "cutter blade position biasing cylinder 79".

[0045] Also, in FIG. 7, the main controller 4 includes a CPU (Central Processing Unit) 22, a RAM (Random Access Memory) 24 that is input / output connected to the CPU 22, and a ROM (Read Only Memory) 26 that is input / output connected to the CPU 22.

[0046] The RAM 24 includes a machining data table 24a that stores machining data for machining the workpiece W, and a machining mode data table 24b that stores setting items corresponding to a machining mode, which will be described later, when the ultrasonic machining apparatus 1 machines the workpiece W.

[0047] The ROM 26 includes a main program 26a that controls the operation of the entire ultrasonic machining apparatus 1 of the present embodiment, and an ultrasonic machining program 26b that executes ultrasonic machining of the ultrasonic machining apparatus 1 according to a machining mode, which will be described later.

[0048] Next, the operation of the ultrasonic processing apparatus 1 having the above-described configuration will be described.

[0049] FIG. 8 is a flowchart of the main program in the ultrasonic processing apparatus of the present embodiment, and FIG. 9 is a flowchart of the ultrasonic processing program in the ultrasonic processing apparatus of the present embodiment.

[0050] As described above, the ultrasonic processing apparatus 1 of the present embodiment processes the workpiece W installed on the workpiece mounting table 16 by ultrasonically vibrating the cutter blade 69 connected to the tip of the workpiece processing apparatus 5 by the vibrator 71.

[0051] Further, the ultrasonic processing apparatus 1 of the present embodiment includes four processing modes as processing modes for processing the workpiece W.

[0052] Specifically, the ultrasonic processing apparatus 1 of the present embodiment includes a first processing mode in which the cutter blade 69 is energized with the cutter blade angle biasing cylinder 75 and the cutter blade position biasing cylinder 79 turned on to process the workpiece W, and a second processing mode in which the cutter blade 69 is energized with the cutter blade angle locking cylinder 77 and the cutter blade position biasing cylinder 79 turned on to process the workpiece W, and a third processing mode in which the cutter blade 69 is energized with the cutter blade angle biasing cylinder 75 and the cutter blade position locking cylinder 81 turned on to process the workpiece W, and a fourth processing mode in which the workpiece W is processed without energizing the cutter blade 69 with the cutter blade angle locking cylinder 77 and the cutter blade position locking cylinder 81 turned on.

[0053] In Fig. 8, first, after the operator of the device turns on the power switch, when the operator inputs the number of workpieces W to be processed and the processing mode by operating the operation buttons on the operation panel 8 and presses the start button, the ultrasonic processing device 1 moves the arm of the articulated robot 3 to the initial position (S1), sets the number of workpieces W to be processed (S3), extracts setting items from the processing mode data table 24b based on the input processing mode (S5), and executes an ultrasonic processing program described later (S7).

[0054] (First processing mode) First, it is assumed that the first processing mode for processing the workpiece W is set with the cutter blade angle biasing cylinder 75 and the cutter blade position biasing cylinder 79 turned on to bias the cutter blade 69. The first processing mode is the optimal processing mode when processing a workpiece W with a complex processing shape.

[0055] In Fig. 9, in the ultrasonic processing program, first, after acquiring the processing data from the processing data table 24a (S21), it is determined whether the processing mode is the cutter blade angle biasing mode (S23).

[0056] Since the first processing mode uses the cutter blade angle biasing mode (S23: Yes), the first cutter blade angle biasing cylinder 75a and the second cutter blade angle biasing cylinder 75b are turned on (S25), and it is determined whether the processing mode is the cutter blade position biasing mode (S29).

[0057] Since the first processing mode uses the cutter blade position biasing mode (S29: Yes), the first cutter blade position biasing cylinder 79a and the second first cutter blade position biasing cylinder 79b are turned on (S31).

[0058] Note that Fig. 4 described above shows a state (angle 0 degrees) in which the first cutter blade angle biasing cylinder 75a and the second first cutter blade angle biasing cylinder 75b are turned on and no load is applied to the cutter blade.

[0059] Specifically, with reference to FIG. 4, when the first cutter blade angle biasing cylinder 75a is turned on and air is injected from the air compressor 14 through the connection tube 23 into the gap portion 21 of the first housing 17 of the first cutter blade angle biasing cylinder 75a, the piston 19 moves downward in the vertical direction of the drawing, and the third protrusion 87 connected to the tip of the piston 19 abuts against the first protrusion 83 provided on the rotating body 13.

