JP2002200505A - Hole finishing equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem in generating deviation at the position of an objective hole wherein uniform chamfering and finishing can not be performed by deviating the position of an edged tool from the position of a hole and deviation is generated in a machining position. SOLUTION: Pressing force at the time of machining is kept constant so that fixed finishing amount may be obtained by even a robot 100 in bore finishing with slight deviation at the position of the hole by providing a device base part 1 mounted on the robot 100 performing bore finishing, a linear moving mechanism 5 for slidably supporting an electric drill 3 in a pressing direction at the time of working and a tension spring for adjusting pressing force of the electric drill 3 by the linear moving mechanism 5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hole finishing apparatus suitable for performing a finishing operation such as chamfering or deburring by a processing device such as a robot on the front and back of a hole provided in a flat plate or the like. .

[0002]

2. Description of the Related Art Conventionally, since holes formed in a flat plate or the like are formed by a cutting tool such as a drill, burrs or the like are generated at the corners of the front and back portions. Therefore, the deburring work is performed. For example, there is an absorption refrigerator as an apparatus using such a flat plate or the like. Inside the absorption refrigerator, a tube sheet for providing a heat transfer tube used for heat exchange is provided, and this tube sheet usually fixes both ends and an intermediate portion of the heat transfer tube formed of a copper thin tube. It is provided as follows.

[0003] Such holes provided in the tube sheet are subjected to deburring and chamfering after drilling so that the thin tube can be inserted easily and without damage. However, this processing operation is a simple operation and requires a great deal of labor and time because the number of holes per one tube sheet is very large, so that automation is required. When such a work is performed by a robot, a drill is directly attached to the hand of the robot, and the position of the hand of the robot is controlled to perform deburring and chamfering of each hole.

However, the control of the hand of the robot is
Since machining is performed by controlling the actuator with the control device according to the action program set in advance according to the work, if the position of the target hole is misaligned, the position of the cutting tool will be misaligned from the hole position and will be misaligned to the machining position. Will occur.

[0005] If the machining position is displaced in this way, the center of the cutting tool is deviated from the center of the hole, resulting in uneven machining.
Uniform chamfering and finishing cannot be performed. In addition, if the amount of displacement occurs in the pressing direction of the cutting tool, the processing amount is affected, and even if the position of the cutting tool is controlled to a predetermined position, a processing defect such as over-processing or non-processing occurs. For example, when the workpiece to be chamfered by 0.3 mm is distorted by 1 to 2 mm in the pressing direction, the distortion may be excessively processed or may remain unprocessed. Moreover, when the processing position is shifted,
Depending on the processing speed, an excessive force acts on the cutting tool, which may damage the cutting tool.

[0006] As a prior art of this kind, Japanese Patent Laid-Open Publication No.
There is an automatic chamfering apparatus for steel members described in JP-A-224191. This apparatus performs a chamfering operation on a hole after detecting the position of the hole from above the center axis of the hole by using image processing. However, in the case of this chamfering device, image processing is used for detecting the hole position, so that it becomes expensive. In addition, the amount of displacement in the pressing direction due to distortion of the workpiece cannot be corrected, so that the above-described processing failure occurs.

[0007] Another conventional technique is disclosed in Japanese Patent Laid-Open No. 2-1.
There is a chamfering device described in Japanese Patent No. 90206. This apparatus is intended to perform processing without bias by floating a processing axis so as to follow a hole. However, in the case of this apparatus as well, the amount of displacement in the pressing direction cannot be corrected, so that the above-described processing failure occurs.

[0008]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides an apparatus base mounted on a processing apparatus for performing hole finishing, and a processing tool which is slidably supported in a pressing direction during the processing. And a pressing force adjusting member for adjusting the pressing force of the working tool by the linear moving mechanism. By making the working tool slidable in the pressing direction and adjusting the pressing force in this way, the finishing of the hole, which causes a slight deviation in the hole position, can be performed by a robot or the like to a certain finishing (chamfering). Since the pressing force at the time of processing can be kept constant so that an amount can be obtained, even if the workpiece is displaced in the pressing direction at the hole position due to distortion, installation deviation, or the like, a desired finish ( Deburring and chamfering can be performed.

If a flexible support member is provided to support the processing tool while allowing the deflection in a direction intersecting the axial direction of the processing tool, the axial direction of the processing tool is deviated with respect to the center axis of the hole. Also, the machining can be performed by following the axial direction of the machining tool in the direction of the center axis of the hole.

