JPS61288907A - Drilling robot - Google Patents

Abstract

PURPOSE:To obtain a drilling robot enabled to perform heavy cutting, by enabling a quill feed spindle unit, whose servo-controlled cutting feed can be performed, to perform a servo-controlled linear motion and rotary motion crossing at a right angle with the cutting feed direction. CONSTITUTION:A slide base 22, being mounted to a base 21 equipped with a guide rail 20, is slided in a direction Y by a servomotor 24. While the base 22 vertically provides a column 23, and its guide rail 25 provides a carrier 26 to be arranged and slided in a direction Z by a servomotor 27 through a feed thread 28. The carrier 26 mounts a quill feed spindle unit 29, and the unit 29 arranges a servomotor 48 turning a drill 38 through a spindle, sevomotor 50 giving a cutting feed to the spindle through a quill and a servomotor 51 giving a turning motion theta. Accordingly, heavy cutting can be performed while a necessary degree of freedom is ensured.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to an industrial robot intended for cutting IJ songs.

BACKGROUND OF THE INVENTION As an industrial robot for this type of cutting work, for example, an industrial robot arm 1 with a joint amount as shown in FIG. 16 is used.
A structure in which a quill feed type drilling unit 10 is arranged is known.

Problems to be Solved by the Invention Conventional cutting robots such as those mentioned above are basically configured as general-purpose industrial robots, so in order to reduce the load on the robot itself, it is necessary to Weight and therefore cutting capacity are limited. Moreover, since the processing position by the drilling unit is far from the fulcrum of the robot, the rigidity is not sufficient.

Therefore, conventional cutting robots are intended only for cutting with noisy loads, and heavy cutting is difficult.

In addition, in conventional cutting robots, the functions of the drilling unit itself are limited as described above, so when drilling holes of several depths in a series of operations, the maximum hole depth is generally The rapid feed length and cutting feed depth will be set according to the cutting speed. Therefore, as long as a series of operations is performed, the rapid feed length and cutting feed length remain unchanged even if the machining position changes, and the machining time becomes unnecessarily long when drilling shallow holes.

Means for Solving the Problems The present invention aims to provide a cutting robot that is especially suitable for heavy cutting, and specifically uses a quill-feed spindle that provides cutting feed through servo control. a linear motion axis that provides linear feed in a direction orthogonal to the cutting feed direction to the quill-feed spindle unit by servo control; and a rotary motion axis that provides rotational motion.

It is sufficient to have at least one linear motion axis and one rotary motion axis, and the number can be increased as needed.

According to the present invention, the robot has at least three degrees of freedom, including the cutting feed direction of the spindle unit, and can perform heavy cutting while maintaining the same degree of freedom as the conventional robot.

Embodiment FIGS. 1 to 3 are diagrams showing a more specific first embodiment of the present invention, and illustrate a drilling robot.

As shown in FIGS. 1 to 3, a slide base 22 is mounted on the pace 21 provided with a pair of guide rails, and a column device is integrally erected on the slide base 22. The slide base 22 is a servo motor 2
4 provides horizontal feed, slides in the Y direction together with column n, and functions as a linear motion axis in the Y direction.

Column n has a pair of guide rails 25, and a carrier 26 is disposed in the guide rail portion. career 26
is given vertical feed by a servo motor 27 and a feed screw, and the carrier 26 slides in two directions. This constitutes a linear motion axis in two directions.

A quill feed type spindle unit, that is, a drilling unit 29 is mounted on the carrier 26.
This drilling unit 29 is operated by a motor 5 as described later.
1, the motor 51 can rotate in the θ direction about its axis. This constitutes a rotational movement axis in the θ direction.

Therefore, as shown in FIG.
9 by a predetermined amount in the θ direction, and the quill 32 is
By expanding in the direction, diagonal hole machining can be performed on the workpiece W clamped by the jig JL30.

FIG. 5 shows details of the drilling unit 29, and the V-VIi of FIG. 1! i! It corresponds to the cross section.

A quill 32 is supported on the case 31 so as to be movable in the axial direction, and a ball screw nut type as a feed nut is fixed to the rear end of the quill 32 via a bracket 33. Further, a spindle 36 is rotatably supported within the quill 32 via a bearing 35.

The spindle 36 has a drill 38 held by a holder 37 at its tip, and a ball spline shaft 39 is integrally formed at its rear end.