[0060] Also, when the second cutter blade angle biasing cylinder 75b is turned on and air is injected from the air compressor 14 through the connection tube 31 into the gap portion 29 of the second housing 25 of the second cutter blade angle biasing cylinder 75b, the piston 27 moves upward in the upper side of the drawing, and the fourth protrusion 89 connected to the tip of the piston 27 abuts against the second protrusion 85 provided on the rotating body 13.

[0061] In this way, when the first cutter blade angle biasing cylinder 75a and the second cutter blade angle biasing cylinder 75b are turned on, although the rotating body 13 can rotate in the clockwise and counterclockwise directions with respect to the base axis 11 in the drawing, when the rotating body 13 is biased by the third protrusion 87 connected to the tip of the piston 19 and the fourth protrusion 89 connected to the tip of the piston 27, if no load is applied to the cutter blade 69, the cutter blade 69 will be in a stable state at the position of 0 degrees (see FIG. 13).

[0062] Returning to the ultrasonic processing program, when the setting of the processing mode is completed, next, it is determined whether the workpiece W is set on the workpiece mounting table 16 (S35). If the workpiece W is not set on the workpiece mounting table 16 (S35: No), it waits until the workpiece W is set on the workpiece mounting table 16. If the workpiece W is set on the workpiece mounting table 16 (S35: Yes), the oscillator 2 is driven to ultrasonically vibrate the vibrator 71 connected to the cutter blade 69 (S37).

[0063] Next, each arm of the articulated robot 3 is moved so that the cutter blade 69 is positioned at the machining start position with respect to the workpiece W (S39), and the cutter blade 69 is moved to machine the workpiece W (S41).

[0064] Here, the operation inside the workpiece machining apparatus 5 will be described in the first machining mode in which the cutter blade 69 is biased while the cutter blade angle biasing cylinder 75 and the cutter blade position biasing cylinder 79 are turned ON to machine the workpiece W.

[0065] FIG. 10 is a view showing a state (angle +θ1 degrees) in which the cutter blade angle biasing cylinder is turned ON, a load is applied to the cutter blade, and the cutter blade rotates by the maximum angle in the counterclockwise direction in the B - B cross - sectional view of FIG. 2. FIG. 11 is a view showing a state (angle -θ1 degrees) in which the cutter blade angle biasing cylinder is turned ON, a load is applied to the cutter blade, and the cutter blade rotates by the maximum angle in the clockwise direction in the B - B cross - sectional view of FIG. 2. FIG. 13 is a view of the attached cutter blade seen from below and is an explanatory view for explaining the relationship between the cutter blade and the rotation direction of the cutter blade.

[0066] As described above, FIG. 4 shows a state where no load is applied to the cutter blade 69. However, in the first machining mode, when the cutter blade 69 receives a rotational load from the workpiece W during machining of the workpiece W by the workpiece machining apparatus 5, the cutter blade 69 is configured to be rotatable within a range of ± several degrees (maximum ± 5°).

[0067] However, the rotating body 13 is in a state where the third protrusion 87 connected to the tip of the piston 19 abuts on the first protrusion 83 provided on the rotating body 13 and the fourth protrusion 89 connected to the tip of the piston 27 abuts on the second protrusion 85 provided on the rotating body 13 when the first cutter blade angle biasing cylinder 75a and the second cutter blade angle biasing cylinder 75b are turned ON, and is always biased toward the position of angle 0 degrees (see FIG. 13) and is rotatable in that state.

[0068] For example, as shown in FIG. 10, with the first cutter blade angle biasing cylinder 75a and the second first cutter blade angle biasing cylinder 75b turned on, a rotational load is applied to the cutter blade 69. The first protrusion 83 provided on the rotating body 13 continuously presses the third protrusion 87 connected to the tip of the piston 19. When the cutter blade 69 rotates by the maximum angle in the counterclockwise direction on the drawing (angle +θ1 degrees), the first protrusion 83 provided on the rotating body 13 abuts against the third protrusion 87 connected to the tip 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 tip of the piston 27.

