WORK PROCESSING APPARATUS

To provide work processing apparatus capable of positioning and stably supporting various types of works of different shapes and capable of performing processing effectively by supporting a work in an arbitrary posture. A work processing apparatus positions a reference support member to a center portion of a work, moves support members in directions in which they approach and separate from each other and an up-down direction in accordance with supporting portions of the work, and performs required processing by controlling movement of a work processing section in a state where the work is supported in a given posture by the reference support member and two support members.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

First Embodiment

Hereinafter, the present invention will be described based on an embodiment of a work processing apparatus embodied as a burr removing apparatus for resin molding that cuts off a burr integrally formed with a resin molding as a work.

As illustrated inFIGS. 1 to 4, a burr removing apparatus1for resin molding embodied as a work processing apparatus provided with a work support7has, on a body frame3thereof, a burr cutting apparatus5as a work processing section and a work support7. The burr cutting apparatus5is disposed on a rear side of the body frame3in a direction (hereinafter, sometimes referred to as “front-rear direction”) orthogonal to a longitudinal direction of the body frame3and the work support7is disposed on a front side thereof. A vehicle panel or a vehicle bumper14which is a resin molding as a work is supported in a positioned state by the work support7.

The burr cutting apparatus5as a work processing section includes a multi-joint robot that rotates and swings first and second arms9,11connected to each other in multiaxial directions and attached with a cutting member13as a work processing member. The burr cutting apparatus5rotates and turns the first and second arms9,11such that the cutting member13moves in at least three-axis directions.

The cutting member13has a structure obtained by attaching a rotary blade13bto an output shaft of an electric motor13aand is configured to move the rotating rotary blade13balong an outer edge of the vehicle bumper14to cut off the burr (not illustrated).

The work processing section is not limited to the above-mentioned burr cutting apparatus5, but may be an apparatus that performs trimming processing of cutting off a projecting piece projecting from an outer edge of a work, a drilling apparatus that performs drilling for a work using a drill bit, or the like. In a case where the above processing apparatus is robotized, an orthogonal-type robot, etc., that moves the work processing section in orthogonal three directions may be adopted.

The work support7is configured as follows. First and second front-rear frames15,17, each extending in a front-rear direction, are fixed respectively to longitudinal direction right and left side portions of a front side of the body frame3. First and second front-rear movable bodies19,21are supported by the front-rear frames15,17, respectively, so as to be movable in the front-rear direction. First and second electric motors23,25(numerically-controllable servo motors, etc.) mounted to the corresponding front-rear frames15,17are drive-connected respectively to the first and second front-rear movable bodies19,21. The first and second front-rear movable bodies19,21are driven by the electric motors23,25, respectively, to reciprocate in an independent manner in the front-rear direction.

First and second left-right frames27,29, each extending in a left-right direction in the drawings, are fixed to the front-rear movable bodies19,21, respectively, at their left-right direction intermediate portions. First and second left-right movable bodies31,33are supported by the first and second left-right frames27,29, respectively, so as to be movable in the left-right direction. Third and fourth electric motors35,37(numerically-controllable servo motors, etc.) mounted to the corresponding first and second left-right frames27,29are drive-connected respectively to the first and second left-right movable bodies31,33. The first and second left-right movable bodies31,33are driven by the electric motors35,37, respectively, to reciprocate in an independent manner in the left-right direction.

First and second up-down frames39,41are mounted to the first and second left-right movable bodies31,33, respectively. First and second up-down movable bodies43,45are supported by the up-down frames39,41, respectively, so as to be movable in an up-down direction. Fifth and sixth electric motors47,49(numerically-controllable servo motors, etc.) mounted to the corresponding up-down frames39,41are drive-connected respectively to the first and second up-down movable bodies43,45. The first and second up-down movable bodies43,45are driven by the electric motors47,49, respectively, to reciprocate in an independent manner in the up-down direction.

