JP2016078191A - Machining object, and fixing device and method therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To fix a machining object in a state that the direction of the machining object is accurately and completely fixed and also a three-dimensional position of the machining object is accurately and completely fixed.SOLUTION: A machining object 10 includes: first reference surfaces 11a, 11b and 11c directed in the same direction; second reference surfaces 12a and 12b which have the directions orthogonal to the first reference surfaces; and a third reference surface 13 which has a direction orthogonal to the first reference surfaces and the second reference surfaces. A fixing device 20 of the machining object 10 includes a support structure 3 and a fixing mechanism 5. The support structure 3 includes: first mounting sections 21a, 21b and 21c directed in a first direction; second mounting sections 22a and 22b directed in a second direction orthogonal to the first direction; and a third mounting section 23 directed in a third direction orthogonal to the first direction and the second direction. The fixing mechanism 5 fixes the machining object 10 to the support structure 3 in a state that the three first reference surfaces are abutted on the three first mounting sections, the two second reference surfaces are abutted on the two second mounting sections, and the third reference surface is abutted on the third mounting section.SELECTED DRAWING: Figure 3

Description

  The present invention relates to an object to be processed that is processed by a processing apparatus while being fixed by a fixing apparatus. The present invention also relates to an apparatus and method for fixing a workpiece to be processed by a processing apparatus.

  When a processing object is processed (for example, cutting or drilling) by the processing apparatus, the processing object is fixed. An apparatus for fixing the workpiece as described above is described in, for example, Patent Document 1 below.

  Patent Document 1 describes an apparatus that clamps and fixes a workpiece at a position where the workpiece is processed by a processing device. In this apparatus, the workpiece is pressed in the horizontal direction against the mounting surface of the first reference member that faces in the horizontal direction. In this way, the workpiece is clamped and fixed in the horizontal direction by the member that presses the workpiece and the first reference member. Thereafter, such a horizontal clamping force is weakened, the workpiece is pushed upward by the push-up rod, and the workpiece is pressed against the mounting surface facing downward in the second reference member. Thus, the workpiece is clamped in the vertical direction by the push-up rod and the second reference member. Then, the horizontal clamping force mentioned above is returned to the original magnitude. In this way, the workpiece is positioned and fixed.

Japanese Utility Model Publication No. 64-42833

  However, in Patent Document 1, when the reference surface of the workpiece to be pressed against the mounting surface is small, the workpiece may be inclined. Therefore, there is a possibility that the orientation of the workpiece cannot be determined accurately and completely.

  In Patent Document 1, positioning can be performed in two axial directions orthogonal to each other, but means for positioning in all three axial directions orthogonal to each other is not proposed.

  Therefore, the object of the present invention is to accurately and completely determine the orientation of the workpiece, even when the reference surface of the workpiece is small, and to accurately and completely determine the three-dimensional position of the workpiece. An object of the present invention is to provide an object to be processed and an apparatus and method for fixing the object to be processed.

To achieve the above object, according to the present invention, three first reference surfaces that are separated from each other in a first reference direction and are to be applied to corresponding three first mounting surfaces of the fixing device;
Two second reference surfaces that are separated from each other in a second reference direction orthogonal to the first reference direction and are to be applied to two corresponding second mounting surfaces of the fixing device;
A third reference plane which is separated from each other in a third reference direction orthogonal to each of the first and second reference directions and is to be applied to a corresponding third mounting portion of the fixing device; An object to be processed is provided.

Moreover, in order to achieve the above-mentioned object, according to the present invention, a processing object to be processed by the processing device in a state of being fixed to the fixing device,
The fixing device includes three first mounting portions facing in a first direction and separated from each other, two second mounting portions facing in a second direction orthogonal to the first direction and separated from each other, a first direction and a first direction A third mounting portion that faces a third direction orthogonal to the two directions, and each first mounting portion is a first mounting surface or a first direction so as to face the first direction. A first mounting protrusion point that protrudes in the second direction, and each second mounting portion is a second mounting surface or a second mounting protrusion point that protrudes in the second direction so as to face the second direction. 3 attachment part is the 3rd attachment surface, or it is the 3rd attachment projection point which projected in the 3rd direction so that it may face the 3rd direction,
The workpiece includes three first reference surfaces that face the same first reference direction and are separated from each other, and two second reference surfaces that face the second reference direction perpendicular to the first reference direction and are separated from each other, A third reference plane facing a third reference direction orthogonal to both the first reference direction and the second reference direction,
The three first reference surfaces are respectively applied to the three first mounting portions in the fixing device in the first direction, and the two second reference surfaces are respectively connected to the two second mounting portions in the fixing device. The third reference surface is applied to the second direction orthogonal to the first direction, and the third reference surface is applied to the third attachment portion of the fixing device in the third direction orthogonal to both the first direction and the second direction. Thus, the object to be processed is provided so that the object to be processed can be fixed to the fixing device.

Preferably, three first reference planes can be attached to the three first attachment portions facing vertically upward, respectively.
When a workpiece is viewed from a direction parallel to the direction in which the first reference plane faces, a virtual triangle formed by connecting three points respectively located in the three first reference planes with a virtual straight line The center of gravity of the workpiece is located inside.

  With this configuration, when the three first reference surfaces are attached to the three first attachment portions, respectively, when viewed from the vertical direction, the center of gravity of the workpiece is the first attachment portion (each first attachment surface). 1 point of each or each 1st attachment protrusion point) is located inside the virtual triangle which makes a vertex. Therefore, the weight of the workpiece can be stably supported by the three first attachment portions.

Further, in order to achieve the above-described object, according to the present invention, a processing object fixing device that fixes a processing object when the processing apparatus processes the processing object,
A support structure to which the workpiece is attached;
A fixing mechanism for fixing the workpiece to the support structure,
The workpiece includes three first reference surfaces that face in the same direction and are separated from each other, two second reference surfaces that face in a direction orthogonal to the direction in which the first reference surface faces, and are separated from each other, and a first reference surface A third reference plane facing in a direction orthogonal to both the direction facing and the direction facing the second reference plane,
The support structure includes three first mounting portions facing in a first direction and separated from each other, two second mounting portions facing in a second direction orthogonal to the first direction and separated from each other, and the first direction and the first direction. One third mounting portion facing a third direction orthogonal to the two directions,
Each of the three first reference surfaces is applied to the three first mounting portions, each of the two second reference surfaces is applied to the two second mounting portions, and each of the third reference surfaces is applied to the third mounting portion. The fixing mechanism fixes the workpiece to the support structure,
Each first attachment portion is a first attachment surface or a first attachment protrusion that protrudes in the first direction so as to face the first direction,
Each of the second mounting portions is a second mounting surface or a second mounting protruding point protruding in the second direction so as to face the second direction,
The third attachment portion is a third attachment surface, or a third attachment protrusion that protrudes in the third direction so as to face the third direction. Is done.