[0069] When the first protrusion 83 provided on the rotating body 13 continuously presses the third protrusion 87 connected to the tip of the piston 19, the first protrusion 83 that abuts against the third protrusion 87 is biased by a force f1 in the -θ direction from the third protrusion 87. Note that 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.

[0070] On the other hand, for example, as shown in FIG. 11, with the first cutter blade angle biasing cylinder 75a and the second first cutter blade angle biasing cylinder 75b turned on, a rotational load is applied to the cutter blade 69. The second protrusion 85 provided on the rotating body 13 continuously presses the fourth protrusion 89 connected to the tip of the piston 27. When the cutter blade 69 rotates by the maximum angle in the clockwise direction on the drawing (angle -θ1 degrees), the second protrusion 85 provided on the rotating body 13 abuts against the fourth protrusion 89 connected to the tip 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 tip of the piston 19.

[0071] When the second protrusion 85 provided on the rotating body 13 continues to press the fourth protrusion 89 connected to the tip of the piston 27, the second protrusion 85 in contact with the fourth protrusion 89 is biased by a force f1 in the +θ direction from the fourth protrusion 89. Note that 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 is in contact with the fourth protrusion 89.

[0072] FIG. 14 is a view showing a state (angle +X1 mm) in which the cutter blade position biasing cylinder is turned ON in the C-C cross-sectional view of FIG. 2, a load is applied to the cutter blade, and the cutter blade has been displaced maximally in the +X direction. FIG. 15 is a view showing a state (angle -X1 mm) in which the cutter blade position biasing cylinder is turned ON in the C-C cross-sectional view of FIG. 2, a load is applied to the cutter blade, and the cutter blade has been displaced maximally in the -X direction.

[0073] As described above, FIG. 5 shows a state (position 0 mm) in which the first cutter blade position biasing cylinder 79a and the second cutter blade position biasing cylinder 79b are turned ON and no load is applied to the cutter blade. However, in the first machining mode, when the cutter blade 69 receives a load from the workpiece W during machining of the workpiece W by the workpiece machining apparatus 5, the cutter blade 69 is configured to be movable within a range of ± several mm (maximum ±5 mm).

[0074] However, when the first cutter blade position biasing cylinder 79a and the second cutter blade position biasing cylinder 79b are turned ON, the moving body 90 is such that the seventh protrusion 97 provided on the moving body 90 comes into contact with the fifth protrusion 95 connected to the tip of the piston 47, and the eighth protrusion 98 provided on the moving body 90 comes into contact with the sixth protrusion 99 connected to the tip of the piston 55. Thus, the moving body 90 is always biased toward the position of 0 mm (see FIG. 14) and is movable in that state.

[0075] For example, as shown in FIG. 14, with the first cutter blade positioning cylinder 79a and the second cutter blade positioning cylinder 79b turned on, a load is applied to the cutter blade 69, and the eighth protrusion 98 provided on the moving body 90 continuously presses the sixth protrusion 99 connected to the tip of the piston 55. When the cutter blade 69 has undergone a maximum displacement movement in the +X direction (angle +X 1 mm), the eighth protrusion 98 provided on the moving body 90 abuts against the sixth protrusion 99 connected to the tip of the piston 55, but the seventh protrusion 97 provided on the moving body 90 does not abut against the fifth protrusion 95 connected to the tip of the piston 47.

[0076] When the eighth protrusion 98 provided on the moving body 90 continuously presses the sixth protrusion 99 connected to the tip of the piston 55, the eighth protrusion 98 abutting against the sixth protrusion 99 is biased by a force f2 in the -X direction from the sixth protrusion 99. Note that 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.

[0077] On the other hand, for example, as shown in FIG. 15, with the first cutter blade positioning cylinder 79a and the second cutter blade positioning cylinder 79b turned on, a load is applied to the cutter blade 69, and the seventh protrusion 97 provided on the moving body 90 continuously presses the fifth protrusion 95 connected to the tip of the piston 47. When the cutter blade 69 has undergone a maximum displacement movement in the -X direction (angle -X 1 mm), the seventh protrusion 97 provided on the moving body 90 abuts against the fifth protrusion 95 connected to the tip of the piston 47, but the eighth protrusion 98 provided on the moving body 90 does not abut against the sixth protrusion 99 connected to the tip of the piston 55.