Mounting arms51,53are mounted to the first and second up-down movable bodies43,45, respectively. Holding members57,59are mounted to upper portions of the mounting arms51,53, respectively. The holding members57,59, which constitute a one-end-side support member, are each an elastic member abutting against a rear surface of the vehicle bumper14to be processed to elastically support it, an adsorbing member connected to a negative pressure generator (not illustrated) to adsorb and hold the rear surface of the vehicle bumper14, or a gripping member that grips a projecting piece (not illustrated) integrally formed with the rear surface of the vehicle bumper14(in this example, the holding members57,59are each formed as the absorbing member).

Although the front-rear movable bodies19,21are moved in the front-rear direction in an independent manner to move the holding members57,59to desired positions in the front-rear direction in the above description, a single front-rear frame extending in the front-rear direction may be mounted to the body frame3so as to move the holding members57,59in an integrated manner in the front-rear direction.

Third and fourth left-right frames61,63each extending in the left-right direction in the drawings, are fixed respectively to a rear side of the body frame3. Third and fourth left-right movable bodies65,67are supported by the left-right frames61,63respectively, so as to be movable in the left-right direction. Seventh and eighth electric motors69,71(numerically-controllable servo motors, etc.) mounted to the corresponding third and fourth left-right frames61,63are drive-connected respectively to the third and fourth left-right movable bodies65,67. The third and fourth left-right movable bodies65,67are driven by the electric motors69,71respectively, to reciprocate in an independent manner in the left-right direction.

Third and fourth up-down frames73,75are mounted to the third and fourth left-right movable bodies65,67, respectively. Third and fourth up-down movable bodies77,79are supported by the up-down frames73,75, respectively, so as to be movable in an up-down direction. Ninth and tenth electric motors81,83(numerically-controllable servo motors, etc.) mounted to the corresponding up-down frames73,75are drive-connected respectively to the third and fourth up-down movable bodies77,79. The up-down movable bodies77,79are driven by the electric motors81,83, respectively, to reciprocate in an independent manner in the up-down direction.

Mounting arms85,87are mounted to the third and fourth up-down movable bodies77,79, respectively. Holding members89,91are mounted to upper portions of the mounting arms85,87, respectively. The holding members89,91, which constitute the other-end-side support member, are each an elastic member abutting against a rear surface of the vehicle bumper14to be processed to elastically support it, an adsorbing member connected to a negative pressure generator (not illustrated) to adsorb and hold the rear surface of the vehicle bumper14, or a gripping member that grips a projecting piece (not illustrated) integrally formed with the rear surface of the vehicle bumper14(in this example, the holding members89,91are each formed as the absorbing member).

A third front-rear frame93, extending in the front-rear direction in the drawings, is fixed to a center portion of the body frame3. A third front-rear movable body95is supported by the front-rear frame93so as to be movable in the front-rear direction. An eleventh electric motor97(numerically-controllable servo motor, etc.) mounted to the third front-rear frame93is drive-connected to the third front-rear movable body95. The third front-rear movable body95is driven by the electric motor97to reciprocate in the front-rear direction.

A fifth up-down frame99is mounted to the third front-rear movable body95. A holding member101is mounted to an upper portion of the fifth up-down frame99. The holding member101, which serves as a reference support member, is an elastic member abutting against a rear surface of the vehicle bumper14to be processed to elastically support it, an adsorbing member connected to a negative pressure generator (not illustrated) to adsorb and hold the rear surface of the vehicle bumper14, or a gripping member that grips a projecting piece (not illustrated) integrally formed with the rear surface of the vehicle bumper14(in this example, the holding member101is formed as the absorbing member).

A reciprocating mechanism of each of the movable bodies19,21,31,33,43,45,65,67,77,79,95corresponding to the first to eleventh electric motors23,25,35,37,47,49,69,71,81,83,97may be a known reciprocating mechanism such as a feed screw and nut mechanism or a feed belt mechanism. Further, a linear servo may be employed, in place of the electric motor, to constitute the reciprocating mechanism. In this example, a feed screw and nut mechanism is adopted as the reciprocating mechanism.