Further, if the processing portion of the cutting tool provided on the processing tool is formed in a tapered shape, the processing tool follows the central axis of the hole so as to absorb the deviation while being guided by the hole during the processing. it can.

Further, if the flexible support member is constituted by a shaft support member for supporting the support portion of the machining tool and a rotation inhibiting member for inhibiting the operation of the shaft support member in the rotational direction, the machining is performed so as to follow the hole. A flexible support member for displacing the tool can be provided only on the support portion of the working tool to support the tool.

Further, a movable plate for supporting the working tool is provided on the linear motion mechanism, a flexible support member is provided between the movable plate and the working tool, and the flexible support member is provided on the movable plate and the working tool. If the locking member and the flexible rubber member that bends while being locked to the locking member are configured, a supporting member that flexibly supports the processing tool is easily provided between the movable plate that supports the processing tool. Can be done.

Further, if the pressing force adjusting member is constituted by a spring member and one end position of the spring member can be adjusted in the axial direction of the spring member so that the pressing force can be adjusted, the pressing force can be adjusted with a simple structure. Can be easily adjusted.

Further, if the pressing force adjusting member is composed of a hydraulic cylinder and the driving force of the hydraulic cylinder is adjusted to adjust the pressing force of the working tool, the driving pressure of the cylinder can be controlled by controlling the driving pressure of the cylinder. The pressing force can be adjusted.

Further, if the pressing force adjusting member is constituted by an electric motor, and the driving force of the electric motor is adjusted to adjust the pressing force of the working tool, the electric motor can be used to electrically control the tool. The pressing force can be adjusted.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. 1 is a perspective view of a hole finishing device showing a first embodiment of the present invention, FIG. 2 is a plan view of the hole finishing device, FIG. 3 is a sectional view taken along the line AA shown in FIG. 2, and FIG. In the BB cross-sectional view shown in FIG. In the following embodiments, a robot will be described as an example of a processing apparatus, and an electric drill will be described as an example of a processing tool.

As shown in FIG. 1, an apparatus base 1 is fixed to a tip of a robot 100 as a processing apparatus. A movable plate 2 slidable in the left-right direction in the figure is provided on the upper portion of the device base 1.
In addition, an electric drill 3 for chamfering, which is a processing tool having a cutting tool 4 attached to the tip, is provided. The cutting tool 4 has a machined portion 41 at the distal end formed in a conical tapered shape for chamfering. In FIG. 1, for description of each configuration, the movable plate 2 and the electric drill 3 are described in a state where the movable plate 2 and the electric drill 3 are directed to the upper side of the device base 1.

A linear motion mechanism 5 for linearly moving the movable plate 2 in the axial direction (pressing direction) of the electric drill 3 is provided between the apparatus base 1 and the movable plate 2. The linear motion mechanism 5 includes a guide member 6 provided on the device base 1 side, and a rail member 7 on the movable plate 2 side that linearly moves along the guide member 6. With this structure, the movable plate 2 is configured to be slidable (to the right in the drawing) by the pressing reaction force during processing.

As shown in FIG. 2, the electric drill 3 is supported on the movable plate 2 by supporting bolts 8 on the left and right sides of the drill body 31. The support is provided by screw holes 32 provided on the left and right of the drill body 31.
Then, a locking nut 81 and a supporting bolt 8 passing through a cylindrical flexible supporting member 9 formed of a rubber material or the like are screwed. The lock nut 81 and the support bolt 8 are fixed to the electric drill 3. In this state, the structure is such that the cylindrical flexible support member 9 is sandwiched between the counterbore hole 10 provided in the movable plate 2 and the support bolt 8. Is electrically supported by the movable plate 2. In this embodiment, the cylindrical flexible support member 9 is employed, but it may be polygonal or the like, and the form of the flexible support member is not limited to this embodiment.

In this embodiment, the front flexible support member 11 is provided at the front of the drill body 31. The front flexible support member 11 is provided between the drill body 31 and the distal end of the movable plate 2, and has a two-part structure in which a rubber member 111 is attached to a contact portion with the drill body 31. . The front flexible support member 11 sandwiches the distal end of the drill body 31 and fixes it to the movable plate 2 with bolts 112, thereby restricting the rotation of the drill body 31 about the support bolt 8 as a rotation axis.

As described above, the electric drill 3 comprises a cylindrical flexible support member 9 of the support bolt 8 fixed to the screw holes 32 provided on the left and right of the drill, and a front flexible support member 11 provided at the front of the drill 3. And is flexibly supported by the movable plate 2 through the base member, so that a deviation applied in a direction intersecting with the axial direction of the drill main body 31 (up, down, left and right directions) is absorbed by a force applied to the drill 3 during processing of the workpiece. You can change your posture. That is, the posture of the drill body 31 can be changed so as to follow the center of the hole of the workpiece at the time of machining.