A ball screw shaft 40 serving as a feed screw is disposed in the case 31 and is parallel to the spindle 36 . The ball screw shaft ω is rotatably supported by a bearing 41, and is screwed into a ball screw nut. A bevel gear 42 is fixed to one end of the ball screw shaft 40, and a rotary encoder 43 is connected to the other end. This rotary encoder 43 detects the feed amount of the quill 32. The shrine is a stopper.

An auxiliary spindle 45 is disposed concentrically at the rear end of the spindle 36. The auxiliary spindle 45 is rotatably supported by a bearing 46, and a ball spline bushing 47 is integrally attached to the tip. A ball spline bushing 47 is spline-coupled to the ball spline shaft portion 39.

A servo motor 48 for rotationally driving the spindle 36 is attached to the rear end of the case 31. C0
-V- Ito 48 is located on the same axis as the spindle 36, and its output shaft 49 is integrally connected to the rear end of the auxiliary spindle 45 via a span ring.

That is, by the action of the motor 48, the auxiliary spindle 45. The spindle 36 rotates via the ball spline bush 47 and the ball spline shaft 39.

On both sides of the rear end of the case 31, the quill 32 has an axial direction (
Servo motor 5 for giving feed in the X direction (Fig. 4)
0 and the entire drilling unit 29 in the θ direction (Fig. 4).
and a servo motor 51 for turning it are arranged so as to face each other. Both of these motors 50 and 51 are located on an axis mQ orthogonal to the spindle 36.

Motor 50 is secured to housing 52 and housing 52 is secured to carrier 26. Also, motor 5
0 output shaft 53 is connected to an intermediate shaft 55 via a coupling 54. A bevel gear 56 is attached to the intermediate shaft 55, and the bevel gear 56 meshes with the bevel gear 42 on the ball screw shaft 40 side. Therefore, the servo-controlled motor 50
This action provides axial feed to the quill 32 via the ball screw shaft 40 and the ball screw nut.

Incidentally, the connection between the output shaft & and the coupling 54 and the connection between the coupling 54 and the intermediate shaft 55 are both made by Spann rings.

Inside the housing 52, a brake unit 57 and a pivot shaft are arranged concentrically with the output shaft 53.

The pivot shaft is fixed to the case 31 and has a bearing 59.
It is rotatably supported by the carrier 26 via. Further, although the brake unit 57 itself is fixed to the carrier 26, the brake disc 60 is attached to the collar 61.
The collar 61 is further connected to the pivot shaft by a Spannling ring.

The motor 51 is fixed to the housing 62 and the nozzle 62 is fixed to the carrier 26. In the housing 62, a speed reduction mechanism (commercially available product name: Harmonic Drive) 63 and a pivot shaft 8 are arranged concentrically.

The pivot axis U is connected to the case 31 in the same way as the pivot axis 58 described above.
It is rotatably supported by the carrier 26 via a bearing 65.

The speed reduction mechanism 63 includes a generator mark with a ball bearing arranged on the outer periphery of an elliptical cam, an elastically deformable cup-shaped ring gear 67 with splines formed on the outer periphery, and a spline that meshes with the ring gear 67 formed on the inner periphery. It consists of a ring gear and a ring gear.

The generator 66 is connected to the output shaft 69 of the motor 51, the ring gear 67 is fixed to the pivot shaft 64, and the ring gear 67 is fixed to the housing 62. Further, the number of teeth of the ring gear brocade is set to be two more than that of the ring gear 67, for example.

Therefore, when the generator 66 rotates once due to the action of the motor 51, the ring gear 67 and thus the drilling unit 29 rotate in the θ direction by the difference in the number of teeth. The center of rotation at this time is the rotation axis 58, 64 on the axis θ.

Here, the motors 50 and 51 both employ so-called brake motors in which a brake separate from the brake unit 57 is provided, and the motor 51 is equipped with a rotary encoder 70 as a displacement detector. .

The cutting robot configured in this way operates as follows.

For example, assuming that the drilling unit 29 is in a horizontal position as shown in FIG. 1, the motor 48 is activated to rotate the spindle 36 equipped with the drill 38 via the auxiliary spindle 45 and the ball spline bush 47.

Similarly, activation of the motor 50 causes the ball screw shaft 40 to rotate via the bevel gear 56.42.

The rotational displacement of the ball screw shaft 40 is converted into a sliding displacement of the quill 32 by the screw engagement with the ball screw nut wings, and the quill 32 moves forward (or backward) in the axial direction together with the spindle 36. At this time, the ball spline bushing 39 allows the spindle 36 to move in the axial direction.

As shown in FIGS. 1 to 3, by using both the movement of the slide table 22 in the Y direction and the movement of the carrier 26 in two directions, it becomes possible to process a horizontal hole at any position.