[0078] When the seventh protrusion 97 provided on the moving body 90 continuously presses the fifth protrusion 95 connected to the tip of the piston 47, the seventh protrusion 97 abutting against the fifth protrusion 95 is biased by a force f2 in the +X direction from the fifth protrusion 95. Note that 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.

[0079] Return to the ultrasonic machining program, and it is determined whether the machining of the workpiece W is completed (S43). If the machining of the workpiece W is not completed (S43: No), the movement (machining) of the cutter blade 69 is continued (S41). If the machining of the workpiece W is completed (S43: Yes), return to the main program (S45).

[0080] (Second machining mode) Next, the second machining mode of energizing the cutter blade 69 with the cutter blade angle locking cylinder 77 and the cutter blade position biasing cylinder 79 turned on and machining the workpiece W will be described. The second machining mode is used when machining at a higher speed than the first mode.

[0081] In FIG. 9, in the ultrasonic machining program, first, after acquiring machining data from the machining data table 24a (S21), it is determined whether the machining mode is the cutter blade angle biasing mode (S23).

[0082] Since the second machining mode does not use the cutter blade angle biasing mode (S23: No), the first cutter blade angle locking cylinder 77 is turned on (S27), and it is determined whether the machining mode is the cutter blade position biasing mode (S29).

[0083] Since the second machining mode uses the cutter blade position biasing mode (S29: Yes), the first cutter blade position biasing cylinder 79a and the second first cutter blade position biasing cylinder 79b are turned on (S31).

[0084] FIG. 12 is a view showing a state (angle 0 degrees) in which the cutter blade angle locking cylinder is turned on and the angle of the cutter blade is fixed in the B-B cross-sectional view of FIG. 2.

[0085] Specifically, referring to Fig. 12, when the cylinder 77 for locking the cutter blade angle is turned on and air is injected from the air compressor 14 through the connecting tube 41 and the connecting tube 43 into the gap 37 of the third housing 33 of the cylinder 77 for locking the cutter blade angle, the piston 35 moves to the left side in the drawing, and the lock pin 39 connected to the tip of the piston 35 fits into the recess 91 provided in the rotating body 13.

[0086] In this way, when the cylinder 77 for locking the cutter blade angle is turned on, the rotating body 13 is fixed by the lock pin 39, and the cutter blade 69 is fixed at the position of 0 degrees (see Fig. 13).

[0087] Returning to the ultrasonic processing program, when the setting of the processing mode is completed, next, it is determined whether or not the workpiece W is set on the workpiece mounting table 16 (S35). If the workpiece W is not set on the workpiece mounting table 16, it waits for the workpiece W to be set on the workpiece mounting table 16 (S35: No). If the workpiece W is set on the workpiece mounting table 16 (S35: Yes), the oscillator 2 is driven to ultrasonically vibrate the vibrator 71 connected to the cutter blade 69 (S37).

[0088] Next, each arm of the articulated robot 3 is moved so that the cutter blade 69 is positioned at the machining start position with respect to the workpiece W (S39), and the cutter blade 69 is moved to ultrasonically machine the workpiece W (S41).

[0089] Regarding the operation inside the workpiece machining apparatus 5 when machining the workpiece W while biasing the cutter blade 69 with the cylinder 79 for biasing the cutter blade position in the ON state, it is as described above with reference to Figs. 5, 14, and 15.

[0090] Therefore, in the second processing mode, the processing apparatus 5 fixes the angle of the cutter blade 69 at 0 degrees and biases the cutter blade 69 toward the position of 0 mm with a constant force f2 with respect to the workpiece W, and then machines the workpiece W.

[0091] Then, it is determined whether the machining of the workpiece W is completed (S43). If the machining of the workpiece W is not completed (S43: No), the movement (machining) of the cutter blade 69 is continued (S41). If the machining of the workpiece W is completed (S43: Yes), the process returns to the main program (S45).

[0092] (Third machining mode) Next, a third machining mode in which the cutter blade 69 is biased with the cutter blade angle biasing cylinder 75 and the cutter blade position locking cylinder 81 turned on to machine the workpiece W will be described. Note that the third machining mode is also an appropriate machining mode when machining a workpiece W with a complex machining shape, but it is used when machining at a higher speed than the first machining mode.

[0093] In FIG. 9, in the ultrasonic machining program, first, after obtaining machining data from the machining data table 24a (S21), it is determined whether the machining mode is the cutter blade angle biasing mode (S23).