  Preferably, the first direction is a vertically upward direction.

  Thus, since the three first mounting portions face vertically upward (first direction), the three first mounting portions are respectively mounted on the three first mounting portions by placing the three first reference surfaces. The weight of the workpiece can be supported. In such a state that the weight of the workpiece is supported, the workpiece is moved in the horizontal direction, and the two second reference surfaces of the workpiece are applied to the two second attachment portions, respectively. By applying the third reference surface of the object to the third attachment portion, the position and orientation of the object to be processed can be determined. Therefore, the work of adjusting the position and orientation of the workpiece is facilitated.

According to a preferred embodiment of the present invention, the securing mechanism is
Three first pressing mechanisms that fix the three first reference surfaces by pressing the three first reference surfaces against the three first mounting portions in the direction opposite to the first direction;
Two second pressing mechanism portions that press and fix the two second reference surfaces to the two second mounting portions in the direction opposite to the second direction;
A third pressing mechanism portion that presses and fixes the third reference surface to the third mounting portion in a direction opposite to the third direction.

Since the three first pressing mechanism sections respectively press and fix the three first reference surfaces to the three first mounting sections in the direction opposite to the first direction, the position of the workpiece can be fixed in the first direction. The posture (orientation) of the workpiece can be reliably fixed with respect to a virtual plane orthogonal to the first direction.
Further, since the two second pressing mechanism portions respectively press the two second reference surfaces against the two second mounting portions in the direction opposite to the second direction and fix them, the position of the workpiece is set in the second direction. The workpiece can be fixed, and the posture of the workpiece can be reliably fixed around the axis facing the first direction.
Furthermore, since the third pressing mechanism portion presses and fixes the third reference surface to the third mounting portion in the direction opposite to the third direction, the position of the workpiece can be reliably fixed in the third direction.

Furthermore, in order to achieve the above-described object, according to the present invention, a processing object fixing method for fixing a processing object when the processing apparatus processes the processing object,
The workpiece includes three first reference surfaces that face in the same direction and are separated from each other, two second reference surfaces that face in a direction orthogonal to the direction in which the first reference surface faces, and are separated from each other, and a first reference surface And a third reference plane facing in a direction perpendicular to both the direction in which the second reference plane faces and the direction in which the second reference plane faces.
(A) A fixing device including a support structure to which the workpiece is attached and a fixing mechanism for fixing the workpiece to the support structure is provided, and the support structure is separated from each other in the first direction. A first mounting portion; two second mounting portions facing each other in a second direction orthogonal to the first direction; and one third mounting portion facing a third direction orthogonal to the first direction and the second direction. And each first mounting portion is a first mounting surface or a first mounting protrusion that protrudes in the first direction so as to face the first direction, and each second mounting portion is It is a second mounting surface, or a second mounting protruding point that protrudes in the second direction so as to face the second direction, and the third mounting portion is the third mounting surface, or the third direction A third mounting protrusion that protrudes in the third direction to face
(B) The three first reference surfaces are respectively applied to the three first attachment portions, the two second reference surfaces are applied to the two second attachment portions, and the third reference surface is applied to the third attachment portion,
(C) In this state, there is provided a method for fixing a processing object, wherein the processing object is fixed to a support structure by a fixing mechanism.

Preferably, the first direction is a vertically upward direction,
In (B) above,
(B1) Place the three first reference surfaces on the three first attachment parts,
(B2) In this state, the workpiece is moved in the direction opposite to the second direction, and the two second reference surfaces are applied to the two second attachment portions, respectively.
(B3) In this state, the workpiece is moved in the direction opposite to the third direction, and the third reference surface is applied to the third attachment portion.

  As described above, first, the three first reference surfaces are placed on the three first attachment portions, respectively, so that the weight of the workpiece is supported by the three first attachment portions. The two reference surfaces are respectively applied to the two second attachment portions, and the third reference surface is applied to the third attachment portion. Therefore, the work of adjusting the position and orientation of the workpiece is facilitated. This work is performed by a person or a robot hand.

  According to the above-described present invention, the posture (orientation) of the workpiece is accurately and completely determined, and the three-dimensional position of the workpiece is accurately and completely defined as follows. Objects can be fixed.

The posture of the workpiece can be accurately and completely determined as follows.
By applying the three first reference planes of the workpiece to the three first attachment portions, respectively, the posture of the workpiece can be determined with respect to a virtual plane orthogonal to the first direction (that is, It is possible to regulate the rotation of the workpiece about any axis included in this virtual plane). Here, since the three first attachment portions are separated from each other, each of the first attachment portions (one point in each first attachment surface or each first attachment protrusion point) has the same area as a triangle having a vertex. The posture of the workpiece can be determined with respect to a virtual plane orthogonal to the first direction with the same accuracy as when a wide mounting surface is provided.
Further, by applying the two second reference surfaces of the workpiece to the two second attachment portions, respectively, the posture of the workpiece can be determined in the direction around the axis facing the first direction (that is, The rotation of the workpiece about this axis can be restricted). Here, since the two second mounting portions are separated from each other, the processing is performed with the same accuracy as when a mounting surface having a length from one second mounting portion to the other second mounting portion is provided. The posture of the object can be determined in a direction around an axis that faces the first direction.
Furthermore, the attitude | position of a process target object is applied to the three 1st attachment parts and two 2nd attachment parts in a fixing device by respectively contacting the three 1st reference surfaces and two 2nd reference surfaces in a process target object. Completely determined.
Thus, the posture of the workpiece can be accurately and completely determined by the three first reference surfaces and the two second reference surfaces.

