JP2008529801A - Flexible electromechanical drilling device - Google Patents

Abstract

  The present invention is a flexible electric for holding a series of drilling tools and shock absorbers 4 or multiple tools 5 mounted on or controlled by a robot arm or similar device and connected to multiple punches 7. With respect to the mechanical drilling device, the multiple punch 7 itself can be connected to a base body 3 having a linear gear device 1 and an electromechanical drive unit 2 fixed to the tool changer 6. , Synchronization eliminates spring retractor, and drilling tool position is fully controlled in all directions, and also good for material being drilled due to complete feedback of motor current and tool position during drilling It is possible to determine that an appropriate hole has been drilled.

Description

  The present invention relates to a flexible drilling device included in a robot arm for automatic drilling. The device can be the last link of a robot arm or similar device. It can also be installed on site, in which case the robot manipulates the details of drilling.

  Industrial drilling machines are well known and have been used for decades. Industrial drilling machines are used in particular for the production of lines for the production of, for example, automotive body parts. The drilling machine, in such applications, encompasses the entire part to be drilled, and the cuts are of a certain size, tool configuration and rigidity so that the cut can accept the correct position and tolerance of the correct quality hole. There must be.

  The drilling machine itself is basically composed of four individual items. One is a lower table that includes a fixture formed in the inverse of the part that is actually drilled. This inverted product is required to contain one cushioning material for each individual hole to be drilled, regardless of the shape of the hole. The second is an upper table that includes a series of drilling tools of appropriate dimensions. The upper table typically requires a vertical spacing or movement spacing commensurate with the actual spacing required by the drilling tool to penetrate the material to be drilled. In addition, the upper table is usually required to have a vertical or rotational stroke commensurate with the height of the part being drilled in order to allow loading and unloading into the drilling machine.

  This is the so-called mechanical daylight. In general, for example, a daylight value of a punch for an automobile bumper is 2.5 times 1.5 meters. The third is a non-parallel hole drilling machine. The upper table includes individual drilling tools, usually hydraulically driven, for each non-parallel hole in the three-dimensional object that must be drilled. Each of these drilling tools is required to have a spring back device. When drilling a material with a conventional curing tool, there is a frictional force generated when the drilling tool is retracted from the part, whether the material is metal, plastic, or otherwise. This puts a force on the part, and if this is not taken into account, the part may come off the lower table. To overcome this problem, conventional drilling machines include a device that surrounds a practical tool, thereby exerting a force on the part in the opposite direction of the force applied by the tool.

  The fourth basic component is a frame. The frame needs to be large and rigid enough to hold the lower table, the upper table taking into account the stroke, all the drilling tools with the corresponding hydraulic cylinders and the parts to be drilled. In the case of an automobile bumper, it is not uncommon for the size of a conventional driller to reach 3.5 × 2 × 3 meters and a total weight of 1.5 tons.

  In practice, during the general engineering session of the part to be drilled, the part to be cut itself is constantly changed. This is especially true in the automotive industry, where the design and structure of each component of the vehicle will continue and be subject to change throughout the period up to production. Engineering and manufacturing a conventional part-by-part drilling machine takes several months and is itself very costly. In addition to this, there can be changes in the face of the business, so more time and money are spent. Although the machine is mechanically rigid, it is also rigid in an economic and design sense. Modifying the machine is not easy. There will also be a number of so-called small model changes during the entire life of a single car, due to mechanical or design reasons.

  In most cases, such a model change requires a completely new drilling machine. This is due to the fact that retrofitting existing machines takes a lot of time (months) and therefore retrofitting is not practically feasible. The automotive industry cannot tolerate such a production stop.

  Conventional drilling machines do not include a built-in quality control system. Quality control is usually performed manually by the operator who loads and unloads the machine. The operator performs visual inspection as the best of its capabilities. However, given that the typical tolerances for hole position and size are fractions of a millimeter, it is almost impossible for the operator to determine if the hole position is correct or the dimensions are accurate. Therefore, parallel quality control systems are often introduced into production facilities. So-called dimension management jigs are often produced, or dimension measuring machines are used to inspect components and parts.

  This, however, takes time and therefore cannot manage every part throughout the production process. Typical performance values are 1 or 2 per shift. Normal, conventional, for example, bumpers, instrument panels, or door inner panel drills are approximately one part every 30 seconds and about 1000 parts per shift. In the worst case, there will be 1000 parts that do not meet the requirements and must be rejected.

  The known drilling machines described above have been developed and have worked well for many years, but are not flexible, difficult to modify and expensive, and have significant limitations that are mechanically complex to perform maintenance. is there. Also, one drilling machine is required for each type of product and a drilling tool for each individual hole drilled into that particular product must be equipped. This makes production very expensive. After a product is discontinued (program life time), the machine is usually sent somewhere to become a spare parts manufacturing machine. Now production is reduced from 3 units per day (3 shifts), perhaps 3000 units to 3-4 parts per day. However, the machine is as big as before and requires a very large floor space. Everyone understands the total space and cost required, keeping in mind that there are hundreds of parts in the car body that have to be drilled individually for the optional equipment.