As shown in FIG. 3, a linear motion mechanism 5 provided between the apparatus base 1 and the movable plate 2 comprises a guide member 6 provided on the apparatus base 1 by bolts 61, And a rail member 7 on the side of the movable plate 2 which slides along 6.

As shown in FIG. 4, a tension spring 12, which is a pressing force adjusting member for obtaining a pressing force in a pressing direction at the time of machining, is provided between the movable plate 2 and the apparatus base 1. . The tension spring 12 has a front end locked by a pin 13 provided on the apparatus base 1, and a rear end locked by a pin 14 provided on the movable plate 2. In this state, the tension spring 12 always moves the tip of the movable plate 2 by the spring force to the locking member 1 provided on the device base 1.
5 is pressed. As this pressing force,
The pressing force is smaller than the pressing force when processing the workpiece.

The pressing force of the tension spring 12 is configured to be adjustable. In this embodiment, the position of the pin 14 provided on the movable plate 2 is adjustable.
In this adjustment, a plurality of holes (three in this example) for fixing the pin 14 in the axial direction of the tension spring of the movable plate 2 are provided, and the position of the pin 14 is changed to adjust the spring force of the tension spring 12. It is made possible.
With such a structure, the pressing force for sliding the movable plate 2 can be changed at the position of the pin 14, so that
The drill pressing force at the time of drilling a hole with the extension of the extension spring 12 by a predetermined amount can also be changed. In the illustrated state, since the pin 14 is inserted into the pin hole 141 provided at the front end of the movable plate 2, the tension spring 12 has the weakest spring force.

A proximity switch 16 is provided between the movable plate 2 and the device base 1. The proximity switch 16 detects the position of a bolt 161 (dog) provided on the movable plate 2 side by the proximity switch 16 provided on the device base 1. Thus, the controllable slide range of the movable plate 2 is determined, and excessive insertion due to an insertion error at the time of drilling is detected to prevent damage to the apparatus and the workpiece (target work).

Further, in this embodiment, a mechanical stopper 17 is also provided. This stopper 17
Bolts provided on the rear wall of the device base 1, when the movable plate 2 slides by a predetermined amount in the pressing direction, abuts and cannot slide. The stopper 17 does not need to be provided.

FIGS. 5A and 5B are diagrams showing an operation state of the hole finishing apparatus shown in FIG. 1, wherein FIG. 5A is a side view showing a state before machining, and FIG. 5B is a side view showing a state at the time of machining. . 6A and 6B are drawings showing a relationship between a cutting tool and a workpiece of the hole finishing device, wherein FIG. 6A is a side view showing a state before processing, and FIG. 6B is a side view showing a state at the time of processing. In these figures, workpiece 2
As a sixth example, a plate such as a tube plate of a refrigerator will be described as an example.

As shown in FIG. 5, first, the robot 100
Then, the hole finishing device 25 is moved to the front of the hole 261 of the workpiece 26 (a position where the center axis of the hole coincides with the axis of rotation of the cutting tool) (FIG. 5 (a)). Next, the hole finishing device 25 is extruded in the axial direction (pressing direction) of the hole 261. At this time, the robot 100
Is determined by the distance between the cutting tool 4 and the hole 261 at the pre-processing position and the pushing amount of the cutting tool 4 (FIG. 5B). The amount of extrusion takes into account the distortion and the like generated in the workpiece 26 in advance, and is set to the amount of pushing in which the tension spring 14 as the pressing force adjusting member extends by a predetermined amount and has a predetermined pressing force. Then, after pushing in for a predetermined time, the robot 100 pulls the hole finishing device 25 back to the pre-machining position.

The hole finishing device 2 used in this way
According to 5, even if the position of the hole 261 is displaced in the pressing direction due to the distortion of the workpiece 26 or the installation displacement of the workpiece 26, the pushing amount of the cutting tool 4 is within the range of the extension amount of the extension spring 14. It only changes, but the pressing force does not change (strictly, it changes depending on the spring characteristics, but the influence on the processing amount is so small that it is ignored), so it is possible to process with a constant chamfering (finishing) amount .