As described below, the three-dimensional position of the workpiece can also be accurately and completely determined.
In other words, the first mounting portion, the second mounting portion, and the third mounting portion of the fixing device are orthogonal to each other when the first reference surface, the second reference surface, and the third reference surface of the workpiece are applied. The workpiece is positioned in any of the first direction, the second direction, and the third direction. Therefore, the three-dimensional position of the workpiece is accurately and completely determined by the first mounting portion, the second mounting portion, and the third mounting portion.

  In this way, the posture of the workpiece can be accurately and completely determined, and the three-dimensional position of the workpiece can be accurately and completely determined. In this state, the workpiece can be fixed by a fixing device. become.

1 shows a workpiece according to an embodiment of the present invention. It is the II-II arrow directional view of FIG. 1, and shows the relationship between three 1st reference planes and the gravity center of a workpiece. 1 shows a fixation device according to an embodiment of the invention. 3 is a flowchart of a fixing method according to an embodiment of the present invention. The procedure of the fixing method by embodiment of this invention is shown. It is another figure which shows the procedure of the fixing method by embodiment of this invention. It is another figure which shows the procedure of the fixing method by embodiment of this invention. It is another figure which shows the procedure of the fixing method by embodiment of this invention. It is another figure which shows the procedure of the fixing method by embodiment of this invention. The processing apparatus provided with the fixing device of FIG. 3 is shown. The other structural example of a processing apparatus is shown.

  A preferred embodiment of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

  FIG. 1 shows a workpiece 10 according to an embodiment of the present invention. 1B is a view taken along line BB in FIG. 1A, and FIG. 1C is a view taken along line CC in FIG.

  The workpiece 10 is processed (for example, cutting or drilling) by the processing device 30 described later in a state where the processing target 10 is attached to the fixing device 20 described later.

The workpiece 10 includes three first reference surfaces 11a, 11b, 11c, two second reference surfaces 12a, 12b, and one third reference surface 13. The three first reference surfaces 11a, 11b, and 11c face the same first reference direction D _A1 and are separated from each other.

The two second reference surfaces 12a and 12b face the same second reference direction D _A2 and are separated from each other. The third reference plane 13 faces the third reference direction D _A3 that is orthogonal to both the first reference direction D _A1 and the second reference direction D _A2 .

  Each of the first reference surfaces 11a, 11b, 11c, the second reference surfaces 12a, 12b, and the third reference surface 13 is a plane. In addition, each of the first reference surfaces 11 a, 11 b, 11 c, the second reference surfaces 12 a, 12 b, and the third reference surface 13 is locally provided on the workpiece 10. In one example, at least some of the reference surfaces of the first reference surfaces 11a, 11b, 11c, the second reference surfaces 12a, 12b, and the third reference surface 13 are not originally provided on the workpiece 10, and the fixing device 20 It is provided only for mounting.

  The three first reference surfaces 11a, 11b, and 11c are respectively formed on the three first reference surface forming portions 7 of the workpiece 10. The two second reference surfaces 12 a and 12 b are formed on the two second reference surface forming portions 8 of the workpiece 10, respectively. The third reference surface 13 is formed on the third reference surface forming portion 9 of the workpiece 10.

  The position of each part of the workpiece 10 is designed based on the positions of the three first reference surfaces 11a, 11b, 11c, the two second reference surfaces 12a, 12b, and the third reference surface 13, and Manufactured according to this design. In addition, the workpiece 10 is based on at least one of the directions in which the three first reference surfaces 11a, 11b, and 11c, the two second reference surfaces 12a and 12b, and the third reference surface 13 face each other. The shape with respect to the reference (direction) is designed and manufactured according to this design. For example, when the workpiece 10 is a casting, a mold is manufactured according to such a design, and the workpiece 10 is cast by this mold.

Preferably, the positional relationship between the three first reference surfaces 11a, 11b, 11c of the workpiece 10 and the center of gravity is set as follows. 2 is a view taken along the line II-II in FIG. In FIG. 2, the outer edges of the workpiece 10 other than the three first reference surfaces 11a, 11b, and 11c are illustrated by thin lines, and other portions of the workpiece 10 are not shown. As shown in FIG. 2, when the workpiece 10 is viewed from a direction parallel to the first reference direction D _A1 (direction orthogonal to the paper surface of FIG. 2) in which the first reference surfaces 11a, 11b, and 11c face. Inside a virtual triangle (triangle indicated by a broken line in FIG. 2) formed by connecting three points Pa, Pb, Pc located in the three first reference planes 11a, 11b, 11c with a virtual straight line, The center of gravity G of the workpiece 10 is located. Preferably, the center G of the workpiece 10 is located at the center of the virtual triangle (for example, the center of gravity or the vicinity of the center of gravity). Each of the three points Pa, Pb, and Pc is preferably located at the center in the corresponding first reference plane. However, each of these three points Pa, Pb, and Pc may be an arbitrary point located in the corresponding first reference plane.

  FIG. 3 shows the fixing device 20. 3B is a view taken along the line BB in FIG. 3A, and FIG. 3C is a view taken along the line CC in FIG. 3A. In FIG. 3, the thin broken line indicates the workpiece 10 when attached to the fixing device 20, and is illustrated through the workpiece 10.

  The fixing device 20 fixes the workpiece 10 when the processing device 30 described later processes the workpiece 10. The fixing device 20 includes a support structure 3 to which the workpiece 10 is attached and a fixing mechanism 5 that fixes the workpiece 10 to the support structure 3.

The support structure 3 includes three first mounting surfaces 21a, 21b, and 21c, two second mounting surfaces 22a and 22b, and one third mounting surface 23. The three first mounting surfaces 21a, 21b, and 21c face the same first direction _DB1 and are separated from each other. Preferably, the three first mounting surfaces 21a, 21b, and 21c are not located on the same straight line. That is, there is no straight line passing through any point in the first mounting surface 21a, any point in the first mounting surface 21b, and any point in the first mounting surface 21c. The two second mounting surfaces 22a and 22b face the same second direction _DB2 and are separated from each other. Third mounting surface 23 faces the third direction _{D B3} perpendicular to the first direction _{D B1} in both the second direction _{D B2.} Each of the first mounting surfaces 21a, 21b, 21c, the second mounting surfaces 22a, 22b, and the third mounting surface 23 is a flat surface. Preferably, the first direction _DB1 is a vertically upward direction (that is, a vertical direction facing upward). Thus, in the support structure 3, the first mounting surfaces 21a, 21b, and 21c, the second mounting surfaces 22a and 22b, and the third mounting surface 23 are fixed to each other in position and orientation.