The following describes operations in which the resin molding burr removing apparatus1having the above configuration removes the burr of the vehicle bumper14and supports the vehicle bumper14. First, the eleventh electric motor97is drive-controlled to move the third front-rear movable body95forward or backward, to thereby move the holding member101to a predetermined intermediate portion of the vehicle bumper14to be subjected to the burr removal in the front-rear and left-right directions.

In parallel to or after the above operation, the first and second electric motors23,25are selectively drive-controlled to move the first and second front-rear movable bodies19,21in the front-rear direction, to thereby move the first and second left-right frames27,29such that the holding members57,59are positioned at a front side of the vehicle bumper14. In parallel to or after the above operation, the third and fourth electric motors35,37are selectively drive-controlled to move the first and second left-right movable bodies31,33in the left-right direction, to thereby move the holding members57,59to left and right support portions of the vehicle bumper14, which are previously set according to a longitudinal direction length of the vehicle bumper14.

In the above state, the fifth and sixth electric motors47,49are selectively drive-controlled to move the first and second up-down movable bodies43,45in the up-down direction, to thereby move the holding members57,59to height positions of the vehicle bumper14on the left and right sides thereof, which are previously set according to a processing posture.

In parallel to or after the above operation, the seventh and eighth electric motors69,71are selectively drive-controlled to move the third and fourth left-right movable bodies65,67in the left-right direction, to thereby move the holding members89,91to support portions of the vehicle bumper14previously set according to the longitudinal direction length of the vehicle bumper14.

In parallel to or after the above operation, the ninth and tenth electric motors81,83are selectively drive-controlled to move the third and fourth up-down movable bodies77,79in the up-down direction, to thereby move the holding members89,91to height positions of the vehicle bumper14set on the left and right sides thereof.

With the above operations, the holding members57,59,89,91are moved to the left-right and height positions set on the front and rear sides of the vehicle bumper14with the holding member101to support the center portion of the vehicle bumper14as the center, thereby stably holding the vehicle bumper14in an optimum supporting or holding posture according to a size and a shape thereof.

FIG. 5illustrates a state where the front side holding members57,59are moved forward and leftward/rightward, respectively, to a maximum extent and the rear side holding members89,91are moved leftward and rightward, respectively, to a maximum extent, with the holding member101positioned at the center moved forward.FIGS. 6 to 8illustrate states where supporting heights of the holding members57,59,89,91are variably controlled so as to support the vehicle bumper14in a horizontal posture, in a forward-inclined posture, and in a rearward-inclined posture, respectively.

In the above respective states, the vehicle bumper14is transferred so as to be supported or held at the front side and rear side holding members57,59,89,91which are arranged in the left-right direction with the center portion of the vehicle bumper14set to the center holding member101. As a result, the vehicle bumper14is stably supported or held in a state where displacement with respect to the holding members57,59,89,81,101is restricted.

The burr cutting apparatus5is drive-controlled in the state where the vehicle bumper14is supported or held at the previously set support portions of the work support7to rotate and turn the first and second arms9,11such that the cutting member13moves along a boundary between the outer edge of the vehicle bumper14and burr, to thereby cut and remove the burr from the vehicle bumper14.

In the present embodiment, with the holding member101set to the center of the vehicle bumper14, the holding members57,59and holding members89,91are moved with respect to the front-side and rear-side left and right portions of the vehicle bumper14, thus making it possible to stably support the vehicle bumper14in an optimum processing posture while coping with various sizes and shapes of the vehicle bumper14and restricting the displacement.

Although the holding member101mounted to the third front-rear movable body95which is mounted at the center of the body frame3so as to be movable in the front-rear direction is fixed in height in the above description, the holding member101may be configured to be movable in the up-down direction as well as the front-rear direction. In this case, an up-down frame is mounted to the third front-rear movable body95, and a support member is mounted, through a mounting arm, to an up-down movable body supported by the up-down frame so as to be movable in the up-down direction.

In the above description, the reference support member is mounted to the front-rear movable body which is mounted to the center portion of the body frame3so as to be movable in the front-rear direction, and end-side support members supported frontward and rearward of the reference support member so as to be movable both in the left-right direction and up-down direction. Alternatively, however, in a case where a small-sized work is to be supported, a three-point support configuration may be adopted so as to correspond to claim1, in which two support members capable of moving both in the longitudinal direction and up-down direction are mounted on longitudinal direction both sides of the reference support member.