In addition, by starting the motor 51, the deceleration mechanism 63 receives the output, and the IJ IJ song knit 29 moves to the rotation axis 58.6.
4 in the β direction in FIG. 1. Then, when the DO 13+J song knit 29 turns by a preset amount, the brake unit 57 is actuated to lock the drilling unit 29 at that turning position.

Therefore, by feeding the quill 32 in the axial direction in this state, it becomes possible to form an oblique hole as shown in FIG.

Here, the feed amount of the quill 32 is detected by a rotary encoder 43 provided at the rear end of the ball screw shaft 40, but the mounting position of the rotary encoder 43 must be on the axis parallel to the spindle 36. Ru.

For example, even if the rotary encoder 43 is provided on the axis of the motor 50, the amount of feed of the quill 32 can be detected.

In that case, as shown in FIG.
This is because if an attempt is made to, for example, drill an oblique hole by tilting the drilling unit 29, an error will occur compared to when the drilling unit 29 is horizontal, and some kind of correction will need to be made.

As described above, according to this embodiment, the motors 50 and 51 are arranged symmetrically across the case 31 on the axis perpendicular to the axis of the spindle, and
The axes of 0 and 51 are aligned with the rotation center of the drilling unit 29. Therefore, the weight balance of the entire unit is good, and the load on the turning motor 51 can be reduced.

Further, since the motor 48 for driving the spindle rotation is located on the same axis as the spindle 36, the structure of the rear end of the drilling unit is simple, and the restrictions on the turning space of the drilling unit 4 are relaxed.

6 to 8 are diagrams showing a second embodiment of the present invention, and the major difference from the first embodiment is the drilling unit 79.
Cantilevered against the carrier 76, and!
・Additional axis of rotation in direction.

In FIGS. 6 to 8, the linear motion axis in the Y direction consisting of the base 21, slide base 22, and servo motor 24 is the same as that in the first embodiment shown in FIG. 3. A column 23 is rotatably supported on the slide base 22 via a bearing 70, as shown in FIGS. 9 and 10. A part of the column n has a ball screw nut 71 that can swing and turn, and a ball screw shaft 73 that is rotationally driven by a servo motor 72 is screwed into the ball screw nut 71. Therefore, the column 23 rotates in the β direction by the action of the servo motor 72, and functions as a rotation axis in the β direction.

74 is a rotary encoder.

A carrier 76 is mounted on the column 23, and the carrier 76 is fed by a servo motor 77 to move the 2
It slides in two directions, and functions as a linear movement axis in two directions. 75 is a rotary encoder.

A quill feed type drilling unit 79 is rotatably supported on the carrier 76, as shown in FIGS. 11 and 12. At the rear end of the tri-IJing unit blade, there is a ball screw nut 80 that can swing.
A ball screw shaft 82 rotationally driven by a servo motor 81 is screwed into the ball screw nut 80 . Therefore, the servo motor 81
As a result, the drilling unit 79 rotates in the β direction about the shaft 83, which functions as a rotation axis in the β direction. 84 is a rotary encoder.

FIG. 13 shows the details of the drilling unit 79, and corresponds to the section 2--2 in FIG. 12.

A quill 92 is supported by the case 91 so as to be movable in the axial direction, and a ball screw nut 94 as a feed nut is fixed to the rear end of the quill 92 via a bracket 93. Also, inside the quill 92.

A spindle 96 is rotatably supported via a bearing 95.

The spindle 96 has a drill 38 held in a holder (not shown) at its tip, and a spline shaft 97 is integrally formed at its rear end.

A ball screw shaft 98 as a feed screw is provided in the case 91 and is parallel to the spindle 96 . The ball screw shaft 98 is rotatably supported by a bearing 99 while the ball screw nut 94
are screwed together.

A spline bush 101 integrated with a collar 100 is rotatably supported by a bearing 102 at the rear end of the case 91 . The spline bushing 101 is splined to a spline shaft portion 97 of the spindle 96 . Therefore, although the spline bushing 101 and the spindle 96 rotate together, the spline bush 101 allows the spindle 96 to move in the axial direction.

A permanent magnet 103 serving as a first rotor is fixed to the outer periphery of the collar 100, and a first stator 104 corresponding to the first rotor 103 is arranged concentrically with the rotor 103 on the inner periphery of the case 91. It is located in

The first stator 104 has a coil wound around a predetermined iron core, and the first rotor 103 and the first stator 104 constitute a servo motor 105 for rotationally driving the spindle 96.