  In the example of FIG. 2, the support structure 3 includes a base portion 4, three first attachment surface forming portions 14 that rise upward from the base portion 4, and two second attachment surface formation portions provided on the base portion 4. 15 and a third attachment surface forming portion 16 provided on the base portion 4. The upper end surfaces of the three first attachment surface forming portions 14 are respectively three first attachment surfaces 21a, 21b, and 21c. The side surfaces of the two second mounting surface forming portions 15 and the third mounting surface forming portion 16 are two second mounting surfaces 22a and 22b and a third mounting surface 23, respectively.

  The fixing mechanism 5 fixes the workpiece 10 to the support structure 3. That is, the three first reference surfaces 11a, 11b, and 11c are respectively applied to the three first attachment surfaces 21a, 21b, and 21c, and the two second reference surfaces 12a and 12b are respectively provided with the two second attachment surfaces 22a and 22b. The fixing mechanism 5 fixes the workpiece 10 to the support structure 3 in a state where the third reference surface 13 is applied to the third attachment surface 23.

  The fixing mechanism 5 includes three first pressing mechanism portions 17, two second pressing mechanism portions 18, and one third pressing mechanism portion 19.

Three first pressing mechanism 17 includes three first reference surface 11a, 11b, 11c of each of the three first mounting surface 21a, 21b, against the direction opposite to the first direction _{D B1} fixed to 21c. That is, the three first pressing mechanism portions 17 are provided for the corresponding three first reference surfaces 11a, 11b, and 11c, and each first pressing mechanism portion 17 corresponds to the corresponding first reference surface. Press and fix to the first mounting surface.

The two second pressing mechanism portions 18 press and fix the two second reference surfaces 12a and 12b to the two second mounting surfaces 22a and 22b in the direction opposite to the second direction _DB2 . That is, the two second pressing mechanism portions 18 are respectively provided for the corresponding two second reference surfaces 12a and 12b, and each second pressing mechanism portion 18 corresponds to the corresponding second reference surface. 2 Press against the mounting surface and fix.

The third pressing mechanism unit 19 presses and fixes the third reference surface 13 against the third mounting surface 23 in the direction opposite to the third direction _DB3 .

According to this embodiment, the first pressing mechanism 17 is provided between the corresponding first mounting surface 21a, 21b or 21c, sandwiching the first reference plane forming unit 7 corresponding to the first direction _{D B1,} the The first reference surface forming portion 7 is pressed against the corresponding first mounting surface. The reaction force due to this pressing is supported by the support structure 3.

In the example of FIG. 3, each first pressing mechanism portion 17 includes a coupling pin 25, a pressing member 27, and a nut 29. One end of the coupling pin 25 is coupled to the support structure 3. The pressing member 27 is provided with a through hole. The pressing member 27 is attached to the coupling pin 25 so that the coupling pin 25 passes through the through hole. The pressing member 27 is movable with respect to the coupling pin 25 in the axial direction (first direction D _B1 ) of the coupling pin 25 with respect to the coupling pin 25 passing through the through hole. A male screw is formed on the outer peripheral surface of the other end portion of the coupling pin 25. A nut 29 is screwed onto the male screw. With this configuration, as shown in FIGS. 3A to 3C, the nut 29 is in a state where the first reference surface forming portion 7 is sandwiched between the pressing member 27 and the first mounting surface 21 a, 21 b or 21 c. The nut 29 is rotated in the direction of moving toward the first mounting surface. Thereby, the pressing member 27 moves to the first mounting surface side and presses the first reference surface forming portion 7 (that is, the first reference surface) against the first mounting surface.

According to the present embodiment, each second pressing mechanism portion 18 sandwiches the corresponding second reference surface forming portion 8 in the second direction _DB2 between the corresponding second mounting surface 22a or 22b, and this second The reference surface forming portion 8 is pressed against the corresponding second mounting surface. The reaction force due to this pressing is supported by the support structure 3.

3B and 3C, each second pressing mechanism 18 includes a coupling member 31 and a pressing bolt 33. The coupling member 31 is coupled to the support structure 3, and a through hole penetrating in the second direction _DB2 is formed. A female screw is formed on the inner peripheral surface of the through hole. A male screw is formed on the outer peripheral surface of the pressing bolt 33. The pressing bolt 33 passes through the through hole of the coupling member 31 in a state where the female screw of the through hole of the coupling member 31 and the male screw of the pressing bolt 33 are screwed together. With this configuration, as shown in FIGS. 3B and 3C, the pressing bolt 33 is mounted with the second reference surface forming portion 8 sandwiched between the tip of the pressing bolt 33 and the second mounting surface 22a or 22b. The pressing bolt 33 is rotated in the direction of moving to the second mounting surface side. Thereby, the pressing bolt 33 moves to the second mounting surface side and presses the second reference surface forming portion 8 (that is, the second reference surface) against the second mounting surface.

According to the present embodiment, the third pressing mechanism unit 19 sandwiches the third reference surface forming unit 9 in the third direction _DB3 between the third pressing surface unit 19 and the third mounting surface 23, and the third reference surface forming unit 9 is connected to the third mounting surface 23. Press against the mounting surface 23. The reaction force due to this pressing is supported by the support structure 3.

In the example of FIG. 3A, the third pressing mechanism portion 19 includes a coupling member 31 and a pressing bolt 33, similarly to the second pressing mechanism portion 18. The coupling member 31 is coupled to the support structure 3, and a through hole penetrating in the third direction _DB3 is formed. A female screw is formed on the inner peripheral surface of the through hole. A male screw is formed on the outer peripheral surface of the pressing bolt 33. The pressing bolt 33 passes through the through hole of the coupling member 31 in a state where the female screw of the through hole of the coupling member 31 and the male screw of the pressing bolt 33 are screwed together. With this configuration, as shown in FIG. 3A, the pressing bolt 33 is connected to the third mounting surface 23 with the third reference surface forming portion 9 sandwiched between the tip of the pressing bolt 33 and the third mounting surface 23. The pressing bolt 33 is rotated in the direction of moving to the side. Accordingly, the pressing bolt 33 moves to the third mounting surface 23 side and presses the third reference surface forming portion 9 (that is, the third reference surface) against the third mounting surface 23.