Further, for a large-sized work like, e.g., a resin-molded vehicle panel, required to be supported at the five or more points, a plurality of support members each moving in the left-right direction, up-down direction, and directions inclined to the above directions may be mounted, in addition to the above three support members, so as to support predetermined supporting portions other than the supporting portions supported by the above three members.

Second Embodiment

As illustrated inFIG. 9(illustrating a drilling apparatus as a work processing apparatus in which a drilling machine as a work processing section is omitted) andFIG. 10, a drilling apparatus201as a work processing apparatus according to a second embodiment is an apparatus that forms a hole in a predetermined portion of the vehicle bumper14as a work. The drilling apparatus201as the work processing apparatus includes, on both sides at a rear side thereof, two movable supports203that support a rear surface of a peripheral edge of a portion to be drilled in the vehicle bumper14.

The drilling machine as the work processing section of the present embodiment has a configuration in which a drilling tool such as a drill is provided in place of the cutting member13provided at a leading end of the second arm in the burr cutting apparatus5of the first embodiment, and illustration thereof is omitted. The work processing member is not limited to the above-mentioned drilling tool, but may be a rotary blade, a laser output head that performs cutting using laser beam, or the like. Configurations of the drilling apparatus201other than the two movable supports203and drilling machine are the same as those of the first embodiment, so the same reference numerals are used for the identical components, and the description thereof is omitted.

The movable supports203each have a multi-joint structure that moves, at least three-dimensional directions, a movable support member205that abuts against and supports the rear surface of the peripheral edge of the portion to be drilled in the vehicle bumper14. The movable supports203includes, as illustrated inFIG. 10, first to sixth joints209,211,213,215,217,219, and a fixing member221. The first joint209is supported by a base207so as to be rotatable about a horizontal axis thereof and is connected to a built-in electric motor (not illustrated). The second joint211is supported at a leading end of the first joint209so as to be rotatable about an axis inclined at a predetermined angle relative to an extending direction of the first joint209and is connected to a built-in electric motor (not illustrated). The third joint213is supported at a leading end of the second joint211so as to be rotatable about an axis inclined at a predetermined angle relative to an extending direction of the second joint211and is connected to a built-in electric motor (not illustrated). The fourth joint215is supported at a leading end of the third joint213so as to be rotatable about an axis inclined at a predetermined angle relative to an extending direction of the third joint213and is connected to a built-in electric motor (not illustrated). The fifth joint217is supported at a leading end of the fourth joint215so as to be rotatable about an axis orthogonal to an extending direction of the fourth joint215and is connected to a built-in electric motor (not illustrated). The sixth joint219is supported at a leading end of the fifth joint217so as to be rotatable about an axis orthogonal to an extending direction of the fifth joint217and is connected to a built-in electric motor (not illustrated). The mounting member221is supported at a leading end of the sixth joint219so as to be rotatable about an axis coinciding with an extending direction of the sixth joint219and is connected to a built-in electric motor (not illustrated). Numerically-controllable servo motors, etc. are suitably used as the above electric motors.

The movable support member205is fixed to each of the mounting members221so as to extend at a predetermined angle. The movable support member205is drive-controlled by the electric motor to be moved in seven-axis directions and then supports the rear surface of the peripheral edge of the portion to be drilled by abutting, at a leading end thereof, thereagainst.

The number of joints of the movable support203is not limited to the above example, but may be increased/decreased in accordance to the number of movement dimensions required for the movable support member205.

The following describes operations to be performed by the drilling apparatus201having the above configuration. The operation for supporting the vehicle bumper14as a work is the same as that performed by the work support7provided in the resin molding burr removing apparatus1according to the first embodiment, so the detailed description thereof is omitted.