FIGS. 6 (a) and 6 (b) are diagrams for explaining the drill operation at the position of the hole 261 by the flexible support members 9, 11. FIG. At the time of machining, as shown in FIG. 6A, even if the center axis of the hole 261 of the workpiece 26 and the rotation axis of the cutting tool 4 are misaligned, as shown in FIG. By adding, the posture of the drill 3 is changed so as to follow the hole 261 by deforming the flexible support members 9 and 11 that flexibly support the drill body 31, so that the rotation axis of the cutting tool 4 becomes the center axis of the hole 261. Tilt (deflect) to fit. At this time, strictly speaking, when the drill body 31 is tilted,
Is aligned with the center axis of the hole 261, but since the inclination is small, the processing of the hole 261 is not largely affected.

According to the hole finishing device 25 configured as described above, the pressing by the pressing force adjusting member using the tension spring 14 and the linear motion mechanism 5 that slides the movable plate 2 along the device base 1 can be performed. Hole 26 in workpiece 26
Even if the position 1 is displaced in the pressing direction, the hole 261 can be machined (chamfered, finished) with a constant pressing force, so that a stable hole finishing operation can be performed. Even if the hole 261 of the workpiece 26 is displaced in the horizontal direction, the drill 3 is displaced in the direction intersecting the axial direction by the flexible supporting members 9 and 11 so that the entire periphery of the hole 261 is chamfered (finished). Since the pressing can be performed stably, it is possible to easily perform processing with a preferable finishing amount by changing the pressing force and the pressing time.

FIG. 7 is a side view of a hole finishing apparatus according to a second embodiment of the present invention. As shown, in the second embodiment, an air or hydraulic cylinder 18 is used as the pressing force adjusting member for adjusting the pressing force of the working tool by the linear motion mechanism, instead of the tension spring 12 in the above-described embodiment. I have. In this example, the rear end of the cylinder 18 is fixed to the device base 1, and the piston tip 181 is fixed to the movable plate 2. When such a cylinder 18 is used, if the driving pressure of the tool is adjusted by controlling the driving pressure, the pressing force of the electric drill 3 (working tool) can be adjusted. Since the other configuration is the same as that of the above-described first embodiment, the same reference numeral is given and the detailed description is omitted.

FIG. 8 is a side view of a hole finishing apparatus showing a third embodiment of the present invention. As shown in the figure, in the third embodiment, an electric motor 19 is used as a pressing force adjusting member for adjusting the pressing force of the working tool by the linear motion mechanism, instead of the tension spring 12 or the cylinder 18 in the above-described embodiment.
Is used. In this example, an electric motor 19 is provided on the device base 1, and a rack 20 that meshes with a pinion 191 of the electric motor 19 is provided on the movable plate 2. When such an electric motor 19 is used, the pressing force of the electric drill 3 (working tool) can be adjusted by adjusting the driving force of the tool by electric control. Since the other configuration is the same as that of the above-described first embodiment, the same reference numeral is given and the detailed description is omitted.

FIG. 9 is a perspective view of a hole finishing apparatus showing a fourth embodiment of the present invention. In the fourth embodiment, only the both sides of the electric drill 3 (machining tool) are supported by the flexible support members. As shown in the drawing, a pin 21 serving as a locking member is provided outward from the movable plate 2, and a pin 22 serving as a locking member is provided inward from the inside of the head of the supporting bolt 8. Between the pin 22 of the supporting bolt 8 of the processing tool,
Holes 231 and 232 for inserting respective pins 21 and 22
Is provided with a flexible rubber member 23 which is a flexible support member formed by shifting in a circumferential direction.

With such a structure, the electric drill 3 (working tool) can be flexibly supported so as to maintain the relative positional relationship between the movable plate 2 and the supporting bolt 8, so that the drill 3 is made of flexible rubber. It is supported only by the elasticity of the member 23. And this flexible rubber member 2
When the electric drill 3 bends to a state in which the electric drill 3 can be stably supported, the state is maintained. Therefore, according to this structure,
Since the flexible rubber member 23 can also receive the force in the rotating direction acting on the support bolt 8 of the drill 3, it supports either the front or back of the drill 3 in the axial direction (the front flexible support member 11 shown in FIG. 1). This eliminates the need and reduces the number of components, thereby simplifying the structure.

With such a structure, the workpiece 26
Even if the position of the hole 261 is displaced in the pressing direction due to the displacement or the like of the installation or the distortion of the workpiece 26, a desired amount of chamfering (finishing) can be obtained. , Stable finishing can be performed.

In the above-described embodiment, a plate such as a tube plate of a refrigerator has been described as an example. However, the present invention is not limited to the plate and can be applied to finishing (burring and chamfering) holes. The embodiment is not limited to the above-described embodiment.