  Next, a method for fixing the processing object 10 for fixing the processing object 10 when the processing apparatus 30 described later processes the processing object 10 will be described.

  FIG. 4 is a flowchart of this method. 5 to 9 correspond to steps S1, S21, S22, S23, and S3 in this flowchart, respectively. In each of FIGS. 5-9, (B) is a BB line arrow view of (A), (C) is a CC line arrow view of (A).

  In step S1, the fixing device 20 described above is provided. Preferably, the fixing device 20 is installed so that the three first attachment surfaces 21a, 21b, and 21c face vertically upward. When the fixing device 20 has the configuration of FIG. 3, in step S <b> 1, the pressing member 27 and the nut 29 of each first pressing mechanism unit 17 are removed from the coupling pin 25 as shown in FIG. 5. Further, as shown in FIG. 5, each pressing bolt 33 is moved to the opposite side to the corresponding second mounting surface 22 a, 22 b or third mounting surface 23.

  In step S2, the three first reference surfaces 11a, 11b, and 11c are respectively applied to the three first attachment surfaces 21a, 21b, and 21c, and the two second reference surfaces 12a and 12b are respectively provided with the two second attachment surfaces 22a. , 22b and the third reference surface 13 against the third mounting surface 23.

  In the present embodiment, step S2 includes steps S21, S22, and S23.

  In step S21, the three first reference surfaces 11a, 11b, and 11c are applied to the three first attachment surfaces 21a, 21b, and 21c, respectively. Preferably, the three first attachment surfaces 21a, 21b, and 21c face vertically upward. In step S21, the workpiece 10 is lowered with the three first reference surfaces 11a, 11b, and 11c facing downward. Let Accordingly, as shown in FIG. 6, the three first reference surfaces 11a, 11b, and 11c are mounted on the three first attachment surfaces 21a, 21b, and 21c, respectively, and the three first reference surfaces 11a, 11b, and 11c are mounted. Are applied to the three first mounting surfaces 21a, 21b, and 21c, respectively. Thereby, the weight of the workpiece 10 is set to the first state supported by the three first mounting surfaces 21a, 21b, and 21c. When the workpiece 10 is lowered, the pressing member 27 and the nut 29 are disengaged from the coupling pin 25 as described above. Therefore, the first reference surface forming portion 7 of the workpiece 10 has the pressing member 27 and the nut 29. There is no interference.

In step S22, the first state of the above, the workpiece 10 is moved in a direction opposite to the second direction _{D B2,} as shown in FIG. 7, two second reference surface 12a, a 12b, two each The second contact surfaces 22a and 22b are applied. Thus, the three first reference surfaces 11a, 11b, and 11c are in contact with the three first attachment surfaces 21a, 21b, and 21c, respectively, and the two second reference surfaces 12a and 12b are each two second attachment surfaces 22a. , 22b is brought into a second state.

In step S23, in the second state described above, the workpiece 10 is moved in a direction opposite to the third direction D _B3, as shown in FIG. 8, against the third reference plane 13 to the third mounting surface 23. As a result, the third state in which the position and posture of the workpiece 10 with respect to the support structure 3 are completely determined is obtained.

  Note that steps S21, S22, and S23 are performed by a person or a robot hand.

  In step S <b> 3, the workpiece 10 is fixed to the support structure 3 by the fixing mechanism 5 in the third state. That is, as shown in FIG. 9, the three first pressing mechanisms 17 press the three first reference surfaces 11a, 11b, and 11c against the three first mounting surfaces 21a, 21b, and 21c, respectively. The first reference surfaces 11a, 11b, and 11c are fixed to the three first attachment surfaces 21a, 21b, and 21c, and the two second pressing mechanisms 18 are used to connect the two second reference surfaces 12a and 12b to the second second surfaces. The two second reference surfaces 12a and 12b are fixed to the two second attachment surfaces 22a and 22b by pressing against the attachment surfaces 22a and 22b, and the third reference surface 13 is fixed to the third attachment surface by the third pressing mechanism 19. The third reference surface 13 is fixed to the third mounting surface 23 by pressing against the third mounting surface 23.

  In the example of FIG. 9, in step S <b> 3, the workpiece 10 is fixed to the support structure 3 as follows from the state of FIG. 8. A pressing member 27 and a nut 29 are attached to the coupling pin 25 of each first pressing mechanism portion 17. By rotation of the nut 29, the first reference surface forming portion 7 is sandwiched between the pressing member 27 and the corresponding first mounting surface 21a, 21b or 21c, and the pressing member 27 corresponds to the corresponding first mounting surface. The first reference surface 11a, 11b or 11c to be pressed is pressed. Further, the pressing bolts 33 of the second pressing mechanism portions 18 are rotated in the direction in which the pressing bolts 33 move to the corresponding second mounting surface 22a or 22b side. Thereby, this pressing bolt 33 moves to the corresponding second mounting surface side and presses the corresponding second reference surface 12a or 12b against the second mounting surface. Similarly, the pressing bolt 33 of the third pressing mechanism portion 19 is rotated in the direction in which the pressing bolt 33 moves to the corresponding third mounting surface 23 side. As a result, the pressing bolt 33 moves toward the third mounting surface 23 and presses the third reference surface 13 against the third mounting surface 23.

  FIG. 10 shows a processing apparatus 30 according to an embodiment of the present invention. The processing apparatus 30 processes the above-described processing object 10 fixed to the support structure 3 by the fixing mechanism 5 in the above-described step S3. The processing device 30 includes the above-described fixing device 20, a stationary frame 39, a movable frame 41, a processing tool 43, a control device 45, and a position detection device 47.

  The stationary frame 39 is fixed to the support structure 3 of the fixing device 20. In the example of FIG. 10, the stationary frame 39 is installed on the base portion 4.