At the rear end of the case 91, another collar 106 is rotatably supported by a bearing 107 so as to be adjacent to the collar 100 described above.

A driving gear 108 is fixed to the rear end of the collar 1060, and this driving gear 108 is connected to the ball screw shaft 9.
8 is meshed with a driven gear 109 fixed to the rear end of the gear.

A second rotor 110 is fixed to the outer circumference of the collar 106, while a second rotor 110 is fixed to the inner circumference of the case 91.
A second stator 111 corresponding to the second stator 111 is arranged concentrically. The second rotor 110 and the second stator 111 are the same as the first rotor 103 and the first stator 10.
The second rotor 110 and the second stator 111 constitute a servo motor 112 that feeds the quill 92 in the axial direction.

In other words, both motors 105 and 112 are connected to case 9.
1 and located on the same axis as the spindle 96.

Then, when the motor 105 starts, the rotational output of the motor 105 changes to the color 100. It is transmitted to the spindle % via the spline bush 101 and the spline shaft portion 97. As a result, the spindle 96 rotates together with the drill bit.

Further, when the motor 112 is started, the rotation output of the motor 1120 is output from the collar 106. Drive gear 108 and driven gear 1
09 to the ball screw shaft 98. Rotation of the ball screw shaft 98 causes the quill 92 to move forward or backward along with the spindle 96 through the ball screw nut 94.

Therefore, as described above, by combining the feeding of the quill 92 in the X direction, the linear feeding in the Y direction and two directions, and the rotational displacement in the θ and β directions, various hole machining becomes possible.

For example, in the case of FIGS. 6 to 8, the drilling unit 79 is horizontal and the fine point of the drilling unit 79 is perpendicular to the feed in the Y direction. Therefore, in this state, the drilling unit 79 is horizontal. Hole machining becomes possible.

In addition, in the case of FIG.
FIG. 15 shows a state in which the drilling unit 79 is tilted in the θ direction, and FIG. 15 shows a state in which the drilling unit 79 is tilted in the β direction. In these cases, it is possible to drill holes in the work W at an angle.

Effects of the Invention According to the present invention, a servo-controlled quill-feed spindle unit is combined with a linear movement axis and a rotary movement axis that are also servo-controlled. It can be expected to have high rigidity and can fully handle heavy cutting, and it is also possible to set the optimal cutting feed length for each hole when drilling multiple holes with different depths.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram showing the first embodiment of the present invention, Fig. 2 is a left side view of Fig. 1, Fig. 3 is a plan view of Fig. 2, and Fig. 4 is an explanation of the operation of Fig. 1. 5 is a sectional view of the drilling unit, corresponding to the line ■-■ in FIG. 1, FIG. 6 is an explanatory diagram showing the second embodiment of the present invention, and FIG. Right side view, Figure 8 is the plan view of Figure 6, Figure 9 is the ff- of Figure 8.
A sectional view taken along the line XI, FIG. 10 is a plan view of FIG.
Figure 1 is a cross-sectional view taken along line M-M in Figure 7, and Figure 12 is a cross-sectional view of Figure 1.
1 is a sectional view of the drilling unit, which corresponds to the XI-■ line in FIG. 12, FIG. FIG. 16 is a perspective view of a conventional cutting robot. 22...Slide base, %...Column, 24...
Servo motor, 26...Carrier, n...Servo motor, 29...Drilling unit as spindle unit, 32...Tile, 36...Spindle,...Drill, 40...Ball Screw shaft, 48...servo motor, north...servo motor,
51... Servo motor, 72... Servo motor, 7
6...Carrier, 77...Servo motor, 79...
・Drilling unit as spindle unit, 8
1... Servo motor, 92... Tile, 96...
Spindle, 98...Ball screw shaft, 1
05... Servo motor, 112... Servo motor.゛17th 2nd day 22----, Sufid N-7゜23-----Column Tsubasa---"So"-ga υ已-ta 26--+Yasoa 29-----Drissonfu L Nint嬬-axe/f″f：Itta 2nd Figure 3rd Figure 4 2υ z4 Do1 zυ7th Figure 8th Figure 9■ Figure 10 Figure 14 Figure 91515 Figure 8I

Claims (1)

[Claims] (1) A quill-feed spindle unit that provides cutting feed by servo control, a linear motion axis that provides linear feed in a direction perpendicular to the cutting feed direction to this quill-feed spindle unit, and the quill-feed spindle. A cutting robot characterized in that it is equipped with a rotary motion axis that gives a rotational movement to the unit by servo control, with the axis perpendicular to the cutting feed direction as the center of rotation.