[0094] Since the third machining mode uses the cutter blade angle biasing mode (S23: Yes), the first cutter blade angle biasing cylinder 75a and the second cutter blade angle biasing cylinder 75b are turned on (S25), and it is determined whether the machining mode is the cutter blade position biasing mode (S29).

[0095] Since the third machining mode does not use the cutter blade position biasing mode (S29: No), the cutter blade position locking cylinder 81 is turned on (S33).

[0096] FIG. 16 is a view showing a state (displacement 0 mm) in which the cutter blade position locking cylinder is turned on and the position of the cutter blade is fixed in the C-C cross-sectional view of FIG. 2.

[0097] Specifically, referring to FIG. 16, when the cylinder 81 for locking the cutter blade position is turned on and air is injected from the air compressor 14 through the connection tube 94 and the connection tube 96 into the gap 65 of the sixth housing 61 of the cylinder 81 for locking the cutter blade position, the piston 63 moves to the left side in the drawing, and the lock pin 67 connected to the tip of the piston 63 engages with the recess 93 provided in the moving body 90.

[0098] In this way, when the cylinder 81 for locking the cutter blade position is turned on, the moving body 90 is fixed by the lock pin 67, and the cutter blade 69 is fixed at the position of 0 mm (see FIG. 16 etc.).

[0099] Returning to the ultrasonic processing program, when the setting of the processing mode is completed, next, it is determined whether or not the workpiece W is set on the workpiece mounting table 16 (S35). If the workpiece W is not set on the workpiece mounting table 16, it waits for the workpiece W to be set on the workpiece mounting table 16 (S35: No). If the workpiece W is set on the workpiece mounting table 16 (S35: Yes), the oscillator 2 is driven to ultrasonically vibrate the vibrator 71 connected to the cutter blade 69 (S37).

[0100] Next, each arm of the articulated robot 3 is moved so that the cutter blade 69 is positioned at the machining start position with respect to the workpiece W (S39), and the cutter blade 69 is moved to ultrasonically machine the workpiece W (S41).

[0101] Regarding the operation inside the workpiece machining apparatus 5 when machining the workpiece W by biasing the cutter blade 69 with the first cutter blade angle biasing cylinder 75a and the second cutter blade angle biasing cylinder 75b in the ON state, it is as described above with reference to FIGS. 4, 10, 11, and 13.

[0102] Therefore, in the third processing mode, the processing apparatus 5 fixes the position of the cutter blade 69 at 0 mm, and biases the cutter blade 69 toward the workpiece W with a constant force f1 at an angle of 0 degrees to machine the workpiece W.

[0103] Then, it is determined whether the machining of the workpiece W is completed (S43). If the machining of the workpiece W is not completed (S43: No), the movement (machining) of the cutter blade 69 is continued (S41). If the machining of the workpiece W is completed (S43: Yes), the process returns to the main program (S45).

[0104] (Fourth machining mode) Finally, a fourth machining mode in which the workpiece W is machined without urging the cutter blade 69 with the cutter blade angle locking cylinder 77 and the cutter blade position locking cylinder 81 turned on will be described. The fourth machining mode is used when machining at the highest speed.

[0105] In FIG. 9, in the ultrasonic machining program, first, after acquiring machining data from the machining data table 24a (S21), it is determined whether the machining mode is the cutter blade angle urging mode (S23).

[0106] Since the fourth machining mode does not use the cutter blade angle urging mode (S23: No), the cutter blade angle locking cylinder 77 is turned on (S27), and it is determined whether the machining mode is the cutter blade position urging mode (S29).

[0107] Also, since the fourth machining mode does not use the cutter blade position urging mode either (S29: No), the cutter blade position locking cylinder 81 is turned on (S33).

[0108] Then, when the setting of the machining mode is completed, next, it is determined whether the workpiece W is set on the workpiece mounting table 16 (S35). If the workpiece W is not set on the workpiece mounting table 16, it waits for the workpiece W to be set on the workpiece mounting table 16 (S35: No). If the workpiece W is set on the workpiece mounting table 16 (S35: Yes), the oscillator 2 is driven to ultrasonically vibrate the vibrator 71 connected to the cutter blade 69 (S37).