  With just one flexible machine that simply replaces a low-priced, practical drilling tool, it is possible to produce all types of products with variously shaped holes and maintain 100% quality control. And if you can make a drilling machine with a weight of 100 kg or less, you're really happy.

  The present invention makes it possible to meet the above demands, and as a part of the robot arm, flexible electromechanical drilling for flexibly drilling holes of various shapes at various locations in various materials. A drilling device comprising an electric servo motor or similar device, a linear gear component, a tool changer or, optionally, a member including a required tool of appropriate size and shape at the periphery or edge, and Fixing member and rigid arm structure for holding a rotating device or intermittent feeding device having a high-quality sensor device and fixing the completed device to a robot arm or similar device, drilling tool and cushioning material in a bush Secondary tool components (multiples) that hold the waste material removal device and waste material counter, except for the mechanical retraction spring device It is capable of providing a flexible electromechanical drilling apparatus, comprising a base body having a fastening device for automatically securing the punch) at one end.

  According to the present invention, the base body is mechanically secured to a robot arm or similar device.

  In accordance with the present invention, an electric servo motor or similar device is electrically connected as an additional, synchronized axis to the robot axis computer system.

  In accordance with the present invention, a servo motor or similar device is mechanically connected on one side to the base body and on the other side to the gear unit.

  In accordance with the present invention, the gear unit is capable of high speed linear motion and is mechanically connected at one end to an electric servomotor or similar device and indirectly connected to the drilling tool at the other end.

  According to the invention, the tool changer is mechanically connected at one end to the base body and at the other end to the rigid arm of the secondary tool component and the drilling tool.

  According to the present invention, the rigid arm of the secondary tool component has one end connected to the tool changer and the other end mechanically connected to the cushioning material.

  According to the invention, the drilling tool is mechanically connected on one side to the arm, is allowed to move freely in one direction and is connected on the other side to a tool changer.

  According to the present invention, the secondary tool component can be automatically replaced in various forms.

  In accordance with the present invention, the secondary tool component can comprise a rotary or linear motion device that optionally includes various drilling tools.

  In accordance with the present invention, the completed drilling device places the cushioning material stationary against the part being drilled during the drilling operation, and places the drilling tool stationary relative to the part being drilled during retraction. Allows synchronized movement of all axes, thereby eliminating the spring retractor.

  In accordance with the present invention, a high quality control system is incorporated to control the actual force required to penetrate the material, thereby ensuring a good condition of the tool and a pre-set value of the force. If it is too strong, it indicates that the tool is worn or something is wrong, indicating that it is time to replace the tool, and the production of defective products is prevented. The drilling device also controls the actual position of the drilling tool with respect to the part to be drilled and the drilling machine itself without interruption. The drilling device therefore also recognizes that proper positioning has been achieved and that the drilling tool has reached the bottom position with each drilling, thereby ensuring the drilling of the through hole.

  In the following, the invention will be described in more detail with reference to the accompanying drawings, with respect to an embodiment in which the drilling device serves for maintenance of the drilling tool and carries the drilling tool.

  FIG. 9 shows an electromechanical drilling device according to the invention, whose base body is mechanically connected to a robot arm, preferably a shaft 6 (the last axis of a 6-axis robot). The servo motor as part of the electromechanical unit is electrically connected to the robot axis computer and identified as the seventh axis of the 6 axis robot controller (like the 5th axis of a 4 axis robot). . The seventh axis in this case is fully synchronized and calibrated with the robot controller means, so that the robot is actually a seven axis robot. Depending on the application, it may be possible to control the seventh axis as a so-called independent axis. By tightly defining the characteristics of the motor with respect to the mechanical device, the absolute accuracy of the motor rotational position relative to the actual value of the drilling tool position is guaranteed. The servo motor is controlled by the drive unit. The axis controller controls and monitors the motor current and resolver or encoder values so that the actual position error of the drilling tool is less than 0.05 mm. During the drilling operation, the seventh axis is allowed to move independently. In accordance with the servo motor specification, the entire motor current is applied to the system to obtain maximum acceleration and speed. Due to the mass inertia and the applied motor torque, a high mechanical force is applied to the drilling part when the drilling tool hits the drilling part. The speed and weight of the drilling tool system is inversely proportional to the size of the servo motor for a given drilling capacity. The general dimension value of the motor size is one tenth of the static force compared to a hydraulic device. During material penetration, the current controller immediately detects deviations from the reference characteristics. The system can therefore recognize when a drilling tool is damaged or inappropriate for performing the required action. The system is also capable of detecting various differences in the material being drilled. Incorrect material, incorrect thickness or incorrect load position. Inappropriate load or robot position is known by the fact that the detection of motor current is directly linked to the resolver / encoder value of the axis, so if any force is applied to the unexpected position of the system, it is immediately Can be detected.