The movable frame 41 is movable with respect to the stationary frame 39. In the example of FIG. 10, the movable frame 41 includes a first frame portion 41a, a second frame portion 41b, and a third frame portion 41c. The first frame portion 41a is provided on the stationary frame 39 and can reciprocate in a direction parallel to the second direction _DB2 with respect to the stationary frame 39. The second frame portion 41b while being supported by the first frame portion 41a, which is reciprocable in a first direction _{D B1} and the direction parallel to the first frame portion 41a (vertical direction). The third frame portion 41c while being supported by the second frame part 41b, which is reciprocable in a direction parallel to the third direction _{D B3} with respect to the second frame portion 41b.

  The processing tool 43 is attached to the movable frame 41 (in the example of FIG. 10, the third frame portion 41 c) and processes the processing object 10 fixed to the support structure 3. The processing tool 43 is, for example, an end mill that is rotationally driven around its own axis, but may be another processing tool.

The control device 45 controls the operation of the movable frame 41. That is, the control device 45 controls the operation of the movable frame 41 by controlling a drive device (not shown) that drives the movable frame 41. Thereby, the control device 45 controls the position of the machining tool 43. In the example of FIG. 10, the control device 45 controls a drive device (not shown) that reciprocates the first frame portion 41 a with respect to the stationary frame 39 in a direction parallel to the second direction DB _2, and A drive device (not shown) that reciprocates the portion 41b with respect to the first frame portion 41a in a direction parallel to the first direction _DB1 is controlled, and the third frame portion 41c is second with respect to the second frame portion 41b. A drive device (not shown) that reciprocates in the direction parallel to the three directions _DB3 is controlled.

  As described above, the workpiece 10 is designed based on the positions of the first reference surface 11a, 11b or 11c, the second reference surface 12a or 12b, and the third reference surface 13, and is manufactured according to this design. ing.

  The control device 45 controls the operation of the movable frame 41 so that the machining tool 43 is positioned at a preset machining position. The machining position is preset with respect to the machining position control reference. The processing position control reference is the first mounting surface 21 a, 21 b or 21 c, the second mounting surface 22 a or 22 b and the third mounting surface 23 of the support structure 3. This machining position may be stored in the control device 45.

  The position detection device 47 detects the position of the processing tool 43 with respect to the processing position control reference (the first mounting surface 21a, 21b or 21c, the second mounting surface 22a or 22b and the third mounting surface 23).

  Based on the position of the processing tool 43 detected by the position detection device 47 and a preset processing position, the control device 45 places the processing tool 43 at the above-described processing position. Control the behavior.

  This control will be described in more detail.

The processing position control reference includes the position of the first mounting surface 21a, 21b or 21c as the first reference position in the first direction _DB1 , and the position of the second mounting surface 22a or 22b as the second reference in the second direction _DB2 . The position of the third mounting surface 23 is included as a third reference position in the third direction _DB3 .

The machining position described above includes a first machining position that is preset with respect to the first reference position in the first direction D _B1 , and a second machining that is preset with respect to the second reference position in the second direction D _B2 . A third machining position that is preset with respect to the third reference position in the third direction _DB3 .

The position detection device 47 detects the position of the machining tool 43 with respect to the first reference position in the first direction D _B1 , detects the position of the machining tool 43 with respect to the second reference position in the second direction D _B2 , For the third direction _DB3 , the position of the machining tool 43 relative to the third reference position is detected.

The control device 45 performs the first machining on the machining tool 43 based on the position of the machining tool 43 relative to the first reference position and the first machining position detected by the position detection device 47 in the first direction _DB1. The operation of the second frame portion 41b is controlled so as to be positioned. The control device 45 performs the second machining on the machining tool 43 based on the position of the machining tool 43 relative to the second reference position and the second machining position detected by the position detection device 47 in the second direction _DB2. The operation of the first frame portion 41a is controlled so as to be positioned. Based on the position of the machining tool 43 relative to the third reference position and the third machining position detected by the position detection device 47 in the third direction _DB3 , the control device 45 performs the third machining on the machining tool 43. The operation of the third frame portion 41c is controlled so as to be positioned.

  Thus, the processing tool 43 positioned at the processing position processes the processing object 10 at the processing position.

  Preferably, the direction of the processing tool 43 is controlled as follows.

  The processing device 30 includes orientation changing devices 49a and 49b that change the relative orientation of the processing tool 43 with respect to a preset processing direction control reference (which will be defined later), and the processing tool 43 relative to the processing direction control reference. And a direction detecting device 51 for detecting a specific direction. In the example of FIG. 10, the direction changing device 49a is provided in the third frame portion 41c, and the direction changing device 49b is provided in the direction changing device 49a.

Incidentally, a detailed illustration of the structure is omitted, the orientation changing device 49a is, around the axis C1 facing the second direction D _B2, rotating the machining tool 43. The direction changing device 49b rotates the processing tool 43 around the axis C2 shown in FIG. The axis C2 faces in a direction orthogonal to both the axis C1 and the axis of the machining tool 43. That is, when the orientation changing device 49a changes the orientation of the machining tool 43, the orientation of the axis C2 (orientation changing device 49b) also changes with the orientation of the machining tool 43.

  In the present embodiment, the direction changing devices 49a and 49b change the direction of the processing tool 43 (relative to the third frame portion 41c in the example of FIG. 10), whereby the processing tool 43 with respect to the processing direction control reference. The relative orientation of is changed. When the position of the processing tool 43 (for example, the end of the end mill) changes due to the change in the direction of the processing tool 43, the change in the position is detected by the position detection device 47, and based on the detection. The control device 45 controls the operation of the movable frame 41 so that the processing tool 43 is positioned at the above-described processing position.

  As described above, the workpiece 10 is designed based on the direction in which the first reference surfaces 11a, 11b, 11c, the second reference surfaces 12a, 12b, and the third reference surface 13 face, and is manufactured according to this design. Has been.

  The control device 45 controls the direction changing devices 49a and 49b so that the machining tool 43 is directed in a preset machining direction. The machining direction is preset with respect to the machining direction control reference. The processing direction control standard is at least in the first direction, the second direction, and the third direction in which the first mounting surfaces 21a, 21b, and 21c, the second mounting surfaces 22a and 22b, and the third mounting surface 23 of the support structure 3 face, respectively. Either. The machining direction may be stored in the control device 45.