The above-described embodiment is one embodiment, and various changes can be made without departing from the gist of the present invention, and the present invention is not limited to the above-described embodiment.

[0039]

The present invention is embodied in the form described above, and has the following effects.

[0040] Even if there is a deviation in the distance between the cutting tool and the workpiece in the pressing direction, the cutting tool can be pressed with a constant pressing force, so that stable hole finishing can be performed with a constant pressing force. Becomes

[Brief description of the drawings]

FIG. 1 is a perspective view of a hole finishing device according to a first embodiment of the present invention.

FIG. 2 is a plan view of the hole finishing device shown in FIG.

FIG. 3 is a sectional view taken along the line AA shown in FIG. 2;

FIG. 4 is a cross-sectional view taken along the line BB shown in FIG.

5A and 5B are diagrams showing an operation state of the hole finishing device shown in FIG. 1, wherein FIG. 5A is a side view showing a state before processing, and FIG. 5B is a side view showing a state at the time of processing.

6A and 6B are diagrams showing a relationship between a cutting tool and a workpiece of the hole finishing device shown in FIG. 5, wherein FIG. 6A is a side view showing a state before machining, and FIG. FIG.

FIG. 7 is a side view of a hole finishing device according to a second embodiment of the present invention.

FIG. 8 is a side view of a hole finishing device showing a third embodiment of the present invention.

FIG. 9 is a perspective view of a hole finishing device showing a fourth embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Device base part 2 ... Movable plate 3 ... Electric drill 4 ... Cutting tool 41 ... Processing part 5 ... Linear motion mechanism 6 ... Guide member 7 ... Rail member 8 ... Support bolt 9 ... Circular flexible support member 10 ... Counterbore hole 11 ... Front flexible support member 12 ... Tension springs 13,14 ... Pin 15 ... Locking member 16 ... Proximity switch 17 ... Stopper 18 ... Cylinder 19 ... Motor 20 ... Rack 21,22 ... Pin 23 ... Flexible rubber member 25 ... Hole finishing Device 26: Workpiece

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) // B24B 27/00 B23Q 1/08 Z (72) Inventor Akihiko Kameya 1-1-1, Kawasaki-cho, Akashi-shi, Hyogo Prefecture Kawasaki Heavy Industries Inside Akashi Factory (72) Inventor Takao Manabe 1-1 1-1 Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries Inside Akashi Factory F-term (reference) 3C036 KK01 3C048 BC03 3C049 AA01 AA11 AA12 AA16 CA02 CB01 CB03 3C058 AA11 AA12 AA16 CA02 CB01 CB03 3F060 AA04 FA05 FA11 GA01 GA05 GA13 GA15 GB22 HA32

Claims (8)

[Claims] 1. An apparatus base portion to be attached to a processing apparatus for performing hole finishing processing, a linear motion mechanism for slidably supporting a processing tool in a pressing direction during processing, and adjusting a pressing force of the processing tool by the linear motion mechanism. Hole finishing device provided with a pressing force adjusting member. 2. The hole finishing apparatus according to claim 1, further comprising a flexible support member for supporting the processing tool while allowing a deviation in a direction intersecting with the axial direction of the processing tool. 3. The hole finishing apparatus according to claim 1, wherein the processing portion of the cutting tool provided on the processing tool is formed in a tapered shape. 4. A flexible support member comprising: a shaft support member for supporting a support portion of a working tool; and a rotation inhibiting member for inhibiting operation of the shaft support member in a rotational direction. Or the hole finishing device according to claim 3. 5. A movable plate for supporting a processing tool is provided on a linear motion mechanism, a flexible support member is provided between the movable plate and the processing tool, and the flexible support member is provided on the movable plate and the processing tool. The hole finishing apparatus according to claim 2 or 3, wherein the hole finishing apparatus comprises a locking member and a flexible rubber member which bends while being locked to the locking member. 6. A pressing force adjusting member comprising a spring member, wherein one end position of the spring member is adjustable in an axial direction of the spring member so that the pressing force can be adjusted. The hole finishing device according to any one of claims 1 to 5. 7. The pressing force adjusting member comprises a hydraulic cylinder, and the pressing force of the working tool is adjusted by adjusting the driving pressure of the hydraulic cylinder. The hole finishing device according to any one of claims 1 to 7. 8. A pressing force adjusting member comprising an electric motor,
The hole finishing apparatus according to any one of claims 1 to 5, wherein the pressing force of the working tool is adjusted by adjusting the driving force of the electric motor.