[0109] Next, each arm of the articulated robot 3 is moved so that the cutter blade 69 is positioned at the machining start position with respect to the workpiece W (S39), and the cutter blade 69 is moved to machine the workpiece W (S41).

[0110] Regarding the operation inside the workpiece machining apparatus 5 when machining the workpiece W without biasing the cutter blade 69 with the cutter blade angle locking cylinder 77 turned ON, it is as described above with reference to FIGS. 4 and 12.

[0111] Also, regarding the operation inside the workpiece machining apparatus 5 when machining the workpiece W without biasing the cutter blade 69 with the cutter blade position locking cylinder 81 turned ON, it is as described above with reference to FIGS. 5 and 16.

[0112] Therefore, in the fourth machining mode, the machining apparatus 5 fixes the angle of the cutter blade 69 at 0 degrees and the position of the cutter blade 69 at 0 mm, and machines the workpiece W.

[0113] Then, it is determined whether or not the machining of the workpiece W is completed (S43). If the machining of the workpiece W is not completed (S43: No), the movement (machining) of the cutter blade 69 is continued (S41). If the machining of the workpiece W is completed (S43: Yes), the process returns to the main program (S45).

[0114] When returning to the main program in FIG. 8, the oscillator 2 is turned OFF to stop the ultrasonic vibration of the vibrator 71 connected to the cutter blade 69 (S9), and all cylinders of the first cutter blade angle biasing cylinder 75a, the second cutter blade angle biasing cylinder 75b, the cutter blade angle locking cylinder 77, the first cutter blade position biasing cylinder 79a, the second cutter blade position biasing cylinder 79b, and the cutter blade position locking cylinder 81 are turned OFF (S11).

[0115] After moving the arm of the multi-joint robot 3 to the initial position (S13), it is determined whether the processed workpiece W has been removed from the workpiece mounting table 16 (S15). If it is determined that the workpiece W has not been removed (S15: No), it waits for the workpiece W to be removed. If it is determined that the workpiece W has been removed (S15: Yes), it is further determined whether the number of processed workpieces W has reached the number of processes input on the operation panel 8 (S17).

[0116] Here, if it is determined that the number of processed workpieces W has not reached the number of processes input on the operation panel 8 (S17: No), the ultrasonic processing program is executed again. If it is determined that the number of processed workpieces W has reached the number of processes input on the operation panel 8 (S17: Yes), the process is terminated (S19).

[0117] According to the workpiece processing apparatus 5 of the present embodiment, for those that process the workpiece W using the cutter blade 69, in particular, a cutter blade angle changing mechanism 9 capable of changing the angle of the cutter blade 69 with respect to the advancing direction according to the shape of the workpiece W, and a first cutter blade angle biasing cylinder 75a and a second first cutter blade angle biasing cylinder 75b that bias the cutter blade angle changing mechanism 9 against the changing direction of the angle of the cutter blade 69 are provided. Therefore, even for a workpiece W with a complex processing shape, the cutter blade 69 can be effectively pressed against and processed.

[0118] Further, according to the workpiece processing apparatus 5 of the present embodiment, the first cutter blade angle biasing cylinder 75a and the second first cutter blade angle biasing cylinder 75b bias the cutter blade angle changing mechanism 9 with a substantially constant biasing force f1 regardless of the angle of the cutter blade 69. Therefore, even for a workpiece W with a complex processing shape, the cutter blade 69 can be further effectively pressed against and processed.

[0119] Further, according to the workpiece processing apparatus 5 of the present embodiment, the cutter blade 69 is provided with a cutter blade position changing mechanism 7 capable of changing the position of the cutter blade 69 in a certain direction with respect to the workpiece W according to the shape of the workpiece W, and a first cutter blade position biasing cylinder 79a and a second cutter blade position biasing cylinder 79b that bias the cutter blade position changing mechanism 7 against the changing direction of the position of the cutter blade 69. Therefore, even for a workpiece W having a complex processing shape, the cutter blade 69 can be more effectively pressed against the workpiece W for processing.

[0120] Further, according to the workpiece processing apparatus 5 of the present embodiment, since it is provided with a cutter blade angle locking cylinder 77 for fixing the rotation angle of the rotating body 13, according to the shape of the workpiece W, a mechanism for effectively pressing the cutter blade 69 can be selected to process the workpiece W.