  Based on the direction of the processing tool 43 detected by the direction detection device 51 and the preset processing direction, the control device 45 sets the direction changing devices 49a and 49b so that the processing tool 43 faces the processing direction. Control.

  The machining tool 43 that is directed in the machining direction and positioned at the machining position as described above processes the workpiece 10 in the machining direction and at the machining position.

According to the processing apparatus described above, the following effects can be obtained.
Three first reference surfaces, two second reference surfaces, and a third reference surface of the workpiece are attached to the three first attachment surfaces, two second attachment surfaces, and the third attachment surface of the support structure, respectively. It is done. In this state, the directions in which the first mounting surface, the second mounting surface, and the third mounting surface face are the same as the directions in which the first reference surface, the second reference surface, and the third reference surface, which are the design reference directions, respectively. (Strictly opposite)
In this regard, in the machining apparatus of the present invention, the machining tool direction is determined based on the detected direction of the machining tool with respect to the machining direction control reference that matches the design reference direction and the machining direction with respect to the machining direction control reference. To.
Therefore, in the processing apparatus of the present invention, the design reference direction (the directions of the first reference surface, the second reference surface, and the third reference surface) is used as the processing direction control reference.
On the other hand, when the direction of the machining tool is controlled using a direction different from the design reference direction as the machining direction control reference, the error of the “machining direction control reference with respect to the design reference direction” and the “machining with respect to the machining direction control reference” An error combined with the “direction” error occurs.
In the present invention, since the design reference direction is used as the processing direction control reference, at least an error of “processing direction control reference with respect to the design reference” is eliminated.
Therefore, the accuracy of the machining direction with respect to the design reference direction is improved. As a result, when a plurality of workpieces are sequentially attached to the fixing device as described above and processed, variations in accuracy in the processing direction are reduced.

  The present invention is not limited to the above-described embodiment, and various changes can be made without departing from the scope of the present invention. For example, you may employ | adopt combining any of the following modified examples 1-3, or combining the modified examples 1-3 arbitrarily. In this case, the points not described below may be the same as described above.

(Modification 1)
The fixing mechanism 5 is not limited to the above-described configuration. For example, the three first reference surfaces 11a, 11b, and 11c are respectively applied to the three first attachment surfaces 21a, 21b, and 21c, and the two second reference surfaces 12a and 12b are respectively provided with the two second attachment surfaces 22a and 22b. The fixing mechanism 5 (for example, the first pressing mechanism unit) is a mechanism that fixes the workpiece 10 to the support structure 3 with the third reference surface 13 being in contact with the third mounting surface 23. 17, the second pressing mechanism 18 and the third pressing mechanism 19) may have other configurations.

(Modification 2)
The processing apparatus by this invention is not limited to the above-mentioned processing apparatus 30, For example, you may be comprised as follows.

  The direction changing device of the machining apparatus according to the present invention is not limited to the above-described direction changing devices 49a and 49b, and is for machining with respect to the machining direction control reference by driving the above-described base part 4 to change the direction of the base part 4. The relative orientation of the tool 43 may be changed. A schematic configuration example in this case is shown in FIG. In FIG. 11, the orientation changing device 49 c of the processing device 30 does not show the specific configuration, but drives the base portion 4 to change the orientation of the base portion 4. In FIG. 11, unlike FIG. 10, the stationary frame 39 is not installed on the base portion 4 but is installed on the stationary structure 42.

  In addition, the direction detection device of the machining apparatus according to the present invention is not limited to the above-described direction detection device 51, and may be any device that detects the relative orientation of the machining tool 43 with respect to the machining direction control reference. In FIG. 11, the direction detection device 51 of the processing device 30 detects the orientation (direction) of the base portion 4 (reference line fixed to the base portion 4) with respect to the known orientation of the processing tool 43, and the detected orientation. Based on the known orientation (orientation) of the base portion 4 with respect to the machining direction control reference, the relative orientation of the machining tool 43 with respect to the machining direction control reference is detected.

  The control device of the processing device according to the present invention is not limited to the control device 45 described above, and is based on the above-described relative direction detected by the direction detection device of the processing device according to the present invention and a preset processing direction. The direction changing device of the machining apparatus according to the present invention is controlled so that the machining tool is in the state of facing the machining direction.

  The machining apparatus according to the present invention can be used for machining by moving the above-described base portion 4 in addition to or instead of the configuration for machining the workpiece 10 by moving the machining tool 43. The tool 43 may process the workpiece 10.

(Modification 3)
Instead of the three first mounting surfaces 21a, 21b, and 21c described above, three first mounting protruding points that protrude in the first direction so as to face the first direction may be provided. Each 1st attachment surface 21a, 21b, 21c or each 1st attachment protrusion point comprises the 1st attachment part of the fixing device by this invention.

  Instead of the above-described two second mounting surfaces 22a and 22b, two second mounting projecting points projecting in the second direction so as to face the second direction may be provided. Each 2nd attachment surface 22a, 22b or each 2nd attachment protrusion point comprises the 2nd attachment part of the fixing device by this invention.

  Instead of the third mounting surface 23 described above, a third mounting protruding point that protrudes in the third direction so as to face the third direction may be provided. The third attachment surface 23 or the third attachment protrusion constitutes a third attachment portion of the fixing device according to the present invention.

  Preferably, in the three first reference surfaces 11a, 11b, and 11c, the portions fixed to the three first attachment portions are not located on the same straight line.