  The drilling tool finishes piercing the material when it is known that the work has been performed correctly by the current and resolver / encoder values. The waste material part is further pushed down through the cushioning material by a drilling tool. However, the cushioning material is made long enough to contain the required number of waste material parts in one working cycle, for example, in 10 holes. Due to the friction between the buffer material and the waste material part, the waste material part remains in the buffer material. The waste material part only advances further downward when the next hole is made. After the cycle, the robot moves to the container side. The drilling tool then penetrates the cushioning material, so that the waste part is pushed out and falls.

  After piercing, there is a relatively large amount of friction between the tool and the material that is being drilled. The system then switches the tool center point from the top of the previous cushioning material to the top of the drilling tool. The system is instructed to move all seven axes so that the drilling tool retracts from the drilling part without changing the position of the tool center point relative to that part. During this movement, no force is applied to the drilled part. When this movement is made, the drilled part hits the top of the tool holder at the end of the movement. At this point, the tool center point is again changed to the top of the cushioning material and a complete retraction is performed without the need for a spring retraction device.

  FIG. 1 shows a linear gear device, which converts rotational motion into linear motion with a rigid structure. This unit is secured to the electromechanical drive unit and the base body.

  FIG. 2 shows an electromechanical drive unit in which a servo motor or the like and optionally a satellite gear device or the like are interconnected. In many cases, no gearing is required for the servo motor.

  FIG. 3 shows a base body, one side of which is connected to a robot flange and the other side is connected to a linear gear unit and a tool changer.

  FIG. 4 shows a drilling tool with a corresponding cushioning material.

  FIG. 5 shows a multiple tool. Multiple tools are the part that actually cuts / drills material. The tool is made of a conventional material used in ordinary hydraulic drilling machines. Depending on the environment, several types of linear or rotational tools are mounted on the same multiple punch and intermittently fed to the tool holder of the multiple punch device. Common and reasonable values are 2 tools, eg shape 1 left and right.

  FIG. 6 shows a tool changer. The tool changer mainly consists of two basic parts. The tool changer is fixed to the base body. This unit holds a mechanical device that is mechanically coupled to the multiple punch by a male-female fitting with a cam lock device. The second basic part is a mechanical device connected to the multiple tool via a radial lock device.

  FIG. 7 shows a multiple punch that is automatically (or manually) replaced with another multiple tool when drilling another shaped hole. This part is configured to fit a tool changer with a corresponding male-female fitting. A typical value for replacing multiple punches in automatic mode is 4-5 seconds. It is possible to easily place a set of multiple tools on a simple table / holder.

  The invention is not limited to the exemplary embodiments, but can be varied in various ways within the scope of the claims. Thus, for example, the fasteners of the tool changer can be located between the body and the gear unit, and can also eliminate the tool changer, all of which can be drilled at that time. Depending on the amount of hole shape.

FIG. 1 is a side view of a linear gear device. FIG. 2 is a diagram showing an electromechanical drive unit. FIG. 3 is a side view of the base body. FIG. 4 is a view showing a drilling tool. FIG. 5 is a diagram showing a multiple tool. FIG. 6 is a view showing a tool changer. FIG. 7 is a diagram showing multiple punches. FIG. 8 is a view showing an assembled drilling device. FIG. 9 is a diagram showing a flexible electromechanical drilling device attached to a robot arm.

Claims (8)

In a flexible electromechanical drilling device for flexibly drilling one or more shaped holes in metal, plastic or other materials as part of a robot arm or the like,
The drilling device is a multiple geared with a linear gear device (1), an electromechanical drive unit (2), and a tool changer (6), and each drilling tool has a corresponding cushioning material (4). Flexible electromechanical drilling device, characterized in that it comprises a base body (3) which is connected automatically or manually to a multiple punch (7) containing a tool (5).   Said electromechanical drive unit (2) has a control device synchronized with the robot axis controller, whereby a synchronized movement with all relevant axes takes place during the retraction of the drilling tool, 2. A flexible electromechanical drilling device according to claim 1, wherein no spring back retracting device is required.   The flexible electromechanical drilling device according to claim 1, wherein the electromechanical drive unit control device instantaneously monitors the effective value of the current so that the force is monitored.   The flexible electromechanical drilling device according to claim 1, characterized in that the electromechanical drive unit (2) controller instantaneously monitors the resolver / encoder value so that the position of the tool is monitored. .   Flexible electromechanical drilling device according to claim 1, characterized in that the linear gearing (1) is directly connected to the drilling tool or indirectly connected via a tool changer (6).   2. A flexible electromechanical system according to claim 1, characterized in that the base body (3) is directly connected to the multiple punch (7) or indirectly connected via a tool changer (6). Drilling device.   The multiple punch (7) can be provided with a multiple tool (5) configured such that an appropriate tool is seated on the multiple tool (5) by intermittent feed, linear or rotational movement. The flexible electromechanical drilling device according to claim 1, characterized in that:   2. A flexible electromechanical drilling device according to claim 1, wherein the waste material is held in the cushioning material for a selected desired time during the drilling operation.

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