[0121] Further, according to the workpiece processing apparatus 5 of the present embodiment, since it is provided with a cutter blade position locking cylinder 81 for fixing the position of the cutter blade 69 in a certain direction with respect to the workpiece W, according to the shape of the workpiece W, a mechanism for effectively pressing the cutter blade 69 can be further selected to process the workpiece W.

[0122] Furthermore, according to the ultrasonic processing apparatus 1 of the present embodiment, since the cutter blade 69 is ultrasonically vibrated in a direction intersecting the direction of angle change to process the workpiece W, the workpiece can be processed more precisely.

[0123] As described above, the ultrasonic processing apparatus and the workpiece processing apparatus in the embodiment of the present invention have been described. However, the present invention is not limited to the above embodiment, and various modifications can be made and implemented without departing from the gist thereof.

[0124] For example, although the vibrator 71 used in the above-described embodiment has been described as vibrating the cutter blade 69 in the vertical direction in the drawing, it is not limited thereto, and it may be a direction intersecting the rotation direction of the rotating body 13, or may be a direction intersecting the moving direction of the moving body 90.

[0125] Also, although the cutter blade 69 used in the above-described embodiment was described using a cutter blade with both-sided polishing, a cutter blade with one-sided polishing can also be used considering the machining direction.

Explanation of Reference Numerals

[0126] 1 ··· Ultrasonic machining device 2 ··· Oscillator 3 ··· Articulated robot 5 ··· Work machining device 6 ··· Robot controller 7 ··· Cutter blade position changing mechanism 9 ··· Cutter blade angle changing mechanism 14 ··· Air compressor 69 ··· Cutter blade 71 ··· Vibrator 75 ··· Cylinder for urging cutter blade angle 77 ··· Cylinder for locking cutter blade angle 79 ··· Cylinder for urging cutter blade position 81 ··· Cylinder for locking cutter blade position W ··· Workpiece

Claims

1. A rotating body, A first piston that can slide within a first gap portion in a first predetermined direction and a first opposite direction opposite to the first predetermined direction by a first predetermined air pressure, and can urge the rotating body in the first predetermined direction; A second piston that can slide within a second gap portion in the first predetermined direction and the first opposite direction by the first predetermined air pressure, and can urge the rotating body in the first opposite direction; Comprising: When the rotating body does not rotate, the first piston is brought into contact with and urged against the rotating body in the first predetermined direction by the first predetermined air pressure, and the second piston is brought into contact with and urged against the rotating body in the first opposite direction by the first predetermined air pressure, a first mode; When the rotating body rotates, depending on the rotation direction, only one of the first piston and the second piston is slid within the first gap portion and brought into contact with and urged against the rotating body in the first predetermined direction by the first predetermined air pressure, or slid within the second gap portion and brought into contact with and urged against the rotating body in the first opposite direction by the first predetermined air pressure, a second mode; An urging device characterized by comprising the above.

2. The urging device according to claim 1, further comprising an angle locking mechanism for fixing the angle of the rotating body in the first mode.

3. A moving body movable in a second predetermined direction different from the first predetermined direction and a second opposite direction opposite to the second predetermined direction, A third piston that can slide within a third gap portion in the second predetermined direction and the second opposite direction by a second predetermined air pressure, and can urge the moving body in the second predetermined direction; A fourth piston that can slide within a fourth gap portion in the second predetermined direction and the second opposite direction by the second predetermined air pressure, and can urge the moving body in the second opposite direction; Comprising: When the moving body does not move, the third piston is brought into contact with and urged against the moving body in the second predetermined direction by the second predetermined air pressure, and the fourth piston is brought into contact with and urged against the moving body in the second opposite direction by the second predetermined air pressure, a third mode; When the moving body moves, depending on the moving direction, only one of the third piston and the fourth piston is slid within the third gap portion and abutted against the moving body in the second predetermined direction by the second predetermined air pressure to bias the moving body, or slid within the fourth gap portion and abutted against the moving body in the opposite direction of the second by the second predetermined air pressure to bias the moving body, a fourth mode; The biasing device according to claim 1 or 2, characterized by comprising the above.

4. The biasing device according to claim 3, characterized by comprising a position locking mechanism for fixing the position of the moving body when the third piston and the fourth piston are in contact with and biasing the moving body.

Images