Prior to the drilling with respect to a predetermined portion of the vehicle bumper14supported by the work support7, the electric motors are drive-controlled to rotate or swing the first to sixth joints209,211,213,215,217,219, thereby moving each of the movable support members205within a region among positions denoted by a long dashed short dashed line and a long dashed double-shirt dashed line inFIG. 11and causing the same to abut against and support the rear surface of the peripheral edge of the portion to be drilled set in the vehicle bumper14.

In the above state, the arms of the drilling machine is drive-controlled to move the drilling tool to an upper surface of the portion to be drilled in the vehicle bumper14, and then the arms are drive-controlled to press the drilling tool against the portion to be drilled to perform drilling. At this time, the periphery of the portion to be drilled may be warped or position of the vehicle bumper14may be displaced due to the pressing of the drilling tool against the portion to be drilled, which may result in failing to drill a desired hole in the portion to be drilled with high accuracy. However, since the rear surface of the peripheral edge of the portion to be drilled in the vehicle bumper14is supported by the movable support member205as described above, the warp of the periphery of the portion to be drilled or displacement of the position of the vehicle bumper14is restricted, thereby performing the drilling for the vehicle bumper14with high accuracy.

The second embodiment may be modified in the same manner as the first embodiment. Further, although the movable support203moves, in a multi-dimensional manner, the movable support member205to the rear surface of the peripheral edge of the portion to be drilled in the vehicle bumper14based on the rotation and swing of the first to sixth joints209,211,213,215,217,219in the second embodiment, the movable support203according to the present invention may have an orthogonal three-axis structure.

That is, as illustrated inFIG. 12, a first movable body305extending in the front-rear direction in the drawing is supported by a support table303of a movable support301such that both end portions of the first movable body305reciprocate in the left-right direction in the drawing. The first movable body305is caused to reciprocate in the left-right direction in the drawing by a feed screw or a timing belt connected to an electric motor304(numerically-controllable servo motor, etc.) mounted in the support table303or a linear motor mounted therein (FIG. 12illustrates an example in which the electric motor304is employed). A second movable body307is supported by the first movable body305so as to reciprocate in the front-rear direction in the drawing. The second movable body307is caused to reciprocate in the front-rear direction in the drawing by a feed screw or a timing belt connected to an electric motor306(numerically-controllable servo motor, etc.) mounted in the first movable body305or a linear motor mounted therein (FIG. 12illustrates an example in which the electric motor306is employed).

A base end of an up-down frame309extending in the up-down direction in the drawing is fixed to the second movable body307, and a lifting mounting member311is supported by the up-down frame309so as to reciprocate in the up-down direction. The lifting mounting member311is caused to reciprocate in the up-down direction in the drawing by a feed screw or a timing belt connected to an electric motor312(numerically-controllable servo motor, etc.) mounted in the up-down frame309or a linear motor mounted therein (FIG. 12illustrates an example in which the electric motor312is employed). A base end of a movable support member313extending in the up-down direction or extending inclined relative to the up-down direction at an appropriate angle is fixed to the lifting mounting member311. A leading end of the movable support member313is made to rise and fall between a support position at which it abuts against the rear surface of the peripheral edge of the portion to be drilled in the vehicle bumper14and a standby position spaced downward from the support position along with rise and fall of the lifting mounting member311.

The movable support301having the three-dimensional movement structure is configured to, prior to the drilling with respect to a predetermined portion of the vehicle bumper14supported by the work support7, drive-control the electric motors to move the first and second movable bodies305,307such that the movable support member313is positioned at the peripheral edge of the portion to be drilled set in the vehicle bumper14.

In the above state, the electric motor is drive-controlled to move the lifting mounting member311upward to cause the leading end of the movable support member313to abut against and support the rear surface of the peripheral edge of the portion to be drilled. Since the movable support member313abuts against and supports the rear surface of the peripheral edge of the portion to be drilled in the vehicle bumper14when the drilling is performed by pressing the drilling tool positioned at the portion to be drilled thereagainst, the warp of the periphery of the portion to be drilled or displacement of the position of the vehicle bumper14is restricted, thereby performing the drilling for the vehicle bumper14with high accuracy.