3 Support structure, 4 Base part, 5 Fixing mechanism, 7 First reference surface forming part, 8 Second reference surface forming part, 9 Third reference surface forming part, 10 Work object, 11a, 11b, 11c First reference Surface, 12a, 12b second reference surface, 13 third reference surface, 14 first mounting surface forming portion, 15 second mounting surface forming portion, 16 third mounting surface forming portion, 17 first pressing mechanism portion, 18 second Pressing mechanism part, 19 3rd pressing mechanism part, 20 fixing device, 21a, 21b, 21c first mounting surface, 22a, 22b second mounting surface, 23 third mounting surface, 25 connecting pin, 27 pressing member, 29 nut, 30 processing device, 31 coupling member, 33 pressing bolt, 39 stationary frame, 41 movable frame, 41a first frame portion, 41b second frame portion, 41c third frame portion, 42 stationary structure, 43 processing tool, 45 control Equipment, 47置検detection device, 49a, 49b, 49c facing changing device, 51 direction detecting _{device, D A1} first reference _{direction, D A2} second reference _{direction, D A3} third reference _{direction, D B1} first _{direction, D B2} second direction , _DB3 third direction

Claims (9)

A workpiece to be processed by the processing device in a state of being fixed to the fixing device,
The fixing device includes three first mounting portions facing in a first direction and separated from each other, two second mounting portions facing in a second direction orthogonal to the first direction and separated from each other, a first direction and a first direction A third mounting portion that faces a third direction orthogonal to the two directions, and each first mounting portion is a first mounting surface or a first direction so as to face the first direction. A first mounting protrusion point that protrudes in the second direction, and each second mounting portion is a second mounting surface or a second mounting protrusion point that protrudes in the second direction so as to face the second direction. 3 attachment part is the 3rd attachment surface, or it is the 3rd attachment projection point which projected in the 3rd direction so that it may face the 3rd direction,
The workpiece includes three first reference surfaces that face the same first reference direction and are separated from each other, and two second reference surfaces that face the second reference direction perpendicular to the first reference direction and are separated from each other, A third reference plane facing a third reference direction orthogonal to both the first reference direction and the second reference direction,
The three first reference surfaces are respectively applied to the three first mounting portions in the fixing device in the first direction, and the two second reference surfaces are respectively connected to the two second mounting portions in the fixing device. The third reference surface is applied to the second direction orthogonal to the first direction, and the third reference surface is applied to the third attachment portion of the fixing device in the third direction orthogonal to both the first direction and the second direction. Then, the processing object can be fixed to the fixing device. Three first reference planes can be attached to the three first attachment portions facing vertically upward,
When a workpiece is viewed from a direction parallel to the direction in which the first reference plane faces, a virtual triangle formed by connecting three points respectively located in the three first reference planes with a virtual straight line The processing object according to claim 1, wherein the center of gravity of the processing object is located inside. A processing object fixing device for fixing a processing object when the processing apparatus processes the processing object,
A support structure to which the workpiece is attached;
A fixing mechanism for fixing the workpiece to the support structure,
The workpiece includes three first reference surfaces that face in the same direction and are separated from each other, two second reference surfaces that face in a direction orthogonal to the direction in which the first reference surface faces, and are separated from each other, and a first reference surface A third reference plane facing in a direction orthogonal to both the direction facing and the direction facing the second reference plane,
The support structure includes three first mounting portions facing in a first direction and separated from each other, two second mounting portions facing in a second direction orthogonal to the first direction and separated from each other, and the first direction and the first direction. One third mounting portion facing a third direction orthogonal to the two directions,
Each of the three first reference surfaces is applied to the three first mounting portions, each of the two second reference surfaces is applied to the two second mounting portions, and each of the third reference surfaces is applied to the third mounting portion. The fixing mechanism fixes the workpiece to the support structure,
Each first attachment portion is a first attachment surface or a first attachment protrusion that protrudes in the first direction so as to face the first direction,
Each of the second mounting portions is a second mounting surface or a second mounting protruding point protruding in the second direction so as to face the second direction,
The third attachment portion is a third attachment surface, or a third attachment protrusion that protrudes in the third direction so as to face the third direction.   The apparatus for fixing a workpiece according to claim 3, wherein the first direction is a vertically upward direction. The fixing mechanism is
Three first pressing mechanisms that fix the three first reference surfaces by pressing the three first reference surfaces against the three first mounting portions in the direction opposite to the first direction;
Two second pressing mechanism portions that press and fix the two second reference surfaces to the two second mounting portions in the direction opposite to the second direction;
The apparatus for fixing a workpiece according to claim 3, further comprising: a third pressing mechanism portion that presses and fixes the third reference surface to the third mounting portion in a direction opposite to the third direction. . A processing object fixing method for fixing a processing object when the processing apparatus processes the processing object,
The workpiece includes three first reference surfaces that face in the same direction and are separated from each other, two second reference surfaces that face in a direction orthogonal to the direction in which the first reference surface faces, and are separated from each other, and a first reference surface And a third reference plane facing in a direction perpendicular to both the direction in which the second reference plane faces and the direction in which the second reference plane faces.
(A) A fixing device including a support structure to which the workpiece is attached and a fixing mechanism for fixing the workpiece to the support structure is provided, and the support structure is separated from each other in the first direction. A first mounting portion; two second mounting portions facing each other in a second direction orthogonal to the first direction; and one third mounting portion facing a third direction orthogonal to the first direction and the second direction. And each first mounting portion is a first mounting surface or a first mounting protrusion that protrudes in the first direction so as to face the first direction, and each second mounting portion is It is a second mounting surface, or a second mounting protruding point that protrudes in the second direction so as to face the second direction, and the third mounting portion is the third mounting surface, or the third direction A third mounting protrusion that protrudes in the third direction to face
(B) The three first reference surfaces are respectively applied to the three first attachment portions, the two second reference surfaces are applied to the two second attachment portions, and the third reference surface is applied to the third attachment portion,
(C) In this state, the processing object is fixed to the support structure by a fixing mechanism, and the processing object is fixed. The first direction is a vertically upward direction,
In (B) above,
(B1) Place the three first reference surfaces on the three first attachment parts,
(B2) In this state, the workpiece is moved in the direction opposite to the second direction, and the two second reference surfaces are applied to the two second attachment portions, respectively.
(B3) In this state, the workpiece is moved in a direction opposite to the third direction, and the third reference surface is applied to the third attachment portion. Method. Three first reference surfaces that are separated from each other in a first reference direction and are to be applied to the corresponding three first mounting surfaces of the fixing device;
Two second reference surfaces that are separated from each other in a second reference direction orthogonal to the first reference direction and are to be applied to two corresponding second mounting surfaces of the fixing device;
A third reference plane that is separated from each other in a third reference direction orthogonal to each of the first and second reference directions and is to be applied to a corresponding third mounting portion of the fixing device;
An object to be processed.   When the object to be processed is viewed from a direction parallel to the direction in which the first reference plane faces, the three points located in the three first reference planes are connected by a virtual straight line. The processing object according to claim 8, wherein a center of gravity of the processing object is located inside a virtual triangle.

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